printer: avr: Implement protocol with kernel driver

master
Markus Koch 2020-01-03 17:02:08 +01:00
parent fe2363cfdf
commit b2502e7f0a
1 changed files with 140 additions and 39 deletions

View File

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