v3.0.0-a15 : Fixed bug with changing FIFO depth during a motion command. Also added CU,255,1 for command debug printing (separated it out from CU,253,1)

EBB_firmware/app.X/nbproject/project.xml

@@ -32,6 +32,7 @@
             </formatting>
         </data>
         <spellchecker-wordlist xmlns="http://www.netbeans.org/ns/spellchecker-wordlist/1">
+            <word>Bitfield</word>
             <word>breifly</word>
             <word>comamnds</word>
             <word>paramters</word>

EBB_firmware/app.X/source/RCServo2.c

@@ -110,6 +110,7 @@
 #include "UBW.h"
 #include "RCServo2.h"
 #include "HardwareProfile.h"
+#include "ebb.h"
 
 #pragma udata RC2Servo_globals = 0x060
 

EBB_firmware/app.X/source/UBW.c

@@ -146,7 +146,7 @@ volatile unsigned int ChannelBit;
 volatile UINT16 g_PowerMonitorThresholdADC;    // 0-1023 ADC counts, below which
 volatile BOOL g_PowerDropDetected;             // True if power drops below PowerMonitorThreshold
 
-const rom char st_version[] = {"EBBv13_and_above EB Firmware Version 3.0.0-a12"};
+const rom char st_version[] = {"EBBv13_and_above EB Firmware Version 3.0.0-a15"};
 
 #pragma udata ISR_buf = 0x100
 volatile unsigned int ISR_A_FIFO[16];                     // Stores the most recent analog conversions
@@ -682,6 +682,26 @@ void UserInit(void)
   // Initialize switch as an input
   mInitSwitch();
 
+  //// JUST FOR TESTING! REMOVE!  
+TRISDbits.TRISD1 = 0;   // D1 high when in ISR
+TRISDbits.TRISD0 = 0;   // D0 high when loading next command
+TRISAbits.TRISA1 = 0;   // A1 when FIFO empty
+TRISCbits.TRISC0 = 0;
+TRISAbits.TRISA5 = 0;
+
+
+Open1USART(
+  USART_TX_INT_OFF &
+  USART_RX_INT_OFF &
+  USART_ASYNCH_MODE &
+  USART_EIGHT_BIT &
+  USART_CONT_RX &
+  USART_BRGH_HIGH &
+  USART_ADDEN_OFF,
+  2                   // At 48 MHz, this creates 1 Mbaud output
+);
+////
+
   // Start off always using "OK" acknowledge.
   g_ack_enable = TRUE;
 
@@ -833,15 +853,6 @@ void UserInit(void)
   g_PowerMonitorThresholdADC = 0;
   g_PowerDropDetected = FALSE;
 
-  
-//// JUST FOR TESTING! REMOVE!  
-TRISDbits.TRISD1 = 0;   // D1 high when in ISR
-TRISDbits.TRISD0 = 0;   // D0 high when loading next command
-TRISAbits.TRISA1 = 0;   // A1 when FIFO empty
-TRISCbits.TRISC0 = 0;
-TRISAbits.TRISA5 = 0;
-////
-
 }
 
 /******************************************************************************
@@ -1104,13 +1115,13 @@ void ProcessIO(void)
   // Check to see if we need to print out a "Limit switch triggered" packet to the PC
   if (gLimitSwitchReplies)
   {
-    if (gLimitSwitchTriggered && !gLimitSwitchReplyPrinted)
+    if (bittstzero(gLimitSwitchTriggered) && !gLimitSwitchReplyPrinted)
     {
       printf((far rom char *)"Limit switch triggered. PortB=%02X", gLimitSwitchPortB);
       print_line_ending(kLE_NORM);
       gLimitSwitchReplyPrinted = TRUE;
     }
-    else if (!gLimitSwitchTriggered && gLimitSwitchReplyPrinted)
+    else if (!bittstzero(gLimitSwitchTriggered) && gLimitSwitchReplyPrinted)
     {
       gLimitSwitchReplyPrinted = FALSE;
     }
@@ -1683,6 +1694,7 @@ void parse_R_packet(void)
 // 252 {1|0} turns on or off the UART ISR DEBUG FULL (prints internal numbers at end of each ISR)
 // 253 {1|0} turns on or off the UART COMMAND DEBUG (prints all received command bytes)
 // 254 {1} turns on lock up mode. Tight loop of I/O toggles shows true ISR timing. Reset to exit.
+// 255 {1|0} turns on or off command parsing debug printing on USB
 
