Add AS5600 (hardware) encoder

.gitignore

@@ -3,4 +3,5 @@ firmware/tinyg/default/path
 firmware/tinyg/Release/Makefile
 firmware/tinyg/Release/makedep.mk
 firmware/tinyg/default/path
+build
 tinyg.hex

.vscode/c_cpp_properties.json

@@ -0,0 +1,51 @@
+{
+    "configurations": [
+        {
+            "name": "Linux",
+            "includePath": [
+                "${workspaceFolder}/**",
+                "/usr/lib/avr/include/**",
+                "/usr/lib/gcc/avr/5.4.0/include/**"
+            ],
+            "defines": [
+                "__AVR",
+                "__DOXYGEN__",
+                "__AVR_ATxmega192A3__",
+                "AS_5600_ENCODER"
+            ],
+            "compilerPath": "/usr/bin/avr-gcc",
+            "cStandard": "c17",
+            "intelliSenseMode": "linux-gcc-x64",
+            "compilerArgs": [
+                "-mmcu=atmega192a3",
+                "-DF_CPU=16000000UL",
+                "-Os"
+            ]
+        },
+        {
+            "name": "Mac",
+            "includePath": [
+                "${workspaceFolder}/**",
+                "/opt/homebrew/Cellar/avr-gcc@12/12.2.0_2/avr/include/**"
+            ],
+            "defines": [
+                "__AVR",
+                "__DOXYGEN__",
+                "__AVR_ATxmega192A3__",
+                "AS_5600_ENCODER"
+            ],
+            "macFrameworkPath": [
+                "/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk/System/Library/Frameworks"
+            ],
+            "compilerPath": "/opt/homebrew/opt/avr-gcc@12/bin/avr-gcc",
+            "cStandard": "c17",
+            "intelliSenseMode": "linux-gcc-x64",
+            "compilerArgs": [
+                "-mmcu=atmega192a3",
+                "-DF_CPU=16000000UL",
+                "-Os"
+            ]
+        }
+    ],
+    "version": 4
+}

.vscode/settings.json

@@ -0,0 +1,8 @@
+{
+    "files.associations": {
+        "tinyg.h": "c",
+        "xio.h": "c",
+        "encoder.h": "c"
+    },
+    "cmake.sourceDirectory": "/home/rvalls/dev/personal/TinyG-openpnp/firmware/tinyg"
+}

.vscode/tasks.json

@@ -0,0 +1,31 @@
+{
+	"version": "2.0.0",
+	"tasks": [
+		{
+			"type": "cmake",
+			"label": "CMake: build",
+			"command": "build",
+			"targets": [
+				"all"
+			],
+			"group": {
+				"kind": "build",
+				"isDefault": true
+			},
+			"problemMatcher": [
+				"$gcc"
+			],
+			"detail": "CMake template build task"
+		}
+	],
+    "inputs": [
+        { 
+            "type": "pickString", 
+            "id": "makeTarget", "description": "Select a build target", 
+            "options": [
+                "make -j $(nprocs)"
+            ],
+            "default": "make -j $(nprocs)"
+        }
+	]
+}

firmware/.gitignore

@@ -17,5 +17,6 @@
 *.srec
 *.aws
 *.atsuo
+build
 .DS_Store
 TcfTransactionLog.csv

