v3.0.0-a36 : Brought over the new command code defines (rather than bit flags) and FIFO element structure updates from CM branch. Compiles, runs simple tests fine.

2024-01-20 15:07:21 -06:00 · 2024-01-20 15:07:21 -06:00 · 61d3179252
commit 61d3179252
--- a/EBB_firmware/app.X/dist/EBBv13_with_bootloader/production/EBF.X.production.map
+++ b/EBB_firmware/app.X/dist/EBBv13_with_bootloader/production/EBF.X.production.map
--- a/EBB_firmware/app.X/dist/EBBv13_with_bootloader/production/app.X.production.cof
+++ b/EBB_firmware/app.X/dist/EBBv13_with_bootloader/production/app.X.production.cof
--- a/EBB_firmware/app.X/dist/EBBv13_with_bootloader/production/app.X.production.hex
+++ b/EBB_firmware/app.X/dist/EBBv13_with_bootloader/production/app.X.production.hex
--- a/EBB_firmware/app.X/dist/EBBv13_with_bootloader/production/app.X.production.lst
+++ b/EBB_firmware/app.X/dist/EBBv13_with_bootloader/production/app.X.production.lst
--- a/EBB_firmware/app.X/dist/EBBv13_with_bootloader/production/app.X.production.unified.hex
+++ b/EBB_firmware/app.X/dist/EBBv13_with_bootloader/production/app.X.production.unified.hex
--- a/EBB_firmware/app.X/nbproject/configurations.xml
+++ b/EBB_firmware/app.X/nbproject/configurations.xml
@ -50,6 +50,7 @@
      <itemPath>source/ebb_demo.c</itemPath>
      <itemPath>source/isr_helpers.asm</itemPath>
      <itemPath>source/ebb_print.c</itemPath>
+      <itemPath>source/squareroot.s</itemPath>
    </logicalFolder>
    <logicalFolder name="ExternalFiles"
                   displayName="Important Files"
@ -68,7 +69,7 @@
        <targetDevice>PIC18F46J50</targetDevice>
        <targetHeader></targetHeader>
        <targetPluginBoard></targetPluginBoard>
-        <platformTool>noID</platformTool>
+        <platformTool>PICkit3PlatformTool</platformTool>
        <languageToolchain>C18</languageToolchain>
        <languageToolchainVersion>3.47</languageToolchainVersion>
        <platform>3</platform>
@ -112,8 +113,8 @@
        <makeCustomizationPreStepEnabled>false</makeCustomizationPreStepEnabled>
        <makeUseCleanTarget>false</makeUseCleanTarget>
        <makeCustomizationPreStep></makeCustomizationPreStep>
-        <makeCustomizationPostStepEnabled>true</makeCustomizationPostStepEnabled>
-        <makeCustomizationPostStep>"C:\Program Files (x86)\Microchip\mplabc18\v3.47\bin\mplink.exe"  "source\BL_rm18f46j50_g.lkr"  -p18f46j50  -m"dist/EBBv13_with_bootloader/production/EBF.X.production.map" -i -l"./source"  -z__MPLAB_BUILD=1  -u_CRUNTIME -l "C:\Program Files (x86)\Microchip\mplabc18\v3.47\bin"\\..\\lib  -o dist/EBBv13_with_bootloader/production/app.X.production.cof  build/EBBv13_with_bootloader/production/_ext/343710134/usb_device.o build/EBBv13_with_bootloader/production/_ext/131024517/usb_function_cdc.o build/EBBv13_with_bootloader/production/source/ebb.o build/EBBv13_with_bootloader/production/source/main.o build/EBBv13_with_bootloader/production/source/RCServo2.o build/EBBv13_with_bootloader/production/source/UBW.o build/EBBv13_with_bootloader/production/source/usb_descriptors.o build/EBBv13_with_bootloader/production/source/ebb_print.o</makeCustomizationPostStep>
+        <makeCustomizationPostStepEnabled>false</makeCustomizationPostStepEnabled>
+        <makeCustomizationPostStep></makeCustomizationPostStep>
        <makeCustomizationPutChecksumInUserID>false</makeCustomizationPutChecksumInUserID>
        <makeCustomizationEnableLongLines>false</makeCustomizationEnableLongLines>
        <makeCustomizationNormalizeHexFile>false</makeCustomizationNormalizeHexFile>
@ -159,7 +160,7 @@
        <property key="extra-lib-directories" value="./source"/>
        <property key="hex-output-format" value="INHX32"/>
        <property key="map-file" value="&quot;${DISTDIR}/EBF.X.${IMAGE_TYPE}.map&quot;"/>
-        <appendMe value="-p18f46j50"/>
+        <appendMe value="-i -p18f46j50"/>
      </C18-LD>
