Added old firmware and pcb design files

These are all design documents that I thought I had lost. It's may make
me cringe, but it's still cool to use it to see how far I've come.

OSU SARL/Control Board Firmware/Pick And Plate/Driver Board Revision 1.1/AxisClass.cpp

@@ -0,0 +1,91 @@
+#include "AxisClass.h"
+#include <Arduino.h>
+extern const unsigned char Microstep[6][3];
+
+Axis::Axis (unsigned char AxisStep, unsigned char AxisDir, unsigned char AxisM0, unsigned char AxisM1, unsigned char AxisM2, unsigned char AxisFault){
+  p_Step = AxisStep;
+  p_Dir = AxisDir;
+  p_M0 = AxisM0;
+  p_M1 = AxisM1;
+  p_M2 = AxisM2;
+  p_Fault = AxisFault;
+  DelVal = 8;
+
+  pinMode(p_Step, OUTPUT);
+  pinMode(p_Dir, OUTPUT);
+  pinMode(p_M0, OUTPUT);
+  pinMode(p_M1, OUTPUT);
+  pinMode(p_M2, OUTPUT);
+  pinMode(p_Fault, INPUT);
+
+  SetMicrostep(8); 
+}
+
+
+void Axis::SetMicrostep(unsigned char Level){
+  unsigned char row = -1;
+  switch (Level){
+  case 1:
+    row = 0;
+    break;
+  case 2:
+    row = 1;
+    break;
+  case 4:
+    row = 2;
+    break;
+  case 8:
+    row = 3;
+    break;
+  case 16:
+    row = 4;
+    break;
+  case 32:
+    row = 5;
+    break;
+  }
+
+  digitalWrite(p_M0, Microstep[row][0]);
+  digitalWrite(p_M1, Microstep[row][1]);
+  digitalWrite(p_M2, Microstep[row][2]);
+
+
+}
+
+void Axis::StepForward(){
+  digitalWrite(p_Dir, HIGH);
+  digitalWrite(p_Step, HIGH);
+  digitalWrite(p_Step, LOW);
+}
+
+void Axis::StepBackward(){
+  digitalWrite(p_Dir, LOW);
+  digitalWrite(p_Step, HIGH);
+  digitalWrite(p_Step, LOW);  
+}
+
+int Axis::SetRPM(int RPM){
+  int CountVal = ((16000000L/8)/((200L*8*RPM)/60));
+  cli();
+  OCR1A = CountVal;
+  sei();
+  return CountVal;
+
+}
+
+void Axis::SetDelay(unsigned int delLen){
+  DelVal = delLen;
+}
+
+
+
+
+
+
+
+
+
+
+
+
+

OSU SARL/Control Board Firmware/Pick And Plate/Driver Board Revision 1.1/AxisClass.h

@@ -0,0 +1,49 @@
+#ifndef AXIS_CLASS_H
+#define AXIS_CLASS_H
+const unsigned char Microstep[6][3] = {
+  {
+    0, 0, 0
+  }
+  ,
+  {
+    1, 0, 0
+  }
+  ,
+  {
+    0, 1, 0
+  }
+  ,
+  {
+    1, 1, 0
+  }
+  ,
+  {
+    0, 0, 1
+  }
+  ,
+  {
+    1, 0, 1
+  }
+};
+
+class Axis {
+private:
+  unsigned char p_Step;
+  unsigned char p_Dir;
+  unsigned char p_M0;
+  unsigned char p_M1;
+  unsigned char p_M2;
+  unsigned char p_Fault;
+
+  unsigned int DelVal;
+
+public:
+  Axis (unsigned char AxisStep, unsigned char AxisDir, unsigned char AxisM0, unsigned char AxisM1, unsigned char AxisM2, unsigned char AxisFault);
+  void SetMicrostep(unsigned char Level);
+  void StepForward();
+  void StepBackward();
+  int SetRPM(int RPM);
+  void SetDelay(unsigned int delLen);
+};
+#endif
+

OSU SARL/Control Board Firmware/Pick And Plate/Driver Board Revision 1.1/DriverBoardClass.cpp

@@ -0,0 +1,73 @@
+#include "DriverBoardClass.h"
+#include <Arduino.h>
+
+DriverBoard::DriverBoard(Axis *XAxisPt,Axis *YAxisPt, Axis *ZAxisPt, unsigned char ServoP, unsigned char StatusLed, unsigned char ErrorLed, unsigned char M_Enable, unsigned char ESTOP, unsigned char LimitESTOP, unsigned char X1_Lim, unsigned char X2_Lim, unsigned char Y1_Lim, 
+                         unsigned char Y2_Lim, unsigned char Z1_Lim, unsigned char Z2_Lim, unsigned char A1_Lim, unsigned char A2_Lim, unsigned char XJL, unsigned char XJR, unsigned char YJF, unsigned char YJB, unsigned char ZJU, 
+                         unsigned char ZJD, unsigned char AJF, unsigned char AJB, unsigned char JSI, unsigned char JSD){
+  //Assign Pins to Class Variables
+  XAxis = XAxisPt;
+  YAxis = YAxisPt;
+  ZAxis = ZAxisPt;
+  p_Servo = ServoP;
+  p_StatusLed = StatusLed;
+  p_ErrorLed = ErrorLed;
+  p_M_Enable = M_Enable;
+  p_ESTOP = ESTOP;
+  p_LimitESTOP = LimitESTOP;
+  p_X1_Lim = X1_Lim;
+  p_X2_Lim = X2_Lim;
+  p_Y1_Lim = Y1_Lim;
+  p_Y2_Lim = Y2_Lim;
+  p_Z1_Lim = Z1_Lim;
+  p_Z2_Lim = Z2_Lim;
+  p_A1_Lim = A1_Lim;
+  p_A2_Lim = A2_Lim;
+  p_XJL = XJL;
+  p_XJR = XJR;
+  p_YJF = YJF;
+  p_YJB = YJB;
+  p_ZJU = ZJU;
+  p_ZJD = ZJD;
+  p_AJF = AJF;
+  p_AJB = AJB;
+  p_JSI = JSI;
+  p_JSD = JSD;
+  
+  //Set pin modes for output pins
+  pinMode(p_Servo, OUTPUT);
+  pinMode(p_StatusLed, OUTPUT);
+  pinMode(p_ErrorLed, OUTPUT);
+  pinMode(p_M_Enable, OUTPUT);
+  
+  //Set pin modes for input pins
+  pinMode(p_ESTOP, INPUT);
+  pinMode(p_LimitESTOP, INPUT);
+  pinMode(p_X1_Lim, INPUT);
+  pinMode(p_X2_Lim, INPUT);
+  pinMode(p_Y1_Lim, INPUT);
+  pinMode(p_Y2_Lim, INPUT);
+  pinMode(p_Z1_Lim, INPUT);
+  pinMode(p_Z2_Lim, INPUT);
+  pinMode(p_A1_Lim, INPUT);
+  pinMode(p_A2_Lim, INPUT);
+  pinMode(p_XJL, INPUT);
+  pinMode(p_XJR, INPUT);
+  pinMode(p_YJF, INPUT);
+  pinMode(p_YJB, INPUT);
+  pinMode(p_ZJU, INPUT);
+  pinMode(p_ZJD, INPUT);
+  pinMode(p_AJF, INPUT);
+  pinMode(p_AJB, INPUT);
+  pinMode(p_JSI, INPUT);
+  pinMode(p_JSD, INPUT);  
+  
+  digitalWrite(p_M_Enable, LOW); //Enable motor drivers
+  
+};
+
+void DriverBoard::MoveToPosition(long XPos){
+  XAxis->StepForward();
+  YAxis->StepForward();
+  ZAxis->StepForward();
+}
+