firmware/tinyg/.gitignore

@@ -0,0 +1 @@
+.vscode/

firmware/tinyg/CMakeLists.txt

@@ -0,0 +1,95 @@
+cmake_minimum_required(VERSION 3.10)
+
+set(HAVE_FLAG_SEARCH_PATHS_FIRST 0)
+project(tinyg VERSION 0.1.0)
+
+unset(_CMAKE_APPLE_ARCHS_DEFAULT)
+set(CMAKE_C_COMPILER avr-gcc)
+
+add_executable(tinyg.elf
+    canonical_machine.c
+    config.c
+    config_app.c
+    controller.c
+    cycle_homing.c
+    cycle_jogging.c
+    cycle_probing.c
+    encoder.c
+    encoder_as5600.c
+    gcode_parser.c
+    gpio.c
+    hardware.c
+    help.c
+    json_parser.c
+    kinematics.c
+    main.c
+    network.c
+    persistence.c
+    planner.c
+    plan_arc.c
+    plan_exec.c
+    plan_line.c
+    plan_zoid.c
+    pwm.c
+    report.c
+    spindle.c
+    stepper.c
+    switch.c
+    test.c
+    text_parser.c
+    util.c
+    xio.c
+    xio/xio_file.c
+    xio/xio_pgm.c
+    xio/xio_rs485.c
+    xio/xio_spi.c
+    xio/xio_usart.c
+    xio/xio_usb.c
+    xmega/xmega_adc.c
+    xmega/xmega_eeprom.c
+    xmega/xmega_init.c
+    xmega/xmega_interrupts.c
+    xmega/xmega_rtc.c
+    xmega/xmega_twi.c
+)
+
+target_compile_definitions(tinyg.elf PRIVATE
+    F_CPU=32000000UL
+    M115_BUILD_SYSTEM_STRING=", X-BUILD_SYSTEM:CMake"
+)
+target_compile_options(tinyg.elf PRIVATE
+    -mmcu=atxmega192a3
+    -O2 -g2 -Wall
+    -funsigned-char
+    -funsigned-bitfields
+    -fno-align-functions
+    -fno-align-jumps
+    -fno-align-loops
+    -fno-align-labels
+    -fno-reorder-blocks
+    -fno-reorder-blocks-and-partition
+    -fno-prefetch-loop-arrays
+    -fno-tree-vect-loop-version
+    -ffunction-sections
+    -fdata-sections
+    -fpack-struct
+    -fshort-enums
+)
+
+if (CMAKE_COMPILER_IS_GNUCC AND CMAKE_C_COMPILER_VERSION VERSION_GREATER 12.0)
+    if (CMAKE_C_COMPILER_VERSION VERSION_LESS_EQUAL 13.0)
+        message(STATUS "Addding workaround for avr-gcc 12 bug")
+        target_compile_options(tinyg.elf PRIVATE
+            --param=min-pagesize=0
+        )
+    endif()
+endif()
+
+target_link_options(tinyg.elf PRIVATE -mmcu=atxmega192a3)
+
+add_custom_command(
+	TARGET tinyg.elf
+	POST_BUILD
+	COMMAND avr-objcopy
+	ARGS -O ihex $<TARGET_FILE:tinyg.elf> ${PROJECT_BINARY_DIR}/tinyg.hex
+)

firmware/tinyg/canonical_machine.c

@@ -847,10 +847,14 @@ stat_t cm_get_adc()
 	return (STAT_OK);
 }
 
+#ifndef M115_BUILD_SYSTEM_STRING
+#define M115_BUILD_SYSTEM_STRING ""
+#endif
+
 stat_t cm_get_firmware()
 {
 	// M115: Get Firmware Version and Capabilities, see https://www.reprap.org/wiki/G-code#M115:_Get_Firmware_Version_and_Capabilities.
-	static const char m115_response[] PROGMEM = "FIRMWARE_NAME:TinyG, FIRMWARE_URL:https%%3A//github.com/synthetos/TinyG, FIRMWARE_VERSION:%0.2f, FIRMWARE_BUILD:%0.2f, HARDWARE_PLATFORM:%0.2f, HARDWARE_VERSION:%0.2f\n";
+	static const char m115_response[] PROGMEM = "FIRMWARE_NAME:TinyG, FIRMWARE_URL:https%%3A//github.com/synthetos/TinyG, FIRMWARE_VERSION:%0.2f, FIRMWARE_BUILD:%0.2f, HARDWARE_PLATFORM:%0.2f, HARDWARE_VERSION:%0.2f, MACHINE_TYPE:OpenPnP" M115_BUILD_SYSTEM_STRING "\n";
 	fprintf_P(stderr, m115_response, cs.fw_version, cs.fw_build, cs.hw_platform, cs.hw_version);
 	return (STAT_OK);
 }

