EBB v2.8.1_186 : Added optional parameter to PO command to allow it to be put on the motion queue. Tested with Logic Analyzer - works as expected.

EBB_firmware/app.X/source/UBW.c

@@ -158,7 +158,7 @@ const rom char st_LFCR[] = {"\r\n"};
 #elif defined(BOARD_EBB_V12)
 	const rom char st_version[] = {"EBBv12 EB Firmware Version 2.2.1\r\n"};
 #elif defined(BOARD_EBB_V13_AND_ABOVE)
-	const rom char st_version[] = {"EBBv13_and_above EB Firmware Version 2.8.1\r\n"};
+	const rom char st_version[] = {"EBBv13_and_above EB Firmware Version 2.8.1_186\r\n"};
 #elif defined(BOARD_UBW)
 	const rom char st_version[] = {"UBW EB Firmware Version 2.2.1\r\n"};
 #endif
@@ -2284,147 +2284,131 @@ void parse_PI_packet(void)
 }
 
 // PO is for Pin Output
-// "PO,<port>,<pin>,<value><CR>"
+// "PO,<port>,<pin>,<value>,<queue><CR>"
 // <port> is "A", "B", "C" and indicates the port
 // <pin> is a number between 0 and 7 and indicates which pin to write out the value to
 // <value> is "1" or "0" and indicates the state to change the pin to
+// <queue> is optional and if "1" adds this command to the motion queue, "0" (or no value) executes it immediately
 void parse_PO_packet(void)
 {
-	unsigned char port;
-	unsigned char pin;
-	unsigned char value;
+  unsigned char port;
+  unsigned char pin;
+  unsigned char value;
+  unsigned char queue = 0;
 
-	extract_number (kUCASE_ASCII_CHAR, &port, kREQUIRED);
-	extract_number (kUCHAR, &pin, kREQUIRED);
-	extract_number (kUCHAR, &value, kREQUIRED);
+  extract_number (kUCASE_ASCII_CHAR, &port, kREQUIRED);
+  extract_number (kUCHAR, &pin, kREQUIRED);
+  extract_number (kUCHAR, &value, kREQUIRED);
+  extract_number (kUCHAR, &queue, kOPTIONAL);
 
-	// Bail if we got a conversion error
-	if (error_byte)
-	{
-		return;
-	}
+  // Bail if we got a conversion error
+  if (error_byte)
+  {
+    return;
+  }
 
