lw35-upgrade/printer/avr/main.c

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#include <avr/io.h>
#include <avr/interrupt.h>
#include <util/delay.h>
#include <stdio.h>
#include <avr/pgmspace.h>
#define BAUDRATE 9600
#define UBRR 51 // (F_CPU / BAUDRATE) / 32
/* System functions */
/* Timers */
enum TIMERS{TIM_CARRIAGE,
TIM_WHEEL,
TIM_LINEFEED,
TIMS};
#define TIMESCALE 4
#define sleep_ms(channel, time_ms) sleep(channel, time_ms / TIMESCALE)
volatile uint16_t timer[TIMS];
#define set_timer(channel, time_systicks) {timer[channel] = time_systicks;}
uint8_t block_for(uint8_t channel, uint16_t time_systicks)
{
if (timer[channel] == 0) {
timer[channel] = time_systicks;
return 1;
}
return 0;
}
ISR (TIMER1_COMPA_vect)
{
uint8_t i;
for (i = 0; i < TIMS; ++i) {
if (timer[i] > 0) {
timer[i]--;
}
}
return;
}
/* Look-up-tables */
/* Daisy wheel */
#define PRINTER_CONTROL_CHAR 56
#define PRINTER_NO_CHAR 128
const uint8_t ascii_translation_table[128 + 12] PROGMEM = {
PRINTER_CONTROL_CHAR,
PRINTER_CONTROL_CHAR,
PRINTER_CONTROL_CHAR,
PRINTER_CONTROL_CHAR,
PRINTER_CONTROL_CHAR,
PRINTER_CONTROL_CHAR,
PRINTER_CONTROL_CHAR,
PRINTER_CONTROL_CHAR,
PRINTER_CONTROL_CHAR,
PRINTER_CONTROL_CHAR,
PRINTER_CONTROL_CHAR,
PRINTER_CONTROL_CHAR,
PRINTER_CONTROL_CHAR,
PRINTER_CONTROL_CHAR,
PRINTER_CONTROL_CHAR,
PRINTER_CONTROL_CHAR, // ASCII 15
PRINTER_CONTROL_CHAR,
PRINTER_CONTROL_CHAR,
PRINTER_CONTROL_CHAR,
PRINTER_CONTROL_CHAR,
PRINTER_CONTROL_CHAR,
PRINTER_CONTROL_CHAR,
PRINTER_CONTROL_CHAR,
PRINTER_CONTROL_CHAR,
PRINTER_CONTROL_CHAR,
PRINTER_CONTROL_CHAR,
PRINTER_CONTROL_CHAR,
PRINTER_CONTROL_CHAR,
PRINTER_CONTROL_CHAR,
PRINTER_CONTROL_CHAR,
PRINTER_CONTROL_CHAR,
PRINTER_CONTROL_CHAR, // ASCII 31
PRINTER_NO_CHAR, // Space
52, // !
66, // "
44, // #
40, // $
29, // %
74, // &
58, // '
88, // (
86, // )
82, // *
84, // +
0, // ,
68, // -
1, // .
28, // /
38, // 0
30, // 1
32, // 2
31, // 3
33, // 4
34, // 5
35, // 6
36, // 7
37, // 8
39, // 9
94, // :
92, // ;
PRINTER_NO_CHAR, // <
71, // =
PRINTER_NO_CHAR, // >
64, // ?
PRINTER_NO_CHAR, // @
76, // A
72, // B
67, // C
65, // D
70, // E
69, // F
63, // G
87, // H
90, // I
62, // J
85, // K
78, // L
95, // M
91, // N
61, // O
80, // P
59, // Q
57, // R
79, // S
77, // T
89, // U
73, // V
93, // W
83, // X
75, // Y
81, // Z
PRINTER_NO_CHAR, // [
PRINTER_NO_CHAR, // BACKSLASH
PRINTER_NO_CHAR, // ]
PRINTER_NO_CHAR, // ^
60, // _
54, // `
5, // a
15, // b
8, // c
21, // d
2, // e
16, // f
17, // g
12, // h
6, // i
26, // j
19, // k
11, // l
10, // m
14, // n
7, // o
13, // p
24, // q
3, // r
4, // s
9, // t
18, // u
20, // v
27, // w
25, // x
22, // y
23, // z
PRINTER_NO_CHAR, // {
48, // |
PRINTER_NO_CHAR, // }
PRINTER_NO_CHAR, // ~
PRINTER_CONTROL_CHAR, // DEL
45, // ³
47, // ²
50, // ´
51, // §
56, // °
41, // ö
42, // ü
43, // ä
46, // Ö
49, // ß
53, // Ü
55, // Ä
};
/* Hardware functions */
void uart_tx(char c)
{
while (!(UCSRA & (1 << UDRE)));
UDR = c;
}
void uart_write(char *c)
{
while (*c) {
uart_tx(*c);
c++;
}
}
unsigned int uart_printf(char *format,...)