firmware/tinyg/controller.c

@@ -3,7 +3,7 @@
  * This file is part of the TinyG project
  *
  * Copyright (c) 2010 - 2015 Alden S. Hart, Jr.
- * Copyright (c) 2013 - 2015 Robert Giseburt
+ * Copyright (c) 2013 - 2015 Robert Giseburt
  *
  * This file ("the software") is free software: you can redistribute it and/or modify
  * it under the terms of the GNU General Public License, version 2 as published by the
@@ -36,7 +36,7 @@
 #include "plan_arc.h"
 #include "planner.h"
 #include "stepper.h"
-
+
 #include "encoder.h"
 #include "hardware.h"
 #include "switch.h"
@@ -146,7 +146,7 @@ void controller_run()
 		_controller_HSM();
 	}
 }
-
+
 #define	DISPATCH(func) if (func == STAT_EAGAIN) return;
 static void _controller_HSM()
 {
@@ -200,54 +200,54 @@ static void _controller_HSM()
 
 static stat_t _command_dispatch()
 {
-#ifdef __AVR
-	stat_t status;
-
-	// read input line or return if not a completed line
-	// xio_gets() is a non-blocking workalike of fgets()
-	while (true) {
-		if ((status = xio_gets(cs.primary_src, cs.in_buf, sizeof(cs.in_buf))) == STAT_OK) {
-			cs.bufp = cs.in_buf;
-			break;
-		}
-		// handle end-of-file from file devices
-		if (status == STAT_EOF) {						// EOF can come from file devices only
-			if (cfg.comm_mode == TEXT_MODE) {
-				fprintf_P(stderr, PSTR("End of command file\n"));
-			} else {
-				rpt_exception(STAT_EOF);				// not really an exception
-			}
-			tg_reset_source();							// reset to default source
-		}
-		return (status);								// Note: STAT_EAGAIN, errors, etc. will drop through
-	}
-#endif // __AVR
-#ifdef __ARM
-	// detect USB connection and transition to disconnected state if it disconnected
-	if (SerialUSB.isConnected() == false) cs.state = CONTROLLER_NOT_CONNECTED;
-
-	// read input line and return if not a completed line
-	if (cs.state == CONTROLLER_READY) {
-		if (read_line(cs.in_buf, &cs.read_index, sizeof(cs.in_buf)) != STAT_OK) {
-			cs.bufp = cs.in_buf;
-			return (STAT_OK);	// This is an exception: returns OK for anything NOT OK, so the idler always runs
-		}
-	} else if (cs.state == CONTROLLER_NOT_CONNECTED) {
-		if (SerialUSB.isConnected() == false) return (STAT_OK);
-		cm_request_queue_flush();
-		rpt_print_system_ready_message();
-		cs.state = CONTROLLER_STARTUP;
-
-	} else if (cs.state == CONTROLLER_STARTUP) {		// run startup code
-		cs.state = CONTROLLER_READY;
-
-	} else {
-		return (STAT_OK);
-	}
-	cs.read_index = 0;
+#ifdef __AVR
+	stat_t status;
+
+	// read input line or return if not a completed line
+	// xio_gets() is a non-blocking workalike of fgets()
+	while (true) {
+		if ((status = xio_gets(cs.primary_src, cs.in_buf, sizeof(cs.in_buf))) == STAT_OK) {
+			cs.bufp = cs.in_buf;
+			break;
+		}
+		// handle end-of-file from file devices
+		if (status == STAT_EOF) {						// EOF can come from file devices only
+			if (cfg.comm_mode == TEXT_MODE) {
+				fprintf_P(stderr, PSTR("End of command file\n"));
+			} else {
+				rpt_exception(STAT_EOF);				// not really an exception
+			}
+			tg_reset_source();							// reset to default source
+		}
+		return (status);								// Note: STAT_EAGAIN, errors, etc. will drop through
+	}
+#endif // __AVR
+#ifdef __ARM
+	// detect USB connection and transition to disconnected state if it disconnected
+	if (SerialUSB.isConnected() == false) cs.state = CONTROLLER_NOT_CONNECTED;
+
+	// read input line and return if not a completed line
+	if (cs.state == CONTROLLER_READY) {
+		if (read_line(cs.in_buf, &cs.read_index, sizeof(cs.in_buf)) != STAT_OK) {
+			cs.bufp = cs.in_buf;
+			return (STAT_OK);	// This is an exception: returns OK for anything NOT OK, so the idler always runs
+		}
+	} else if (cs.state == CONTROLLER_NOT_CONNECTED) {
+		if (SerialUSB.isConnected() == false) return (STAT_OK);
+		cm_request_queue_flush();
+		rpt_print_system_ready_message();
+		cs.state = CONTROLLER_STARTUP;
+
+	} else if (cs.state == CONTROLLER_STARTUP) {		// run startup code
+		cs.state = CONTROLLER_READY;
+
+	} else {
+		return (STAT_OK);
+	}
+	cs.read_index = 0;
 #endif // __ARM
 