-	// Limit check the parameters
-	if (value > 1)
-	{
-		bitset (error_byte, kERROR_BYTE_PARAMETER_OUTSIDE_LIMIT);
-		return;
-	}
-	if (pin > 7)
-	{
-		bitset (error_byte, kERROR_BYTE_PARAMETER_OUTSIDE_LIMIT);
-		return;
-	}
-	if ('A' == port)
-	{
-		if (0 == value)
-		{
-			bitclr (LATA, pin);  	
-		}
-		else
-		{
-			bitset (LATA, pin);  	
-		}
-	}
-	else if ('B' == port)
-	{
-		if (0 == value)
-		{
-			bitclr (LATB, pin);  	
-		}
-		else
-		{
-			bitset (LATB, pin);  	
-		}		
-	}
-	else if ('C' == port)
-	{
-		if (0 == value)
-		{
-			bitclr (LATC, pin);  	
-		}
-		else
-		{
-			bitset (LATC, pin);  	
-		}		
-	}
+  // Limit check the parameters
+  if (value > 1)
+  {
+    bitset (error_byte, kERROR_BYTE_PARAMETER_OUTSIDE_LIMIT);
+    return;
+  }
+  if (pin > 7)
+  {
+    bitset (error_byte, kERROR_BYTE_PARAMETER_OUTSIDE_LIMIT);
+    return;
+  }
+    if (queue > 1)
+  {
+    bitset (error_byte, kERROR_BYTE_PARAMETER_OUTSIDE_LIMIT);
+    return;
+  }
+
+  // Execute the pin change immediately unless the user wanted it added to the motion queue
+  if (queue == 0)
+  {
+    if ('A' == port)
+    {
+      if (0 == value)
+      {
+        bitclr (LATA, pin);  	
+      }
+      else
+      {
+        bitset (LATA, pin);  	
+      }
+    }
+    else if ('B' == port)
+    {
+      if (0 == value)
+      {
+        bitclr (LATB, pin);  	
+      }
+      else
+      {
+        bitset (LATB, pin);  	
+      }
+    }
+    else if ('C' == port)
+    {
+      if (0 == value)
+      {
+        bitclr (LATC, pin);  	
+      }
+      else
+      {
+        bitset (LATC, pin);  	
+      }
+    }
 #if defined(BOARD_EBB_V10) || defined(BOARD_EBB_V11) || defined(BOARD_EBB_V12) || defined(BOARD_EBB_V13_AND_ABOVE)
-	else if ('D' == port)
-	{
-		if (0 == value)
-		{
-			bitclr (LATD, pin);  	
-		}
-		else
-		{
-			bitset (LATD, pin);  	
-		}		
-	}
-	else if ('E' == port)
-	{
-		if (0 == value)
-		{
-			bitclr (LATE, pin);  	
-		}
-		else
-		{
-			bitset (LATE, pin);  	
-		}		
-	}
+    else if ('D' == port)
+    {
+      if (0 == value)
+      {
+        bitclr (LATD, pin);  	
+      }
+      else
+      {
+        bitset (LATD, pin);  	
+      }
+    }
+    else if ('E' == port)
+    {
+      if (0 == value)
+      {
+        bitclr (LATE, pin);  	
+      }
+      else
+      {
+        bitset (LATE, pin);  	
+      }
+    }
 #endif
-#if defined(BOARD_EBB_V10)
-	else if ('F' == port)
-	{
-		if (0 == value)
-		{
-			bitclr (LATF, pin);  	
-		}
-		else
-		{
-			bitset (LATF, pin);  	
-		}		
-	}
-	else if ('G' == port)
-	{
-		if (0 == value)
-		{
-			bitclr (LATG, pin);  	
-		}
-		else
-		{
-			bitset (LATG, pin);  	
-		}		
-	}
-	else if ('H' == port)
-	{
-		if (0 == value)
-		{
-			bitclr (LATH, pin);  	
-		}
-		else
-		{
-			bitset (LATH, pin);  	
-		}		
-	}
-	else if ('J' == port)
-	{
-		if (0 == value)
-		{
-			bitclr (LATJ, pin);  	
-		}
-		else
-		{
-			bitset (LATJ, pin);  	
-		}		
-	}
-#endif
-	else
-	{
-		bitset (error_byte, kERROR_BYTE_PARAMETER_OUTSIDE_LIMIT);
-		return;	
-	}
-	
-	print_ack ();
+    else
+    {
+      bitset (error_byte, kERROR_BYTE_PARAMETER_OUTSIDE_LIMIT);
+      return;	
+    }
+  }
+  else
+  {
+    // Add this PO command to the motion queue
+    // Spin here until there's space in the queue
+    while(!FIFOEmpty)
+      ;
+
+    // Set up the motion queue command. For PO, we use DirBits to hold
+    // the port, ServoRPn to hold the pin and ServoChannel to store the
+    // new state.
+    CommandFIFO[0].DirBits = port;
+    CommandFIFO[0].ServoRPn = pin;
+    CommandFIFO[0].ServoChannel = value;
+    CommandFIFO[0].Command = COMMAND_PO;
+
+    FIFOEmpty = FALSE;
+  }
+
+  print_ack ();
 }
 
