From 98f0b7ee78e8e75e83e5154531cb2be0cd5f8b94 Mon Sep 17 00:00:00 2001
From: Michael Wiebusch <m.wiebusch@gsi.de>
Date: Fri, 12 Dec 2014 17:47:57 +0100
Subject: [PATCH] cleaned up stuff, made a script for generating GPIO
 functions/definitions

---
 firmware/leds.c    |  45 -------------------
 firmware/main.c    |  24 +++++------
 firmware/makefile  |   2 +-
 firmware/motors.c  |  90 +++++++++++++++++++++++++-------------
 firmware/motors.h  |  48 ++++++++++-----------
 firmware/pins.c    | 105 +++++++++++++++++++++++++++++++++++++++++++++
 firmware/pins.c.sh |  40 +++++++++++++++++
 firmware/pins.h    |  83 ++++++++++++++---------------------
 firmware/pins.h.sh |  27 ++++++++++++
 9 files changed, 300 insertions(+), 164 deletions(-)
 delete mode 100644 firmware/leds.c
 create mode 100644 firmware/pins.c
 create mode 100755 firmware/pins.c.sh
 create mode 100755 firmware/pins.h.sh

diff --git a/firmware/leds.c b/firmware/leds.c
deleted file mode 100644
index e43f97f..0000000
--- a/firmware/leds.c
+++ /dev/null
@@ -1,45 +0,0 @@
-
-void init_leds(void) {
-  DDRLED0 |= 1<<LED0;
-  DDRLED1 |= 1<<LED1;
-  DDRLED2 |= 1<<LED2;
-}
-
-
-void set_led0(uint8_t value){
-  PORTLED0 &= ~(1<<LED0);
-  PORTLED0 |= (!(value) & 0x01)<<LED0;
-}
-
-void set_led1(uint8_t value){
-  PORTLED1 &= ~(1<<LED1);
-  PORTLED1 |= (!(value) & 0x01)<<LED1;
-}
-
-void set_led2(uint8_t value){
-  PORTLED2 &= ~(1<<LED2);
-  PORTLED2 |= (!(value) & 0x01)<<LED2;
-}
-
-
-void init_sw(void) {
- DDRSW0 &= ~(1<<SW0);
- DDRSW1 &= ~(1<<SW1);
- DDRSW2 &= ~(1<<SW2);
- PORTSW0 |= (1<<SW0);
- PORTSW1 |= (1<<SW1);
- PORTSW2 |= (1<<SW2);
-}
-
-
-uint8_t sw0_state(void){
-  return (PINSW0 & (1<<SW0))>>SW0;
-}
-
-uint8_t sw1_state(void){
-  return (PINSW1 & (1<<SW1))>>SW1;
-}
-
-uint8_t sw2_state(void){
-  return (PINSW2 & (1<<SW2))>>SW2;
-}
\ No newline at end of file
diff --git a/firmware/main.c b/firmware/main.c
index 25065c1..fed6099 100644
--- a/firmware/main.c
+++ b/firmware/main.c
@@ -7,15 +7,9 @@
 #include "motors.h"
 #include "misc.h"
 #include "pins.h"
-#include "leds.c"
-
 
 
 int16_t plate_pos_x = 0,plate_pos_y = 0;
-
-
-
-
   
 void print_steps_in_mm(int16_t steps) {
   int16_t predot,postdot;
@@ -33,7 +27,12 @@ void pos_report(void){
     print_steps_in_mm(plate_pos_x);
     uart_puts("  y_pos: ");
     print_steps_in_mm(plate_pos_y);
-    uart_puts("\r");
+    uart_puts("  end_sw: ");
+    uart_print_number_wlzeros(XEND2_state(),1);
+    uart_print_number_wlzeros(XEND1_state(),1);
+    uart_print_number_wlzeros(YEND2_state(),1);
+    uart_print_number_wlzeros(YEND1_state(),1);
+    uart_puts("\r\n");
 }
 
 
@@ -205,13 +204,12 @@ void parse_command(void){
   }
 }
 
-int main(void)
-{
+
+
+int main(void){
  
   init_motors();
   
-  char dummy;
-  uint8_t field_val = 0;
   SetupHardware();
 
   touchpad_init(); // you need to call this to setup the I/O pin!
@@ -219,7 +217,6 @@ int main(void)
   sei();
   
   touchpad_set_rel_mode_100dpi();// use touchpad in relative mode
-  int16_t x, y = 0;
   int8_t dx, dy = 0;
   uint8_t busy = 0, last_busy = 0;
 