      <C18LanguageToolchain>
        <property key="extended-mode" value="false"/>
@ -170,6 +171,100 @@
        <property key="stack-analysis-mcc18" value="false"/>
        <property key="stack-analysis-mplink" value="false"/>
      </C18LanguageToolchain>
+      <PICkit3PlatformTool>
+        <property key="AutoSelectMemRanges" value="auto"/>
+        <property key="Freeze Peripherals" value="true"/>
+        <property key="SecureSegment.SegmentProgramming" value="FullChipProgramming"/>
+        <property key="ToolFirmwareFilePath"
+                  value="Press to browse for a specific firmware version"/>
+        <property key="ToolFirmwareOption.UseLatestFirmware" value="true"/>
+        <property key="debugoptions.debug-startup" value="Use system settings"/>
+        <property key="debugoptions.reset-behaviour" value="Use system settings"/>
+        <property key="debugoptions.useswbreakpoints" value="false"/>
+        <property key="event.recorder.enabled" value="false"/>
+        <property key="event.recorder.scvd.files" value=""/>
+        <property key="hwtoolclock.frcindebug" value="false"/>
+        <property key="lastid" value=""/>
+        <property key="memories.aux" value="false"/>
+        <property key="memories.bootflash" value="true"/>
+        <property key="memories.configurationmemory" value="true"/>
+        <property key="memories.configurationmemory2" value="true"/>
+        <property key="memories.dataflash" value="true"/>
+        <property key="memories.eeprom" value="true"/>
+        <property key="memories.flashdata" value="true"/>
+        <property key="memories.id" value="true"/>
+        <property key="memories.instruction.ram" value="true"/>
+        <property key="memories.instruction.ram.ranges"
+                  value="${memories.instruction.ram.ranges}"/>
+        <property key="memories.programmemory" value="true"/>
+        <property key="memories.programmemory.ranges" value="0-fff7"/>
+        <property key="poweroptions.powerenable" value="false"/>
+        <property key="programmertogo.imagename" value=""/>
+        <property key="programoptions.donoteraseauxmem" value="false"/>
+        <property key="programoptions.eraseb4program" value="true"/>
+        <property key="programoptions.pgmspeed" value="2"/>
+        <property key="programoptions.preservedataflash" value="false"/>
+        <property key="programoptions.preservedataflash.ranges"
+                  value="${programoptions.preservedataflash.ranges}"/>
+        <property key="programoptions.preserveeeprom" value="false"/>
+        <property key="programoptions.preserveeeprom.ranges" value=""/>
+        <property key="programoptions.preserveprogram.ranges" value=""/>
+        <property key="programoptions.preserveprogramrange" value="false"/>
+        <property key="programoptions.preserveuserid" value="false"/>
+        <property key="programoptions.programcalmem" value="false"/>
+        <property key="programoptions.programuserotp" value="false"/>
+        <property key="programoptions.testmodeentrymethod" value="VDDFirst"/>
+        <property key="programoptions.usehighvoltageonmclr" value="false"/>
+        <property key="programoptions.uselvpprogramming" value="false"/>
+        <property key="voltagevalue" value="3.25"/>
+      </PICkit3PlatformTool>
+      <Tool>
+        <property key="AutoSelectMemRanges" value="auto"/>
+        <property key="Freeze Peripherals" value="true"/>
+        <property key="SecureSegment.SegmentProgramming" value="FullChipProgramming"/>
+        <property key="ToolFirmwareFilePath"
+                  value="Press to browse for a specific firmware version"/>
+        <property key="ToolFirmwareOption.UseLatestFirmware" value="true"/>
+        <property key="debugoptions.debug-startup" value="Use system settings"/>
+        <property key="debugoptions.reset-behaviour" value="Use system settings"/>
