reorganise intercom to send packets from extruder main loop, also generalise protocol as discussed in forum

extruder/Makefile

@@ -31,7 +31,7 @@
 
 PROGRAM = extruder
 
-SOURCES = $(PROGRAM).c intercom.c delay.c analog.c watchdog.c heater.c temp.c
+SOURCES = $(PROGRAM).c intercom.c delay.c analog.c watchdog.c heater.c temp.c timer.c crc.c
 
 ##############################################################################
 #                                                                            #

extruder/crc.c

@@ -0,0 +1,24 @@
+#include	"crc.h"
+
+#include	<util/crc16.h>
+
+// 	uint16_t _crc16_update(uint16_t crc, uint8_t a) {
+// 		int i;
+// 		crc ^= a;
+// 		for (i = 0; i < 8; ++i)
+// 		{
+// 			if (crc & 1)
+// 				crc = (crc >> 1) ^ 0xA001;
+// 			else
+// 				crc = (crc >> 1);
+// 		}
+// 		return crc;
+// 	}
+
+uint16_t	crc_block(void *data, uint16_t len) {
+	uint16_t	crc = 0;
+	for (; len; data++, len--) {
+		crc = _crc16_update(crc, *((uint8_t *) data));
+	}
+	return crc;
+}

extruder/crc.h

@@ -0,0 +1,8 @@
+#ifndef	_CRC_H
+#define	_CRC_H
+
+#include	<stdint.h>
+
+uint16_t	crc_block(void *data, uint16_t len);
+
+#endif	/* _CRC_H */

extruder/extruder.c

@@ -9,6 +9,7 @@
 #include	"watchdog.h"
 #include	"heater.h"
 #include	"temp.h"
+#include	"timer.h"
 
 static uint8_t motor_pwm;
 
@@ -22,14 +23,14 @@ void io_init(void) {
 
 	SET_INPUT(TRIM_POT);
 	SET_INPUT(TEMP_PIN);
-	SET_INPUT(TEMP_BED_PIN);
+	SET_INPUT(TEMP_BED_PIN);
 	SET_INPUT(E_STEP_PIN);
 	SET_INPUT(E_DIR_PIN);
 
-	// use pull up resistors to avoid noise
+	// use pull up resistors to avoid noise
-	WRITE(E_STEP_PIN, 1);
+	WRITE(E_STEP_PIN, 1);
-	WRITE(E_DIR_PIN, 1);
+	WRITE(E_DIR_PIN, 1);
-
+
 	//Enable the RS485 transceiver
 	SET_OUTPUT(RX_ENABLE_PIN);
 	SET_OUTPUT(TX_ENABLE_PIN);
@@ -44,10 +45,10 @@ void io_init(void) {
 		WRITE(BED_PIN, 0); SET_OUTPUT(BED_PIN);
 	#endif
 
-	#ifdef FAN_PIN
+	#ifdef FAN_PIN
-		WRITE(FAN_PIN, 0); SET_OUTPUT(FAN_PIN);
+		WRITE(FAN_PIN, 0); SET_OUTPUT(FAN_PIN);
-	#endif
+	#endif
-
+
 // 	#if defined(HEATER_PWM) || defined(FAN_PWM) || defined(BED_PWM)
 		// setup PWM timer: fast PWM, no prescaler
 		TCCR2A = MASK(WGM21) | MASK(WGM20);
@@ -74,10 +75,10 @@ void motor_init(void) {
 }
 
 ISR(PCINT0_vect) {
-	static uint8_t coil_pos, pwm;
+	static uint8_t coil_pos, pwm;
 
 	//if the step pin is high, we advance the motor
-	if (READ(E_STEP_PIN)) {
+	if (READ(E_STEP_PIN)) {
 
 		//Turn on motors only on first tick to save power I guess
 		enable_motors();
@@ -88,12 +89,12 @@ ISR(PCINT0_vect) {
 		else
 			coil_pos--;
 
-		coil_pos &= 7;
+		coil_pos &= 7;
 
 		//Grab the latest motor power to use
 		pwm = motor_pwm;
 
