printer: avr: Implement protocol with kernel driver
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@ -5,6 +5,7 @@
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#include <avr/pgmspace.h>
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#define BAUDRATE 19200
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//#define DEBUG_BUILD DEBUG_BUILD
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/* System functions */
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/* Timers */
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@ -53,8 +54,7 @@ void uart_putc(char c)
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UDR = c;
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}
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#define ENABLE_SERIAL_DEBUG
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#ifdef ENABLE_SERIAL_DEBUG
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#ifdef DEBUG_BUILD
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void debug_putc(char c) {
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uart_putc(c);
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};
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@ -90,10 +90,20 @@ unsigned int debug_printf(char *format,...) {return 0;};
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void hardfault() {
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cli();
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debug_write("HARDFAULT!\r\n");
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PORTB = 0;
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PORTC = 0;
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PORTD = 0;
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uart_putc(0xFF);
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uart_putc(0xFF);
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uart_putc(0xFF);
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uart_putc(0xFF);
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uart_putc(0xFF);
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uart_putc(0xFF);
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uart_putc(0xFF);
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uart_putc(0x00);
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uart_putc(0x00);
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uart_putc(0x00);
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debug_write("HARDFAULT!\r\n");
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while(1);
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}
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@ -560,16 +570,99 @@ void arm_correction()
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#define DCMOTOR_EN MOTLIM(PORT) |= PIN_DCMOTOR
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#define DCMOTOR_STOP MOTLIM(PORT) &= ~PIN_DCMOTOR
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#define DCMOTOR_ISACTIVE (MOTLIM(PORT) & PIN_DCMOTOR)
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#define DCMOTOR_ISACTIVE (!!(MOTLIM(PORT) & PIN_DCMOTOR))
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#define LIMITSWITCH (!(MOTLIM(PIN) & PIN_LIMITSWITCH))
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/* Communication Functions */
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#define RINGBUF_CNT(wr,rd) ((wr) - (rd))
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#define RINGBUF_FREE(wr,rd,sz) ((RINGBUF_CNT(rd,wr+1))) // TODO: 255 is actually not correct...
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#define PRINT_BUFFER_SIZE 256 // Important: must be 256 atm, when changed, you need to change code handling print_buffer_*.
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volatile char print_buffer[PRINT_BUFFER_SIZE];
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volatile uint8_t print_buffer_wr = 0;
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volatile uint8_t print_buffer_rd = 0;
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#define UART_BYTE_READY (UCSRA & (1 << RXC))
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ISR(USART_RXC_vect)
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{
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if (UCSRA & (1 << RXC)) {
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print_buffer[print_buffer_wr++] = UDR;// WARNING: No overflow protection
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// Will auto wrap at 256; print_buffer_wr = print_buffer_wr % PRINT_BUFFER_SIZE;
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}
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}
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#define TX_BUFFER_SIZE 256 // Important: must be 256 atm, when changed, you need to change code handling print_buffer_*.