 void parse_CU_packet(void)
 {
@@ -1749,6 +1761,11 @@ void parse_CU_packet(void)
     {
       paramater_value = COMMAND_FIFO_MAX_LENGTH;
     }
+    // Spin here until we're certain the FIFO is empty and there are no 
+    // command executing. We want the ISR to be completely idle while we
+    // change this value.
+    while (process_QM())
+      ;
     gCurrentFIFOLength = paramater_value;
   }
   // CU,10,1 or CU,10,0 to turn on/off standardized line ending
@@ -1785,7 +1802,7 @@ void parse_CU_packet(void)
     gLimitSwitchMask = (paramater_value & 0xFF);
     if (gLimitSwitchMask == 0u)
     {
-      gLimitSwitchTriggered = FALSE;
+      bitclrzero(gLimitSwitchTriggered);
     }
   }
   // CU,52,<limit_siwtch_target>
@@ -1949,6 +1966,32 @@ void parse_CU_packet(void)
       _endasm
     }
   }
+  // CU,255,1 or CU,255,0 to turn on/off command parsing debug printing on USB
+  else if (255u == parameter_number)
+  {
+    if (0 == paramater_value)
+    {
+      bitclr(TestMode, TEST_MODE_DEBUG_COMMAND_BIT_NUM);
+    }
+    else if (1 == paramater_value)
+    {
+      bitset(TestMode, TEST_MODE_DEBUG_COMMAND_BIT_NUM);
+      Open1USART(
+        USART_TX_INT_OFF &
+        USART_RX_INT_OFF &
+        USART_ASYNCH_MODE &
+        USART_EIGHT_BIT &
+        USART_CONT_RX &
+        USART_BRGH_HIGH &
+        USART_ADDEN_OFF,
+        2                   // At 48 MHz, this creates 1 Mbaud output
+      );
+    }
+    else
+    {
+      bitset(error_byte, kERROR_BYTE_PARAMETER_OUTSIDE_LIMIT);
+    }
+  }
   else
   {
     // parameter_number is not understood

EBB_firmware/app.X/source/ebb.c

@@ -433,7 +433,6 @@ UINT8 gStandardizedCommandFormat;
 
 
 // Local function definitions
-UINT8 process_QM(void);
 void clear_StepCounters(void);
 
 static void process_low_level_move(
@@ -1049,7 +1048,7 @@ NonStepperCommands:
     acc_union[1].value = 0;
 
     // All EM command clear the limit switch trigger
-    gLimitSwitchTriggered = FALSE;
+    bitclrzero(gLimitSwitchTriggered);
 
     // This is probably unnecessary, but it's critical to be sure to indicate that the current command is finished
     bitsetzero(AllDone);
@@ -1545,7 +1544,7 @@ void EBB_Init(void)
   PortBTemp = 0;
   gLimitSwitchMask = 0;
   gLimitSwitchTarget = 0;
-  gLimitSwitchTriggered = 0;
+  bitclrzero(gLimitSwitchTriggered);
 
   // Clear out global stepper positions
   clear_StepCounters();
@@ -2331,7 +2330,7 @@ void process_low_level_move(
     gFIFOLength++;
   }
 
-  if(bittst(TestMode, TEST_MODE_USART_COMMAND_BIT_NUM))
+  if(bittst(TestMode, TEST_MODE_DEBUG_COMMAND_BIT_NUM))
   {
     // Print the final values used by the ISR for this move
     printf((far rom char *)"R1=%ld S1=%lu A1=%ld J1=%ld R2=%ld S2=%lu A2=%ld J2=%ld",
@@ -2667,7 +2666,7 @@ void parse_HM_packet(void)
     Duration = 10;
   }
 
