triffid · sw · Oct 18, 2010 · Oct 18, 2010 · Oct 20, 2010 · Oct 21, 2010
diff --git a/Makefile b/Makefile
@@ -130,24 +130,3 @@ config.h: config.h.dist
 %.sym: %.elf
  @echo " SYM $@"
  @$(OBJDUMP) -t $< | perl -ne 'BEGIN { printf " ADDR NAME SIZE\n"; } /([0-9a-f]+)\s+(\w+)\s+O\s+\.(bss|data)\s+([0-9a-f]+)\s+(\w+)/ && printf "0x%04x %-20s +%d\n", eval("0x$$1") & 0xFFFF, $$5, eval("0x$$4")' | sort -k1 > $@
-
-
-##############################################################################
-# #
-# Simulation #
-# #
-##############################################################################
-
-SIM_SOURCES = $(PROGRAM).c serial_sim.c dda.c gcode_parse.c gcode_process.c timer_sim.c clock_sim.c temp.c sermsg.c dda_queue.c debug.c sersendf.c heater.c analog_sim.c delay_sim.c simulation.c
-SIM_HEADERS = config.h serial.h dda.h gcode_parse.h gcode_process.h timer.h clock.h temp.h sermsg.h dda_queue.h debug.h sersendf.h heater.h analog.h delay.h simulation.h
-
-SIM_OBJ = $(patsubst %.c,%.sim.o,${SIM_SOURCES})
-SIM_CFLAGS = -g -Wall -Wstrict-prototypes -Os $(DEFS) -std=gnu99 -funsigned-char -funsigned-bitfields -fshort-enums
-
-%.sim.o: %.c $(SIM_HEADERS)
- @echo " CC $@"
- @cc -DDEBUG -DSIMULATION -Wa,-adhlns=$(<:.c=.al) -c $(SIM_CFLAGS) -o $@ $<
-
-sim: $(SIM_OBJ)
- @echo " LINK $@"
- @cc $(SIM_CFLAGS) -o $@ $^
diff --git a/README b/README
@@ -105,22 +105,7 @@ The PID code in heater.c is probably quite generalisable, and seems to work well
 # #
 ##############################################################################
 
-To compile the simulation code, use
-
- $ make sim
-
-The simulation program will open a serial port for communication. If you don't want to connect a null modem cable, you can use 'socat' to connect a virtual serial port to your terminal:
-
- $ socat -d -d PTY READLINE
- 2010/10/18 20:24:33 socat[3700] N PTY is /dev/pts/2
- 2010/10/18 20:24:33 socat[3700] N using readline on stdin for reading and stdio for writing
- 2010/10/18 20:24:33 socat[3700] N starting data transfer loop with FDs [3,3] and [0,0]
-
-On the first line of output, socat will tell you the name of the virtual serial port. Pass this as an argument to the simulation program (in another terminal):
-
- $ ./sim /dev/pts/2
-
-Now you can send G-codes from the socat terminal. The simulation code will print any data sent via the firmware's serial interface. Stepper positions will be shown in green, counting a rising slope on the pin as one step.
+The directory simulation/ contains helper code to run the FiveD firmware on any PC, simulation the low-level hardware. This can be useful for debugging. See the README file in the simulation directory.
 
 
 ##############################################################################
@@ -177,7 +162,7 @@ This file associates various functions with particular pins on your avr
 *** README
 this file
 
-*** simulation.[sh]
+*** simulation/*.[ch]
 helper code to run the code on any Unix PC
 
 *** sender.sh

diff --git a/arduino.h b/arduino.h
@@ -57,6 +57,10 @@
  #include "arduino_1280.h"
 #endif /* __AVR_ATmega1280__) */
 
+#if defined (SIMULATION)
+ #include "simulation/simulation.h"
+#endif
+
 #ifndef DIO0_PIN
 #error pins for this chip not defined in arduino.h! If you write an appropriate pin definition and have this firmware work on your chip, please tell us via the forum thread
 #endif

diff --git a/clock_sim.c b/clock_sim.c
diff --git a/config.h.dist b/config.h.dist
@@ -132,10 +132,6 @@
  - comment out pins not in use, as this drops the corresponding code and makes operations faster
 */
 
