kopia lustrzana https://github.com/evil-mad/EggBot
v3.0.0-a23 : Updated linker script RAM map and moved some variables around for simpler allocation. Bumped max FIFO size back up to 32 elements. Still have 226 unallocated bytes of RAM.
EmbeddedMan
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@ -1,15 +1,15 @@
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// Ram Usage for EBB v3.0.0-a23
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// currently 226 bytes unallocated
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//
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//Name Start End Purpose
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//accessram 0x000 0x05F
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// 0x000 0x022 small ISR variables
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// 0x023 0x03F compiler temp
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// 0x043 0x05F [unused (33d)]
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// 0x000 0x022 small ISR variables (ebb.c)
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// 0x023 0x053 compiler temp
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//gpr0 0x060 0x0FF
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// 0x060 0x0F9 RCServo2 variables, UBW.c
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// 0x060 0x0F9 RCServo2.c, UBW.c
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//gpr1 0x100 0x1FF
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// 0x100 0x17F UBW.c, compiler startup variables
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// 0x180 0x1FF Rest of ISR variables
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// 0x100 0x178 UBW.c (A and D FIFOs), ebb.c
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// 0x180 0x1FF Rest of ISR variables, ebb.c, ebb_print.c, UBW.c
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//gpr2 0x200 0x2FF
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// 0x200 0x27F TX and RX command buffers
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// 0x280 0x2FF USB Descriptors
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@ -17,21 +17,22 @@
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// 0x300 0x3FF RX buffer
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//gpr4 0x400 0x4FF
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// 0x400 0x438 USB Buffer Description Tables (USB SIE hardware SFRs), usb_device.c variables
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// 0x439 0x4FF UBW.c misc variables, compiler startup variables
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// 0x439 0x4FF [unused (198d)]
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//gpr5 0x500 0x5FF
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// 0x500 0x5F5 usb_function_cdc.c variables, UBW.c misc variables
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//gpr6 0x600 0x6FF CommandFIFO
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//gpr7 0x700 0x7FF CommandFIFO
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//gpr8 0x800 0x8FF CommandFIFO
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//gpr9 0x900 0x9FF CommandFIFO
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//gpr10 0xA00 0xAFF CommandFIFO
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//gpr11 0xB00 0xBFF CommandFIFO
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//gpr12 0xC00 0xCFF CommandFIFO
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//gpr13 0xD00 0xDFF CommandFIFO (spare/extra space)
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//gpr14 0xE00 0xEBF Stack (note, not full 256 bytes anymore, only 192 now)
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//sfr14 0xEC0 0xEFF SFRs
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//sfr15 0xF00 0xF5F SFRs
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//accesssfr 0xF60 0xFFF SFRs
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// 0x500 0x5E3 usb_function_cdc.c, compiler startup
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// 0x5E4 0x5FF [unused (28d)]
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//gpr6 0x600 0x6FF CommandFIFO
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//gpr7 0x700 0x7FF CommandFIFO
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//gpr8 0x800 0x8FF CommandFIFO
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//gpr9 0x900 0x9FF CommandFIFO
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//gpr10 0xA00 0xAFF CommandFIFO
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//gpr11 0xB00 0xBFF CommandFIFO
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//gpr12 0xC00 0xCFF CommandFIFO
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//gpr13 0xD00 0xDFF CommandFIFO
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//gpr14 0xE00 0xEBF Stack (note, not full 256 bytes anymore, only 192 now)
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//sfr14 0xEC0 0xEFF SFRs
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//sfr15 0xF00 0xF5F SFRs
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//accesssfr 0xF60 0xFFF SFRs
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// File: 18f46j50_g.lkr
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// Generic linker script for the PIC18F46J50 processor
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@ -82,7 +83,7 @@ DATABANK NAME=gpr2 START=0x200 END=0x2FF
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DATABANK NAME=gpr3 START=0x300 END=0x3FF
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DATABANK NAME=gpr4 START=0x400 END=0x4FF
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DATABANK NAME=gpr5 START=0x500 END=0x5FF
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// Command FIFO takes over all banks from 0x600 to 0xDFF
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// Command FIFO takes over all banks from 0x600 to 0xDFF (length of 0x800 or 2048d)
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//DATABANK NAME=gpr6 START=0x600 END=0x6FF
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//DATABANK NAME=gpr7 START=0x700 END=0x7FF
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//DATABANK NAME=gpr8 START=0x800 END=0x8FF
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@ -90,9 +91,9 @@ DATABANK NAME=gpr5 START=0x500 END=0x5FF
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//DATABANK NAME=gpr10 START=0xA00 END=0xAFF
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//DATABANK NAME=gpr11 START=0xB00 END=0xBFF
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//DATABANK NAME=gpr12 START=0xC00 END=0xCFF
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DATABANK NAME=FIFO_scn START=0x600 END=0xCFF
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//DATABANK NAME=gpr13 START=0xD00 END=0xDFF
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DATABANK NAME=stacks START=0xD00 END=0xEBF
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DATABANK NAME=FIFO_scn START=0x600 END=0xDFF
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DATABANK NAME=stacks START=0xE00 END=0xEBF
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#IFDEF _DEBUGDATASTART
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DATABANK NAME=gpr14 START=0xE00 END=_DATAEND
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@ -113,6 +114,6 @@ ACCESSBANK NAME=accesssfr START=0xF60 END=0xFFF PROTECTED
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#IFDEF _DEBUGDATASTART
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STACK SIZE=0x100 RAM=gpr13
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#ELSE
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STACK SIZE=0x1C0 RAM=stacks
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STACK SIZE=0x0C0 RAM=stacks
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#FI
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#FI
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@ -309,15 +309,21 @@ typedef enum
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SOLENOID_PWM
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} SolenoidStateType;
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// This is the FIFO that stores the motion commands. It spans multiple RAM
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// banks from 0x800 through 0xCFF, and must only be accessed via pointer
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#pragma udata FIFO_scn
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MoveCommandType CommandFIFO[COMMAND_FIFO_MAX_LENGTH];
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// These global variables are deliberately put into "Bank" 1 of RAM.
