ManuelW/grbl-LPC-CoreXY
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Merge pull request #441 from ashelly/edge-simfix

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Fixes for simulator in alternate configurations.
This commit is contained in:
Sonny Jeon 2014-07-11 08:41:04 -06:00
commit 7d0df8ac4a
5 changed files with 194 additions and 135 deletions
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151
sim/avr/interrupt.c
View File

@ -22,12 +22,14 @@
#include "interrupt.h"
#include "io.h"
#include "wdt.h"
//pseudo-Interrupt vector table
//pseudo-Interrupt vector table
isr_fp compa_vect[6]={0};
isr_fp compb_vect[6]={0};
isr_fp ovf_vect[6]={0};
isr_fp wdt_vect = 0;
isr_fp pc_vect = 0;
void sei() {io.sreg|=SEI;}
void cli() {io.sreg&=~SEI;}
@ -45,91 +47,108 @@ enum sim_wgm_mode {
wgm_RESERVED
};
enum sim_wgm_mode sim_wgm0[4] = {wgm_NORMAL,wgm_PHASE_PWM,wgm_CTC,wgm_FAST_PWM};
enum sim_wgm_mode sim_wgmN[8] = {wgm_NORMAL,wgm_PHASE_PWM,wgm_PHASE_PWM,wgm_PH_F_PWM,
wgm_CTC, wgm_FAST_PWM, wgm_FAST_PWM, wgm_FAST_PWM};
//3-bit wgm table for 8-bit timers
enum sim_wgm_mode sim_wgm_3[] = {wgm_NORMAL,wgm_PHASE_PWM,wgm_CTC,wgm_FAST_PWM,
wgm_RESERVED,wgm_PHASE_PWM, wgm_RESERVED, wgm_FAST_PWM};
//4-bit wgm modes for 16-bit timers
enum sim_wgm_mode sim_wgm_4[16] = {wgm_NORMAL,wgm_PHASE_PWM,wgm_PHASE_PWM,wgm_PHASE_PWM,
wgm_CTC, wgm_FAST_PWM, wgm_FAST_PWM, wgm_FAST_PWM,
wgm_PH_F_PWM, wgm_PH_F_PWM, wgm_PHASE_PWM, wgm_PHASE_PWM,
wgm_CTC, wgm_RESERVED, wgm_FAST_PWM, wgm_FAST_PWM};
static const uint16_t timer_bitdepth[SIM_N_TIMERS] = {
0xFF,0xFFFF,0xFF,
//0xFFFF,0xFFFF,0xFFFF 3 more for mega
};
void timer_interrupts() {
int i;
uint8_t ien = io.sreg&SEI; //interrupts enabled?
io.prescaler++;
//all clocks
for (i=0;i<2;i++){
for (i=0;i<SIM_N_TIMERS;i++){
uint8_t cs = io.tccrb[i]&7; //clock select bits
int16_t increment = sim_scaling[cs];
uint16_t bitmask = timer_bitdepth[i];
uint8_t cs = io.tccrb[i]&7; //clock select bits
int16_t increment = sim_scaling[cs];
//check scaling to see if timer fires
if (increment && (io.prescaler&(increment-1))==0) {
//check scaling to see if timer fires
if (increment && (io.prescaler&(increment-1))==0) {
//select waveform generation mode
enum sim_wgm_mode mode;
if (i==0 || i==2) { //(T0 and T2 are different from rest)
uint8_t wgm = io.tccra[i]&3; //look at low 2 bits
mode = sim_wgm0[wgm];
}
else {
uint8_t wgm = ((io.tccrb[i]&8)>>1) | (io.tccra[i]&3); //only using 3 bits for now
mode = sim_wgmN[wgm];
}
//tick
io.tcnt[i]++;
//comparators
if ((io.timsk[i]&(1<<SIM_OCA)) && io.tcnt[i]==io.ocra[i]) io.tifr[i]|=(1<<SIM_OCA);
if ((io.timsk[i]&(1<<SIM_OCB)) && io.tcnt[i]==io.ocrb[i]) io.tifr[i]|=(1<<SIM_OCB);
if ((io.timsk[i]&(1<<SIM_OCC)) && io.tcnt[i]==io.ocrc[i]) io.tifr[i]|=(1<<SIM_OCC);
//select waveform generation mode
enum sim_wgm_mode mode;
if (i==0 || i==2) { //(T0 and T2 use only 3 wgm bits)
uint8_t wgm = ((io.tccrb[i]&0x08)>>1) | (io.tccra[i]&3);