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char tx_buffer[TX_BUFFER_SIZE];
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uint8_t tx_buffer_wr = 0;
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uint8_t tx_buffer_rd = 0;
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uint8_t tx_buffer_async = 0;
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uint8_t global_status;
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#define STATUS_PAPERFEED (1 << 0)
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#define STATUS_CARRIAGE (1 << 1)
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#define STATUS_DAISY (1 << 2)
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#define STATUS_PRINTHEAD (1 << 3)
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#define STATUS_READY (1 << 4)
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#define STATUSBIT_ACTIVE 5
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void tx_buffer_putc(char c)
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{
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if (tx_buffer_async) {
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if (tx_buffer_rd == tx_buffer_wr + 1) // implicit % 256
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hardfault();
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tx_buffer[tx_buffer_wr++] = c; // implicit % 256
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} else {
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uart_putc(c);
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}
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}
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void tx_status()
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{
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unsigned char local_status = 0;
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local_status |= (DCMOTOR_ISACTIVE << STATUSBIT_ACTIVE);
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tx_buffer_putc(0xFF); /* Header[0] */
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tx_buffer_putc(0xAA); /* Header[1] */
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tx_buffer_putc((char) (global_status | local_status));
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tx_buffer_putc(RINGBUF_FREE(print_buffer_wr, print_buffer_rd, PRINT_BUFFER_SIZE));
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tx_buffer_putc(0); /* RESERVED */
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tx_buffer_putc(0); /* RESERVED */
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}
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void update_status(uint8_t status)
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{
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global_status = status;
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tx_status();
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}
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void set_status(uint8_t bit)
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{
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update_status(global_status | bit);
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}
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void clear_status(uint8_t bit)
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{
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update_status(global_status & ~bit);
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}
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void tx_buffer_process()
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{
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if (tx_buffer_rd != tx_buffer_wr) {
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if (UCSRA & (1 << UDRE)) {
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UDR = tx_buffer[tx_buffer_rd];
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tx_buffer_rd++; // implicit % 256
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}
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}
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}
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/* Initialization Functions */
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void move_carriage_to_far_left(uint8_t reset)
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{
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uint16_t cnt = 0;
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clear_status(STATUS_CARRIAGE);
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/* Init stepper controller */
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if (reset) {
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stepper_status_CARRIAGE.step = 0;
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@ -605,6 +698,7 @@ void move_carriage_to_far_left(uint8_t reset)
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stepper_status_CARRIAGE.target_pos = 0;
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debug_printf("[car] Carriage left after %u steps.\r\n", cnt);
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set_status(STATUS_CARRIAGE);
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}
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void align_daisy_wheel()
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@ -612,6 +706,8 @@ void align_daisy_wheel()
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int i;
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debug_write("[whl] Aligning wheel...\r\n");
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clear_status(STATUS_DAISY);
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stepper_status_WHEEL.dir = 0;
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stepper_status_WHEEL.lpstate = 0;
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stepper_status_WHEEL.pos = 0;
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@ -651,15 +747,18 @@ void align_daisy_wheel()
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stepper_status_WHEEL.pos = 0;
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debug_write("[whl] Alignment completed.\r\n");
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set_status(STATUS_DAISY);
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}
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void reset_printhead()
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{
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debug_write("[hmr] Resetting printhead...\r\n");
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clear_status(STATUS_PRINTHEAD);
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DCMOTOR_EN;
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_delay_ms(200);
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DCMOTOR_STOP;
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debug_write("[hmr] Printhead reset completed.\r\n");
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set_status(STATUS_PRINTHEAD);
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}
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void initialize_paperfeed()
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@ -667,6 +766,7 @@ void initialize_paperfeed()
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int i;
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debug_write("[lfd] Initializing paperfeed...\r\n");
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clear_status(STATUS_PAPERFEED);
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for (i = 0; i < 10;) {
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if (block_for(TIM_LINEFEED, STEPPER_CFG_LINEFEED.delay)) {
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@ -684,26 +784,10 @@ void initialize_paperfeed()
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stepper_status_LINEFEED.ldir = 0;
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debug_write("[lfd] Initialization completed.\r\n");
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set_status(STATUS_PAPERFEED);
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}
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/* Printer Functions */
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#define PRINT_BUFFER_SIZE 256 // Important: must be 256 atm, when changed, you need to change code handling print_buffer_*.
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volatile char print_buffer[PRINT_BUFFER_SIZE];
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volatile uint8_t print_buffer_wr = 0;
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volatile uint8_t print_buffer_rd = 0;
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#define UART_BYTE_READY (UCSRA & (1 << RXC))
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ISR(USART_RXC_vect)
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{
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if (UCSRA & (1 << RXC)) {
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print_buffer[print_buffer_wr++] = UDR;// WARNING: No overflow protection
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// Will auto wrap at 256; print_buffer_wr = print_buffer_wr % PRINT_BUFFER_SIZE;
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}
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}
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#define PRINT_CHARACTER_WIDTH 10
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#define PRINT_LINE_HEIGHT 34
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#define PRINTER_STOP_RIGHT 1100
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@ -841,6 +925,7 @@ void printer_process()
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} else {
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current_char = print_buffer[print_buffer_rd];
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print_buffer_rd++;
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tx_status(); // Tell SoC when bytes are consumed from the buffer. TODO: Too often?