OSU SARL/Control Board Firmware/Pick And Plate/Driver Board Revision 1.1/DriverBoardClass.h

@@ -0,0 +1,53 @@
+#ifndef DRIVERBOARD_CLASS_H
+#define DRIVERBOARD_CLASS_H
+
+#include "AxisClass.h"
+
+//extern Axis XAxis;
+///extern Axis YAxis;
+//extern Axis ZAxis;
+  
+class DriverBoard{
+private:
+  float CurXPos;
+  float CurYPos;
+  float CurZPos;
+  
+  unsigned char p_Servo;
+  unsigned char p_StatusLed;
+  unsigned char p_ErrorLed;
+  unsigned char p_M_Enable;
+  unsigned char p_ESTOP;
+  unsigned char p_LimitESTOP;
+  unsigned char p_X1_Lim;
+  unsigned char p_X2_Lim;
+  unsigned char p_Y1_Lim;
+  unsigned char p_Y2_Lim;
+  unsigned char p_Z1_Lim;
+  unsigned char p_Z2_Lim;
+  unsigned char p_A1_Lim;
+  unsigned char p_A2_Lim;
+  unsigned char p_XJL;
+  unsigned char p_XJR;
+  unsigned char p_YJF;
+  unsigned char p_YJB;
+  unsigned char p_ZJU;
+  unsigned char p_ZJD;
+  unsigned char p_AJF;
+  unsigned char p_AJB;
+  unsigned char p_JSI;
+  unsigned char p_JSD;
+  
+  Axis *XAxis;
+  Axis *YAxis;
+  Axis *ZAxis;
+  
+public:
+  DriverBoard(Axis *XAxisPt, Axis *YAxisPt, Axis *ZAxisPt, unsigned char ServoP, unsigned char StatusLed, unsigned char ErrorLed, unsigned char M_Enable, unsigned char ESTOP, unsigned char LimitESTOP, unsigned char X1_Lim, unsigned char X2_Lim, unsigned char Y1_Lim, 
+              unsigned char Y2_Lim, unsigned char Z1_Lim, unsigned char Z2_Lim, unsigned char A1_Lim, unsigned char A2_Lim, unsigned char XJL, unsigned char XJR, unsigned char YJF, unsigned char YJB, unsigned char ZJU, 
+              unsigned char ZJD, unsigned char AJF, unsigned char AJB, unsigned char JSI, unsigned char JSD);
+              
+  void MoveToPosition(long XPos);
+};
+
+#endif

OSU SARL/Control Board Firmware/Pick And Plate/Driver Board Revision 1.1/PickAndPlaceDriverBoardRev1_1.ino

@@ -0,0 +1,159 @@
+#include <SoftwareSerial.h>
+#include "DriverBoardClass.h"
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+//Pin Definitions
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+//Inputs/////////////////////////////////////////
+////////////////////////////////////////////////
+const unsigned char p_ESTOP = 2;
+const unsigned char p_LimitESTOP = 3;
+
+const unsigned char p_XFault = 27;
+const unsigned char p_YFault = 33;
+const unsigned char p_AFault = 41;
+const unsigned char p_SFault = A13;
+
+const unsigned char p_X1_Lim = A0;
+const unsigned char p_X2_Lim = A1;
+const unsigned char p_Y1_Lim = A2;
+const unsigned char p_Y2_Lim = A3;
+const unsigned char p_Z1_Lim = A4;
+const unsigned char p_Z2_Lim = A5;
+const unsigned char p_A1_Lim = A6;
+const unsigned char p_A2_Lim = A7;
+
+const unsigned char p_XJL = 42;
+const unsigned char p_XJR = 43;
+const unsigned char p_YJF = 44;
+const unsigned char p_YJB = 45;
+const unsigned char p_ZJU = 46;
+const unsigned char p_ZJD = 47;
+const unsigned char p_AJF = 48;
+const unsigned char p_AJB = 49;
+const unsigned char p_JSI = A14;
+const unsigned char p_JSD = A15;
+
+/////////////////////////////////////////////////
+//Outputs////////////////////////////////////////
+////////////////////////////////////////////////
+const unsigned char p_M_Enable = 13;
+
+const unsigned char p_StatusLed = 8;
+const unsigned char p_ErrorLed = 9;
+
+const unsigned char p_XStep = 22;
+const unsigned char p_XDir = 23;
+const unsigned char p_XM0 = 24;
+const unsigned char p_XM1 = 25;
+const unsigned char p_XM2 = 26;
+
+const unsigned char p_YStep = 28;
+const unsigned char p_YDir = 29;
+const unsigned char p_YM0 = 30;
+const unsigned char p_YM1 = 31;
+const unsigned char p_YM2 = 32;
+
+const unsigned char p_AStep = 34;
+const unsigned char p_ADir = 35;
+const unsigned char p_AM0 = 36;
+const unsigned char p_AM1 = 37;
+const unsigned char p_AM2 = 40;
+
+const unsigned char p_SStep = A8;
+const unsigned char p_SDir = A9;
+const unsigned char p_SM0 = A10;
+const unsigned char p_SM1 = A11;
+const unsigned char p_SM2 = A12;
+
+const unsigned char p_Servo = 5;
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+//Global Variables and Instantiations
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+Axis XAxis(p_XStep, p_XDir, p_XM0, p_XM1, p_XM2, p_XFault);
+Axis YAxis(p_YStep, p_YDir, p_YM0, p_YM1, p_YM2, p_YFault);
+Axis ZAxis(p_AStep, p_ADir, p_AM0, p_AM1, p_AM2, p_AFault);
+DriverBoard myDriver(&XAxis, &YAxis, &ZAxis, p_Servo, p_StatusLed, p_ErrorLed, p_M_Enable, p_ESTOP, p_LimitESTOP, p_X1_Lim, p_X2_Lim, p_Y1_Lim, p_Y2_Lim,
+p_Z1_Lim, p_Z2_Lim, p_A1_Lim, p_A2_Lim, p_XJL, p_XJR, p_YJF, p_YJB, p_ZJU, p_ZJD, p_AJF, p_AJB, p_JSI, p_JSD);
+
+
+SoftwareSerial MySerial(10, 12);
+
+String ReceiveBuffer = "";
+
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+//Interrupt Service Routines
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+ISR(TIMER1_COMPA_vect){
+ myDriver.MoveToPosition(1);
+
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+//Arduino Setup Function
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void setup(){
+ // cli();
+  Serial.begin(4800);
+  MySerial.begin(4800);
+
+TCCR1A = 0;
+  TCCR1B = 0;
+  TCNT1 = 0;
+
+  PRR1 &= ~(1 << PRTIM1);    //Disable power reduction mode on timer 1 ((Might need to be changed...))
+  TCCR1B |= ((1 << WGM12) | (1 << CS11));// | (1 << CS10)); //Set prescalaer to 64
+  OCR1A = 2358;              //Set count value
+  TIMSK1 = (1 << OCIE1A);
+
+  sei();
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+//Arduino Main Program Loop
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void loop(){
+  if(MySerial.available()){
+    ReceiveBuffer = "";
+    while(MySerial.available()){
+      int temp = MySerial.read();
+      if(isDigit(temp)){
+        ReceiveBuffer += char(temp);
+      }
+    }
+    //XAxis.SetDelay(ReceiveBuffer.toInt());
+    //YAxis.SetDelay(ReceiveBuffer.toInt());
+    //ZAxis.SetDelay(ReceiveBuffer.toInt());
+
+    MySerial.println(XAxis.SetRPM(ReceiveBuffer.toInt()));
+
+  }
+
+
+  //ZAxis.StepForward();
+
+
+  if(digitalRead(p_XJL)){
+    myDriver.MoveToPosition(1);
+  }
+  else if(digitalRead(p_XJR)){
+    //myDriver.MoveToPosition(1);
+  }
+
+  if(digitalRead(p_YJF)){
+    //YAxis.StepForward();
+  }
+  else if(digitalRead(p_YJB)){
+    //YAxis.StepBackward();
+  }
+
+}
+
+
+
+
+
+
+