-		switch(coil_pos) {
+		switch(coil_pos) {
 			case 0:
 			  WRITE(H1D, 0);
 			  WRITE(H2D, 0);
@@ -168,6 +169,9 @@ void init(void) {
 	// set up extruder motor driver
 	motor_init();
 
+	// set up clock
+	timer_init();
+	
 	// enable interrupts
 	sei();
 
@@ -190,11 +194,21 @@ int main (void)
 		//Read motor PWM
 		motor_pwm = analog_read(TRIM_POT_CHANNEL) >> 2;
 
-		temp_sensor_tick();
+		ifclock(CLOCK_FLAG_10MS) {
-
+			// check temperatures and manage heaters
-		send_temperature(0, temp_get(0));
+			temp_sensor_tick();
-		send_temperature(1, temp_get(1));
+		}
-		temp_set(0, read_temperature(0));
+		
-		temp_set(1, read_temperature(1));
+		// check if we've had a new intercom packet
+		if (intercom_flags & FLAG_NEW_RX) {
+			intercom_flags &= ~FLAG_NEW_RX;
+			
+			send_temperature(0, temp_get(0));
+			send_temperature(1, temp_get(1));
+			temp_set(0, read_temperature(0));
+			temp_set(1, read_temperature(1));
+			
+			start_send();
+		}
 	}
 }

extruder/heater.h

@@ -9,6 +9,7 @@
 #define	disable_heater()	heater_set(0, 0)
 
 #undef DEFINE_HEATER
+#undef _CONFIG_H
 #define DEFINE_HEATER(name, port, pin, pwm) HEATER_ ## name,
 typedef enum
 {

extruder/intercom.c

@@ -17,21 +17,16 @@ enum {
 
 typedef struct {
 	uint8_t		start;
-	union {
+	uint8_t		dio;
-		struct {
-			uint8_t		dio0		:1;
-			uint8_t		dio1		:1;
-			uint8_t		dio2		:1;
-			uint8_t		dio3		:1;
-			uint8_t		dio4		:1;
-			uint8_t		dio5		:1;
-			uint8_t		dio6		:1;
-			uint8_t		dio7		:1;
-		};
-		uint8_t		dio;
-	};
 	uint8_t		controller_num;
-	uint16_t	temp[3];
+	uint8_t		control_word;
+	uint8_t		control_index;
+	union {
+		int32_t		control_data_int32;
+		uint32_t	control_data_uint32;
+		float			control_data_float;
+		uint16_t	temp[2];
+	};
 	uint8_t		err;
 	uint8_t		crc;
 } intercom_packet_t;
@@ -120,9 +115,16 @@ void start_send(void) {
 	intercom_flags = (intercom_flags & ~FLAG_TX_FINISHED) | FLAG_TX_IN_PROGRESS;
 	SREG = sreg;
 
+	// enable transmit pin
+	enable_transmit();
+	
 	// set start byte
 	tx.packet.start = START;
 
+	// set packet type
+	tx.packet.control_word = 105;
+	tx.packet.control_index = 0;
+
 	// calculate CRC for outgoing packet
 	for (i = 0; i < (sizeof(intercom_packet_t) - 1); i++) {
 		txcrc ^= tx.data[i];
@@ -133,17 +135,14 @@ void start_send(void) {
 		_tx.data[i] = tx.data[i];
 	}
 
-	// enable transmit pin
+	packet_pointer = 0;
-	enable_transmit();
-	delay_us(15);
 
 	// actually start sending the packet
-	packet_pointer = 0;
+	#ifdef HOST
-#ifdef HOST
+		UCSR1B |= MASK(UDRIE1);
-	UCSR1B |= MASK(UDRIE1);
+	#else
-#else
+		UCSR0B |= MASK(UDRIE0);
-	UCSR0B |= MASK(UDRIE0);
+	#endif
-#endif
 }
 