mode = sim_wgm_3[wgm];
}
else {
uint8_t wgm = ((io.tccrb[i]&0x18)>>1) | (io.tccra[i]&3); //4 wgm bits
mode = sim_wgm_4[wgm];
}
switch (mode) {
case wgm_NORMAL: //Normal mode
if (i==0) io.tcnt[i]&=0xFF; //timer0 is 8 bit;
if (i==2) io.tcnt[i]&=0xFF; //timer2 is 8 bit;
if (io.tcnt[i]==0) io.tifr[i]|=(1<<SIM_TOV);
break;
//tick
if (io.tifr[i]&(1<<SIM_ROLL)) { //handle CTC mode rollover
io.tcnt[i]=0;
io.tifr[i]&=~(1<<SIM_ROLL);
}
else {
io.tcnt[i]++;
}
io.tcnt[i]&=bitmask; //limit the 8 bit timers
case wgm_CTC: //CTC mode
if (io.tcnt[i]==io.ocra[i]) io.tcnt[i]=0;
break;
default: //unsupported
break;
}
//call any triggered interupts
if (ien && io.tifr[i]) {
if (compa_vect[i] && (io.tifr[i]&(1<<SIM_OCA))) {
compa_vect[i]();
io.tifr[i]&=~(1<<SIM_OCA);
//TODO: insert port_monitor call here
}
if (compb_vect[i] && (io.tifr[i]&(1<<SIM_OCB))) {
compb_vect[i]();
io.tifr[i]&=~(1<<SIM_OCB);
}
if (ovf_vect[i] && (io.tifr[i]&(1<<SIM_TOV))) {
ovf_vect[i]();
io.tifr[i]&=~(1<<SIM_TOV);
}
}
}
switch (mode) {
case wgm_NORMAL: //Normal mode, ovf on rollover
if (io.tcnt[i]==0) io.tifr[i]|=(1<<SIM_TOV); //overflow
break;
case wgm_CTC: //CTC mode, ovf at TOP, 0 next tick
if (io.tcnt[i]==(io.ocra[i]&bitmask)) {
io.tifr[i]|=(1<<SIM_TOV)|(1<<SIM_ROLL); //overflow
}
break;
default: //unsupported
break;
}
//comparators
if ((io.timsk[i]&(1<<SIM_OCA)) && io.tcnt[i]==(io.ocra[i]&bitmask)) io.tifr[i]|=(1<<SIM_OCA);
if ((io.timsk[i]&(1<<SIM_OCB)) && io.tcnt[i]==(io.ocrb[i]&bitmask)) io.tifr[i]|=(1<<SIM_OCB);
if ((io.timsk[i]&(1<<SIM_OCC)) && io.tcnt[i]==(io.ocrc[i]&bitmask)) io.tifr[i]|=(1<<SIM_OCC);
//call any triggered interupts
if (ien && io.tifr[i]) {
if (compa_vect[i] && (io.tifr[i]&(1<<SIM_OCA))) {
compa_vect[i]();
io.tifr[i]&=~(1<<SIM_OCA);
//TODO: insert port_monitor call here
}
if (compb_vect[i] && (io.tifr[i]&(1<<SIM_OCB))) {
compb_vect[i]();
io.tifr[i]&=~(1<<SIM_OCB);
}
if (ovf_vect[i] && (io.tifr[i]&(1<<SIM_TOV))) {
ovf_vect[i]();
io.tifr[i]&=~(1<<SIM_TOV);
}
}
}
}
//// TODO for more complete timer sim.
// pwm modes. (only used for variable spindle, I think).
//// TODO for more complete timer sim.
// pwm modes. (only used for variable spindle, I think).
// -- would require fixing wgm mode for Timers1..5
// -- phase correct modes need updown counter.
// output pins (also only for variable spindle, I think).
//// Other chip features not needed yet for grbl:
// writes to TCNT0 prevent compare match (need write detector.)
// writes to TCNT0 prevent compare match (need write detector.)
// force output compare (unused)
// input capture (unused and how would we signal it?)
// define the other output compare registers.
// usercode can clear unhandled interrupt flags by writing 1.
// usercode can clear unhandled interrupt flags by writing 1.
// --(this may be impossible, since bit was 1 before the write.)
// prescaler reset.
// maybe need to cli on interrupt entry
}