OSU SARL/Control Board Firmware/Pick And Plate/Driver Board Revision 2.0/Firmware/DefinesAndMacros.h

@@ -0,0 +1,380 @@
+/*
+ * DefinesAndMacros.h
+ *
+ * Created: 8/9/2014 1:13:12 PM
+ *  Author: corwin
+ */ 
+
+
+#ifndef DEFINESANDMACROS_H_
+#define DEFINESANDMACROS_H_
+//////////Led state defines//////////
+#define L_RDY		0
+#define L_STARTUP	1
+#define L_HOME		2
+#define L_CAL		3
+#define L_RUN		4
+#define L_SOFTERR	5
+#define L_ERR		6
+
+//////////End led state defines//////////
+
+//////////
+#include "usart_driver.h"
+
+#define UARTBUFFERSIZE 100
+
+uint8_t sendArray[UARTBUFFERSIZE];
+uint8_t receiveArray[UARTBUFFERSIZE];
+
+USART_data_t usartData;
+//////////
+
+#define LOWSTATE 0
+#define HIGHSTATE 1
+
+#define ISINPUT 0
+#define ISOUTPUT 1
+
+#define TRUE 1
+#define FALSE 0
+
+#define PIN__STEP_EN PIN4_bm
+#define PORT__STEP_EN PORTF
+#define PINDIR__STEP_EN ISOUTPUT
+#define INITSTATE__STEP_EN HIGHSTATE
+#define STEP_EN_SET() PORT__STEP_EN.OUTSET = PIN__STEP_EN
+#define STEP_EN_CLR() PORT__STEP_EN.OUTCLR = PIN__STEP_EN
+
+
+#define PIN__X_FAULT PIN5_bm
+#define PORT__X_FAULT PORTC
+#define PINDIR__X_FAULT ISINPUT
+#define INITSTATE__X_FAULT HIGHSTATE
+#define X_FAULT_GET() (PORTC.IN & PIN__X_FAULT)
+
+
+#define PIN__X_DIR PIN3_bm
+#define PORT__X_DIR PORTC
+#define PINDIR__X_DIR ISOUTPUT
+#define INITSTATE__X_DIR LOWSTATE
+#define X_DIR_SET() PORT__X_DIR.OUTSET = PIN__X_DIR
+#define X_DIR_CLR() PORT__X_DIR.OUTCLR = PIN__X_DIR
+
+
+#define PIN__X_STEP PIN4_bm
+#define PORT__X_STEP PORTC
+#define PINDIR__X_STEP ISOUTPUT
+#define INITSTATE__X_STEP LOWSTATE
+#define X_STEP_SET() PORT__X_STEP.OUTSET = PIN__X_STEP
+#define X_STEP_CLR() PORT__X_STEP.OUTCLR = PIN__X_STEP
+
+
+#define PIN__X_M0 PIN0_bm
+#define PORT__X_M0 PORTC
+#define PINDIR__X_M0 ISOUTPUT
+#define INITSTATE__X_M0 LOWSTATE
+#define X_M0_SET() PORT__X_M0.OUTSET = PIN__X_M0
+#define X_M0_CLR() PORT__X_M0.OUTCLR = PIN__X_M0
+
+
+#define PIN__X_M1 PIN1_bm
+#define PORT__X_M1 PORTC
+#define PINDIR__X_M1 ISOUTPUT
+#define INITSTATE__X_M1 HIGHSTATE
+#define X_M1_SET() PORT__X_M1.OUTSET = PIN__X_M1
+#define X_M1_CLR() PORT__X_M1.OUTCLR = PIN__X_M1
+
+
+#define PIN__X_M2 PIN2_bm
+#define PORT__X_M2 PORTC
+#define PINDIR__X_M2 ISOUTPUT
+#define INITSTATE__X_M2 LOWSTATE
+#define X_M2_SET() PORT__X_M2.OUTSET = PIN__X_M2
+#define X_M2_CLR() PORT__X_M2.OUTCLR = PIN__X_M2
+
+
+#define PIN__Y_FAULT PIN3_bm
+#define PORT__Y_FAULT PORTD
+#define PINDIR__Y_FAULT ISINPUT
+#define INITSTATE__Y_FAULT HIGHSTATE
+#define Y_FAULT_GET() (PORTD.IN & PIN__Y_FAULT)
+
+
+#define PIN__Y_DIR PIN1_bm
+#define PORT__Y_DIR PORTD
+#define PINDIR__Y_DIR ISOUTPUT
+#define INITSTATE__Y_DIR LOWSTATE
+#define Y_DIR_SET() PORT__Y_DIR.OUTSET = PIN__Y_DIR
+#define Y_DIR_CLR() PORT__Y_DIR.OUTCLR = PIN__Y_DIR
+
+
+#define PIN__Y_STEP PIN2_bm
+#define PORT__Y_STEP PORTD
+#define PINDIR__Y_STEP ISOUTPUT
+#define INITSTATE__Y_STEP LOWSTATE
+#define Y_STEP_SET() PORT__Y_STEP.OUTSET = PIN__Y_STEP
+#define Y_STEP_CLR() PORT__Y_STEP.OUTCLR = PIN__Y_STEP
+
+
+#define PIN__Y_M0 PIN6_bm
+#define PORT__Y_M0 PORTC
+#define PINDIR__Y_M0 ISOUTPUT
+#define INITSTATE__Y_M0 LOWSTATE
+#define Y_M0_SET() PORT__Y_M0.OUTSET = PIN__Y_M0
+#define Y_M0_CLR() PORT__Y_M0.OUTCLR = PIN__Y_M0
+
+
+#define PIN__Y_M1 PIN7_bm
+#define PORT__Y_M1 PORTC
+#define PINDIR__Y_M1 ISOUTPUT
+#define INITSTATE__Y_M1 HIGHSTATE
+#define Y_M1_SET() PORT__Y_M1.OUTSET = PIN__Y_M1
+#define Y_M1_CLR() PORT__Y_M1.OUTCLR = PIN__Y_M1
+
+
+#define PIN__Y_M2 PIN0_bm
+#define PORT__Y_M2 PORTD
+#define PINDIR__Y_M2 ISOUTPUT
+#define INITSTATE__Y_M2 LOWSTATE
+#define Y_M2_SET() PORT__Y_M2.OUTSET = PIN__Y_M2
+#define Y_M2_CLR() PORT__Y_M2.OUTCLR = PIN__Y_M2
+
+
+#define PIN__Z_FAULT PIN1_bm
+#define PORT__Z_FAULT PORTE
+#define PINDIR__Z_FAULT ISINPUT
+#define INITSTATE__Z_FAULT HIGHSTATE
+#define Z_FAULT_GET() (PORTE.IN & PIN__Z_FAULT)
+
+
+#define PIN__Z_DIR PIN7_bm
+#define PORT__Z_DIR PORTD
+#define PINDIR__Z_DIR ISOUTPUT
+#define INITSTATE__Z_DIR LOWSTATE
+#define Z_DIR_SET() PORT__Z_DIR.OUTSET = PIN__Z_DIR
+#define Z_DIR_CLR() PORT__Z_DIR.OUTCLR = PIN__Z_DIR
+
+
+#define PIN__Z_STEP PIN0_bm
+#define PORT__Z_STEP PORTE
+#define PINDIR__Z_STEP ISOUTPUT
+#define INITSTATE__Z_STEP LOWSTATE
+#define Z_STEP_SET() PORT__Z_STEP.OUTSET = PIN__Z_STEP
+#define Z_STEP_CLR() PORT__Z_STEP.OUTCLR = PIN__Z_STEP
+
+
+#define PIN__Z_M0 PIN4_bm
+#define PORT__Z_M0 PORTD
+#define PINDIR__Z_M0 ISOUTPUT
+#define INITSTATE__Z_M0 HIGHSTATE
+#define Z_M0_SET() PORT__Z_M0.OUTSET = PIN__Z_M0
+#define Z_M0_CLR() PORT__Z_M0.OUTCLR = PIN__Z_M0
+
+
+#define PIN__Z_M1 PIN5_bm
+#define PORT__Z_M1 PORTD
+#define PINDIR__Z_M1 ISOUTPUT
+#define INITSTATE__Z_M1 HIGHSTATE
+#define Z_M1_SET() PORT__Z_M1.OUTSET = PIN__Z_M1
+#define Z_M1_CLR() PORT__Z_M1.OUTCLR = PIN__Z_M1
+
+
+#define PIN__Z_M2 PIN6_bm
+#define PORT__Z_M2 PORTD
+#define PINDIR__Z_M2 ISOUTPUT
+#define INITSTATE__Z_M2 HIGHSTATE
+#define Z_M2_SET() PORT__Z_M2.OUTSET = PIN__Z_M2
+#define Z_M2_CLR() PORT__Z_M2.OUTCLR = PIN__Z_M2
+
+
+#define PIN__A_FAULT PIN7_bm
+#define PORT__A_FAULT PORTE
+#define PINDIR__A_FAULT ISINPUT
+#define INITSTATE__A_FAULT HIGHSTATE
+#define A_FAULT_GET() (PORTE.IN & PIN__A_FAULT)
+
+
+#define PIN__A_DIR PIN5_bm
+#define PORT__A_DIR PORTE
+#define PINDIR__A_DIR ISOUTPUT