 /*
@@ -199,15 +198,18 @@ ISR(USART_RX_vect)
 				}
 			}
 
-			intercom_flags = (intercom_flags & ~FLAG_RX_IN_PROGRESS) | FLAG_NEW_RX;
 			#ifndef HOST
-				if (_rx.packet.controller_num == THIS_CONTROLLER_NUM) {
+				if (rx.packet.controller_num == THIS_CONTROLLER_NUM) {
 					if (rxcrc != _rx.packet.crc)
 						tx.packet.err = ERROR_BAD_CRC;
+					else
+						intercom_flags = (intercom_flags & ~FLAG_RX_IN_PROGRESS) | FLAG_NEW_RX;
 					// not sure why exactly this delay is needed, but wihtout it first byte never arrives.
-					delay_us(150);
+// 					delay_us(150);
-					start_send();
+// 					start_send();
 				}
+			#else
+				intercom_flags = (intercom_flags & ~FLAG_RX_IN_PROGRESS) | FLAG_NEW_RX;
 			#endif
 		}
 	}

extruder/intercom.h

@@ -5,11 +5,11 @@
 #include	"config.h"
 
 #ifdef HOST
-	#define enable_transmit()			do { WRITE(TX_ENABLE_PIN,1);  UCSR1B &= ~MASK(RXEN1); } while(0)
+	#define enable_transmit()			do { WRITE(TX_ENABLE_PIN,1);  UCSR1B &=~MASK(RXEN1); } while(0)
-	#define disable_transmit()			do { WRITE(TX_ENABLE_PIN,0);  UCSR1B |= MASK(RXEN1); } while(0)
+	#define disable_transmit()			do { WRITE(TX_ENABLE_PIN,0);  UCSR1B &= ~(MASK(TXCIE1) | MASK(UDRIE1)); UCSR1B |= MASK(RXEN1); } while(0)
 #else
-	#define enable_transmit()			do { WRITE(TX_ENABLE_PIN,1);  UCSR0B &= ~MASK(RXEN0); } while(0)
+	#define enable_transmit()			do { WRITE(TX_ENABLE_PIN,1);  UCSR0B &= ~MASK(RXEN0); } while(0)
-	#define disable_transmit()			do { WRITE(TX_ENABLE_PIN,0);  UCSR0B |= MASK(RXEN0); } while(0)
+	#define disable_transmit()			do { WRITE(TX_ENABLE_PIN,0);  UCSR0B &= ~(MASK(TXCIE0) | MASK(UDRIE0)); UCSR0B |= MASK(RXEN0); } while(0)
 #endif
 
 // initialise serial subsystem

extruder/temp.h

@@ -13,6 +13,7 @@ we still need to specify which analog pins we use in machine.h for the analog se
 */
 
 #undef DEFINE_TEMP_SENSOR
+#undef _CONFIG_H
 #define DEFINE_TEMP_SENSOR(name, type, pin) TEMP_SENSOR_ ## name,
 typedef enum {
 	#include "config.h"
@@ -21,6 +22,15 @@ typedef enum {
 } temp_sensor_t;
 #undef DEFINE_TEMP_SENSOR
 
+typedef enum {
+	TT_THERMISTOR,
+	TT_MAX6675,
+	TT_AD595,
+	TT_PT100,
+	TT_INTERCOM,
+	TT_DUMMY,
+} temp_type_t;
+
 #define	temp_tick temp_sensor_tick
 
 void temp_init(void);
@@ -34,4 +44,4 @@ uint16_t temp_get(temp_sensor_t index);
 
 void temp_print(temp_sensor_t index);
 