{
va_list args;
unsigned int i;
char printbuffer[64];
va_start (args, format);
i = vsprintf (printbuffer, format, args);
va_end (args);
uart_write(printbuffer);
return i;
}
/* DC drive */
#define MOTLIM(t) t##C
#define PIN_DCMOTOR (1 << 4)
#define PIN_LIMITSWITCH (1 << 5)
#define SOLENOID(t) t##D
#define PIN_CORRECTION (1 << 2)
#define PIN_ARMHAMMER (1 << 3)
/* Stepper drive */
/* Drive pattern:
* -A, +C
* -B, +D
* +A, -C
* +B, -D
*/
struct stepper_config {
char port;
uint8_t timch;
uint8_t pin_a;
uint8_t pin_b;
uint8_t pin_c;
uint8_t pin_d;
uint8_t delay;
uint16_t wraparound;
};
struct stepper_status {
uint8_t step;
int8_t dir;
int8_t ldir;
uint8_t lpstate;
uint16_t pos; /* Absolute position */
uint16_t target_pos;
};
/* Stepper configs */
#define REVERSAL_MULTIPLIER 32
#define STEPPER_CFG_HW_CARRIAGE(t) t##C
const struct stepper_config STEPPER_CFG_CARRIAGE = {
.port = 'C',
.timch = TIM_CARRIAGE,
.pin_a = (1 << 3),
.pin_b = (1 << 1),
.pin_c = (1 << 0),
.pin_d = (1 << 2),
.delay = 3.5 * TIMESCALE,
.wraparound = 0 /* No wraparonud */
};
#define STEPPER_CFG_HW_WHEEL(t) t##B
const struct stepper_config STEPPER_CFG_WHEEL = {
.port = 'B',
.timch = TIM_WHEEL,
.pin_a = (1 << 7),
.pin_b = (1 << 0),
.pin_c = (1 << 1),
.pin_d = (1 << 6),
.delay = 3.5 * TIMESCALE,
.wraparound = 96 * 2
};
/* Stepper helpers */
#define STEPPER_CFG(NAME) STEPPER_CFG_##NAME
#define STEPPER_NEXT(NAME, DIR) stepper_next_f(&stepper_status_##NAME, \
&STEPPER_CFG_##NAME, DIR)
#define STEPPER_SET_IO(NAME) STEPPER_CFG_HW_##NAME(DDR) = \
stepper_calc_ioc(STEPPER_CFG_HW_##NAME(DDR), \
&STEPPER_CFG_##NAME)
#define STEPPER_STOP(NAME) {STEPPER_NEXT(NAME, 0);}
/* Stepper vars */
struct stepper_status stepper_status_WHEEL = {
.step = 0,
.dir = -1,
.lpstate = 0
};
struct stepper_status stepper_status_CARRIAGE = {
.step = 0,
.dir = -1,
.lpstate = 0
};
/* Stepper functions */
uint8_t stepper_calc_ioc(uint8_t pstate, const struct stepper_config *cfg)
{
pstate |= cfg->pin_a | cfg->pin_b | cfg->pin_c | cfg->pin_d;
return pstate;
}
void stepper_next_f(struct stepper_status *stat,
const struct stepper_config *cfg,
int8_t dir)
{
uint8_t pstate = 0;
/* Get current state of port */
switch (cfg->port) {
case 'B':
pstate = PORTB;
break;
case 'C':
pstate = PORTC;
break;
case 'D':
pstate = PORTD;
break;
}
/* Calculate next stepper state */
if (stat->dir != 0) { /* Do not step for the recovery step */
if (dir == 1 && stat->step == 3)
stat->step = 0;
else if (dir == -1 && stat->step == 0)
stat->step = 3;
else
(stat->step) += dir;
}
/* Apply current state */
if (dir == 0) {
stat->lpstate = pstate;
//if (cfg->port == 'B') uart_printf("[%d] stop at: %x\r\n", stat->step, pstate & 0xF);
pstate &= ~(cfg->pin_a | cfg->pin_b | cfg->pin_c | cfg->pin_d);
} else {
if (stat->dir == 0) { /* If this is the first step */
pstate |= stat->lpstate & (cfg->pin_a | cfg->pin_b | cfg->pin_c | cfg->pin_d);
//if (cfg->port == 'B') uart_printf("[%d] restore to : %x\r\n", stat->step, pstate & 0xF);