+#define INITSTATE__A_DIR LOWSTATE
+#define A_DIR_SET() PORT__A_DIR.OUTSET = PIN__A_DIR
+#define A_DIR_CLR() PORT__A_DIR.OUTCLR = PIN__A_DIR
+
+
+#define PIN__A_STEP PIN6_bm
+#define PORT__A_STEP PORTE
+#define PINDIR__A_STEP ISOUTPUT
+#define INITSTATE__A_STEP LOWSTATE
+#define A_STEP_SET() PORT__A_STEP.OUTSET = PIN__A_STEP
+#define A_STEP_CLR() PORT__A_STEP.OUTCLR = PIN__A_STEP
+
+
+#define PIN__A_M0 PIN2_bm
+#define PORT__A_M0 PORTE
+#define PINDIR__A_M0 ISOUTPUT
+#define INITSTATE__A_M0 LOWSTATE
+#define A_M0_SET() PORT__A_M0.OUTSET = PIN__A_M0
+#define A_M0_CLR() PORT__A_M0.OUTCLR = PIN__A_M0
+
+
+#define PIN__A_M1 PIN3_bm
+#define PORT__A_M1 PORTE
+#define PINDIR__A_M1 ISOUTPUT
+#define INITSTATE__A_M1 LOWSTATE
+#define A_M1_SET() PORT__A_M1.OUTSET = PIN__A_M1
+#define A_M1_CLR() PORT__A_M1.OUTCLR = PIN__A_M1
+
+
+#define PIN__A_M2 PIN4_bm
+#define PORT__A_M2 PORTE
+#define PINDIR__A_M2 ISOUTPUT
+#define INITSTATE__A_M2 LOWSTATE
+#define A_M2_SET() PORT__A_M2.OUTSET = PIN__A_M2
+#define A_M2_CLR() PORT__A_M2.OUTCLR = PIN__A_M2
+
+
+#define PIN__X_LIM_LEFT PIN0_bm
+#define PORT__X_LIM_LEFT PORTA
+#define PINDIR__X_LIM_LEFT ISINPUT
+#define INITSTATE__X_LIM_LEFT HIGHSTATE
+#define X_LIM_LEFT_GET() (PORTA.IN & PIN__X_LIM_LEFT)
+
+
+#define PIN__X_LIM_RIGHT PIN1_bm
+#define PORT__X_LIM_RIGHT PORTA
+#define PINDIR__X_LIM_RIGHT ISINPUT
+#define INITSTATE__X_LIM_RIGHT HIGHSTATE
+#define X_LIM_RIGHT_GET() (PORTA.IN & PIN__X_LIM_RIGHT)
+
+
+#define PIN__Y_LIM_FORW PIN2_bm
+#define PORT__Y_LIM_FORW PORTA
+#define PINDIR__Y_LIM_FORW ISINPUT
+#define INITSTATE__Y_LIM_FORW HIGHSTATE
+#define Y_LIM_FORW_GET() (PORTA.IN & PIN__Y_LIM_FORW)
+
+
+#define PIN__Y_LIM_BACK PIN3_bm
+#define PORT__Y_LIM_BACK PORTA
+#define PINDIR__Y_LIM_BACK ISINPUT
+#define INITSTATE__Y_LIM_BACK HIGHSTATE
+#define Y_LIM_BACK_GET() (PORTA.IN & PIN__Y_LIM_BACK)
+
+
+#define PIN__Z_LIM_DOWN PIN4_bm
+#define PORT__Z_LIM_DOWN PORTA
+#define PINDIR__Z_LIM_DOWN ISINPUT
+#define INITSTATE__Z_LIM_DOWN HIGHSTATE
+#define Z_LIM_DOWN_GET() (PORTA.IN & PIN__Z_LIM_DOWN)
+
+
+#define PIN__A_LIM_1 PIN5_bm
+#define PORT__A_LIM_1 PORTA
+#define PINDIR__A_LIM_1 ISINPUT
+#define INITSTATE__A_LIM_1 HIGHSTATE
+#define A_LIM_1_GET() (PORTA.IN & PIN__A_LIM_1)
+
+
+#define PIN__A_LIM_2 PIN6_bm
+#define PORT__A_LIM_2 PORTA
+#define PINDIR__A_LIM_2 ISINPUT
+#define INITSTATE__A_LIM_2 HIGHSTATE
+#define A_LIM_2_GET() (PORTA.IN & PIN__A_LIM_2)
+
+
+#define PIN__SYS_CHNG_STATE PIN7_bm
+#define PORT__SYS_CHNG_STATE PORTA
+#define PINDIR__SYS_CHNG_STATE ISINPUT
+#define INITSTATE__SYS_CHNG_STATE HIGHSTATE
+#define SYS_CHNG_STATE_GET() (PORTA.IN & PIN__SYS_CHNG_STATE)
+
+
+#define PIN__SYS_START PIN0_bm
+#define PORT__SYS_START PORTB
+#define PINDIR__SYS_START ISINPUT
+#define INITSTATE__SYS_START HIGHSTATE
+#define SYS_START_GET() (PORTB.IN & PIN__SYS_START)
+
+
+#define PIN__SYS_STOP PIN1_bm
+#define PORT__SYS_STOP PORTB
+#define PINDIR__SYS_STOP ISINPUT
+#define INITSTATE__SYS_STOP HIGHSTATE
+#define SYS_STOP_GET() (PORTB.IN & PIN__SYS_STOP)
+
+
+#define PIN__SYS_HOME PIN2_bm
+#define PORT__SYS_HOME PORTB
+#define PINDIR__SYS_HOME ISINPUT
+#define INITSTATE__SYS_HOME HIGHSTATE
+#define SYS_HOME_GET() (PORTB.IN & PIN__SYS_HOME)
+
+
+#define PIN__SYS_CAL PIN3_bm
+#define PORT__SYS_CAL PORTB
+#define PINDIR__SYS_CAL ISINPUT
+#define INITSTATE__SYS_CAL HIGHSTATE
+#define SYS_CAL_GET() (PORTB.IN & PIN__SYS_CAL)
+
+
+#define PIN__ESTOP PIN0_bm
+#define PORT__ESTOP PORTF
+#define PINDIR__ESTOP ISINPUT
+#define INITSTATE__ESTOP HIGHSTATE
+#define ESTOP_GET() (PORTF.IN & PIN__ESTOP)
+
+
+#define PIN__LIGHT_CTRL PIN1_bm
+#define PORT__LIGHT_CTRL PORTF
+#define PINDIR__LIGHT_CTRL ISOUTPUT
+#define INITSTATE__LIGHT_CTRL LOWSTATE
+#define LIGHT_CTRL_SET() PORT__LIGHT_CTRL.OUTSET = PIN__LIGHT_CTRL
+#define LIGHT_CTRL_CLR() PORT__LIGHT_CTRL.OUTCLR = PIN__LIGHT_CTRL
+
+
+#define PIN__UART_RX PIN2_bm
+#define PORT__UART_RX PORTF
+#define PINDIR__UART_RX ISINPUT
+#define INITSTATE__UART_RX HIGHSTATE
+#define UART_RX_GET() (PORTF.IN & PIN__UART_RX)
+
+
+#define PIN__UART_TX PIN3_bm
+#define PORT__UART_TX PORTF
+#define PINDIR__UART_TX ISOUTPUT
+#define INITSTATE__UART_TX HIGHSTATE
+#define UART_TX_SET() PORT__UART_TX.OUTSET = PIN__UART_TX
+#define UART_TX_CLR() PORT__UART_TX.OUTCLR = PIN__UART_TX
+
+
+#define PIN__RDY_LED PIN5_bm
+#define PORT__RDY_LED PORTF
+#define PINDIR__RDY_LED ISOUTPUT
+#define INITSTATE__RDY_LED LOWSTATE
+#define RDY_LED_SET() PORT__RDY_LED.OUTSET = PIN__RDY_LED
+#define RDY_LED_CLR() PORT__RDY_LED.OUTCLR = PIN__RDY_LED
+#define RDY_LED_TGL() PORT__RDY_LED.OUTTGL = PIN__RDY_LED
+
+
+#define PIN__RUN_LED PIN6_bm
+#define PORT__RUN_LED PORTF
+#define PINDIR__RUN_LED ISOUTPUT
+#define INITSTATE__RUN_LED LOWSTATE
+#define RUN_LED_SET() PORT__RUN_LED.OUTSET = PIN__RUN_LED
+#define RUN_LED_CLR() PORT__RUN_LED.OUTCLR = PIN__RUN_LED
+#define RUN_LED_TGL() PORT__RUN_LED.OUTTGL = PIN__RUN_LED
+
+
+#define PIN__ERR_LED PIN7_bm
+#define PORT__ERR_LED PORTF
+#define PINDIR__ERR_LED ISOUTPUT
+#define INITSTATE__ERR_LED LOWSTATE
+#define ERR_LED_SET() PORT__ERR_LED.OUTSET = PIN__ERR_LED
+#define ERR_LED_CLR() PORT__ERR_LED.OUTCLR = PIN__ERR_LED
+#define ERR_LED_TGL() PORT__ERR_LED.OUTTGL = PIN__ERR_LED
+
+
+
+#endif /* DEFINESANDMACROS_H_ */