 // TX is for Serial Transmit

EBB_firmware/app.X/source/ebb.c

@@ -265,6 +265,7 @@
 //                    motors.
 //                  Fix bug in ES command that didn't send return packet
 // 2.8.1 07/26/22 - Issue 180: Add CU,3,1 to turn on RED LED reporting of FIFO empty
+// 2.8.  10/19/22 - Issue 186: Added 'motion queue' parameter to PO command
 
 #include <p18cxxx.h>
 #include <usart.h>
@@ -366,25 +367,25 @@ void high_ISR(void)
   LATDbits.LATD1 = 1;
 #endif
   
-	//Check which interrupt flag caused the interrupt.
-	//Service the interrupt
-	//Clear the interrupt flag
-	//Etc.
-	#if defined(USB_INTERRUPT)
-		USBDeviceTasks();
-	#endif
+  //Check which interrupt flag caused the interrupt.
+  //Service the interrupt
+  //Clear the interrupt flag
+  //Etc.
+  #if defined(USB_INTERRUPT)
+    USBDeviceTasks();
+  #endif
 
   // 25KHz ISR fire
-	if (PIR1bits.TMR1IF)
-	{
-		// Clear the interrupt 
-		PIR1bits.TMR1IF = 0;
-		TMR1H = TIMER1_H_RELOAD;	//
-		TMR1L = TIMER1_L_RELOAD;	// Reload for 25KHz ISR fire
+  if (PIR1bits.TMR1IF)
+  {
+    // Clear the interrupt 
+    PIR1bits.TMR1IF = 0;
+    TMR1H = TIMER1_H_RELOAD;	//
+    TMR1L = TIMER1_L_RELOAD;	// Reload for 25KHz ISR fire
 
-		OutByte = CurrentCommand.DirBits;
-		TookStep = FALSE;
-		AllDone = TRUE;
+    OutByte = CurrentCommand.DirBits;
+    TookStep = FALSE;
+    AllDone = TRUE;
 
     // Note, you don't even need a command to delay. Any command can have
     // a delay associated with it, if DelayCounter is != 0.
@@ -397,7 +398,7 @@ void high_ISR(void)
       }
       else {
         CurrentCommand.DelayCounter--;
-      }            
+      }
     }
 
     if (CurrentCommand.DelayCounter)
@@ -414,9 +415,9 @@ void high_ISR(void)
       || 
       (CurrentCommand.Command == COMMAND_MOTOR_MOVE_TIMED)
     )
-		{
+    {
       // Only output DIR bits if we are actually doing something
-			if (CurrentCommand.Active[0] || CurrentCommand.Active[1])
+      if (CurrentCommand.Active[0] || CurrentCommand.Active[1])
       {
         if (CurrentCommand.Command == COMMAND_MOTOR_MOVE_TIMED)
         {
@@ -519,8 +520,8 @@ void high_ISR(void)
         {
           AllDone = FALSE;
         }
-				if (TookStep)
-				{
+        if (TookStep)
+        {
           if (DriverConfiguration == PIC_CONTROLS_DRIVERS)
           {
             // Set the dir bits
@@ -541,14 +542,14 @@ void high_ISR(void)
               Dir2IO = 0;
             }
             // Set the step bits
- 						if (OutByte & STEP1_BIT)
-						{
-							Step1IO = 1;
-						}
-						if (OutByte & STEP2_BIT)
-						{
-							Step2IO = 1;
-						}
+            if (OutByte & STEP1_BIT)
+            {
+              Step1IO = 1;
+            }
+            if (OutByte & STEP2_BIT)
+            {
+              Step2IO = 1;
+            }
           }
           else if (DriverConfiguration == PIC_CONTROLS_EXTERNAL)
           {
@@ -560,7 +561,7 @@ void high_ISR(void)
             else
             {
               Dir1AltIO = 0;
-            }	
+            }
             if (CurrentCommand.DirBits & DIR2_BIT)
             {
               Dir2AltIO = 1;
@@ -570,15 +571,15 @@ void high_ISR(void)
               Dir2AltIO = 0;
             }
             // Set the STEP bits
-						if (OutByte & STEP1_BIT)
-						{
-							Step1AltIO = 1;
-						}
-						if (OutByte & STEP2_BIT)
-						{
-							Step2AltIO = 1;
-						}
-					}
+            if (OutByte & STEP1_BIT)
+            {
+              Step1AltIO = 1;
+            }
+            if (OutByte & STEP2_BIT)
+            {
+              Step2AltIO = 1;
+            }
+          }
 