-#endif	/* _TIMER_H */
+#endif	/* _TEMP_H */

extruder/timer.c

@@ -0,0 +1,164 @@
+#include	"timer.h"
+
+#include	<avr/interrupt.h>
+
+#include	"arduino.h"
+#include	"config.h"
+
+#ifdef	HOST
+#include	"dda_queue.h"
+#endif
+
+/*
+	how often we overflow and update our clock; with F_CPU=16MHz, max is < 4.096ms (TICK_TIME = 65535)
+*/
+#define		TICK_TIME			2 MS
+#define		TICK_TIME_MS	(TICK_TIME / (F_CPU / 1000))
+
+volatile uint32_t	next_step_time;
+
+uint8_t						clock_counter_10ms = 0;
+uint8_t						clock_counter_250ms = 0;
+uint8_t						clock_counter_1s = 0;
+volatile uint8_t	clock_flag = 0;
+
+// comparator B is the "clock", happens every TICK_TIME
+ISR(TIMER1_COMPB_vect) {
+	// set output compare register to the next clock tick
+	OCR1B = (OCR1B + TICK_TIME) & 0xFFFF;
+	
+	/*
+	clock stuff
+	*/
+	clock_counter_10ms += TICK_TIME_MS;
+	if (clock_counter_10ms >= 10) {
+		clock_counter_10ms -= 10;
+		clock_flag |= CLOCK_FLAG_10MS;
+		
+		clock_counter_250ms += 1;
+		if (clock_counter_250ms >= 25) {
+			clock_counter_250ms -= 25;
+			clock_flag |= CLOCK_FLAG_250MS;
+			
+			clock_counter_1s += 1;
+			if (clock_counter_1s >= 4) {
+				clock_counter_1s -= 4;
+				clock_flag |= CLOCK_FLAG_1S;
+			}
+		}
+	}
+}
+
+#ifdef	HOST
+void timer1_compa_isr(void) __attribute__ ((hot));
+void timer1_compa_isr() {
+	// led on
+	WRITE(SCK, 1);
+	
+	// disable this interrupt. if we set a new timeout, it will be re-enabled when appropriate
+	TIMSK1 &= ~MASK(OCIE1A);
+	
+	// stepper tick
+	queue_step();
+	
+	// led off
+	WRITE(SCK, 0);
+}
+
+// comparator A is the step timer. It has higher priority then B.
+ISR(TIMER1_COMPA_vect) {
+	// Check if this is a real step, or just a next_step_time "overflow"
+	if (next_step_time < 65536) {
+		next_step_time = 0;
+		// step!
+		timer1_compa_isr();
+		return;
+	}
+	
+	next_step_time -= 65536;
+
+	// similar algorithm as described in setTimer below.
+	if (next_step_time < 65536) {
+		OCR1A = (OCR1A + next_step_time) & 0xFFFF;
+	} else if(next_step_time < 75536){
+		OCR1A = (OCR1A - 10000) & 0xFFFF;
+		next_step_time += 10000;
+	}
+	// leave OCR1A as it was
+}
+#endif /* ifdef HOST */
+
+void timer_init()
+{
+	// no outputs
+	TCCR1A = 0;
+	// Normal Mode
+	TCCR1B |= MASK(CS10);
+	// set up "clock" comparator for first tick
+	OCR1B = TICK_TIME & 0xFFFF;
+	// enable interrupt
+	TIMSK1 |= MASK(OCIE1B);
+}
+
+#ifdef	HOST
+void setTimer(uint32_t delay)
+{
+	// save interrupt flag
+	uint8_t sreg = SREG;
+	uint16_t step_start = 0;
+	// disable interrupts
+	cli();
+
+	// re-enable clock interrupt in case we're recovering from emergency stop
+	TIMSK1 |= MASK(OCIE1B);
+	
+	if (delay > 0) {
+		if (delay <= 16) {
+			// unfortunately, force registers don't trigger an interrupt, so we do the following
+			// "fire" ISR- maybe it sets a new timeout
+			timer1_compa_isr();
+		}
+		else {
+			// Assume all steps belong to one move. Within one move the delay is 
+			// from one step to the next one, which should be more or less the same
+			// as from one step interrupt to the next one. The last step interrupt happend
+			// at OCR1A, so start delay from there.
+			step_start = OCR1A;
+			if (next_step_time == 0) {
+				// new move, take current time as start value
+				step_start = TCNT1;
+			}
+
+			next_step_time = delay;
+			if (next_step_time < 65536) {
+				// set the comparator directly to the next real step
+				OCR1A = (next_step_time + step_start) & 0xFFFF;
+			}
+			else if (next_step_time < 75536) {
+				// Next comparator interrupt would have to trigger another
+				// interrupt within a short time (possibly within 1 cycle).
+				// Avoid the impossible by firing the interrupt earlier.
+				OCR1A = (step_start - 10000) & 0xFFFF;
+				next_step_time += 10000;
+			}
+			else {
+				OCR1A = step_start;
+			}
+			
+			TIMSK1 |= MASK(OCIE1A);
+		}
+	} else {
+		// flag: move has ended
+		next_step_time = 0;
+		TIMSK1 &= ~MASK(OCIE1A);
+	}
+	
+	// restore interrupt flag
+	SREG = sreg;
+}
+
+void timer_stop() {
+	// disable all interrupts
+	TIMSK1 = 0;
+}
+#endif /* ifdef HOST */

