Bug fixes for timers, added some wdt support for limit debounce.

- Typo in timer def,
- Handle 8 bit timers correctly,
- Don't skip TOP count in CTC mode
- added SREG for atomic bit operations

config.h

@@ -179,7 +179,7 @@
 // NOTE: Uncomment to enable. The recommended delay must be > 3us, and, when added with the
 // user-supplied step pulse time, the total time must not exceed 127us. Reported successful
 // values for certain setups have ranged from 5 to 20us.
-// #define STEP_PULSE_DELAY 10 // Step pulse delay in microseconds. Default disabled.
+#define STEP_PULSE_DELAY 10 // Step pulse delay in microseconds. Default disabled.
 
 // The number of linear motions in the planner buffer to be planned at any give time. The vast
 // majority of RAM that Grbl uses is based on this buffer size. Only increase if there is extra 
@@ -232,7 +232,7 @@
 // electrical interference on the signal cables from external sources. It's recommended to first
 // use shielded signal cables with their shielding connected to ground (old USB/computer cables 
 // work well and are cheap to find) and wire in a low-pass circuit into each limit pin.
-// #define ENABLE_SOFTWARE_DEBOUNCE // Default disabled. Uncomment to enable.
+#define ENABLE_SOFTWARE_DEBOUNCE // Default disabled. Uncomment to enable.
 
 // ---------------------------------------------------------------------------------------
 

sim/Makefile

@@ -15,7 +15,8 @@
 #  You should have received a copy of the GNU General Public License
 #  along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
 
-PLATFORM   = WINDOWS
+# PLATFORM   = WINDOWS
+PLATFORM   = LINUX
 
 OBJECTS    = main.o simulator.o serial.o ../main.o ../protocol.o ../planner.o ../settings.o ../print.o ../nuts_bolts.o eeprom.o ../serial.o avr/pgmspace.o avr/interrupt.o avr/io.o util/delay.o util/floatunsisf.o ../stepper.o ../gcode.o ../spindle_control.o ../motion_control.o ../limits.o ../report.o ../coolant_control.o ../probe.o ../system.o platform_$(PLATFORM).o
 CLOCK      = 16000000

sim/avr/interrupt.c

@@ -22,12 +22,14 @@
 
 #include "interrupt.h"
 #include "io.h"
+#include "wdt.h"
 
 //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;}
@@ -45,9 +47,20 @@ enum sim_wgm_mode {
   wgm_RESERVED
 };
 
-enum sim_wgm_mode sim_wgm0[4] = {wgm_NORMAL,wgm_PHASE_PWM,wgm_CTC,wgm_FAST_PWM};
+//3-bit wgm table for 8-bit timers
-enum sim_wgm_mode sim_wgmN[8] = {wgm_NORMAL,wgm_PHASE_PWM,wgm_PHASE_PWM,wgm_PH_F_PWM,
+enum sim_wgm_mode sim_wgm_3[] = {wgm_NORMAL,wgm_PHASE_PWM,wgm_CTC,wgm_FAST_PWM,
-											wgm_CTC, wgm_FAST_PWM, wgm_FAST_PWM, 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;
@@ -55,45 +68,54 @@ void timer_interrupts() {
   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];
+
     //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)
+    if (i==0 || i==2) {  //(T0 and T2 use only 3 wgm bits)
-		  uint8_t wgm = io.tccra[i]&3; //look at low 2 bits
+      uint8_t wgm = ((io.tccrb[i]&0x08)>>1) | (io.tccra[i]&3);
-		  mode = sim_wgm0[wgm];
+      mode = sim_wgm_3[wgm];
     }
     else {
-		  uint8_t wgm = ((io.tccrb[i]&8)>>1) | (io.tccra[i]&3); //only using 3 bits for now
+      uint8_t wgm = ((io.tccrb[i]&0x18)>>1) | (io.tccra[i]&3);  //4 wgm bits
-		  mode = sim_wgmN[wgm];
+      mode = sim_wgm_4[wgm];
     }
 
     //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]++;
-		//comparators
+    }
-		if ((io.timsk[i]&(1<<SIM_OCA)) && io.tcnt[i]==io.ocra[i]) io.tifr[i]|=(1<<SIM_OCA);
+    io.tcnt[i]&=bitmask; //limit the 8 bit timers
-		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);
-		  
 
     switch (mode) {
-		  case wgm_NORMAL: //Normal mode
+      case wgm_NORMAL: //Normal mode, ovf on rollover
-			 if (i==0) io.tcnt[i]&=0xFF; //timer0 is 8 bit;
+        if (io.tcnt[i]==0) io.tifr[i]|=(1<<SIM_TOV);  //overflow
-			 if (i==2) io.tcnt[i]&=0xFF; //timer2 is 8 bit;
-			 if (io.tcnt[i]==0) io.tifr[i]|=(1<<SIM_TOV); 
        break;
 
-   	  case wgm_CTC: //CTC mode
+        case wgm_CTC: //CTC mode, ovf at TOP, 0 next tick
-			 if (io.tcnt[i]==io.ocra[i]) io.tcnt[i]=0;
+        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))) {
@@ -130,6 +152,3 @@ void timer_interrupts() {
 
 }
 
-
-
-

sim/avr/interrupt.h

@@ -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

sim/avr/io.h

@@ -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.tccra[0]
-#define TCCR0A io.tccrb[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

sim/avr/wdt.h

@@ -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;

sim/simulator.c

@@ -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;