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}
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} else {
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current_char = '\0';
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@ -850,31 +935,30 @@ void printer_process()
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current_is_linebreak += (current_char == '\n');
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if (current_is_linebreak) {
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if (backward) {
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uart_putc('=');
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debug_putc('=');
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print_buffer_rd = print_buffer_recovery;
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tx_status();
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}
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backward = 0; // Re-evaluate backward. Default is forward.
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stepper_status_LINEFEED.target_pos += PRINT_LINE_HEIGHT;
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uart_putc('\n');
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debug_putc('\n');
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current_is_linebreak--;
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//_delay_ms(1000);
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/* Decide whether we move the carriage back to the left, or
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* whether print the new line in reverse. */
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* whether to print the new line in reverse. */
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end_of_next_line = print_buffer_rd;
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temp = simulate_print_run(&end_of_next_line, &print_buffer_recovery);
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if (temp == -1) {
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//uart_putc('\r');
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uart_putc('[');
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debug_putc('[');
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backward = 1;
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print_buffer_backward = end_of_next_line;
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} else if (temp == 0) {
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// do nothing
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uart_putc('#');
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debug_putc('#');
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} else {
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move_carriage_to_left_margin();
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@ -891,7 +975,7 @@ void printer_process()
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case PRINTER_NO_CHAR:
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current_is_linebreak += move_one_character(backward);
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if (!current_is_linebreak)
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uart_putc(' ');
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debug_putc(' ');
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break;
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default: /* It's a printable character */
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@ -912,7 +996,7 @@ void printer_process()
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if (POSITION_REACHED(WHEEL) && POSITION_REACHED(CARRIAGE) && POSITION_REACHED(LINEFEED)) {
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arm_hammer();
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_delay_ms(50); // TODO: replace with timer
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uart_putc(debug_character);
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debug_putc(debug_character);
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current_is_linebreak += move_one_character(backward);
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state = IDLE;
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}
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@ -943,7 +1027,16 @@ void printer_process()
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stepper_perform_movement(&stepper_status_WHEEL, &STEPPER_CFG_WHEEL);
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}
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void sync_uart()
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{
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int i;
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for (i = 0; i < 10; ++i) {
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tx_buffer_putc(0xFF);
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}
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}
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/* Test Functions */
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#ifdef DEBUG_BUILD
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void systick_test()
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{
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debug_write("[tmr] System timer test\r\n");
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@ -1135,11 +1228,17 @@ static void system_test_auto()
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}
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}
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}
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#endif
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void mainloop()
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{
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tx_buffer_async = 1;
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uart_irq_enable(); /* rx buffer process */
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set_status(STATUS_READY);
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while (1) {
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printer_process();
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tx_buffer_process();
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}
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}
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@ -1181,24 +1280,26 @@ int main()
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TIMSK = (1 << OCIE1A);
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/* Init system */
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sync_uart();
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update_status(0);
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debug_write("\n\n\r[sys] STARTING IO CONTROLLER...\r\n");
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debug_write("[sys] Enabling interrupts.\r\n");
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sei();
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/* Align printer */
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//initialize_paperfeed();
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//move_carriage_to_far_left(1);
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//align_daisy_wheel();
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//reset_printhead();
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initialize_paperfeed();
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move_carriage_to_far_left(1);
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align_daisy_wheel();
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reset_printhead();
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debug_write("[sys] Startup completed.\r\n");
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/* Run system */
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#ifdef DEBUG_BUILD
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system_test_auto();
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// mainloop();
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// printer_test();
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// system_test_auto();
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// systick_test();
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#else
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mainloop();
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#endif
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debug_write("[sys] REACHED END OF MAIN. HALTING.\r\n");
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while (1);
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