Starting work on porting v2 firmware to new hardware.

v2/src/Motherboard/SConscript

@@ -23,7 +23,7 @@
 #
 # To build for another platform, pass an explicit platform parameter.  For example,
 # $ scons platform=rrmbv12
-# $ scons platform=rrmbv20
+# $ scons platform=rrmbv22
 #
 # To upload the firmware, specify the "upload" target.  By default, this will use
 # /dev/ttyUSB0 as the serial connection.
@@ -60,6 +60,11 @@ if (platform == 'rrmbv12'):
 	mcu='atmega644p'
 	has_queue = 1
 	has_psu = 1
+elif (platform == 'rrmbv22'):
+	default_baud = '57600'
+	mcu='atmega1280'
+	has_queue = 1
+	has_psu = 0
 else:
 	print "Platform "+platform+" is not currently supported.\n"
 	exit()

v2/src/Motherboard/boards/rrmbv22/Configuration.hh

@@ -0,0 +1,147 @@
+/*
+ * Copyright 2010 by Adam Mayer	 <adam@makerbot.com>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>
+ */
+
+#ifndef BOARDS_RRMBV22_CONFIGURATION_HH_
+#define BOARDS_RRMBV22_CONFIGURATION_HH_
+
+// This file details the pin assignments and features of the RepRap Motherboard
+// version 1.2 for the ordinary use case.
+
+#include "AvrPort.hh"
+
+// Interval for the stepper update in microseconds.  This interval is the minimum
+// possible time between steps; in practical terms, your time between steps should
+// be at least eight times this large.  Reducing the interval can cause resource
+// starvation; leave this at 64uS or greater unless you know what you're doing.
+#define INTERVAL_IN_MICROSECONDS 64
+
+// --- Power Supply Unit configuration ---
+// Define as 1 if a PSU is present; 0 if not.
+#define HAS_PSU         0
+
+// --- Secure Digital Card configuration ---
+// NOTE: If SD support is enabled, it is implicitly assumed that the
+// following pins are connected:
+//  AVR    |   SD header
+//---------|--------------
+//  MISO   |   DATA_OUT
+//  MOSI   |   DATA_IN
+//  SCK    |   CLK
+
+// Define as 1 if and SD card slot is present; 0 if not.
+#define HAS_SD          1
+// The pin that connects to the write protect line on the SD header.
+#define SD_WRITE_PIN    Pin(PortC,5)
+// The pin that connects to the card detect line on the SD header.
+#define SD_DETECT_PIN   Pin(PortD,1)
+// The pin that connects to the chip select line on the SD header.
+#define SD_SELECT_PIN   Pin(PortB,0)
+
+// --- Slave UART configuration ---
+// The slave UART is presumed to be an RS485 connection through a sn75176 chip.
+// Define as 1 if the slave UART is present; 0 if not.
+#define HAS_SLAVE_UART  1
+// The pin that connects to the driver enable line on the RS485 chip.
+#define TX_ENABLE_PIN   Pin(PortC,5)
+// The pin that connects to the active-low recieve enable line on the RS485 chip.
+#define RX_ENABLE_PIN   Pin(PortC,7)
+
+// --- Host UART configuration ---
+// The host UART is presumed to always be present on the RX/TX lines.
+
+// --- Piezo Buzzer configuration ---
+// Define as 1 if the piezo buzzer is present, 0 if not.
+#define HAS_BUZZER 1
+// The pin that drives the buzzer
