4 Copyright 2008, 2009 Michel Pollet <buserror@gmail.com>
6 This file is part of simavr.
8 simavr is free software: you can redistribute it and/or modify
9 it under the terms of the GNU General Public License as published by
10 the Free Software Foundation, either version 3 of the License, or
11 (at your option) any later version.
13 simavr is distributed in the hope that it will be useful,
14 but WITHOUT ANY WARRANTY; without even the implied warranty of
15 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
16 GNU General Public License for more details.
18 You should have received a copy of the GNU General Public License
19 along with simavr. If not, see <http://www.gnu.org/licenses/>.
32 #include "avr_ioport.h"
36 #include "sim_vcd_file.h"
42 #include "thermistor.h"
43 #include "thermistor.h"
47 #define __AVR_ATmega644__
48 #include "marlin/pins.h"
51 #define THERMISTORHEATER_0 5
52 #include "marlin/thermistortables.h"
55 * these are the sources of heat and cold to register to the heatpots
63 thermistor_t therm_hotend;
64 thermistor_t therm_hotbed;
65 thermistor_t therm_spare;
69 stepper_t step_x, step_y, step_z, step_e;
75 typedef struct ardupin_t {
76 uint32_t port : 7, pin : 3, analog : 1, adc : 3, pwm : 1, ardupin;
77 } ardupin_t, *ardupin_p;
79 ardupin_t arduidiot_644[32] = {
80 [ 0] = { .ardupin = 0, .port = 'B', .pin = 0 },
81 [ 1] = { .ardupin = 1, .port = 'B', .pin = 1 },
82 [ 2] = { .ardupin = 2, .port = 'B', .pin = 2 },
83 [ 3] = { .ardupin = 3, .port = 'B', .pin = 3 },
84 [ 4] = { .ardupin = 4, .port = 'B', .pin = 4 },
85 [ 5] = { .ardupin = 5, .port = 'B', .pin = 5 },
86 [ 6] = { .ardupin = 6, .port = 'B', .pin = 6 },
87 [ 7] = { .ardupin = 7, .port = 'B', .pin = 7 },
89 [ 8] = { .ardupin = 8, .port = 'D', .pin = 0 },
90 [ 9] = { .ardupin = 9, .port = 'D', .pin = 1 },
91 [10] = { .ardupin = 10, .port = 'D', .pin = 2 },
92 [11] = { .ardupin = 11, .port = 'D', .pin = 3 },
93 [12] = { .ardupin = 12, .port = 'D', .pin = 4 },
94 [13] = { .ardupin = 13, .port = 'D', .pin = 5 },
95 [14] = { .ardupin = 14, .port = 'D', .pin = 6 },
96 [15] = { .ardupin = 15, .port = 'D', .pin = 7 },
98 [16] = { .ardupin = 16, .port = 'C', .pin = 0 },
99 [17] = { .ardupin = 17, .port = 'C', .pin = 1 },
100 [18] = { .ardupin = 18, .port = 'C', .pin = 2 },
101 [19] = { .ardupin = 19, .port = 'C', .pin = 3 },
102 [20] = { .ardupin = 20, .port = 'C', .pin = 4 },
103 [21] = { .ardupin = 21, .port = 'C', .pin = 5 },
104 [22] = { .ardupin = 22, .port = 'C', .pin = 6 },
105 [23] = { .ardupin = 23, .port = 'C', .pin = 7 },
107 [24] = { .ardupin = 24, .port = 'A', .pin = 7, .analog = 1, .adc = 7 },
108 [25] = { .ardupin = 25, .port = 'A', .pin = 6, .analog = 1, .adc = 6 },
109 [26] = { .ardupin = 26, .port = 'A', .pin = 5, .analog = 1, .adc = 5 },
110 [27] = { .ardupin = 27, .port = 'A', .pin = 4, .analog = 1, .adc = 4 },
111 [28] = { .ardupin = 28, .port = 'A', .pin = 3, .analog = 1, .adc = 3 },
112 [29] = { .ardupin = 29, .port = 'A', .pin = 2, .analog = 1, .adc = 2 },
113 [30] = { .ardupin = 30, .port = 'A', .pin = 1, .analog = 1, .adc = 1 },
114 [31] = { .ardupin = 31, .port = 'A', .pin = 0, .analog = 1, .adc = 0 },
