Remapable IO

Author: jcoffland

CHANGELOG.md

@@ -1,6 +1,9 @@
 Buildbotics CNC Controller Firmware Changelog
 =============================================
 
+## v1.0.2
+ - Remappable IO
+
 ## v1.0.1
  - Handle case correctly when assigning named GCode variables.
  - Increased gamepad deadband to 15% but with rescaling to improve precision.
@@ -11,6 +14,7 @@ Buildbotics CNC Controller Firmware Changelog
  - Correction for voltage measurements.
  - Removed load current and faults for newer hardware from indicators and LCD.
  - Added DB15 breakout box to indicators page.
+ - Send stop command to VFD on estop.
 
 ## v1.0.0
  - Added online GCode editor.

jshint.json

@@ -3,6 +3,7 @@
   "browser": true,
   "devel": true,
   "strict": "global",
+  "esversion": 6,
   "globals": {
     "$": false,
     "require": false,
@@ -11,6 +12,8 @@
     "SockJS": false,
     "Gauge": false,
     "Clusterize": false,
-    "CodeMirror": false
+    "CodeMirror": false,
+    "Chart": false,
+    "THREE": false
   }
 }

scripts/avr109-flash

@@ -1,15 +1,14 @@
 #!/usr/bin/env python3
 
 import sys
+import os
 import time
 import serial
 import binascii
+import argparse
 
 
-dev = '/dev/ttyAMA0'
-baud = 921600
 boot_id = 'bbctrl '
-verbose = False
 
 
 def crc16(data):
@@ -70,41 +69,57 @@ def read_intel_hex(f):
 
 
 def send(data):
-    if verbose: print('Sending:', data)
+    if args.verbose: print('Sending:', data)
     sp.write(bytes(data, 'utf8'))
 
 
 def send_int(x, size):
-    if verbose: print('Sending: %d', x)
+    if args.verbose: print('Sending: %d', x)
     sp.write((x).to_bytes(size, byteorder = 'big'))
 
 
 def recv(count):
     data = sp.read(count).decode('utf8')
-    if count and verbose: print('Received:', data)
+    if count and args.verbose: print('Received:', data)
     return data
 
 
 def recv_int(size):
     x = int.from_bytes(sp.read(size), byteorder = 'big')
-    if verbose: print('Received:', x)
+    if args.verbose: print('Received:', x)
     return x
 
+# Parse arguments
+parser = argparse.ArgumentParser(description = 'Program AVR over serial port '
+                                 'using the AVR109 bootloader protocol.')
+parser.add_argument('-b', '--baud', default = 921600, type = int,
+                    help = 'Set baud rate.')
+parser.add_argument('-t', '--timeout', default = 10, type = int,
+                    help = 'Timeout in seconds.')
+parser.add_argument('-d', '--device', default = '/dev/ttyAMA0',
+                    help = 'Serial device.')
+parser.add_argument('-r', '--reset', default = 27, type = int,
+                    help = 'Reset line GPIO.')
+parser.add_argument('-v', '--verbose', help = 'Enable verbose logging',
+                    action = 'count', default = 0)
+parser.add_argument('file', help = 'The Intel hex file to program.')
+args = parser.parse_args()
 
 # Read firmware hex file
-data = list(read_intel_hex(open(sys.argv[1], 'r')))
+data = list(read_intel_hex(open(args.file, 'r')))
 
 # Open serial  port
-sp = serial.Serial(dev, baud, timeout = 10)
+sp = serial.Serial(args.device, args.baud, timeout = args.timeout)
 
 # Reset AVR
-import RPi.GPIO as gpio
-gpio.setwarnings(False)
-gpio.setmode(gpio.BCM)
-gpio.setup(27, gpio.OUT)
-gpio.output(27, 0)
-gpio.output(27, 1)
-gpio.setup(27, gpio.IN, pull_up_down = gpio.PUD_UP)
+reset_gpio_path = '/sys/class/gpio/gpio%s' % args.reset
+if not os.path.exists(reset_gpio_path):
+    with open('/sys/class/gpio/export', 'w') as f:
+        f.write(str(args.reset))
+
+with open(reset_gpio_path + '/direction', 'w') as f: f.write('out')
+with open(reset_gpio_path + '/value', 'w') as f: f.write('0')
+with open(reset_gpio_path + '/value', 'w') as f: f.write('1')
 time.sleep(0.1)
 
 # Sync

scripts/install.sh

@@ -14,7 +14,21 @@ while [ $# -gt 0 ]; do
   shift 1
 done
 
-service bbctrl stop
+if [ -e /etc/systemd/system/bbctrl.service ]; then
+  service bbctrl stop
+fi
+
+# Find devices
+if [ -e /dev/ttyAMA0 ]; then
+  AVR_DEV=/dev/ttyAMA0
+  AVR_RESET=27
+elif [ -e /dev/ttyS2 ]; then
+  AVR_DEV=/dev/ttyS2
+  AVR_RESET=117
+else
+  >&2 echo "Cannot find AVR serial device."
+  UPDATE_AVR=false
+fi
 
 if $UPDATE_PY; then
   # Update service
@@ -26,7 +40,8 @@ if $UPDATE_PY; then
 fi
 
 if $UPDATE_AVR; then
-  ./scripts/avr109-flash src/avr/bbctrl-avr-firmware.hex
+  ./scripts/avr109-flash -d $AVR_DEV -r $AVR_RESET \
+    src/avr/bbctrl-avr-firmware.hex
 fi
 
 # Update config.txt

src/avr/src/config.h

@@ -94,8 +94,9 @@ enum {
 
 #define AXES                     6 // number of axes
 #define MOTORS                   4 // number of motors on the board
+#define INS                      6 // number of supported pin outputs
 #define OUTS                    10 // number of supported pin outputs
-#define ANALOGS                  4 // number of supported analog inputs
+#define ANALOGS                  2 // number of supported analog inputs
 #define DIGITALS                 4 // number of supported digital inputs
 #define VFDREG                  32 // number of supported VFD modbus registers
 #define IO_PINS                 17 // number of supported i/o pins

src/avr/src/drv8711.c

@@ -174,6 +174,7 @@ static uint8_t _driver_get_torque(drv8711_driver_t *drv) {
   }
 }
 
+
 static uint16_t _driver_get_torque_reg(drv8711_driver_t *drv) {
   uint16_t reg;