OSU SARL/Control Board Firmware/Pick And Plate/Driver Board Revision 2.0/Firmware/InitFunctions.c

@@ -0,0 +1,331 @@
+/*
+ * InitFunctions.c
+ *
+ * Created: 8/9/2014 4:24:25 PM
+ *  Author: corwin
+ */ 
+
+#include "InitFunctions.h"
+
+
+void setupDriverBoardComplete()
+{
+	setupXMEGAIO();
+	setupXMEGAClock();
+	setupXMEGAUART();
+	setupXMEGATimers();
+	setupStepperPararms();
+	setupPinChangeInterrupts();
+	PMIC.CTRL |= PMIC_LOLVLEN_bm;
+	sei();
+}
+
+void testDriverBoardComplete()
+{
+	testStatusLeds();
+	testLightBoard();
+	testSteppers();
+	testUART();
+}
+
+void setupXMEGAIO()
+{
+	//Setup motor enable control
+	setupIOPin(&PORT__STEP_EN, PIN__STEP_EN, PINDIR__STEP_EN, INITSTATE__STEP_EN);
+	
+	//Setup X Axis motor driver
+	setupIOPin(&PORT__X_FAULT, PIN__X_FAULT, PINDIR__X_FAULT, INITSTATE__X_FAULT);
+	setupIOPin(&PORT__X_DIR, PIN__X_DIR, PINDIR__X_DIR, INITSTATE__X_DIR);
+	setupIOPin(&PORT__X_STEP, PIN__X_STEP, PINDIR__X_STEP, INITSTATE__X_STEP);
+	setupIOPin(&PORT__X_M0, PIN__X_M0, PINDIR__X_M0, INITSTATE__X_M0);
+	setupIOPin(&PORT__X_M1, PIN__X_M1, PINDIR__X_M1, INITSTATE__X_M1);
+	setupIOPin(&PORT__X_M2, PIN__X_M2, PINDIR__X_M2, INITSTATE__X_M2);
+	
+	//Setup Y Axis motor driver
+	setupIOPin(&PORT__Y_FAULT, PIN__Y_FAULT, PINDIR__Y_FAULT, INITSTATE__Y_FAULT);
+	setupIOPin(&PORT__Y_DIR, PIN__Y_DIR, PINDIR__Y_DIR, INITSTATE__Y_DIR);
+	setupIOPin(&PORT__Y_STEP, PIN__Y_STEP, PINDIR__Y_STEP, INITSTATE__Y_STEP);
+	setupIOPin(&PORT__Y_M0, PIN__Y_M0, PINDIR__Y_M0, INITSTATE__Y_M0);
+	setupIOPin(&PORT__Y_M1, PIN__Y_M1, PINDIR__Y_M1, INITSTATE__Y_M1);
+	setupIOPin(&PORT__Y_M2, PIN__Y_M2, PINDIR__Y_M2, INITSTATE__Y_M2);
+	
+	//Setup Z Axis motor driver
+	setupIOPin(&PORT__Z_FAULT, PIN__Z_FAULT, PINDIR__Z_FAULT, INITSTATE__Z_FAULT);
+	setupIOPin(&PORT__Z_DIR, PIN__Z_DIR, PINDIR__Z_DIR, INITSTATE__Z_DIR);
+	setupIOPin(&PORT__Z_STEP, PIN__Z_STEP, PINDIR__Z_STEP, INITSTATE__Z_STEP);
+	setupIOPin(&PORT__Z_M0, PIN__Z_M0, PINDIR__Z_M0, INITSTATE__Z_M0);
+	setupIOPin(&PORT__Z_M1, PIN__Z_M1, PINDIR__Z_M1, INITSTATE__Z_M1);
+	setupIOPin(&PORT__Z_M2, PIN__Z_M2, PINDIR__Z_M2, INITSTATE__Z_M2);
+	
+	//Setup A Axis motor driver
+	setupIOPin(&PORT__A_FAULT, PIN__A_FAULT, PINDIR__A_FAULT, INITSTATE__A_FAULT);
+	setupIOPin(&PORT__A_DIR, PIN__A_DIR, PINDIR__A_DIR, INITSTATE__A_DIR);
+	setupIOPin(&PORT__A_STEP, PIN__A_STEP, PINDIR__A_STEP, INITSTATE__A_STEP);
+	setupIOPin(&PORT__A_M0, PIN__A_M0, PINDIR__A_M0, INITSTATE__A_M0);
+	setupIOPin(&PORT__A_M1, PIN__A_M1, PINDIR__A_M1, INITSTATE__A_M1);
+	setupIOPin(&PORT__A_M2, PIN__A_M2, PINDIR__A_M2, INITSTATE__A_M2);
+	
+	//Setup up limits
+	setupIOPin(&PORT__X_LIM_LEFT, PIN__X_LIM_LEFT, PINDIR__X_LIM_LEFT, INITSTATE__X_LIM_LEFT);
+	setupIOPin(&PORT__X_LIM_RIGHT, PIN__X_LIM_RIGHT, PINDIR__X_LIM_RIGHT, INITSTATE__X_LIM_RIGHT);
+	
+	setupIOPin(&PORT__Y_LIM_FORW, PIN__Y_LIM_FORW, PINDIR__Y_LIM_FORW, INITSTATE__Y_LIM_FORW);
+	setupIOPin(&PORT__Y_LIM_BACK, PIN__Y_LIM_BACK, PINDIR__Y_LIM_BACK, INITSTATE__Y_LIM_BACK);
+	
+	setupIOPin(&PORT__Z_LIM_DOWN, PIN__Z_LIM_DOWN, PINDIR__Z_LIM_DOWN, INITSTATE__Z_LIM_DOWN);
+	
+	setupIOPin(&PORT__A_LIM_1, PIN__A_LIM_1, PINDIR__A_LIM_1, INITSTATE__A_LIM_1);
+	setupIOPin(&PORT__A_LIM_2, PIN__A_LIM_2, PINDIR__A_LIM_2, INITSTATE__A_LIM_2);
+	
+	
+	//Setup control panel buttons
+	setupIOPin(&PORT__SYS_CHNG_STATE, PIN__SYS_CHNG_STATE, PINDIR__SYS_CHNG_STATE, INITSTATE__SYS_CHNG_STATE);
+	setupIOPin(&PORT__SYS_START, PIN__SYS_START, PINDIR__SYS_START, INITSTATE__SYS_START);
+	setupIOPin(&PORT__SYS_STOP, PIN__SYS_STOP, PINDIR__SYS_STOP, INITSTATE__SYS_STOP);
+	setupIOPin(&PORT__SYS_HOME, PIN__SYS_HOME, PINDIR__SYS_HOME, INITSTATE__SYS_HOME);
+	setupIOPin(&PORT__SYS_CAL, PIN__SYS_CAL, PINDIR__SYS_CAL, INITSTATE__SYS_CAL);
+	
+	//Setup ESTOP
+	setupIOPin(&PORT__ESTOP, PIN__ESTOP, PINDIR__ESTOP, INITSTATE__ESTOP);
+	
+	//Setup pin for light board control
+	setupIOPin(&PORT__LIGHT_CTRL, PIN__LIGHT_CTRL, PINDIR__LIGHT_CTRL, INITSTATE__LIGHT_CTRL);
+	
+	//Setup pins for uart communication
+	setupIOPin(&PORT__UART_RX, PIN__UART_RX, PINDIR__UART_RX, INITSTATE__UART_RX);