8
sim/avr/interrupt.h
View File

@ -28,12 +28,14 @@
//#define TIMER1_COMPA_vect
#define ISR(a) void interrupt_ ## a ()
// Stub of the timer interrupt functions we need
// Stubs of the hardware interrupt functions we are using
void interrupt_TIMER0_COMPA_vect();
void interrupt_TIMER1_COMPA_vect();
void interrupt_TIMER0_OVF_vect();
void interrupt_SERIAL_UDRE();
void interrupt_SERIAL_RX();
void interrupt_LIMIT_INT_vect();
void interrupt_WDT_vect();
//pseudo-Interrupt vector table
@ -41,7 +43,8 @@ typedef void(*isr_fp)(void);
extern isr_fp compa_vect[6];
extern isr_fp compb_vect[6];
extern isr_fp ovf_vect[6];
extern isr_fp wdt_vect;
extern isr_fp pc_vect; //pin change
// enable interrupts now does something in the simulation environment
#define SEI 0x80
@ -52,5 +55,4 @@ void cli();
void timer_interrupts();
#endif

33
sim/avr/io.h
View File

@ -4,7 +4,7 @@
Part of Grbl Simulator
Copyright (c) 2012 Jens Geisler
Copyright (c) 2012-2104 Jens Geisler, Adam Shelly
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
@ -40,7 +40,7 @@ enum {
SIM_PORT_COUNT
};
#define SIM_N_TIMERS 6
#define SIM_N_TIMERS 3 //328p has 3, Mega has 6
// dummy register variables
@ -60,12 +60,14 @@ typedef struct io_sim {
uint8_t pcmsk[3];
uint8_t ucsr0[3];
uint8_t udr[3];
uint8_t gpior[3];
uint8_t mcusr;
uint8_t wdtcsr;
union hilo16 ubrr0;
uint16_t prescaler; //continuously running
uint8_t sreg;
} io_sim_t;
volatile extern io_sim_t io;
@ -94,6 +96,8 @@ volatile extern io_sim_t io;
#define DDRG io.ddr[SIM_G]
#define DDRH io.ddr[SIM_H]
#define DDRJ io.ddr[SIM_J]
#define DDRK io.ddr[SIM_K]
#define DDRL io.ddr[SIM_L]
#define PINA io.pin[SIM_A]
#define PINB io.pin[SIM_B]
@ -121,6 +125,7 @@ volatile extern io_sim_t io;
#define SIM_OCB 2
#define SIM_OCC 3
#define SIM_ICI 5
#define SIM_ROLL 7 //stealing reserved TIFR bit
#define OCIE0A SIM_OCA
#define OCIE0B SIM_OCB
@ -148,8 +153,8 @@ volatile extern io_sim_t io;
#define TCNT1 io.tcnt[1]
#define TCNT2 io.tcnt[2]
#define TCCR0B io.tccra[0]
#define TCCR0A io.tccrb[0]
#define TCCR0A io.tccra[0]
#define TCCR0B io.tccrb[0]
#define TCCR1A io.tccra[1]
#define TCCR1B io.tccrb[1]
#define TCCR2A io.tccra[2]
@ -179,6 +184,7 @@ volatile extern io_sim_t io;
#define PCICR io.pcicr
#define PCIE0 0
#define PCIE1 1
#define PCIE2 2
//serial channel
#define UCSR0A io.ucsr0[SIM_A]
@ -196,6 +202,23 @@ volatile extern io_sim_t io;
#define PCMSK1 io.pcmsk[1]
#define PCMSK2 io.pcmsk[2]
//GPIO
#define GPIOR0 io.gpior[0]
#define GPIOR1 io.gpior[1]
#define GPIOR2 io.gpior[2]
//MCU Status
#define MCUSR io.mcusr
#define PORF 0
#define EXTRF 1
#define BORF 2
#define WDRF 3
#define JTRF 4
//Interrupt Status
#define SREG io.sreg
#endif