+        <property key="debugoptions.useswbreakpoints" value="false"/>
+        <property key="event.recorder.enabled" value="false"/>
+        <property key="event.recorder.scvd.files" value=""/>
+        <property key="hwtoolclock.frcindebug" value="false"/>
+        <property key="lastid" value=""/>
+        <property key="memories.aux" value="false"/>
+        <property key="memories.bootflash" value="true"/>
+        <property key="memories.configurationmemory" value="true"/>
+        <property key="memories.configurationmemory2" value="true"/>
+        <property key="memories.dataflash" value="true"/>
+        <property key="memories.eeprom" value="true"/>
+        <property key="memories.flashdata" value="true"/>
+        <property key="memories.id" value="true"/>
+        <property key="memories.instruction.ram" value="true"/>
+        <property key="memories.instruction.ram.ranges"
+                  value="${memories.instruction.ram.ranges}"/>
+        <property key="memories.programmemory" value="true"/>
+        <property key="memories.programmemory.ranges" value="0-fff7"/>
+        <property key="poweroptions.powerenable" value="false"/>
+        <property key="programmertogo.imagename" value=""/>
+        <property key="programoptions.donoteraseauxmem" value="false"/>
+        <property key="programoptions.eraseb4program" value="true"/>
+        <property key="programoptions.pgmspeed" value="2"/>
+        <property key="programoptions.preservedataflash" value="false"/>
+        <property key="programoptions.preservedataflash.ranges"
+                  value="${programoptions.preservedataflash.ranges}"/>
+        <property key="programoptions.preserveeeprom" value="false"/>
+        <property key="programoptions.preserveeeprom.ranges" value=""/>
+        <property key="programoptions.preserveprogram.ranges" value=""/>
+        <property key="programoptions.preserveprogramrange" value="false"/>
+        <property key="programoptions.preserveuserid" value="false"/>
+        <property key="programoptions.programcalmem" value="false"/>
+        <property key="programoptions.programuserotp" value="false"/>
+        <property key="programoptions.testmodeentrymethod" value="VDDFirst"/>
+        <property key="programoptions.usehighvoltageonmclr" value="false"/>
+        <property key="programoptions.uselvpprogramming" value="false"/>
+        <property key="voltagevalue" value="3.25"/>
+      </Tool>
      <item path="source/ebb_demo.c" ex="true" overriding="false">
        <C18>
        </C18>
--- a/EBB_firmware/app.X/nbproject/private/configurations.xml
+++ b/EBB_firmware/app.X/nbproject/private/configurations.xml
@ -4,7 +4,7 @@
  <defaultConf>0</defaultConf>
  <confs>
    <conf name="EBBv13_with_bootloader" type="2">
-      <platformToolSN>noToolString</platformToolSN>
+      <platformToolSN>:=MPLABComm-USB-Microchip:=&lt;vid>04D8:=&lt;pid>900A:=&lt;rev>0002:=&lt;man>Microchip Technology Inc.:=&lt;prod>PICkit 3:=&lt;sn>BUR101260159:=&lt;drv>x:=&lt;xpt>h:=end</platformToolSN>
      <languageToolchainDir>C:\MCC18\bin</languageToolchainDir>
      <mdbdebugger version="1">
        <placeholder1>place holder 1</placeholder1>
--- a/EBB_firmware/app.X/nbproject/project.xml
+++ b/EBB_firmware/app.X/nbproject/project.xml
@ -35,11 +35,14 @@
            <word>Bitfield</word>
            <word>bootup</word>
            <word>breifly</word>
+            <word>codebase</word>
            <word>comamnds</word>
            <word>Fosc</word>
            <word>init</word>
+            <word>microstep</word>
            <word>paramters</word>
            <word>Prescale</word>
+            <word>refactor</word>
            <word>struct</word>
        </spellchecker-wordlist>
    </configuration>
--- a/EBB_firmware/app.X/source/BL_rm18f46j50_g.lkr
+++ b/EBB_firmware/app.X/source/BL_rm18f46j50_g.lkr
@ -58,14 +58,14 @@ LIBPATH .

