misc tidying, added watchdog stuff, moved things around a bit

mendel/Makefile

@@ -14,7 +14,7 @@
 
 PROGRAM = mendel
 
-SOURCES = $(PROGRAM).c serial.c dda.c gcode.c timer.c clock.c temp.c sermsg.c dda_queue.c
+SOURCES = $(PROGRAM).c serial.c dda.c gcode.c timer.c clock.c temp.c sermsg.c dda_queue.c watchdog.c
 
 ##############################################################################
 #                                                                            #

mendel/dda.c

@@ -272,6 +272,7 @@ uint8_t	can_step(uint8_t min, uint8_t max, int32_t current, int32_t target, uint
 */
 
 void dda_step(DDA *dda) {
+	// called from interrupt context! keep it as simple as possible
 	uint8_t	step_option = 0;
 #define	X_CAN_STEP	1
 #define	Y_CAN_STEP	2
@@ -284,12 +285,11 @@ void dda_step(DDA *dda) {
 	if (DEBUG)
 		serial_writechar('!');
 
-	step_option &= ~(X_CAN_STEP | Y_CAN_STEP | Z_CAN_STEP | E_CAN_STEP | F_CAN_STEP);
 // 		step_option |= can_step(x_min(), x_max(), current_position.X, dda->endpoint.X, dda->x_direction) & X_CAN_STEP;
-// 		step_option |= can_step(y_min(), y_max(), current_position.Y, dda->endpoint.Y, dda->y_direction) & Y_CAN_STEP;
-// 		step_option |= can_step(z_min(), z_max(), current_position.Z, dda->endpoint.Z, dda->z_direction) & Z_CAN_STEP;
 	step_option |= can_step(0      , 0      , current_position.X, dda->endpoint.X, dda->x_direction) & X_CAN_STEP;
+// 		step_option |= can_step(y_min(), y_max(), current_position.Y, dda->endpoint.Y, dda->y_direction) & Y_CAN_STEP;
 	step_option |= can_step(0      , 0      , current_position.Y, dda->endpoint.Y, dda->y_direction) & Y_CAN_STEP;
+// 		step_option |= can_step(z_min(), z_max(), current_position.Z, dda->endpoint.Z, dda->z_direction) & Z_CAN_STEP;
 	step_option |= can_step(0      , 0      , current_position.Z, dda->endpoint.Z, dda->z_direction) & Z_CAN_STEP;
 	step_option |= can_step(0      , 0      , current_position.E, dda->endpoint.E, dda->e_direction) & E_CAN_STEP;
 	step_option |= can_step(0      , 0      , current_position.F, dda->endpoint.F, dda->f_direction) & F_CAN_STEP;
@@ -354,9 +354,17 @@ void dda_step(DDA *dda) {
 		}
 	}
 
+	#if STEP_INTERRUPT_INTERRUPTIBLE
+	// since we have sent steps to all the motors that will be stepping and the rest of this function isn't so time critical,
+	// this interrupt can now be interruptible
+	disableTimerInterrupt();
+	sei();
+	#endif
+
 	if (step_option & F_CAN_STEP) {
 		dda->f_counter -= dda->f_delta;
 		// since we don't allow total_steps to be defined by F, we may need to step multiple times if f_delta is greater than total_steps
+		// loops in interrupt context are a bad idea, but this is the best way to do this that I've come up with so far
 		while (dda->f_counter < 0) {
 
 			dda->f_counter += dda->total_steps;
@@ -376,25 +384,6 @@ void dda_step(DDA *dda) {
 		}
 	}
 
-	#if STEP_INTERRUPT_INTERRUPTIBLE
-	// this interrupt can now be interruptible
-	disableTimerInterrupt();
-	sei();
-	#endif
-
-	// this generates too much debug output for all but the slowest step rates
-	if (0 && DEBUG) {
-		serial_writechar('[');
-		serwrite_hex8(step_option);
-		serial_writechar(':');
-		serwrite_int32(current_position.F);
-		serial_writechar('/');
-		serwrite_int32(dda->endpoint.F);
-		serial_writechar('#');
-		serwrite_uint32(dda->move_duration);
-		serial_writechar(']');
-	}
-
 	if (step_option & REAL_MOVE)
 		// we stepped, reset timeout
 		steptimeout = 0;
@@ -409,13 +398,8 @@ void dda_step(DDA *dda) {
 
 	// if we could do anything at all, we're still running
 	// otherwise, must have finished
-	else if (step_option == 0) {
+	else if (step_option == 0)
 		dda->live = 0;
-		#ifdef	STUPIDLY_HIDE_BUGS
-			// this magically makes bugs disappear after each move, probably a bad idea
-			memcpy(&current_position, &(dda->endpoint), sizeof(TARGET));
-		#endif
-	}
 
 	// turn off step outputs, hopefully they've been on long enough by now to register with the drivers
 	// if not, too bad. or insert a (very!) small delay here, or fire up a spare timer or something

mendel/gcode.c

@@ -10,6 +10,7 @@
 #include	"dda_queue.h"
 #include	"dda.h"
 #include	"clock.h"
+#include	"watchdog.h"
 
 uint8_t	option_bitfield;
 #define	OPTION_COMMENT						128
@@ -267,7 +268,7 @@ void scan_char(uint8_t c) {
 // 		if (DEBUG)
 			serial_writechar(c);
 		// process
-// 		if (next_target.seen_G || next_target.seen_M) {
+		if (next_target.seen_G || next_target.seen_M) {
 			process_gcode_command(&next_target);
 