extruder/timer.h

@@ -0,0 +1,30 @@
+#ifndef	_TIMER_H
+#define	_TIMER_H
+
+#include	<stdint.h>
+#include	<avr/io.h>
+
+// time-related constants
+#define	US	* (F_CPU / 1000000)
+#define	MS	* (F_CPU / 1000)
+
+/*
+clock stuff
+*/
+extern volatile uint8_t	clock_flag;
+
+#define	CLOCK_FLAG_10MS								1
+#define	CLOCK_FLAG_250MS							2
+#define	CLOCK_FLAG_1S									4
+#define	ifclock(F)	for (;clock_flag & (F);clock_flag &= ~(F))
+
+/*
+timer stuff
+*/
+void timer_init(void) __attribute__ ((cold));
+
+void setTimer(uint32_t delay);
+
+void timer_stop(void);
+
+#endif	/* _TIMER_H */

heater.h

@@ -9,6 +9,7 @@
 #define	disable_heater()	heater_set(0, 0)
 
 #undef DEFINE_HEATER
+#undef _CONFIG_H
 #define DEFINE_HEATER(name, port, pin, pwm) HEATER_ ## name,
 typedef enum
 {

intercom.c

@@ -17,21 +17,16 @@ enum {
 
 typedef struct {
 	uint8_t		start;
-	union {
+	uint8_t		dio;
-		struct {
-			uint8_t		dio0		:1;
-			uint8_t		dio1		:1;
-			uint8_t		dio2		:1;
-			uint8_t		dio3		:1;
-			uint8_t		dio4		:1;
-			uint8_t		dio5		:1;
-			uint8_t		dio6		:1;
-			uint8_t		dio7		:1;
-		};
-		uint8_t		dio;
-	};
 	uint8_t		controller_num;
-	uint16_t	temp[3];
+	uint8_t		control_word;
+	uint8_t		control_index;
+	union {
+		int32_t		control_data_int32;
+		uint32_t	control_data_uint32;
+		float			control_data_float;
+		uint16_t	temp[2];
+	};
 	uint8_t		err;
 	uint8_t		crc;
 } intercom_packet_t;
@@ -120,9 +115,16 @@ void start_send(void) {
 	intercom_flags = (intercom_flags & ~FLAG_TX_FINISHED) | FLAG_TX_IN_PROGRESS;
 	SREG = sreg;
 
+	// enable transmit pin
+	enable_transmit();
+	
 	// set start byte
 	tx.packet.start = START;
 
+	// set packet type
+	tx.packet.control_word = 105;
+	tx.packet.control_index = 0;
+
 	// calculate CRC for outgoing packet
 	for (i = 0; i < (sizeof(intercom_packet_t) - 1); i++) {
 		txcrc ^= tx.data[i];
@@ -133,17 +135,14 @@ void start_send(void) {
 		_tx.data[i] = tx.data[i];
 	}
 
-	// enable transmit pin
+	packet_pointer = 0;
-	enable_transmit();
-	delay_us(15);
 
 	// actually start sending the packet
-	packet_pointer = 0;
+	#ifdef HOST
-#ifdef HOST
+		UCSR1B |= MASK(UDRIE1);
-	UCSR1B |= MASK(UDRIE1);
+	#else
-#else
+		UCSR0B |= MASK(UDRIE0);
-	UCSR0B |= MASK(UDRIE0);
+	#endif
-#endif
 }
 