124 if (pins[ardupin].ardupin != ardupin) {
125 printf("%s pin %d isn't correct in table\n", __func__, ardupin);
128 struct avr_irq_t * irq = avr_io_getirq(avr,
129 AVR_IOCTL_IOPORT_GETIRQ(pins[ardupin].port), pins[ardupin].pin);
131 printf("%s pin %d PORT%C%d not found\n", __func__, ardupin, pins[ardupin].port, pins[ardupin].pin);
138 * called when the AVR change any of the pins on port B
139 * so lets update our buffer
141 void hotbed_change_hook(struct avr_irq_t * irq, uint32_t value, void * param)
143 printf("%s %d\n", __func__, value);
144 // pin_state = (pin_state & ~(1 << irq->irq)) | (value << irq->irq);
148 char avr_flash_path[1024];
149 int avr_flash_fd = 0;
151 // avr special flash initalization
152 // here: open and map a file to enable a persistent storage for the flash memory
153 void avr_special_init( avr_t * avr)
156 avr_flash_fd = open(avr_flash_path, O_RDWR|O_CREAT, 0644);
157 if (avr_flash_fd < 0) {
158 perror(avr_flash_path);
161 // resize and map the file the file
162 (void)ftruncate(avr_flash_fd, avr->flashend + 1);
163 ssize_t r = read(avr_flash_fd, avr->flash, avr->flashend + 1);
164 if (r != avr->flashend + 1) {
165 fprintf(stderr, "unable to load flash memory\n");
166 perror(avr_flash_path);
171 // avr special flash deinitalization
172 // here: cleanup the persistent storage
173 void avr_special_deinit( avr_t* avr)
176 lseek(avr_flash_fd, SEEK_SET, 0);
177 ssize_t r = write(avr_flash_fd, avr->flash, avr->flashend + 1);
178 if (r != avr->flashend + 1) {
179 fprintf(stderr, "unable to load flash memory\n");
180 perror(avr_flash_path);
183 uart_pty_stop(&uart_pty);
189 struct mg_connection *conn,
190 const struct mg_request_info *request_info)
192 if (event == MG_NEW_REQUEST) {
193 // Echo requested URI back to the client
194 mg_printf(conn, "HTTP/1.1 200 OK\r\n"
195 "Content-Type: text/plain\r\n\r\n"
196 "%s", request_info->uri);
197 return ""; // Mark as processed
203 #define MEGA644_GPIOR0 0x3e
206 reprap_relief_callback(
212 // printf("%s write %x\n", __func__, addr);
217 int main(int argc, char *argv[])
221 for (int i = 1; i < argc; i++)
222 if (!strcmp(argv[i], "-d"))
224 avr = avr_make_mcu_by_name("atmega644");
226 fprintf(stderr, "%s: Error creating the AVR core\n", argv[0]);
229 // snprintf(avr_flash_path, sizeof(avr_flash_path), "%s/%s", pwd, "simduino_flash.bin");
230 strcpy(avr_flash_path, "reprap_flash.bin");
231 // register our own functions
232 avr->special_init = avr_special_init;
233 avr->special_deinit = avr_special_deinit;
235 avr->frequency = 20000000;
236 avr->aref = avr->avcc = avr->vcc = 5 * 1000; // needed for ADC
240 const char * fname = "/opt/reprap/tvrrug/Marlin.base/Marlin/applet/Marlin.elf";
241 elf_read_firmware(fname, &f);
243 printf("firmware %s f=%d mmcu=%s\n", fname, (int)f.frequency, f.mmcu);
244 avr_load_firmware(avr, &f);
248 // snprintf(path, sizeof(path), "%s/%s", pwd, "ATmegaBOOT_168_atmega328.ihex");
249 strcpy(path, "marlin/Marlin.hex");
250 strcpy(path, "marlin/bootloader-644-20MHz.hex");
251 uint8_t * boot = read_ihex_file(path, &size, &base);
253 fprintf(stderr, "%s: Unable to load %s\n", argv[0], path);