@@ -227,7 +224,7 @@ int main(void)
     Usb2SerialTask();
     parse_command(); // read data from virtual comport
     touchpad_read(); // read data from touchpad
-    dx = -4*delta_x();// returns the amount your finger has moved in x direction since last readout
+    dx = 4*delta_x();// returns the amount your finger has moved in x direction since last readout
     dy = -4*delta_y();// returns the amount your finger has moved in y direction since last readout
 
     plate_pos_x += dx;
@@ -238,6 +235,7 @@ int main(void)
     
     if (last_busy && !(busy)){
       pos_report();
+
     }
   }
 
diff --git a/firmware/makefile b/firmware/makefile
index 3ee47e0..6de0b6a 100644
--- a/firmware/makefile
+++ b/firmware/makefile
@@ -18,7 +18,7 @@ F_CPU        = 16000000
 F_USB        = $(F_CPU)
 OPTIMIZATION = s
 TARGET       = main
-SRC          = $(TARGET).c Descriptors.c $(LUFA_SRC_USB) $(LUFA_SRC_USBCLASS) TM1001A.c motors.c misc.c USBtoSerial.c
+SRC          = $(TARGET).c Descriptors.c $(LUFA_SRC_USB) $(LUFA_SRC_USBCLASS) pins.c TM1001A.c motors.c misc.c USBtoSerial.c
 LUFA_PATH    = ../LUFA/LUFA-130303/LUFA
 CC_FLAGS     = -DUSE_LUFA_CONFIG_HEADER -IConfig/
 LD_FLAGS     =
diff --git a/firmware/motors.c b/firmware/motors.c
index 2c1f134..59d6281 100644
--- a/firmware/motors.c
+++ b/firmware/motors.c
@@ -3,6 +3,7 @@
 #include <util/delay.h>
 #include "motors.h"
 #include "misc.h"
+#include "pins.h"
 
 
 
@@ -14,40 +15,47 @@ uint8_t phase_pattern[4] = { 0b00001010, 0b00001001, 0b00000101, 0b00000110};
     
     
 void set_x(uint8_t byte) {
-  PORTX0 &= ~(1<<X0);
-  PORTX1 &= ~(1<<X1);
-  PORTX2 &= ~(1<<X2);
-  PORTX3 &= ~(1<<X3);
-
-  PORTX0 |= ((byte & (1<<0))>>0)<<X0;
-  PORTX1 |= ((byte & (1<<1))>>1)<<X1;
-  PORTX2 |= ((byte & (1<<2))>>2)<<X2;
-  PORTX3 |= ((byte & (1<<3))>>3)<<X3;
+  X0_PORT &= ~(1<<X0);
+  X1_PORT &= ~(1<<X1);
+  X2_PORT &= ~(1<<X2);
+  X3_PORT &= ~(1<<X3);
+
+  X0_PORT |= ((byte & (1<<0))>>0)<<X0;
+  X1_PORT |= ((byte & (1<<1))>>1)<<X1;
+  X2_PORT |= ((byte & (1<<2))>>2)<<X2;
+  X3_PORT |= ((byte & (1<<3))>>3)<<X3;
 }
 
 void set_y(uint8_t byte) {
-  PORTY0 &= ~(1<<Y0);
-  PORTY1 &= ~(1<<Y1);
-  PORTY2 &= ~(1<<Y2);
-  PORTY3 &= ~(1<<Y3);
-
-  PORTY0 |= ((byte & (1<<0))>>0)<<Y0;
-  PORTY1 |= ((byte & (1<<1))>>1)<<Y1;
-  PORTY2 |= ((byte & (1<<2))>>2)<<Y2;
-  PORTY3 |= ((byte & (1<<3))>>3)<<Y3;
+  Y0_PORT &= ~(1<<Y0);
+  Y1_PORT &= ~(1<<Y1);
+  Y2_PORT &= ~(1<<Y2);
+  Y3_PORT &= ~(1<<Y3);
+
+  Y0_PORT |= ((byte & (1<<0))>>0)<<Y0;
+  Y1_PORT |= ((byte & (1<<1))>>1)<<Y1;
+  Y2_PORT |= ((byte & (1<<2))>>2)<<Y2;
+  Y3_PORT |= ((byte & (1<<3))>>3)<<Y3;
 }
 