-  if(bittst(TestMode, TEST_MODE_USART_COMMAND_BIT_NUM))
+  if(bittst(TestMode, TEST_MODE_DEBUG_COMMAND_BIT_NUM))
   {
     printf((far rom char *)"HM Duration=%lu SA1=%li SA2=%li",
       Duration,
@@ -2842,7 +2841,7 @@ static void process_simple_motor_move(
   {
     return;
   }
-    if(bittst(TestMode, TEST_MODE_USART_COMMAND_BIT_NUM))
+  if(bittst(TestMode, TEST_MODE_DEBUG_COMMAND_BIT_NUM))
   {
     printf((far rom char *)"Duration=%lu SA1=%li SA2=%li",
       Duration,
@@ -2910,7 +2909,7 @@ static void process_simple_motor_move(
     // If A1Stp is 1, then duration must be 763 or less.
     // If A1Stp is 2, then duration must be 763 * 2 or less.
     // If A1Stp is 0xFFFFFF, then duration must be at least 671088.
-    if(bittst(TestMode, TEST_MODE_USART_COMMAND_BIT_NUM))
+    if(bittst(TestMode, TEST_MODE_DEBUG_COMMAND_BIT_NUM))
     {
       // First check for duration to large.
       if ((UINT32)A1Stp < (0xFFFFFFu/763u)) 
@@ -3030,7 +3029,7 @@ static void process_simple_motor_move(
     gMoveTemp.Accel[1] = 0;
     gMoveTemp.Command = COMMAND_SM_XM_HM_MOVE_BIT;
 
-    if(bittst(TestMode, TEST_MODE_USART_COMMAND_BIT_NUM))
+    if(bittst(TestMode, TEST_MODE_DEBUG_COMMAND_BIT_NUM))
     {
       printf((far rom char *)"R1=%lu S1=%lu R2=%lu S2=%lu",
         gMoveTemp.Rate[0],
@@ -3667,7 +3666,7 @@ void parse_QG_packet(void)
     result = result | (1 << 6);
     g_PowerDropDetected = FALSE;
   }
-  if (gLimitSwitchTriggered)
+  if (bittstzero(gLimitSwitchTriggered))
   {
     result = result | (1 << 7);
   }

EBB_firmware/app.X/source/ebb.h

@@ -51,25 +51,27 @@
 #ifndef EBB_H
 #define EBB_H
 
+#include <usart.h>
 
 // Bitfield defines for the TestModes variable.
 #define TEST_MODE_GPIO_BIT_NUM            1u
 #define TEST_MODE_GPIO_BIT                (1u << TEST_MODE_GPIO_BIT_NUM)
-// Set for any ISR printing
+// Set for printing ISR debug info to UART at end of every move
 #define TEST_MODE_USART_ISR_BIT_NUM       2u
 #define TEST_MODE_USART_ISR_BIT           (1u << TEST_MODE_USART_ISR_BIT_NUM)
 // Set this and TEST_MODE_USART_ISR_BIT_NUM for printing every ISR, not just end of move
 #define TEST_MODE_USART_ISR_FULL_BIT_NUM  3u
 #define TEST_MODE_USART_ISR_FULL_BIT      (1u << TEST_MODE_USART_ISR_FULL_BIT_NUM)
+// Prints every received byte out to debug UART
 #define TEST_MODE_USART_COMMAND_BIT_NUM   4u
 #define TEST_MODE_USART_COMMAND_BIT       (1u << TEST_MODE_USART_COMMAND_BIT_NUM)
+// Prints additional command debugging info to USB back to PC
+#define TEST_MODE_DEBUG_COMMAND_BIT_NUM   5u
+#define TEST_MODE_DEBUG_COMMAND_BIT       (1u << TEST_MODE_DEBUG_COMMAND_BIT_NUM)
 // This last bit is used during the ISR and is not available as a general test mode bit
 #define TEST_MODE_PRINT_TRIGGER_BIT_NUM   7u
 #define TEST_MODE_PRINT_TRIGGER_BIT       (1u << TEST_MDOE_PRINT_TRIGGER_BIT_NUM)
 
-// Enable this line to compile with a lot of debug prints for motion commands
-//#define DEBUG_VALUE_PRINT
-
 // 	These are used for Enable<X>IO to control the enable lines for the driver
 #define ENABLE_MOTOR        0u
 #define DISABLE_MOTOR       1u
@@ -83,7 +85,7 @@
 // element (command) that gives us a maximum of 43 for the FIFO depth.
 // Because we want to leave some room for FIFO command expansion in the future,
 // we artifically set this to 32 elements. That gives us room to grow the size
-// of the command structure wihtout needing to decreasae the maximum size
+// of the command structure without needing to decrease the maximum size
 // of the FIFO in elements.
 #define COMMAND_FIFO_MAX_LENGTH     32u
 
@@ -330,4 +332,5 @@ void parse_T3_packet(void);
 void parse_L3_packet(void);
 void EBB_Init(void);
 void process_SP(PenStateType NewState, UINT16 CommandDuration);
+UINT8 process_QM(void);
 #endif