+#define BUZZER_PIN Pin(PortC,6)
+
+// --- Emergency Stop configuration ---
+// Define as 1 if the estop is present, 0 if not.
+#define HAS_ESTOP 1
+// The pin connected to the emergency stop
+#define ESTOP_PIN Pin(PortE,4)
+
+// --- Axis configuration ---
+// Define the number of stepper axes supported by the board.  The axes are
+// denoted by X, Y, Z, A and B.
+#define STEPPER_COUNT 5
+
+// --- Stepper and endstop configuration ---
+// Pins should be defined for each axis present on the board.  They are denoted
+// X, Y, Z, A and B respectively.
+
+// This indicates the default interpretation of the endstop values.
+// If your endstops are based on the H21LOB, they are inverted;
+// if they are based on the H21LOI, they are not.
+#define DEFAULT_INVERTED_ENDSTOPS 1
+
+// The X stepper step pin (active on rising edge)
+#define X_STEP_PIN      Pin(PortA,6)
+// The X direction pin (forward on logic high)
+#define X_DIR_PIN       Pin(PortA,5)
+// The X stepper enable pin (active low)
+#define X_ENABLE_PIN    Pin(PortA,4)
+// The X minimum endstop pin (active high)
+#define X_MIN_PIN       Pin(PortB,6)
+// The X maximum endstop pin (active high)
+#define X_MAX_PIN       Pin(PortB,5)
+
+// The Y stepper step pin (active on rising edge)
+#define Y_STEP_PIN      Pin(PortA,3)
+// The Y direction pin (forward on logic high)
+#define Y_DIR_PIN       Pin(PortA,2)
+// The Y stepper enable pin (active low)
+#define Y_ENABLE_PIN    Pin(PortA,1)
+// The Y minimum endstop pin (active high)
+#define Y_MIN_PIN       Pin(PortB,4)
+// The Y maximum endstop pin (active high)
+#define Y_MAX_PIN       Pin(PortH,6)
+
+// The Z stepper step pin (active on rising edge)
+#define Z_STEP_PIN      Pin(PortA,0)
+// The Z direction pin (forward on logic high)
+#define Z_DIR_PIN       Pin(PortH,0)
+// The Z stepper enable pin (active low)
+#define Z_ENABLE_PIN    Pin(PortH,1)
+// The Z minimum endstop pin (active high)
+#define Z_MIN_PIN       Pin(PortH,5)
+// The Z maximum endstop pin (active high)
+#define Z_MAX_PIN       Pin(PortH,4)
+
+// The A stepper step pin (active on rising edge)
+#define A_STEP_PIN      Pin(PortJ,0)
+// The A direction pin (forward on logic high)
+#define A_DIR_PIN       Pin(PortJ,1)
+// The A stepper enable pin (active low)
+#define A_ENABLE_PIN    Pin(PortE,5)
+
+// The B stepper step pin (active on rising edge)
+#define B_STEP_PIN      Pin(PortG,5)
+// The B direction pin (forward on logic high)
+#define B_DIR_PIN       Pin(PortE,3)
+// The B stepper enable pin (active low)
+#define B_ENABLE_PIN    Pin(PortH,3)
+
+// --- Debugging configuration ---
+// The pin which controls the debug LED (active high)
+#define DEBUG_PIN       Pin(PortB,7)
+// By default, debugging packets should be honored; this is made
+// configurable if we're short on cycles or EEPROM.
+// Define as 1 if debugging packets are honored; 0 if not.
+#define HONOR_DEBUG_PACKETS 1
+
+#endif // BOARDS_RRMBV12_CONFIGURATION_HH_