 /*
@@ -199,15 +198,18 @@ ISR(USART_RX_vect)
 				}
 			}
 
-			intercom_flags = (intercom_flags & ~FLAG_RX_IN_PROGRESS) | FLAG_NEW_RX;
 			#ifndef HOST
-				if (_rx.packet.controller_num == THIS_CONTROLLER_NUM) {
+				if (rx.packet.controller_num == THIS_CONTROLLER_NUM) {
 					if (rxcrc != _rx.packet.crc)
 						tx.packet.err = ERROR_BAD_CRC;
+					else
+						intercom_flags = (intercom_flags & ~FLAG_RX_IN_PROGRESS) | FLAG_NEW_RX;
 					// not sure why exactly this delay is needed, but wihtout it first byte never arrives.
-					delay_us(150);
+// 					delay_us(150);
-					start_send();
+// 					start_send();
 				}
+			#else
+				intercom_flags = (intercom_flags & ~FLAG_RX_IN_PROGRESS) | FLAG_NEW_RX;
 			#endif
 		}
 	}

intercom.h

@@ -5,11 +5,11 @@
 #include	"config.h"
 
 #ifdef HOST
-	#define enable_transmit()			do { WRITE(TX_ENABLE_PIN,1);  UCSR1B &= ~MASK(RXEN1); } while(0)
+	#define enable_transmit()			do { WRITE(TX_ENABLE_PIN,1);  UCSR1B &=~MASK(RXEN1); } while(0)
-	#define disable_transmit()			do { WRITE(TX_ENABLE_PIN,0);  UCSR1B |= MASK(RXEN1); } while(0)
+	#define disable_transmit()			do { WRITE(TX_ENABLE_PIN,0);  UCSR1B &= ~(MASK(TXCIE1) | MASK(UDRIE1)); UCSR1B |= MASK(RXEN1); } while(0)
 #else
-	#define enable_transmit()			do { WRITE(TX_ENABLE_PIN,1);  UCSR0B &= ~MASK(RXEN0); } while(0)
+	#define enable_transmit()			do { WRITE(TX_ENABLE_PIN,1);  UCSR0B &= ~MASK(RXEN0); } while(0)
-	#define disable_transmit()			do { WRITE(TX_ENABLE_PIN,0);  UCSR0B |= MASK(RXEN0); } while(0)
+	#define disable_transmit()			do { WRITE(TX_ENABLE_PIN,0);  UCSR0B &= ~(MASK(TXCIE0) | MASK(UDRIE0)); UCSR0B |= MASK(RXEN0); } while(0)
 #endif
 
 // initialise serial subsystem

temp.h

@@ -13,6 +13,7 @@ we still need to specify which analog pins we use in machine.h for the analog se
 */
 
 #undef DEFINE_TEMP_SENSOR
+#undef _CONFIG_H
 #define DEFINE_TEMP_SENSOR(name, type, pin) TEMP_SENSOR_ ## name,
 typedef enum {
 	#include "config.h"

timer.c

@@ -2,7 +2,12 @@
 
 #include	<avr/interrupt.h>
 
+#include	"arduino.h"
+#include	"config.h"
+
+#ifdef	HOST
 #include	"dda_queue.h"
+#endif
 
 /*
 	how often we overflow and update our clock; with F_CPU=16MHz, max is < 4.096ms (TICK_TIME = 65535)
@@ -44,6 +49,7 @@ ISR(TIMER1_COMPB_vect) {
 	}
 }
 
+#ifdef	HOST
 void timer1_compa_isr(void) __attribute__ ((hot));
 void timer1_compa_isr() {
 	// led on
@@ -80,6 +86,7 @@ ISR(TIMER1_COMPA_vect) {
 	}
 	// leave OCR1A as it was
 }
+#endif /* ifdef HOST */
 
 void timer_init()
 {
@@ -93,6 +100,7 @@ void timer_init()
 	TIMSK1 |= MASK(OCIE1B);
 }
 
+#ifdef	HOST
 void setTimer(uint32_t delay)
 {
 	// save interrupt flag
@@ -153,3 +161,4 @@ void timer_stop() {
 	// disable all interrupts
 	TIMSK1 = 0;
 }
+#endif /* ifdef HOST */