} else {
switch (stat->step) {
case 0:
pstate &= ~cfg->pin_a;
pstate |= cfg->pin_c;
break;
case 1:
pstate &= ~cfg->pin_b;
pstate |= cfg->pin_d;
break;
case 2:
pstate |= cfg->pin_a;
pstate &= ~cfg->pin_c;
break;
case 3:
pstate |= cfg->pin_b;
pstate &= ~cfg->pin_d;
break;
default:
break;
}
//if (cfg->port == 'B') uart_printf("[%d] set to : %x\r\n", stat->step, pstate & 0xF);
}
}
/* Update status information */
if (stat->dir) { // Ignore recovery step
if (stat->ldir == dir) { // Ignore reversal step
stat->pos += dir;
if (cfg->wraparound) {
if (dir == 1) {
if (stat->pos >= cfg->wraparound) {
stat->pos = 0;
}
} else {
if (stat->pos == 65535) { // Underflow
stat->pos = cfg->wraparound - 1;
}
}
}
}
}
if (stat->dir)
stat->ldir = stat->dir;
stat->dir = dir;
/* Set new state of port */
switch (cfg->port) {
case 'B':
PORTB = pstate;
break;
case 'C':
PORTC = pstate;
break;
case 'D':
PORTD = pstate;
break;
}
}
int8_t stepper_required_direction(struct stepper_status *stat,
const struct stepper_config *cfg)
{
int8_t dir = 0;
uint16_t half;
if (stat->pos == stat->target_pos) {
return 0;
} else if (stat->pos > stat->target_pos) {
dir = -1;
} else {
dir = 1;
}
if (cfg->wraparound) {
half = cfg->wraparound / 2;
if ((stat->pos > half && stat->target_pos <= half) ||
(stat->pos <= half && stat->target_pos > half)){
dir *= -1;
}
}
return dir;
}
uint8_t stepper_perform_movement(struct stepper_status *stat,
const struct stepper_config *cfg)
{
int8_t dir;
/* Check whether we are in an active movement state,
or whether we need to go into one.*/
if (stat->dir != 0 || stat->pos != stat->target_pos) {
/* Set up direction */
if (block_for(cfg->timch, cfg->delay)) {
dir = stepper_required_direction(stat, cfg);
if ((dir == -1) && (stat->dir == 1)) { /* Reversal */
dir = 0;
uart_write("[stp] Hard reversal detected. Pausing. -->|\r\n");
set_timer(cfg->timch, cfg->delay * REVERSAL_MULTIPLIER);
} else if ((dir == 1) && (stat->dir == -1)) { /* Reversal */
dir = 0;
uart_write("[stp] Hard reversal detected. Pausing. |<--\r\n");
set_timer(cfg->timch, cfg->delay * REVERSAL_MULTIPLIER);
}
stepper_next_f(stat, cfg, dir);
}
}
return 0;
}
#define POSITION_REACHED(NAME) (stepper_status_##NAME.pos == stepper_status_##NAME.target_pos)
#define SET_TARGET(NAME, target) stepper_set_target(&stepper_status_##NAME, \
&STEPPER_CFG_##NAME,\
target)
#define SET_TARGET_DELTA(NAME, delta) SET_TARGET(NAME, \
stepper_status_##NAME.target_pos - (delta))
void stepper_set_target(struct stepper_status *stat,
const struct stepper_config *cfg,
uint16_t target)
{
if (cfg->wraparound) {
while (target >= -cfg->wraparound) {
uart_printf("WRAP- %u\r\n", target);
target += cfg->wraparound;
}
while (target >= cfg->wraparound) {
uart_printf("WRAP+ %u\r\n", target);
target -= cfg->wraparound;
}
}
stat->target_pos = target;
}
/* DC functions */
void arm_hammer()
{
SOLENOID(PORT) |= PIN_ARMHAMMER;
_delay_ms(30);
SOLENOID(PORT) &= ~(PIN_ARMHAMMER);