 #FI

-#IFDEF _DEBUGCODESTART
  CODEPAGE   NAME=bootloader START=0x0            END=0xFFF          PROTECTED
  CODEPAGE   NAME=vectors    START=0x1000         END=0x1029         PROTECTED
+
+#IFDEF _DEBUGCODESTART
  CODEPAGE   NAME=page       START=0x102A         END=_CODEEND
  CODEPAGE   NAME=debug      START=_DEBUGCODESTART END=_CEND         PROTECTED
+  CODEPAGE   NAME=save     START=0xF800         END=0xFFF7         PROTECTED
 #ELSE
-  CODEPAGE   NAME=bootloader START=0x0            END=0xFFF          PROTECTED
-  CODEPAGE   NAME=vectors    START=0x1000         END=0x1029         PROTECTED
  // Top of program memory is decreased by two flash blocks - one to hold the
  // configuration words (we don't want them to ever get erased) and one to hold
  // our persistent storage across reboots (like the EBB's name)
@ -96,7 +96,7 @@ DATABANK   NAME=FIFO_scn   START=0x600             END=0xDFF
 DATABANK   NAME=stacks     START=0xE00             END=0xEBF

 #IFDEF _DEBUGDATASTART
-  DATABANK   NAME=gpr14      START=0xE00             END=_DATAEND
+  DATABANK   NAME=gpr13      START=0xD00             END=_DATAEND
  DATABANK   NAME=dbgspr     START=_DEBUGDATASTART   END=_DEND           PROTECTED
 #ELSE //no debug
 //  DATABANK   NAME=gpr14      START=0xE00             END=0xEBF
--- a/EBB_firmware/app.X/source/RCServo2.c
+++ b/EBB_firmware/app.X/source/RCServo2.c
@ -388,21 +388,21 @@ UINT8 RCServo2_Move(
      if (!bittst(TestMode, TEST_MODE_DEBUG_BLOCK_FIFO_NUM))
      {
        // Now copy the values over into the FIFO element
-        FIFOPtr[gFIFOIn].Command = COMMAND_SERVO_MOVE_BIT;
-        FIFOPtr[gFIFOIn].DelayCounter = HIGH_ISR_TICKS_PER_MS * (UINT32)Delay;
-        FIFOPtr[gFIFOIn].ServoChannel = Channel;
-        FIFOPtr[gFIFOIn].ServoRPn = RPn;
-        FIFOPtr[gFIFOIn].ServoPosition = Position;
-        FIFOPtr[gFIFOIn].ServoRate = Rate;
+      FIFOPtr[gFIFOIn].Command = COMMAND_SERVO_MOVE;
+      FIFOPtr[gFIFOIn].m.sm.DelayCounter = HIGH_ISR_TICKS_PER_MS * (UINT32)Delay;
+      FIFOPtr[gFIFOIn].m.sm.ServoChannel = Channel;
+      FIFOPtr[gFIFOIn].m.sm.ServoRPn = RPn;
+      FIFOPtr[gFIFOIn].m.sm.ServoPosition = Position;
+      FIFOPtr[gFIFOIn].m.sm.ServoRate = Rate;

        // Check that DelayCounter doesn't have a crazy high value (this was
        // being done in the ISR, now moved here for speed)
-        if (FIFOPtr[gFIFOIn].DelayCounter > HIGH_ISR_TICKS_PER_MS * (UINT32)0x10000)
+      if (FIFOPtr[gFIFOIn].m.sm.DelayCounter > HIGH_ISR_TICKS_PER_MS * (UINT32)0x10000)
        {
          // Ideally we would throw an error to the user here, but since we're in
          // the helper function that's not so easy. So we just set the delay time
          // to zero and hope they notice that their delays aren't doing anything.
-          FIFOPtr[gFIFOIn].DelayCounter = 0;
+        FIFOPtr[gFIFOIn].m.sm.DelayCounter = 0;
        }

        gFIFOIn++;
--- a/EBB_firmware/app.X/source/UBW.c
+++ b/EBB_firmware/app.X/source/UBW.c
@ -151,7 +151,7 @@ volatile UINT16 g_StepperDisableTimeoutS;       // Seconds of no motion before m
 volatile UINT16 g_StepperDisableSecondCounter;  // Counts milliseconds up to 1 s for stepper disable timeout
 volatile UINT16 g_StepperDisableCountdownS;     // After motion is done, counts down in seconds from g_StepperDisableTimeoutS to zero

-const rom char st_version[] = {"EBBv13_and_above EB Firmware Version 3.0.0-a35"};
+const rom char st_version[] = {"EBBv13_and_above EB Firmware Version 3.0.0-a36"};

 #pragma udata ISR_buf = 0x100
 volatile unsigned int ISR_A_FIFO[16];                     // Stores the most recent analog conversions
--- a/EBB_firmware/app.X/source/ebb.c
+++ b/EBB_firmware/app.X/source/ebb.c
--- a/EBB_firmware/app.X/source/ebb.h
+++ b/EBB_firmware/app.X/source/ebb.h
@ -103,29 +103,19 @@ typedef enum
  PEN_UP
 } PenStateType;