 void init_motors(void){
   set_x(0);
   set_y(0);
-  DDRX0 |= (1<<X0);
-  DDRX1 |= (1<<X1);
-  DDRX2 |= (1<<X2);
-  DDRX3 |= (1<<X3);
-  DDRY0 |= (1<<Y0);
-  DDRY1 |= (1<<Y1);
-  DDRY2 |= (1<<Y2);
-  DDRY3 |= (1<<Y3);
+  X0_DDR |= (1<<X0);
+  X1_DDR |= (1<<X1);
+  X2_DDR |= (1<<X2);
+  X3_DDR |= (1<<X3);
+  Y0_DDR |= (1<<Y0);
+  Y1_DDR |= (1<<Y1);
+  Y2_DDR |= (1<<Y2);
+  Y3_DDR |= (1<<Y3);
+  
+  
+  XEND1_as_pullup();
+  XEND2_as_pullup();
+  YEND1_as_pullup();
+  YEND2_as_pullup();
+  
 }
 
 
@@ -88,26 +96,48 @@ uint8_t motor_step(uint8_t motor, int8_t direction) { // motor: M1 or M2, direct
 uint8_t move_plate(int16_t dx, int16_t dy){
   static int16_t todo_x,todo_y = 0;
   int8_t signum;
-  uint8_t returnval = 0;
+  uint8_t busy = 0;
   todo_x += dx;
   todo_y += dy;
   
+  //if end switch closed, stop moving against the stop!
+  if(XEND1_state() && (sign(todo_x) == 1) ){
+    todo_x = 0;
+  }
+  if(XEND2_state() && (sign(todo_x) == -1) ){
+    todo_x = 0;
+  }
+  if(YEND1_state() && (sign(todo_y) == 1) ){
+    todo_y = 0;
+  }
+  if(YEND2_state() && (sign(todo_y) == -1) ){
+    todo_y = 0;
+  }
+  
+  
   signum = sign(todo_x);
   if(signum != 0) {
-    returnval++;
+    busy = 1;
   }
   motor_step(X,signum);
   todo_x -= signum;
   
+  
+  
   signum = sign(todo_y);
   if(signum != 0) {
-    returnval++;
+    busy = 1;
   }
   motor_step(Y,signum);
   todo_y -= signum;
+  
+  
+  
   _delay_us(PHASE_DELAY_US);
   
-  return returnval; // busy
+
+  
+  return busy; // busy
   
 }
 
diff --git a/firmware/motors.h b/firmware/motors.h
index 8cf5e35..2d507e9 100644
--- a/firmware/motors.h
+++ b/firmware/motors.h
@@ -6,45 +6,45 @@
 
 
 #define X0 4
-#define DDRX0 DDRC
-#define PORTX0 PORTC
-#define PINX0 PINC
+#define X0_DDR DDRC
+#define X0_PORT PORTC
+#define X0_PIN PINC
 
 #define X1 5
-#define DDRX1 DDRC
-#define PORTX1 PORTC
-#define PINX1 PINC
+#define X1_DDR DDRC
+#define X1_PORT PORTC
+#define X1_PIN PINC
 
 #define X2 4
-#define DDRX2 DDRD
-#define PORTX2 PORTD
-#define PINX2 PIND
+#define X2_DDR DDRD
+#define X2_PORT PORTD
+#define X2_PIN PIND
 
 #define X3 6
-#define DDRX3 DDRC
-#define PORTX3 PORTC
-#define PINX3 PINC
+#define X3_DDR DDRC
+#define X3_PORT PORTC
+#define X3_PIN PINC
 
 
 #define Y0 7
-#define DDRY0 DDRC
-#define PORTY0 PORTC
-#define PINY0 PINC
+#define Y0_DDR DDRC
+#define Y0_PORT PORTC
+#define Y0_PIN PINC
 
 #define Y1 6
-#define DDRY1 DDRB
-#define PORTY1 PORTB
-#define PINY1 PINB
+#define Y1_DDR DDRB
+#define Y1_PORT PORTB
+#define Y1_PIN PINB
 