}
#define DCMOTOR_EN MOTLIM(PORT) |= PIN_DCMOTOR
#define DCMOTOR_STOP MOTLIM(PORT) &= ~PIN_DCMOTOR
#define LIMITSWITCH (!(MOTLIM(PIN) & PIN_LIMITSWITCH))
/* Main program code */
void move_carriage_to_far_left(uint8_t reset)
{
uint16_t cnt = 0;
/* Init stepper controller */
if (reset) {
stepper_status_CARRIAGE.step = 0;
}
stepper_status_CARRIAGE.dir = -1;
uart_write("[car] Moving carriage to far left...\r\n");
while (!LIMITSWITCH) {
if (block_for(TIM_CARRIAGE, STEPPER_CFG_CARRIAGE.delay)) {
cnt++;
STEPPER_NEXT(CARRIAGE, -1);
}
}
STEPPER_STOP(CARRIAGE);
stepper_status_CARRIAGE.pos = 0;
stepper_status_CARRIAGE.target_pos = 0;
uart_printf("[car] Carriage left after %u steps.\r\n", cnt);
}
void align_daisy_wheel()
{
int i;
uart_write("[whl] Aligning wheel...\r\n");
stepper_status_WHEEL.dir = 0;
stepper_status_WHEEL.lpstate = 0;
stepper_status_WHEEL.pos = 0;
stepper_status_WHEEL.step = 0;
stepper_status_WHEEL.target_pos = 0;
stepper_status_WHEEL.ldir = 0;
for (i = 0; i < (96 + 1) * 2; ) {
if (block_for(TIM_WHEEL, STEPPER_CFG_WHEEL.delay)) {
STEPPER_NEXT(WHEEL, -1);
i++;
}
}
STEPPER_STOP(WHEEL);
_delay_ms(STEPPER_CFG_WHEEL.delay * REVERSAL_MULTIPLIER);
for (i = 0; i < 4;) {
if (block_for(TIM_WHEEL, STEPPER_CFG_WHEEL.delay)) {
STEPPER_NEXT(WHEEL, 1);
i++;
}
}
STEPPER_STOP(WHEEL);
stepper_status_WHEEL.ldir = 1;
stepper_status_WHEEL.target_pos = 0;
stepper_status_WHEEL.pos = 4;
uart_write("[whl] Alignment completed.\r\n");
}
void reset_printhead()
{
uart_write("[hmr] Resetting printhead...\r\n");
DCMOTOR_EN;
_delay_ms(200);
DCMOTOR_STOP;
uart_write("[hmr] Printhead reset completed.\r\n");
}
int system_test_auto()
{
char c;
int do_it = 0;
int print_stat = 0;
uart_write("[sys] Entering system test mode\r\n");
uart_write(">");
while(1) {
if (UCSRA & (1 << RXC)) {
print_stat = 1;
c = UDR;
if (c >= '0' && c <= '9') {
stepper_status_CARRIAGE.target_pos = 100 * (c - '0');
} else {
switch (c) {
case ' ':
stepper_status_CARRIAGE.target_pos += 10;
break;
case 'z':
if (stepper_status_CARRIAGE.target_pos >= 10)
stepper_status_CARRIAGE.target_pos -= 10;
break;
case 'r':
move_carriage_to_far_left(0);
break;
case 'h':
DCMOTOR_EN;
arm_hammer();
_delay_ms(100); /* Note, this also locks the carriage movement -> important! */
DCMOTOR_STOP;
break;
default:
break;
}
switch (c) {
case '\'':
//if (stepper_status_WHEEL.target_pos >= 2)
SET_TARGET_DELTA(WHEEL, -2);
uart_printf("[whl] New wheel: %d\r\n", stepper_status_WHEEL.target_pos);
break;
case ',':
SET_TARGET_DELTA(WHEEL, 2);
uart_printf("[whl] New wheel: %d\r\n", stepper_status_WHEEL.target_pos);
break;
case 'w':
align_daisy_wheel();
break;
case 't':
stepper_status_WHEEL.target_pos += 2;
stepper_status_CARRIAGE.target_pos += 10;
do_it = 1;
break;
default:
break;
}
}
}
stepper_perform_movement(&stepper_status_CARRIAGE, &STEPPER_CFG_CARRIAGE);
stepper_perform_movement(&stepper_status_WHEEL, &STEPPER_CFG_WHEEL);
if (POSITION_REACHED(WHEEL) && POSITION_REACHED(CARRIAGE) && print_stat) {