256 printf("Firmware %04x(%04x in AVR talk): %d bytes (%d words)\n", base, base/2, size, size/2);
257 memcpy(avr->flash + base, boot, size);
260 avr->codeend = avr->flashend;
264 // even if not setup at startup, activate gdb if crashing
265 avr->gdb_port = 1234;
267 printf("AVR is stopped, waiting on gdb on port %d. Use 'target remote :%d' in avr-gdb\n",
268 avr->gdb_port, avr->gdb_port);
269 avr->state = cpu_Stopped;
273 // Marlin doesn't loop, sleep, so we don't know when it's idle
274 // I changed Marlin to do a spurious write to the GPIOR0 register so we can trap it
275 avr_register_io_write(avr, MEGA644_GPIOR0, reprap_relief_callback, NULL);
277 uart_pty_init(avr, &uart_pty);
278 uart_pty_connect(&uart_pty, '0');
280 thermistor_init(avr, &therm_hotend, 0,
281 (short*)temptable_5, sizeof(temptable_5) / sizeof(short) / 2, OVERSAMPLENR, 25.0f);
282 thermistor_init(avr, &therm_hotbed, 2,
283 (short*)temptable_5, sizeof(temptable_5) / sizeof(short) / 2, OVERSAMPLENR, 30.0f);
284 thermistor_init(avr, &therm_spare, 1,
285 (short*)temptable_5, sizeof(temptable_5) / sizeof(short) / 2, OVERSAMPLENR, 10.0f);
287 heatpot_init(avr, &hotend, "hotend", 28.0f);
288 heatpot_init(avr, &hotbed, "hotbed", 25.0f);
290 /* connect heatpot temp output to thermistors */
291 avr_connect_irq(hotend.irq + IRQ_HEATPOT_TEMP_OUT, therm_hotend.irq + IRQ_TERM_TEMP_VALUE_IN);
292 avr_connect_irq(hotbed.irq + IRQ_HEATPOT_TEMP_OUT, therm_hotbed.irq + IRQ_TERM_TEMP_VALUE_IN);
295 avr_irq_t * e = get_ardu_irq(avr, X_ENABLE_PIN, arduidiot_644);
296 avr_irq_t * s = get_ardu_irq(avr, X_STEP_PIN, arduidiot_644);
297 avr_irq_t * d = get_ardu_irq(avr, X_DIR_PIN, arduidiot_644);
298 avr_irq_t * m = get_ardu_irq(avr, X_MIN_PIN, arduidiot_644);
300 stepper_init(avr, &step_x, "X", 80.80, 100, 220, 0);
301 stepper_connect(&step_x, s, d, e, m, stepper_endstop_inverted);
304 avr_irq_t * e = get_ardu_irq(avr, Y_ENABLE_PIN, arduidiot_644);
305 avr_irq_t * s = get_ardu_irq(avr, Y_STEP_PIN, arduidiot_644);
306 avr_irq_t * d = get_ardu_irq(avr, Y_DIR_PIN, arduidiot_644);
307 avr_irq_t * m = get_ardu_irq(avr, Y_MIN_PIN, arduidiot_644);
309 stepper_init(avr, &step_y, "Y", 79.79, 100, 220, 0);
310 stepper_connect(&step_y, s, d, e, m, stepper_endstop_inverted);
313 avr_irq_t * e = get_ardu_irq(avr, Z_ENABLE_PIN, arduidiot_644);
314 avr_irq_t * s = get_ardu_irq(avr, Z_STEP_PIN, arduidiot_644);
315 avr_irq_t * d = get_ardu_irq(avr, Z_DIR_PIN, arduidiot_644);
316 avr_irq_t * m = get_ardu_irq(avr, Z_MIN_PIN, arduidiot_644);
318 stepper_init(avr, &step_z, "Z", 2560, 20, 110, 0);
319 stepper_connect(&step_z, s, d, e, m, stepper_endstop_inverted);
322 avr_irq_t * e = get_ardu_irq(avr, E0_ENABLE_PIN, arduidiot_644);
323 avr_irq_t * s = get_ardu_irq(avr, E0_STEP_PIN, arduidiot_644);
324 avr_irq_t * d = get_ardu_irq(avr, E0_DIR_PIN, arduidiot_644);
326 stepper_init(avr, &step_e, "E", 599.14, 0, 0, 0);
327 stepper_connect(&step_e, s, d, e, NULL, 0);
330 const char *options[] = {"listening_ports", "9090", NULL};
332 struct mg_context *ctx = mg_start(&mongoose_callback, NULL, options);
333 printf("mongoose %p\n", ctx);
336 int state = avr_run(avr);
337 if ( state == cpu_Done || state == cpu_Crashed)