+	setupIOPin(&PORT__UART_TX, PIN__UART_TX, PINDIR__UART_TX, INITSTATE__UART_TX);
+	
+	//Setup status led board
+	setupIOPin(&PORT__RDY_LED, PIN__RDY_LED, PINDIR__RDY_LED, INITSTATE__RDY_LED);
+	setupIOPin(&PORT__RUN_LED, PIN__RUN_LED, PINDIR__RUN_LED, INITSTATE__RUN_LED);
+	setupIOPin(&PORT__ERR_LED, PIN__ERR_LED, PINDIR__ERR_LED, INITSTATE__ERR_LED);
+	
+	//Show initialization led sequence to show end of initialization
+}
+
+void setupXMEGAClock()
+{
+	int temp = 0;																			//Temporary variable for helping avoid 4 clock cycle limitation when updating secure registers
+	
+	//Enable external 8MHz oscillator
+	OSC.XOSCCTRL = (OSC_FRQRANGE_2TO9_gc | OSC_XOSCSEL_XTAL_16KCLK_gc);						//Set external oscillator to be between 2 and 9 MHz and select it
+	OSC.CTRL |= OSC_XOSCEN_bm;																//Enable the external oscillator
+	while(!(OSC.STATUS & OSC_XOSCRDY_bm)){ERR_LED_SET();};									//While the external oscillator is not ready, set the error led
+	ERR_LED_CLR();																			//Clear the error led if the external oscillator has stabilized
+	
+	//Enable phase locked loop to multiply external oscillator by 4 to get 32MHz
+	temp = ((OSC_PLLSRC_XOSC_gc & OSC_PLLSRC_gm) | (OSC_PLLFAC_gm & 4));				//Set the external oscillator as the clock source for the pll and set to multiply by 4
+	CCP = CCP_IOREG_gc;																		//Disable register security so we can update the pll control settings
+	OSC.PLLCTRL = temp;																		//Write pll control settings to register
+	OSC.CTRL |= OSC_PLLEN_bm;																//Enable the pll
+	while(!(OSC.STATUS & OSC_PLLRDY_bm)){ERR_LED_SET();};									//While the pll is not ready, set the error led
+	ERR_LED_CLR();																			//Disable the error led if successfully stabilized
+	
+	//Set system pll clock divisions and set up as source for all system clocks
+	temp = ((CLK_PSADIV_gm & CLK_PSADIV_1_gc) | (CLK_PSBCDIV_gm & CLK_PSBCDIV_1_1_gc));		//Set system to use pll divided by 1 (no division)
+	CCP = CCP_IOREG_gc;																		//Disable register security so we can update the clock source division setting
+	CLK.CTRL = temp;																		//Write division settings to register
+	
+	temp = CLK_SCLKSEL_PLL_gc;																//Set pll as system clock source
+	CCP = CCP_IOREG_gc;																		//Disable register security so we can update the system clock
+	CLK.CTRL = temp;																		//Write clock source settings to register
+}
+
+void setupXMEGATimers()
+{
+	setupRTC();
+	setupStepDriveTimer();	
+}
+
+void setupXMEGAUART()
+{
+	USART_InterruptDriver_Initialize(&usartData, &USARTF0, USART_DREINTLVL_LO_gc);				//Initialize USARTC0 as interrupt driven serial and clear it's buffers
+	USART_Format_Set(usartData.usart, USART_CHSIZE_8BIT_gc, USART_PMODE_DISABLED_gc, false);	//Set the data format of 8 bits, no parity, 1 stop bit
+	USART_RxdInterruptLevel_Set(usartData.usart, USART_RXCINTLVL_LO_gc);						//Enable the receive interrupt
+	USART_Baudrate_Set(&USARTF0, 207 , 0);														//Set baudrate to 9600 with 32Mhz system clock
+	USART_Rx_Enable(usartData.usart);															//Enable receiving over serial
+	USART_Tx_Enable(usartData.usart);															//Enable transmitting over serial
+	//PMIC.CTRL |= PMIC_LOLVLEX_bm;																//Enable serial interrupts
+}
+
+void setupStepperPararms()
+{
+	XAxis.dirPort = &PORT__X_DIR;
+	XAxis.dirPin = PIN__X_DIR;
+	XAxis.stepPort = &PORT__X_STEP;
+	XAxis.stepPin = PIN__X_STEP;
+	XAxis.directionReversed = TRUE;
+	XAxis.inManualMode = FALSE;
+	XAxis.stepsPerMM = 250;
+	XAxis.mmFromZero = 0;
+	XAxis.acceptableError = .005;
+	XAxis.steps = 0;
+	XAxis.shouldMove = FALSE;
+	
+	YAxis.dirPort = &PORT__Y_DIR;
+	YAxis.dirPin = PIN__Y_DIR;
+	YAxis.stepPort = &PORT__Y_STEP;
+	YAxis.stepPin = PIN__Y_STEP;
+	YAxis.directionReversed = FALSE;
+	YAxis.inManualMode = FALSE;
+	YAxis.stepsPerMM = 250;
+	YAxis.mmFromZero = 0;
+	YAxis.acceptableError = .005;
+	YAxis.steps = 0;
+	YAxis.shouldMove = FALSE;
+		
+	ZAxis.dirPort = &PORT__Z_DIR;
+	ZAxis.dirPin = PIN__Z_DIR;