           // This next section not only counts the step(s) we are taking, but
           // also acts as a delay to keep the step bit set for a little while.
@@ -605,22 +606,22 @@ void high_ISR(void)
               globalStepCounter2++;
             }
           }
-					if (DriverConfiguration == PIC_CONTROLS_DRIVERS)
-					{
-						Step1IO = 0;
-						Step2IO = 0;
-					}
+          if (DriverConfiguration == PIC_CONTROLS_DRIVERS)
+          {
+            Step1IO = 0;
+            Step2IO = 0;
+          }
           else if (DriverConfiguration == PIC_CONTROLS_EXTERNAL)
-					{
-						Step1AltIO = 0;
-						Step2AltIO = 0;
-					}
-				}
-			}
+          {
+            Step1AltIO = 0;
+            Step2AltIO = 0;
+          }
+        }
+      }
     }
     // Check to see if we should change the state of the pen
-		else if (CurrentCommand.Command == COMMAND_SERVO_MOVE)
-		{
+    else if (CurrentCommand.Command == COMMAND_SERVO_MOVE)
+    {
       if (gUseRCPenServo)
       {
         // Precompute the channel, since we use it all over the place
@@ -655,7 +656,7 @@ void high_ISR(void)
           }
         }
       }
-            
+
       // If this servo is the pen servo (on g_servo2_RPn)
       if (CurrentCommand.ServoRPn == g_servo2_RPn)
       {
@@ -679,10 +680,10 @@ void high_ISR(void)
           }
         }
       }
-		}
+    }
     // Check to see if we should start or stop the engraver
-		else if (CurrentCommand.Command == COMMAND_SE)
-		{
+    else if (CurrentCommand.Command == COMMAND_SE)
+    {
       // Now act on the State of the SE command
       if (CurrentCommand.SEState)
       {
@@ -787,7 +788,7 @@ void high_ISR(void)
       // NOTE: This section is the same code as clear_StepCounters(), but since
       // we can't have any function calls in an ISR (or the ISR blows up in 
       // space and speed) we have to copy the guts of that function here.
-  
+
       // Clear out the global step counters
       globalStepCounter1 = 0;
       globalStepCounter2 = 0;
@@ -796,13 +797,75 @@ void high_ISR(void)
       acc_union[0].value = 0;
       acc_union[1].value = 0;
     }
+    // As of version 2.8.2, the PO command has a parameter which allows it to
+    // be placed on the motion queue. We will use the DirBits value to store
+    // the port, ServoRPn to store the pin, and ServoChannel to store the
+    // new pin value.
+    else if (CurrentCommand.Command == COMMAND_PO)
+    {
+      if ('A' == CurrentCommand.DirBits)
+      {
+        if (0 == CurrentCommand.ServoChannel)
+        {
+          bitclr (LATA, CurrentCommand.ServoRPn);
+        }
+        else
+        {
+          bitset (LATA, CurrentCommand.ServoRPn);
+        }
+      }
+      else if ('B' == CurrentCommand.DirBits)
+      {
+        if (0 == CurrentCommand.ServoChannel)
+        {
+          bitclr (LATB, CurrentCommand.ServoRPn);
+        }
+        else
+        {
+          bitset (LATB, CurrentCommand.ServoRPn);
+        }
+      }
+      else if ('C' == CurrentCommand.DirBits)
+      {
+        if (0 == CurrentCommand.ServoChannel)
+        {
+          bitclr (LATC, CurrentCommand.ServoRPn);
+        }
+        else
+        {
+          bitset (LATC, CurrentCommand.ServoRPn);
+        }
+      }
+      else if ('D' == CurrentCommand.DirBits)
+      {
+        if (0 == CurrentCommand.ServoChannel)
+        {
+          bitclr (LATD, CurrentCommand.ServoRPn);
+        }
+        else
+        {
+          bitset (LATD, CurrentCommand.ServoRPn);
+        }
+      }
+      else if ('E' == CurrentCommand.DirBits)
+      {
+        if (0 == CurrentCommand.ServoChannel)
+        {
+          bitclr (LATE, CurrentCommand.ServoRPn);
+        }
+        else
+        {
+          bitset (LATE, CurrentCommand.ServoRPn);
+        }
+      }      
+    }
 