-#ifndef SIMULATION
- #include "arduino.h"
-#endif
-
 /*
  RESERVED pins
  we NEED these for communication
@@ -262,4 +258,6 @@
  #define power_off() if (0) {}
 #endif
 
+#include "arduino.h"
+
 #endif /* _CONFIG_H */
diff --git a/dda.c b/dda.c
@@ -1,10 +1,7 @@
 #include "dda.h"
 
 #include <string.h>
-
-#ifndef SIMULATION
- #include <avr/interrupt.h>
-#endif
+#include <avr/interrupt.h>
 
 #include "timer.h"
 #include "serial.h"

diff --git a/dda_queue.c b/dda_queue.c
@@ -2,12 +2,8 @@
 
 #include <string.h>
 
-#ifdef SIMULATION
- #include "simulation.h"
-#else
- #include <avr/interrupt.h>
- #include <util/atomic.h>
-#endif
+#include <avr/interrupt.h>
+#include <util/atomic.h>
 
 #include "config.h"
 #include "timer.h"

diff --git a/heater.c b/heater.c
@@ -2,9 +2,7 @@
 
 #ifdef HEATER_PIN
 
-#ifndef SIMULATION
- #include <avr/eeprom.h>
-#endif
+#include <avr/eeprom.h>
 
 #include "sersendf.h"
 #include "debug.h"
@@ -106,4 +104,4 @@ void heater_tick(int16_t current_temp, int16_t target_temp) {
  #endif
 }
 
-#endif /* HEATER_PIN */
+#endif /* HEATER_PIN */
diff --git a/heater.h b/heater.h
@@ -2,7 +2,7 @@
 #define _HEATER_H
 
 #include "config.h"
-#include "simulation.h"
+#include "simulation/simulation.h"
 
 #ifdef HEATER_PIN
 

diff --git a/mendel.c b/mendel.c
@@ -1,7 +1,5 @@
-#ifndef SIMULATION
- #include <avr/io.h>
- #include <avr/interrupt.h>
-#endif
+#include <avr/io.h>
+#include <avr/interrupt.h>
 
 #include "config.h"
 
@@ -18,7 +16,6 @@
 #include "sersendf.h"
 #include "heater.h"
 #include "analog.h"
-#include "simulation.h"
 
 void io_init(void) {
  // disable modules we don't use

diff --git a/serial.h b/serial.h
@@ -3,11 +3,8 @@
 
 #include <stdint.h>
 
-#ifndef SIMULATION
- #include <avr/io.h>
- #include <avr/pgmspace.h>
-#endif
-#include "simulation.h"
+#include <avr/io.h>
+#include <avr/pgmspace.h>
 
 // initialise serial subsystem
 void serial_init(void);

diff --git a/sersendf.c b/sersendf.c
@@ -1,9 +1,7 @@
 #include "sersendf.h"
 
 #include <stdarg.h>
-#ifndef SIMULATION
- #include <avr/pgmspace.h>
-#endif
+#include <avr/pgmspace.h>
 
 #include "serial.h"
 #include "sermsg.h"

diff --git a/sersendf.h b/sersendf.h
@@ -1,10 +1,7 @@
 #ifndef _SERSENDF_H
 #define _SERSENDF_H
 