+	ZAxis.stepPort = &PORT__Z_STEP;
+	ZAxis.stepPin = PIN__Z_STEP;
+	ZAxis.directionReversed = FALSE;
+	ZAxis.inManualMode = FALSE;
+	ZAxis.stepsPerMM = 323;
+	ZAxis.mmFromZero = 8.25;
+	ZAxis.acceptableError = .004;
+	ZAxis.steps = 0;
+	ZAxis.shouldMove = FALSE;
+	
+	
+	AAxis.dirPort = &PORT__A_DIR;
+	AAxis.dirPin = PIN__A_DIR;
+	AAxis.stepPort = &PORT__A_STEP;
+	AAxis.stepPin = PIN__A_STEP;
+	AAxis.directionReversed = TRUE;
+	AAxis.inManualMode = FALSE;
+	AAxis.stepsPerMM = 250;
+	AAxis.mmFromZero = 0;
+	AAxis.acceptableError = .005;
+	AAxis.steps = 0;
+	AAxis.shouldMove = FALSE;
+}
+
+void setupPinChangeInterrupts(){
+	PORT__ESTOP.PIN0CTRL |= PORT_OPC_PULLUP_gc | PORT_ISC_FALLING_gc;
+	PORT__ESTOP.INT0MASK |= PIN__ESTOP;
+	PORT__ESTOP.INTCTRL |= PORT_INT0LVL_LO_gc;
+	
+	PORT__SYS_HOME.PIN2CTRL |= PORT_OPC_PULLUP_gc | PORT_ISC_FALLING_gc;
+	PORT__SYS_HOME.INT0MASK |= PIN__SYS_HOME;
+	PORT__SYS_HOME.INTCTRL |= PORT_INT0LVL_LO_gc;
+	
+	PORT__SYS_CAL.PIN3CTRL |= PORT_OPC_PULLUP_gc | PORT_ISC_FALLING_gc;
+	PORT__SYS_CAL.INT0MASK |= PIN__SYS_CAL;
+	PORT__SYS_CAL.INTCTRL |= PORT_INT0LVL_LO_gc;
+	
+	PORT__SYS_START.PIN0CTRL |= PORT_OPC_PULLUP_gc | PORT_ISC_FALLING_gc;
+	PORT__SYS_START.INT0MASK |= PIN__SYS_START;
+	PORT__SYS_START.INTCTRL |= PORT_INT0LVL_LO_gc;
+}
+
+void setupSystemParams(){
+	btnState.estopPressed = FALSE;
+	btnState.startPressed = FALSE;
+	btnState.stopPressed = FALSE;
+	btnState.homePressed = FALSE;
+	btnState.calibratePressed = FALSE;
+}
+
+void testStatusLeds()
+{
+	for(int i = 0 ; i < 3 ; i++){
+		RDY_LED_SET();
+		ERR_LED_CLR();
+		_delay_ms(200);
+		RUN_LED_SET();
+		RDY_LED_CLR();
+		_delay_ms(200);
+		RUN_LED_CLR();
+		ERR_LED_SET();
+		_delay_ms(200);
+	}
+	
+	for(int i = 0 ; i < 3 ; i++){
+		RDY_LED_SET();
+		RUN_LED_SET();
+		ERR_LED_SET();
+		_delay_ms(200);
+		RUN_LED_CLR();
+		RDY_LED_CLR();
+		ERR_LED_CLR();
+		_delay_ms(200);
+	}	
+	RDY_LED_CLR();
+	RUN_LED_CLR();
+	ERR_LED_CLR();
+}
+
+void testLightBoard()
+{
+	LIGHT_CTRL_SET();
+	_delay_ms(1250);
+	LIGHT_CTRL_CLR();
+}
+
+void testSteppers()
+{
+}
+
+void testUART()
+{
+	
+}
+
+void setupIOPin(PORT_t *port, int pinbm, char direction, char defaultstate)
+{
+	if(direction == ISINPUT){
+		port->DIRCLR = pinbm;
+	}else if(direction == ISOUTPUT){
+		port->DIRSET = pinbm;
+	}
+	
+	if(defaultstate == LOWSTATE){
+		port->OUTCLR = pinbm;
+	}else if(defaultstate == HIGHSTATE){
+		port->OUTSET = pinbm;
+	}
+	
+}
+
+void setupRTC()
+{
+	OSC.CTRL |= OSC_RC32KEN_bm;											//Enable 32.768KHz oscillator
+	while(!(OSC.STATUS & OSC_RC32KRDY_bm)){ERR_LED_SET();}	;			//Wait for oscillator to stabilize, light error led while not
+	ERR_LED_CLR();														//Now stabilized, turn off the error led
+	CLK.RTCCTRL = (CLK_RTCSRC_RCOSC_gc | CLK_RTCEN_bm);					//Set RTC clock source to be the internal oscillator and enable
+	while(RTC.STATUS & RTC_SYNCBUSY_bm){ERR_LED_SET();};				//Wait for RTC to no longer be busy, set error led while it is
+	ERR_LED_CLR();
+	
+	RTC.PER = 10;														//
+	RTC.CNT = 0;														//Zero the count register
+	RTC.COMP = 0;														//Set compare value to zero
+	RTC.CTRL = RTC_PRESCALER_DIV1_gc;									//Set prescaler to clk / 1
+	RTC.INTCTRL = (RTC_OVFINTLVL_LO_gc | RTC_COMPINTLVL_OFF_gc);
+}
+
+void setupStepDriveTimer()
+{
+	//For X Axis
+	TCC0.CTRLA = TC_CLKSEL_DIV1_gc; //125000 counts per second with 32Mhz Processor
+	TCC0.CTRLB = TC_WGMODE_NORMAL_gc;
+	TCC0.PER = 9216;
+	TCC0.INTCTRLA = TC_OVFINTLVL_LO_gc;
+	
+	//For Y Axis
+	TCD0.CTRLA = TC_CLKSEL_DIV1_gc; //31250 counts per second with 32Mhz Processor
+	TCD0.CTRLB = TC_WGMODE_NORMAL_gc;
+	TCD0.PER = 9216;
+	TCD0.INTCTRLA = TC_OVFINTLVL_LO_gc;
+	
+	//For Z Axis
+	TCE0.CTRLA = TC_CLKSEL_DIV1_gc; //31250 counts per second with 32Mhz Processor
+	TCE0.CTRLB = TC_WGMODE_NORMAL_gc;
+	TCE0.PER = 9216;
+	TCE0.INTCTRLA = TC_OVFINTLVL_LO_gc;
+	
+	//For A Axis
+	TCF0.CTRLA = TC_CLKSEL_DIV1_gc; //31250 counts per second with 32Mhz Processor
+	TCF0.CTRLB = TC_WGMODE_NORMAL_gc;
+	TCF0.PER = 9216;
+	TCF0.INTCTRLA = TC_OVFINTLVL_LO_gc;
+}