 #define Y2 7
-#define DDRY2 DDRB
-#define PORTY2 PORTB
-#define PINY2 PINB
+#define Y2_DDR DDRB
+#define Y2_PORT PORTB
+#define Y2_PIN PINB
 
 #define Y3 5
-#define DDRY3 DDRB
-#define PORTY3 PORTB
-#define PINY3 PINB
+#define Y3_DDR DDRB
+#define Y3_PORT PORTB
+#define Y3_PIN PINB
 
 
 void set_x(uint8_t byte);
diff --git a/firmware/pins.c b/firmware/pins.c
new file mode 100644
index 0000000..9acc550
--- /dev/null
+++ b/firmware/pins.c
@@ -0,0 +1,105 @@
+#include <avr/io.h> 
+#include <stdlib.h>
+#include "pins.h"
+
+
+// functions for pin XEND1
+
+void XEND1_set(uint8_t value){
+  XEND1_PORT &= ~(1<<XEND1);
+  XEND1_PORT |= (value & 0x01)<<XEND1;
+}
+
+void XEND1_as_output(void){
+  XEND1_DDR |= 1<<XEND1;
+}
+
+void XEND1_as_input(void){
+  XEND1_DDR &= ~(1<<XEND1);
+}
+
+void XEND1_as_pullup(void){
+  XEND1_DDR  &= ~(1<<XEND1);
+  XEND1_PORT |= 1<<XEND1;
+}
+
+uint8_t XEND1_state(void){
+  return (XEND1_PIN & (1<<XEND1))>>XEND1;
+}
+
+
+// functions for pin XEND2
+
+void XEND2_set(uint8_t value){
+  XEND2_PORT &= ~(1<<XEND2);
+  XEND2_PORT |= (value & 0x01)<<XEND2;
+}
+
+void XEND2_as_output(void){
+  XEND2_DDR |= 1<<XEND2;
+}
+
+void XEND2_as_input(void){
+  XEND2_DDR &= ~(1<<XEND2);
+}
+
+void XEND2_as_pullup(void){
+  XEND2_DDR  &= ~(1<<XEND2);
+  XEND2_PORT |= 1<<XEND2;
+}
+
+uint8_t XEND2_state(void){
+  return (XEND2_PIN & (1<<XEND2))>>XEND2;
+}
+
+
+// functions for pin YEND1
+
+void YEND1_set(uint8_t value){
+  YEND1_PORT &= ~(1<<YEND1);
+  YEND1_PORT |= (value & 0x01)<<YEND1;
+}
+
+void YEND1_as_output(void){
+  YEND1_DDR |= 1<<YEND1;
+}
+
+void YEND1_as_input(void){
+  YEND1_DDR &= ~(1<<YEND1);
+}
+
+void YEND1_as_pullup(void){
+  YEND1_DDR  &= ~(1<<YEND1);
+  YEND1_PORT |= 1<<YEND1;
+}
+
+uint8_t YEND1_state(void){
+  return (YEND1_PIN & (1<<YEND1))>>YEND1;
+}
+
+
+// functions for pin YEND2
+
+void YEND2_set(uint8_t value){
+  YEND2_PORT &= ~(1<<YEND2);
+  YEND2_PORT |= (value & 0x01)<<YEND2;
+}
+
+void YEND2_as_output(void){
+  YEND2_DDR |= 1<<YEND2;
+}
+
+void YEND2_as_input(void){
+  YEND2_DDR &= ~(1<<YEND2);
+}
+
+void YEND2_as_pullup(void){
+  YEND2_DDR  &= ~(1<<YEND2);
+  YEND2_PORT |= 1<<YEND2;
+}
+
+uint8_t YEND2_state(void){
+  return (YEND2_PIN & (1<<YEND2))>>YEND2;
+}
+
+
diff --git a/firmware/pins.c.sh b/firmware/pins.c.sh
new file mode 100755
index 0000000..85b188a
--- /dev/null
+++ b/firmware/pins.c.sh
@@ -0,0 +1,40 @@
+#!/bin/bash
+
+cat <<EOF
+#include <avr/io.h> 
+#include <stdlib.h>
+#include "pins.h"
+
+
+EOF
+
+for i in $@
+do
+cat <<EOF
+// functions for pin $i
+
+void ${i}_set(uint8_t value){
+  ${i}_PORT &= ~(1<<$i);
+  ${i}_PORT |= (value & 0x01)<<$i;
+}
+
+void ${i}_as_output(void){
+  ${i}_DDR |= 1<<$i;
+}
+
+void ${i}_as_input(void){
+  ${i}_DDR &= ~(1<<$i);
+}
+
+void ${i}_as_pullup(void){
+  ${i}_DDR  &= ~(1<<$i);
+  ${i}_PORT |= 1<<$i;
+}
+
+uint8_t ${i}_state(void){
+  return (${i}_PIN & (1<<$i))>>$i;
+}
+
+
+EOF
+done
diff --git a/firmware/pins.h b/firmware/pins.h
index 57d11e5..aae4cdd 100644
--- a/firmware/pins.h
+++ b/firmware/pins.h
@@ -1,67 +1,48 @@
 