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// They are every global variable that the 25KHz ISR has to access.
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// With them all being in bank 1, no bank switch instructions are needed
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// in the ISR save for one at the very top.
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// This is the FIFO that stores the motion commands. It spans multiple RAM
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// banks from 0x600 through 0xDFF (length 0x800 or 2048d), and must only be
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// accessed via pointer.
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// Note that no matter what COMMAND_FIFO_MAX_LENGTH is set to, we reserve the
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// entire 0x800 bytes of space in the FIFO_scn here. That prevents the linker
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// from putting variables after this section.
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#pragma udata FIFO_scn
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UINT8 CommandFIFO[COMMAND_FIFO_SIZE_BYTES];
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// These global variables are deliberately put into "Bank" 0 of RAM (the
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// access/near bank).
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// They are the small global variables that the 25KHz ISR has to access.
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// With them all being in bank 0, no bank switch instructions are needed
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// to access them.
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#pragma udata access ISR_access
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//static UINT8 TookStep; // LSb set if a step was taken
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@ -376,28 +382,28 @@ UINT8 near FIFO_out_ptr_low;
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volatile static near INT32 globalStepCounter1;
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volatile static near INT32 globalStepCounter2;
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#pragma udata ISR_globals = 0x180
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MoveCommandType CurrentCommand;
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// Pointer to a MoveCommandType element of the FIFO array
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MoveCommandType * FIFOPtr = &CommandFIFO[0];
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// Accumulator for each axis
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static u32b4_t acc_union[2];
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near MoveCommandType * FIFOPtr = (near MoveCommandType *)&CommandFIFO[0];
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// Accumulator for each axis
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static near u32b4_t acc_union[2];
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// ISR globals used in test modes for keeping track of each move
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static UINT32 gISRTickCountForThisCommand;
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static UINT32 gISRStepCountForThisCommand;
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static INT32 gISRPositionForThisCommand;
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static near UINT32 gISRTickCountForThisCommand;
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static near UINT32 gISRStepCountForThisCommand;
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static near INT32 gISRPositionForThisCommand;
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// These globals are now set to be put anywhere the linker can find space for them
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#pragma udata
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static MoveCommandType gMoveTemp; // Commands fill this then copy to FIFO
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// Bank 1 is the "ISR Bank". By placing all variables that the ISR needs
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// access to either in the access bank (above) or in Bank 1, then the bank
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// select register can be kept pointing to Bank 1 and no bank switch instructions
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// are needed in the iSR.
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#pragma udata ISR_globals = 0x180
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// The move command containing the currently executing move command in the ISR
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MoveCommandType CurrentCommand;
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unsigned int DemoModeActive;
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unsigned int comd_counter;
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static SolenoidStateType SolenoidState;
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static unsigned int SolenoidDelay;
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@ -405,7 +411,6 @@ static unsigned int SolenoidDelay;
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static PenStateType PenState;
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static unsigned long NodeCount;
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static UINT8 gSL_Storage[32];
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unsigned char QC_ms_timer;
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static UINT StoredEngraverPower;
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// Set TRUE to enable solenoid output for pen up/down
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@ -437,6 +442,16 @@ static INT32 gTmpJerk1;
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static INT32 gTmpJerk2;
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static UINT32 gTmpClearAccs;
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// These globals are now set to be put anywhere the linker can find space for them
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#pragma udata
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static MoveCommandType gMoveTemp; // Commands fill this then copy to FIFO
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// Storage for the 32 bytes of "SL" command values
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static UINT8 gSL_Storage[32];
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// Local function definitions
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@ -87,7 +87,12 @@
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// we artifically set this to 32 elements. That gives us room to grow the size
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// of the command structure without needing to decrease the maximum size
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// of the FIFO in elements.
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#define COMMAND_FIFO_MAX_LENGTH 28u
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#define COMMAND_FIFO_MAX_LENGTH 32u
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// The total number of bytes of space we want the FIFO to be (i.e. reserve
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// maximum 2048 bytes, even if we're not using all of it)
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#define COMMAND_FIFO_SIZE_BYTES 0x800
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typedef enum
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{
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@ -292,7 +297,7 @@ typedef struct
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extern MoveCommandType * FIFOPtr;
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extern near MoveCommandType * FIFOPtr;
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extern near volatile UINT8 gFIFOLength;
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extern near volatile UINT8 gFIFOIn;
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extern near volatile UINT8 gFIFOOut;
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