v2/src/Motherboard/boards/rrmbv22/Motherboard.cc

@@ -0,0 +1,171 @@
+/*
+ * Copyright 2010 by Adam Mayer	 <adam@makerbot.com>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>
+ */
+
+#include <stdint.h>
+#include <avr/interrupt.h>
+#include <avr/io.h>
+#include <util/atomic.h>
+#include "Motherboard.hh"
+#include "Configuration.hh"
+#include "Steppers.hh"
+#include "Command.hh"
+
+/// Instantiate static motherboard instance
+Motherboard Motherboard::motherboard;
+
+/// Create motherboard object
+Motherboard::Motherboard() {
+	/// Set up the stepper pins on board creation
+#if STEPPER_COUNT > 0
+	stepper[0] = StepperInterface(X_DIR_PIN,X_STEP_PIN,X_ENABLE_PIN,X_MAX_PIN,X_MIN_PIN);
+#endif
+#if STEPPER_COUNT > 1
+	stepper[1] = StepperInterface(Y_DIR_PIN,Y_STEP_PIN,Y_ENABLE_PIN,Y_MAX_PIN,Y_MIN_PIN);
+#endif
+#if STEPPER_COUNT > 2
+	stepper[2] = StepperInterface(Z_DIR_PIN,Z_STEP_PIN,Z_ENABLE_PIN,Z_MAX_PIN,Z_MIN_PIN);
+#endif
+#if STEPPER_COUNT > 3
+	stepper[3] = StepperInterface(A_DIR_PIN,A_STEP_PIN,A_ENABLE_PIN,A_MAX_PIN,A_MIN_PIN);
+#endif
+#if STEPPER_COUNT > 4
+	stepper[4] = StepperInterface(B_DIR_PIN,B_STEP_PIN,B_ENABLE_PIN,B_MAX_PIN,B_MIN_PIN);
+#endif
+}
+
+/// Reset the motherboard to its initial state.
+/// This only resets the board, and does not send a reset
+/// to any attached toolheads.
+void Motherboard::reset() {
+	indicateError(0); // turn off blinker
+	// Init and turn on power supply
+	getPSU().init();
+	getPSU().turnOn(true);
+	// Init steppers
+	for (int i = 0; i < STEPPER_COUNT; i++) {
+		stepper[i].init(i);
+	}
+	// Initialize the host and slave UARTs
+	getHostUART().enable(true);
+	getHostUART().in.reset();
+	getSlaveUART().enable(true);
+	getSlaveUART().in.reset();
+	// Reset and configure timer 1, the microsecond and stepper
+	// interrupt timer.
+	TCCR1A = 0x00;
+	TCCR1B = 0x09;
+	TCCR1C = 0x00;
+	OCR1A = INTERVAL_IN_MICROSECONDS * 16;
+	TIMSK1 = 0x02; // turn on OCR1A match interrupt
+	// Reset and configure timer 2, the debug LED flasher timer.
+	TCCR2A = 0x00;
+	TCCR2B = 0x07; // prescaler at 1/1024
+	TIMSK2 = 0x01; // OVF flag on
+	// Configure the debug pin.
+	DEBUG_PIN.setDirection(true);
+}
+
+/// Get the number of microseconds that have passed since
+/// the board was booted.
+micros_t Motherboard::getCurrentMicros() {
+	micros_t micros_snapshot;
+	ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
+		micros_snapshot = micros;
+	}
+	return micros_snapshot;
+}
+
+/// Run the motherboard interrupt
+void Motherboard::doInterrupt() {
+	micros += INTERVAL_IN_MICROSECONDS;
+	// Do not move steppers if the board is in a paused state
+	if (command::isPaused()) return;
+	steppers::doInterrupt();
+}
+
+/// Timer one comparator match interrupt
+ISR(TIMER1_COMPA_vect) {
+	Motherboard::getBoard().doInterrupt();
+}
+
+/// Number of times to blink the debug LED on each cycle
+volatile uint8_t blink_count = 0;
+
+/// The current state of the debug LED
+enum {
+	BLINK_NONE,
+	BLINK_ON,
+	BLINK_OFF,
+	BLINK_PAUSE
+} blink_state = BLINK_NONE;
+
+/// Write an error code to the debug pin.
+void Motherboard::indicateError(int error_code) {
+	if (error_code == 0) {
+		blink_state = BLINK_NONE;
+		DEBUG_PIN.setValue(false);
+	}
+	else if (blink_count != error_code) {
+		blink_state = BLINK_OFF;
+	}
+	blink_count = error_code;
+}
+
+/// Get the current error code.
+uint8_t Motherboard::getCurrentError() {
+	return blink_count;
+}
+
+/// Timer2 overflow cycles that the LED remains on while blinking
+#define OVFS_ON 18
+/// Timer2 overflow cycles that the LED remains off while blinking
+#define OVFS_OFF 18
+/// Timer2 overflow cycles between flash cycles
+#define OVFS_PAUSE 80
+
+/// Number of overflows remaining on the current blink cycle
+int blink_ovfs_remaining = 0;
+/// Number of blinks performed in the current cycle
+int blinked_so_far = 0;
+
+/// Timer 2 overflow interrupt
+ISR(TIMER2_OVF_vect) {
+	if (blink_ovfs_remaining > 0) {
+		blink_ovfs_remaining--;
+	} else {
+		if (blink_state == BLINK_ON) {
+			blinked_so_far++;
+			blink_state = BLINK_OFF;
+			blink_ovfs_remaining = OVFS_OFF;
+			DEBUG_PIN.setValue(false);
+		} else if (blink_state == BLINK_OFF) {
+			if (blinked_so_far >= blink_count) {
+				blink_state = BLINK_PAUSE;
+				blink_ovfs_remaining = OVFS_PAUSE;
+			} else {
+				blink_state = BLINK_ON;
+				blink_ovfs_remaining = OVFS_ON;
+				DEBUG_PIN.setValue(true);
+			}
+		} else if (blink_state == BLINK_PAUSE) {
+			blinked_so_far = 0;
+			blink_state = BLINK_ON;
+			blink_ovfs_remaining = OVFS_ON;
+			DEBUG_PIN.setValue(true);
+		}
+	}
+}