10
sim/avr/wdt.h
View File

@ -1 +1,11 @@
#define WDTCSR wdt
#define WDP0 0
#define WDP1 1
#define WDP2 2
#define WDE 3
#define WDCE 4
#define WDP3 5
#define WDIE 6
#define WDIF 7
uint16_t wdt;

127
sim/simulator.c
View File

@ -4,7 +4,7 @@
Part of Grbl Simulator
Copyright (c) 2012 Jens Geisler
Copyright (c) 2012-2014 Jens Geisler, Adam Shelly
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
@ -32,7 +32,7 @@
#include "eeprom.h"
int block_position[]= {0,0,0}; //step count after most recently planned block
int block_position[N_AXIS]= {0}; //step count after most recently planned block
uint32_t block_number= 0;
sim_vars_t sim={0};
@ -50,6 +50,11 @@ void init_simulator(float time_multiplier) {
#ifdef STEP_PULSE_DELAY
compa_vect[0] = interrupt_TIMER0_COMPA_vect;
#endif
#ifdef ENABLE_SOFTWARE_DEBOUNCE
wdt_vect = interrupt_WDT_vect;
#endif
pc_vect = interrupt_LIMIT_INT_vect;
sim.next_print_time = args.step_time;
sim.speedup = time_multiplier;
@ -94,43 +99,43 @@ void sim_loop(){
while (!sim.exit || sys.state>2 ) { //don't quit until idle
if (sim.speedup) {
//calculate how many ticks to do.
uint32_t ns_now = platform_ns();
uint32_t ns_elapsed = (ns_now-ns_prev)*sim.speedup; //todo: try multipling nsnow
simulated_ticks += F_CPU/1e9*ns_elapsed;
ns_prev = ns_now;
}
else {
simulated_ticks++; //as fast as possible
}
while (sim.masterclock < simulated_ticks){
if (sim.speedup) {
//calculate how many ticks to do.
uint32_t ns_now = platform_ns();
uint32_t ns_elapsed = (ns_now-ns_prev)*sim.speedup; //todo: try multipling nsnow
simulated_ticks += F_CPU/1e9*ns_elapsed;
ns_prev = ns_now;
}
else {
simulated_ticks++; //as fast as possible
}
while (sim.masterclock < simulated_ticks){
//only read serial port as fast as the baud rate allows
bool read_serial = (sim.masterclock >= next_byte_tick);
//only read serial port as fast as the baud rate allows
bool read_serial = (sim.masterclock >= next_byte_tick);
//do low level hardware
simulate_hardware(read_serial);
//do low level hardware
simulate_hardware(read_serial);
//print the steps.
//For further decoupling, could maintain own counter of STEP_PORT pulses,
//print the steps.
//For further decoupling, could maintain own counter of STEP_PORT pulses,
// print that instead of sys.position.
print_steps(0);
if (read_serial){
next_byte_tick+=sim.baud_ticks;
//recent block can only change after input, so check here.
printBlock();
}
print_steps(0);
if (read_serial){
next_byte_tick+=sim.baud_ticks;
//recent block can only change after input, so check here.
printBlock();
}
//TODO:
// set limit pins based on position,
// set probe pin when probing.
// if VARIABLE_SPINDLE, measure pwm pin to report speed?
}
//TODO:
// set limit pins based on position,
// set probe pin when probing.
// if VARIABLE_SPINDLE, measure pwm pin to report speed?
}
platform_sleep(0); //yield
platform_sleep(0); //yield
}
}
@ -143,22 +148,22 @@ void print_steps(bool force)
if (sim.next_print_time == 0.0) { return; } //no printing