 			// reset 'seen comment'
@@ -281,7 +282,7 @@ void scan_char(uint8_t c) {
 			read_digit.exponent = 0;
 
 			serial_writestr_P(PSTR("OK\n"));
-// 		}
+		}
 	}
 }
 
@@ -434,6 +435,9 @@ void process_gcode_command(GCODE_COMMAND *gcmd) {
 						void clock_250ms(void);
 						clock_250ms();
 					}
+
+					// reset watchdog
+					wd_reset();
 				}
 				SpecialMoveE(E_STARTSTOP_STEPS, FEEDRATE_FAST_E);
 				break;

mendel/mendel.c

@@ -15,12 +15,18 @@
 #include	"clock.h"
 #include	"temp.h"
 #include	"sermsg.h"
+#include	"watchdog.h"
 
 #ifndef	DEBUG
 #define	DEBUG 0
 #endif
 
 inline void io_init(void) {
+	// disable modules we don't use
+	PRR = MASK(PRTWI) | MASK(PRTIM2) | MASK(PRADC);
+	ACSR = MASK(ACD);
+
+	// setup I/O pins
 	WRITE(X_STEP_PIN, 0);	SET_OUTPUT(X_STEP_PIN);
 	WRITE(X_DIR_PIN,  0);	SET_OUTPUT(X_DIR_PIN);
 	WRITE(X_MIN_PIN,  1);	SET_INPUT(X_MIN_PIN);
@@ -62,8 +68,11 @@ inline void io_init(void) {
 	WRITE(SS, 1);					SET_OUTPUT(SS);
 }
 
-inline void init(void);
+inline void init(void) {
-inline void init() {
+
+	// set up watchdog
+	wd_init();
+
 	// set up serial
 	serial_init();
 
@@ -86,10 +95,12 @@ inline void init() {
 
 	// say hi to host
 	serial_writestr_P(PSTR("Start\n"));
+
+	// reset watchdog
+	wd_reset();
 }
 
-void clock_250ms(void);
+void clock_250ms(void) {
-void clock_250ms() {
 	temp_tick();
 
 	if (steptimeout > (30 * 4)) {
@@ -159,5 +170,8 @@ int main (void)
 		ifclock(CLOCK_FLAG_250MS) {
 			clock_250ms();
 		}
+
+		// reset watchdog
+		wd_reset();
 	}
 }

mendel/serial.c

@@ -93,9 +93,8 @@ ISR(USART_UDRE_vect)
 	}
 	else
 	#endif
-	if (buf_canread(tx)) {
+	if (buf_canread(tx))
 		buf_pop(tx, UDR0);
-	}
 	else
 		UCSR0B &= ~MASK(UDRIE0);
 }
@@ -112,6 +111,7 @@ uint8_t serial_rxchars()
 uint8_t serial_popchar()
 {
 	uint8_t c = 0;
+	// it's imperative that we check, because if the buffer is empty and we pop, we'll go through the whole buffer again
 	if (buf_canread(rx))
 		buf_pop(rx, c);
 	return c;
@@ -130,16 +130,15 @@ void serial_writechar(uint8_t data)
 {
 	// check if interrupts are enabled
 	if (SREG & MASK(SREG_I)) {
-		// if they are, we should be ok to block
+		// if they are, we should be ok to block since the tx buffer is emptied from an interrupt
 		for (;buf_canwrite(tx) == 0;);
 		buf_push(tx, data);
 	}
 	else {
 		// interrupts are disabled- maybe we're in one?
 		// anyway, instead of blocking, only write if we have room
-		if (buf_canwrite(tx)) {
+		if (buf_canwrite(tx))
 			buf_push(tx, data);
-		}
 	}
 	// enable TX interrupt so we can send this character
 	UCSR0B |= MASK(UDRIE0);

mendel/watchdog.c

@@ -0,0 +1,27 @@
+#include	"watchdog.h"
+
+#include	<avr/wdt.h>
+#include	<avr/interrupt.h>
+
+#include	"arduino.h"
+
+volatile uint8_t	wd_flag = 0;
+
+ISR(WDT_vect) {
+	// watchdog has tripped- no main loop activity for 0.25s, probably a bad thing
+	wd_flag |= 1;
+}
+
+void wd_init() {
+	// 0.25s timeout, interrupt and system reset
+	wdt_enable(WDTO_250MS);
+	WDTCSR |= MASK(WDIE);
+}
+
+void wd_reset() {
+	wdt_reset();
+	if (wd_flag) {
+		WDTCSR |= MASK(WDIE);
+		wd_flag &= ~1;
+	}
+}

mendel/watchdog.h

@@ -0,0 +1,12 @@
+#ifndef	_WATCHDOG_H
+#define	_WATCHDOG_H
+
+// initialize
+void wd_init(void);
+
+// reset timeout- must be called periodically or we reboot
+void wd_reset(void);
+
+// notable lack of disable function
+
+#endif	/* _WATCHDOG_H */