This is mostly a preparation for reverse walks through the movement queue,
where crossing speed calculation is done only once, while actually used
speeds can be raised successively with repeated walks.
This code was accidentally removed long ago in a botched merge. This
patch recovers it and makes it build again. I've done minimal testing
and some necessary cleanup. It compiles and runs, but it probably still
has a few dust bunnies here and there.
I added registers and pin definitions to simulator.h and
simulator/simulator.c which I needed to match my Gen7-based config.
Other configs or non-AVR ports will need to define more or different
registers. Some registers are 16-bits, some are 8-bit, and some are just
constant values (enums). A more clever solution would read in the
chip-specific header and produce saner definitions which covered all
GPIOs. But this commit just takes the quick and easy path to support my
own hardware.
Most of this code originated in these commits:
commit cbf41dd4ad
Author: Stephan Walter <stephan@walter.name>
Date: Mon Oct 18 20:28:08 2010 +0200
document simulation
commit 3028b297f3
Author: Stephan Walter <stephan@walter.name>
Date: Mon Oct 18 20:15:59 2010 +0200
Add simulation code: use "make sim"
Additional tweaks:
Revert va_args processing for AVR, but keep 'int' generalization
for simulation. gcc wasn't lying. The sim really aborts without this.
Remove delay(us) from simulator (obsolete).
Improve the README.sim to demonstrate working pronterface connection
to sim. Also fix the build instructions.
Appease all stock configs.
Stub out intercom and shush usb_serial when building simulator.
Pretend to be all chip-types for config appeasement.
Replace sim_timer with AVR-simulator timer:
The original sim_timer and sim_clock provided direct replacements
for timer/clock.c in the main code. But when the main code changed,
simcode did not. The main clock.c was dropped and merged into timer.c.
Also, the timer.c now has movement calculation code in it in some
cases (ACCELERATION_TEMPORAL) and it would be wrong to teach the
simulator to do the same thing. Instead, teach the simulator to
emulate the AVR Timer1 functionality, reacting to values written to
OCR1A and OCR1B timer comparison registers.
Whenever OCR1A/B are changed, the sim_setTimer function needs to be
called. It is called automatically after a timer event, so changes
within the timer ISRs do not need to bother with this.
A C++ class could make this requirement go away by noticing the
assignment. On the other hand, a chip-agnostic timer.c would help
make the main code more portable. The latter cleanup is probably
better for us in the long run.
This means, modify existing code to let the lookahead algorithms
do their work. It also means to remove some unused code in
dda_lookahead.c and reordering some code to make it work with
LOOKAHEAD undefined.
Markus Hitter
Phil Hord