if (current_block != printed_block ) {
//new block.
if (block_number) { //print values from the end of prev block
fprintf(args.step_out_file, "%20.15f %d, %d, %d\n", sim.sim_time, sys.position[X_AXIS], sys.position[Y_AXIS], sys.position[Z_AXIS]);
}
printed_block = current_block;
if (current_block == NULL) { return; }
// print header
fprintf(args.step_out_file, "# block number %d\n", block_number++);
//new block.
if (block_number) { //print values from the end of prev block
fprintf(args.step_out_file, "%20.15f %d, %d, %d\n", sim.sim_time, sys.position[X_AXIS], sys.position[Y_AXIS], sys.position[Z_AXIS]);
}
printed_block = current_block;
if (current_block == NULL) { return; }
// print header
fprintf(args.step_out_file, "# block number %d\n", block_number++);
}
//print at correct interval while executing block
else if ((current_block && sim.sim_time>=sim.next_print_time) || force ) {
fprintf(args.step_out_file, "%20.15f %d, %d, %d\n", sim.sim_time, sys.position[X_AXIS], sys.position[Y_AXIS], sys.position[Z_AXIS]);
fflush(args.step_out_file);
fprintf(args.step_out_file, "%20.15f %d, %d, %d\n", sim.sim_time, sys.position[X_AXIS], sys.position[Y_AXIS], sys.position[Z_AXIS]);
fflush(args.step_out_file);
//make sure the simulation time doesn't get ahead of next_print_time
while (sim.next_print_time<=sim.sim_time) sim.next_print_time += args.step_time;
//make sure the simulation time doesn't get ahead of next_print_time
while (sim.next_print_time<=sim.sim_time) sim.next_print_time += args.step_time;
}
}
@ -189,15 +194,15 @@ void printBlock() {
b= plan_get_recent_block();
if(b!=last_block && b!=NULL) {
int i;
for (i=0;i<N_AXIS;i++){
if(b->direction_bits & get_direction_mask(i)) block_position[i]-= b->steps[i];
else block_position[i]+= b->steps[i];
fprintf(args.block_out_file,"%d, ", block_position[i]);
}
fprintf(args.block_out_file,"%f", b->entry_speed_sqr);
fprintf(args.block_out_file,"\n");
fflush(args.block_out_file); //TODO: needed?
int i;
for (i=0;i<N_AXIS;i++){
if(b->direction_bits & get_direction_mask(i)) block_position[i]-= b->steps[i];
else block_position[i]+= b->steps[i];
fprintf(args.block_out_file,"%d, ", block_position[i]);
}
fprintf(args.block_out_file,"%f", b->entry_speed_sqr);
fprintf(args.block_out_file,"\n");
fflush(args.block_out_file); //TODO: needed?
last_block= b;
}
@ -212,12 +217,12 @@ void grbl_out(uint8_t data){
buf[len++]=data;
if(data=='\n' || data=='\r' || len>=127) {
if (args.comment_char && !continuation){
fprintf(args.grbl_out_file,"%c ",args.comment_char);
}
buf[len]=0;
fprintf(args.grbl_out_file,"%s",buf);
continuation = (len>=128); //print comment on next line unless we are only printing to avoid buffer overflow)
len=0;
if (args.comment_char && !continuation){
fprintf(args.grbl_out_file,"%c ",args.comment_char);
}
buf[len]=0;
fprintf(args.grbl_out_file,"%s",buf);
continuation = (len>=128); //print comment on next line unless we are only printing to avoid buffer overflow)
len=0;
}
}