-#ifndef SIMULATION
- #include <avr/pgmspace.h>
-#endif
-#include "simulation.h"
+#include <avr/pgmspace.h>
 
 void sersendf(char *format, ...) __attribute__ ((format (printf, 1, 2)));
 void sersendf_P(PGM_P format, ...) __attribute__ ((format (printf, 1, 2)));

diff --git a/simulation/Makefile b/simulation/Makefile
@@ -0,0 +1,24 @@
+##############################################################################
+# #
+# Simulation #
+# #
+##############################################################################
+
+include ../Makefile
+
+vpath %.c ..
+vpath %.h ..
+vpath config.h.dist ..
+
+ARCH =
+DEFS += -DSIMULATION -DGLOBAL_CLOCK
+SOURCES += simulation.c
+OBJ = $(patsubst %.c,%.o,${SOURCES})
+CFLAGS = -g -Wall -Wstrict-prototypes -Os $(DEFS) -std=gnu99 -funsigned-char -funsigned-bitfields -fshort-enums -I.
+LDFLAGS = 
+LIBS = -lrt -lm
+
+sim: $(OBJ)
+ @echo " LINK $@"
+ @$(CC) $(CFLAGS) $(LDFLAGS) -o $@ $^ $(LIBS)
+
diff --git a/simulation/README b/simulation/README
@@ -0,0 +1,33 @@
+##############################################################################
+# #
+# Simulation #
+# #
+##############################################################################
+
+This directory contains helper code to run the FiveD firmware on any PC, simulating the low-level hardware. This can be useful for debugging. To compile the simulation code, use
+
+ $ make sim
+
+The simulation program will open a serial port for communication. If you don't want to connect a null modem cable, you can use 'socat' to connect a virtual serial port to your terminal:
+
+ $ socat -d -d PTY READLINE
+ 2010/10/18 20:24:33 socat[3700] N PTY is /dev/pts/2
+ 2010/10/18 20:24:33 socat[3700] N using readline on stdin for reading and stdio for writing
+ 2010/10/18 20:24:33 socat[3700] N starting data transfer loop with FDs [3,3] and [0,0]
+
+On the first line of output, socat will tell you the name of the virtual serial port. Pass this as an argument to the simulation program (in another terminal):
+
+ $ ./sim /dev/pts/2
+
+Now you can send G-codes from the socat terminal. The simulation code will print the time in seconds and x, y, z stepper positions, counting a rising slope on the pin as one step.
+
+The shell script plot.sh can be used to plot positions and speeds. Simply direct the output (stdout) of the simulation program to file 
+
+ $ ./sim /dev/pts/2 > example.txt
+
+Then, call plot.sh with the file as argument:
+
+ $ ./plot.sh example.txt
+
+plot.sh will, using gnuplot, generate two files, example-xy.png and example-speed.png, showing position in the z-plane and speeds, respectively.
+
diff --git a/analog_sim.c → simulation/analog.c b/analog_sim.c → simulation/analog.c
@@ -1,4 +1,4 @@
-#include "analog.h"
+#include "../analog.h"
 #include "simulation.h"
 
 static bool analog_initialised = false;

diff --git a/simulation/avr/eeprom.h b/simulation/avr/eeprom.h
diff --git a/simulation/avr/interrupt.h b/simulation/avr/interrupt.h
@@ -0,0 +1,7 @@
+#ifndef _AVR_INTERRUPT_H
+#define _AVR_INTERRUPT_H
+
+void sei(void);
+
+#endif /* _AVR_INTERRUPT_H */
+
diff --git a/simulation/avr/io.h b/simulation/avr/io.h
@@ -0,0 +1,13 @@
+#ifndef _AVR_IO_H
+#define _AVR_IO_H
+
+#include <stdint.h>
+
+#define ACD 7
+#define OCIE1A 1
+
+extern uint8_t ACSR;
+extern uint8_t TIMSK1;
+
+#endif /* _AVR_IO_H */
+
diff --git a/simulation/avr/pgmspace.h b/simulation/avr/pgmspace.h
@@ -0,0 +1,11 @@
+#ifndef _AVR_PGMSPACE_H
+#define _AVR_PGMSPACE_H
+
+#define PGM_P const char *
+#define PROGMEM
+#define PSTR(x) (x)
+#define pgm_read_byte(x) (*((uint8_t *)(x)))
+#define pgm_read_word(x) (*((uint16_t *)(x)))
+
+#endif /* _AVR_PGMSPACE_H */
+