-
-
-
 #define XEND1 7
-#define DDRXEND1 DDRD
-#define PORTXEND1 PORTD
-#define PINXEND1 PIND
+#define XEND1_DDR DDRD
+#define XEND1_PORT PORTD
+#define XEND1_PIN PIND
 
 #define XEND2 0
-#define DDRXEND2 DDRB
-#define PORTXEND2 PORTB
-#define PINXEND2 PINB
-
+#define XEND2_DDR DDRB
+#define XEND2_PORT PORTB
+#define XEND2_PIN PINB
 
 #define YEND1 4
-#define DDRYEND1 DDRB
-#define PORTYEND1 PORTB
-#define PINYEND1 PINB
+#define YEND1_DDR DDRB
+#define YEND1_PORT PORTB
+#define YEND1_PIN PINB
 
 #define YEND2 3
-#define DDRYEND2 DDRB
-#define PORTYEND2 PORTB
-#define PINYEND2 PINB
-
-
-
-
-
-#define SW0 4
-#define DDRSW0 DDRD
-#define PORTSW0 PORTD
-#define PINSW0 PIND
-
-#define SW1 5
-#define DDRSW1 DDRC
-#define PORTSW1 PORTC
-#define PINSW1 PINC
-
-#define SW2 4
-#define DDRSW2 DDRC
-#define PORTSW2 PORTC
-#define PINSW2 PINC
-
-
-
-
-#define LED0 1
-#define DDRLED0 DDRB
-#define PORTLED0 PORTB
-#define PINLED0 PINB
+#define YEND2_DDR DDRB
+#define YEND2_PORT PORTB
+#define YEND2_PIN PINB
 
-#define LED1 0
-#define DDRLED1 DDRB
-#define PORTLED1 PORTB
-#define PINLED1 PINB
 
-#define LED2 6
-#define DDRLED2 DDRD
-#define PORTLED2 PORTD
-#define PINLED2 PIND
+void XEND1_set(uint8_t value);
+void XEND1_as_output(void);
+void XEND1_as_input(void);
+void XEND1_as_pullup(void);
+uint8_t XEND1_state(void);
 
 
+void XEND2_set(uint8_t value);
+void XEND2_as_output(void);
+void XEND2_as_input(void);
+void XEND2_as_pullup(void);
+uint8_t XEND2_state(void);
 
 
+void YEND1_set(uint8_t value);
+void YEND1_as_output(void);
+void YEND1_as_input(void);
+void YEND1_as_pullup(void);
+uint8_t YEND1_state(void);
 
 
+void YEND2_set(uint8_t value);
+void YEND2_as_output(void);
+void YEND2_as_input(void);
+void YEND2_as_pullup(void);
+uint8_t YEND2_state(void);
\ No newline at end of file
diff --git a/firmware/pins.h.sh b/firmware/pins.h.sh
new file mode 100755
index 0000000..93d779e
--- /dev/null
+++ b/firmware/pins.h.sh
@@ -0,0 +1,27 @@
+#!/bin/bash
+
+echo "# skeleton for pin definitions"
+for i in $@
+do
+cat <<EOF
+
+#define $i 
+#define ${i}_DDR  DDR
+#define ${i}_PORT PORT
+#define ${i}_PIN  PIN
+
+EOF
+done
+
+for i in $@
+do
+cat <<EOF
+
+void ${i}_set(uint8_t value);
+void ${i}_as_output(void);
+void ${i}_as_input(void);
+void ${i}_as_pullup(void);
+uint8_t ${i}_state(void);
+
+EOF
+done
\ No newline at end of file
-- 
2.43.0