-// Bitfield defines the CommandType BYTE in the MoveCommandType
-// We use bits now in this byte in order to trigger a command,
-// one bit per command. Thus we can only have 8 total commands that are passed
-// through the FIFO to the ISR. Note that three USB commands (SM, XM HM) are
-// all the same and represented by one bit.
-// Only one bit must be set at a time or undefined behavior will occur.
-// If no bits are set, then the command is effectively COMMAND_NONE.
-#define COMMAND_DELAY_BIT_NUM             0u
-#define COMMAND_SERVO_MOVE_BIT_NUM        1u
-#define COMMAND_SE_BIT_NUM                2u
-#define COMMAND_EM_BIT_NUM                3u
-#define COMMAND_SM_XM_HM_MOVE_BIT_NUM     4u
-#define COMMAND_LM_MOVE_BIT_NUM           5u
-#define COMMAND_LT_MOVE_BIT_NUM           6u
-
-#define COMMAND_NONE_BIT                  0u
-#define COMMAND_DELAY_BIT                 1u
-#define COMMAND_SERVO_MOVE_BIT            (1u << COMMAND_SERVO_MOVE_BIT_NUM)
-#define COMMAND_SE_BIT                    (1u << COMMAND_SE_BIT_NUM)
-#define COMMAND_EM_BIT                    (1u << COMMAND_EM_BIT_NUM)
-#define COMMAND_SM_XM_HM_MOVE_BIT         (1u << COMMAND_SM_XM_HM_MOVE_BIT_NUM)
-#define COMMAND_LM_MOVE_BIT               (1u << COMMAND_LM_MOVE_BIT_NUM)
-#define COMMAND_LT_MOVE_BIT               (1u << COMMAND_LT_MOVE_BIT_NUM)
+// Defines for the CommandType BYTE in the MoveCommandType
+// Note that three USB commands (SM, XM HM) are
+// all the same and represented by one command value.
+#define COMMAND_NONE                  0u
+#define COMMAND_DELAY                 1u
+#define COMMAND_SERVO_MOVE            2u
+#define COMMAND_SE                    3u
+#define COMMAND_EM                    4u
+#define COMMAND_SM_XM_HM_MOVE         5u
+#define COMMAND_LM_MOVE               6u
+#define COMMAND_LT_MOVE               7u
+#define COMMAND_CM_OUTER_MOVE         8u
+#define COMMAND_CM_INNER_MOVE         9u

 typedef enum
 {
@ -137,12 +127,13 @@ typedef enum
 // Byte union used for accumulator (unsigned))
 typedef union union32b4 {
  struct byte_map {
-    UINT8 b1; // Low byte
+    UINT8 b1; // Low bytegTmpIntervals =
    UINT8 b2;
    UINT8 b3;
    UINT8 b4; // High byte
  } bytes;
  UINT32 value;
+  UINT32 circle_accum;
 } u32b4_t;

 // Byte union used for rate (signed)
@ -160,8 +151,11 @@ typedef union union32b4 {
 // are sent from the command parser to the ISR move engine.
 // Currently 47 bytes long
 typedef struct
-{                                                 // Used in which commands? (SM = SM/XM/HM, DL = Delay, S2 = any servo move)
+{
  UINT8           Command;                        // SM DL S2 SE EM LM LT
+  union {
+    struct {
+                                                      // Used in which commands? (SM = SM/XM/HM, DL = Delay, S2 = any servo move)
  UINT8           DirBits;                        // SM          EM LM LT
  UINT32          DelayCounter;                   // SM DL S2 SE    LM LT   NOT Milliseconds! In 25KHz units
  UINT8           SEState;                        // SM       SE    LM LT
@ -174,8 +168,27 @@ typedef struct
  UINT8           ServoChannel;                   //       S2
  UINT16          ServoRate;                      //       S2
  UINT16          SEPower;                        //          SE
+    } sm;
+    struct {  // Currently 39 bytes long
+      UINT8           DirBits;
+      s32b4_t         Rate[NUMBER_OF_STEPPERS];
+      UINT32          Steps[NUMBER_OF_STEPPERS];
+      UINT16          VScaleK;
+      UINT8           m_alpha;
+      INT8            bits_left;
+      INT16           x_f;
+      INT16           y_f;
+      INT32           x_t;
+      INT32           y_t;
+      UINT8           direction;
+      INT16           x_pos_last;
+      INT16           y_pos_last;
+      UINT8           typ_seg;
+    } cm;  
+  } m;
 } MoveCommandType;

+
 // Define global things that depend on the board type
 // STEP2 = RD4
 #define STEP2_BIT_NUM   4u