-	// set up the buffers
+	// set up the buffers
 	cs.linelen = strlen(cs.in_buf)+1;					// linelen only tracks primary input
 	strncpy(cs.saved_buf, cs.bufp, SAVED_BUFFER_LEN-1);	// save input buffer for reporting
 
@@ -276,8 +276,9 @@ static stat_t _command_dispatch()
 		}
 		default: {										// anything else must be Gcode
 			if (cfg.comm_mode == JSON_MODE) {			// run it as JSON...
-				strncpy(cs.out_buf, cs.bufp, INPUT_BUFFER_LEN -8);					// use out_buf as temp
-				sprintf((char *)cs.bufp,"{\"gc\":\"%s\"}\n", (char *)cs.out_buf);	// '-8' is used for JSON chars
+				strncpy(cs.out_buf, cs.bufp, INPUT_BUFFER_LEN -10);					// use out_buf as temp
+				cs.out_buf[INPUT_BUFFER_LEN-10] = '\0';
+				snprintf(cs.bufp,INPUT_BUFFER_LEN,"{\"gc\":\"%.244s\"}\n", cs.out_buf);	// 10 chars used for JSON shell
 				json_parser(cs.bufp);
 			} else {									//...or run it as text
 				text_response(gc_gcode_parser(cs.bufp), cs.saved_buf);
@@ -287,7 +288,7 @@ static stat_t _command_dispatch()
 	return (STAT_OK);
 }
 
-
+
 /**** Local Utilities ********************************************************/
 /*
  * _shutdown_idler() - blink rapidly and prevent further activity from occurring
@@ -406,7 +407,7 @@ static stat_t _sync_to_planner()
 	}
 	return (STAT_OK);
 }
-
+
 /*
 static stat_t _sync_to_time()
 {
@@ -426,7 +427,7 @@ static stat_t _sync_to_time()
 static stat_t _limit_switch_handler(void)
 {
 	if (cm_get_machine_state() == MACHINE_ALARM) { return (STAT_NOOP);}
-
+
 	if (get_limit_switch_thrown() == false) return (STAT_NOOP);
 	return(cm_hard_alarm(STAT_LIMIT_SWITCH_HIT));
 	return (STAT_OK);
@@ -435,7 +436,7 @@ static stat_t _limit_switch_handler(void)
 /*
  * _system_assertions() - check memory integrity and other assertions
  */
-#define emergency___everybody_to_get_from_street(a) if((status_code=a) != STAT_OK) return (cm_hard_alarm(status_code));
+#define emergency___everybody_to_get_from_street(a) if((status_code=a) != STAT_OK) return (cm_hard_alarm(status_code));
 
 stat_t _system_assertions()
 {