-		// If we're done with our current command, load in the next one
-		if (AllDone && CurrentCommand.DelayCounter == 0)
-		{
-			CurrentCommand.Command = COMMAND_NONE;
-			if (!FIFOEmpty)
-			{
+    // If we're done with our current command, load in the next one
+    if (AllDone && CurrentCommand.DelayCounter == 0)
+    {
+      CurrentCommand.Command = COMMAND_NONE;
+      if (!FIFOEmpty)
+      {
         if (gRedLEDEmptyFIFO)
         {
           mLED_2_Off()
@@ -864,8 +927,8 @@ void high_ISR(void)
             CurrentCommand.Active[1] = FALSE;
           }
         }
-				FIFOEmpty = TRUE;
-			}
+        FIFOEmpty = TRUE;
+      }
       else 
       {
         CurrentCommand.DelayCounter = 0;
@@ -879,22 +942,22 @@ void high_ISR(void)
   LATAbits.LATA1 = 1;
 #endif
       }
-		}
-		
-		// Check for button being pushed
-		if (
-			(!swProgram)
-			||
-			(
-				UseAltPause
-				&&
-				!PORTBbits.RB0
-			)
-		)
-		{
-			ButtonPushed = TRUE;
-		}
-	}
+    }
+
+    // Check for button being pushed
+    if (
+      (!swProgram)
+      ||
+      (
+        UseAltPause
+        &&
+        !PORTBbits.RB0
+      )
+    )
+    {
+      ButtonPushed = TRUE;
+    }
+  }
 #if defined(GPIO_DEBUG)
   LATAbits.LATA1 = 0;
   LATDbits.LATD0 = 0;

EBB_firmware/app.X/source/ebb.h

@@ -66,20 +66,21 @@
 
 typedef enum
 {
-	PEN_DOWN = 0,
-	PEN_UP
+  PEN_DOWN = 0,
+  PEN_UP
 } PenStateType;
 
 /* Enum that lists each type of command that can be put in the motion control FIFO */
 typedef enum
 {
-	COMMAND_NONE = 0,
-	COMMAND_MOTOR_MOVE,
-	COMMAND_DELAY,
-	COMMAND_SERVO_MOVE,
+  COMMAND_NONE = 0,
+  COMMAND_MOTOR_MOVE,
+  COMMAND_DELAY,
+  COMMAND_SERVO_MOVE,
   COMMAND_SE,
   COMMAND_MOTOR_MOVE_TIMED,
-  COMMAND_EM
+  COMMAND_EM,
+  COMMAND_PO
 } CommandType;
 
 // Byte union used for accumulator (unsigned))
@@ -124,10 +125,10 @@ typedef struct
 } MoveCommandType;
 
 // Define global things that depend on the board type
-#define STEP1_BIT	(0x01)
-#define DIR1_BIT	(0x02)
-#define STEP2_BIT	(0x04)
-#define DIR2_BIT	(0x08)
+#define STEP1_BIT   (0x01)
+#define DIR1_BIT    (0x02)
+#define STEP2_BIT   (0x04)
+#define DIR2_BIT    (0x08)
 
 #define NUMBER_OF_STEPPERS  2