print_stat = 0;
uart_printf("[pos] CAR: %u\r\n[pos] WHL: %u\r\n",
stepper_status_CARRIAGE.pos,
stepper_status_WHEEL.pos);
}
if (do_it) {
if (stepper_status_CARRIAGE.pos == stepper_status_CARRIAGE.target_pos) {
do_it = 0;
DCMOTOR_EN;
arm_hammer();
_delay_ms(100);
DCMOTOR_STOP;
}
}
}
}
void printer_test()
{
uint8_t buf[80] = {0};
uint8_t *ptr = buf;
uint8_t *rdptr = buf;
uint8_t translated = 0;
int state = 0;
uart_write("[sys] Entering printer test mode\r\n");
while(1) {
switch (state) {
case 0:
_delay_ms(100); // Motor turnoff delay
DCMOTOR_STOP;
stepper_status_CARRIAGE.target_pos = 80;
stepper_status_WHEEL.target_pos = 0;
ptr = buf;
uart_write(">");
state++;
break;
case 1:
if (UCSRA & (1 << RXC)) {
//stepper_status_WHEEL.target_pos += 2;
*ptr = UDR;
uart_tx(*ptr);
if (*ptr == '\r') {
uart_write("\r\nOK.\r\n");
DCMOTOR_EN;
_delay_ms(100); // Let motor get up to speed
state++;
stepper_status_CARRIAGE.target_pos = 80;
rdptr = buf;
} else {
ptr++;
}
}
break;
case 2:
stepper_status_CARRIAGE.target_pos += 10;
translated = pgm_read_byte(&ascii_translation_table[*rdptr]);
if (translated != PRINTER_NO_CHAR) {
//uart_printf("Prepare: %x (%c) -> %d", *rdptr, *rdptr, translated);
SET_TARGET(WHEEL, translated * 2);
state++;
} else {
//uart_printf("Skip: %x (%c) -> %d\r\n", *rdptr, *rdptr, translated);
rdptr++;
if (rdptr == ptr) {
state = 0;
}
}
break;
case 3:
if (POSITION_REACHED(CARRIAGE) && POSITION_REACHED(WHEEL)) {
//uart_write("!!!\r\n");
//DCMOTOR_EN;
arm_hammer();
_delay_ms(50);
//DCMOTOR_STOP;
rdptr++;
if (rdptr == ptr) {
state = 0;
} else {
state--;
}
}
break;
default:
break;
}
stepper_perform_movement(&stepper_status_CARRIAGE, &STEPPER_CFG_CARRIAGE);
stepper_perform_movement(&stepper_status_WHEEL, &STEPPER_CFG_WHEEL);
}
}
void systick_test()
{
uart_write("[tmr] System timer test\r\n");
while (1) {
if (block_for(0, 1000*4)) {
uart_write("hello");
}
}
}
int main()
{
/* Pre-init I/O */
DDRB = 0;
DDRC = 0;
DDRD = 0;
PORTB = 0;
PORTC = 0;
PORTD = 0;
/* Set up UART */
UCSRB = (1 << TXEN) | (1 << RXEN);
UBRRH = (UBRR >> 8) & 0xFF;
UBRRL = UBRR & 0xFF;
/* Set up DC components */
MOTLIM(DDR) |= PIN_DCMOTOR;
MOTLIM(DDR) &= ~(PIN_LIMITSWITCH);
MOTLIM(PORT) |= PIN_LIMITSWITCH; /* Pullup for limit switch */
SOLENOID(DDR) |= PIN_ARMHAMMER;
SOLENOID(DDR) |= PIN_CORRECTION;
/* Set up steppers */
STEPPER_SET_IO(CARRIAGE);
STEPPER_SET_IO(WHEEL);
/* Set up SysTick Timer */
TCCR1B = (1 << WGM12) | (1 << CS11); // f_tim = 8 MHz / 8
OCR1A = 1000 / TIMESCALE;
TIMSK = (1 << OCIE1A);
/* Init system */
uart_write("\n\n\r[sys] STARTING IO CONTROLLER...\r\n");
uart_write("[sys] Enabling interrupts.\r\n");
sei();
/* Align printer */
move_carriage_to_far_left(1);
align_daisy_wheel();
reset_printhead();
uart_write("[sys] Startup completed.\r\n");
/* Run system */
printer_test();
system_test_auto();
systick_test();
uart_write("[sys] REACHED END OF MAIN. HALTING.\r\n");
while (1);
}