OSU SARL/Control Board Firmware/Pick And Plate/Driver Board Revision 2.0/Firmware/InitFunctions.h

@@ -0,0 +1,44 @@
+/*
+ * InitFunctions.h
+ *
+ * Created: 8/9/2014 4:24:44 PM
+ *  Author: corwin
+ */ 
+
+
+#ifndef INITFUNCTIONS_H_
+#define INITFUNCTIONS_H_
+#define F_CPU 32000000UL
+
+#include <avr/io.h>
+#include <util/delay.h>
+
+#include "avr_compiler.h"
+#include "DefinesAndMacros.h"
+#include "usart_driver.h"
+#include "Steppers.h"
+#include "SystemInputFunctions.h"
+
+
+void setupDriverBoardComplete();
+void testDriverBoardComplete();
+
+void setupXMEGAIO();
+void setupXMEGAClock();
+void setupXMEGAUART();
+void setupXMEGATimers();
+void setupStepperPararms();
+void setupPinChangeInterrupts();
+void setupSystemParams();
+
+void testStatusLeds();
+void testLightBoard();
+void testSteppers();
+void testUART();
+
+void setupIOPin(PORT_t *port, int pinbm, char direction, char defaultstate);
+void setupRTC();
+void setupStepDriveTimer();
+
+
+#endif /* INITFUNCTIONS_H_ */

OSU SARL/Control Board Firmware/Pick And Plate/Driver Board Revision 2.0/Firmware/PickAndPlaceDriverBoardRev2.0.atsln

@@ -0,0 +1,20 @@
+
+Microsoft Visual Studio Solution File, Format Version 11.00
+# Atmel Studio Solution File, Format Version 11.00
+Project("{54F91283-7BC4-4236-8FF9-10F437C3AD48}") = "PickAndPlaceDriverBoardRev2.0", "PickAndPlaceDriverBoardRev2.0.cproj", "{E3FF968B-6C08-4B3E-995E-ED8AF6D18F09}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|AVR = Debug|AVR
+		Release|AVR = Release|AVR
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{E3FF968B-6C08-4B3E-995E-ED8AF6D18F09}.Debug|AVR.ActiveCfg = Debug|AVR
+		{E3FF968B-6C08-4B3E-995E-ED8AF6D18F09}.Debug|AVR.Build.0 = Debug|AVR
+		{E3FF968B-6C08-4B3E-995E-ED8AF6D18F09}.Release|AVR.ActiveCfg = Release|AVR
+		{E3FF968B-6C08-4B3E-995E-ED8AF6D18F09}.Release|AVR.Build.0 = Release|AVR
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+EndGlobal

OSU SARL/Control Board Firmware/Pick And Plate/Driver Board Revision 2.0/Firmware/PickAndPlaceDriverBoardRev2.0.c

@@ -0,0 +1,206 @@
+/*
+ * PickAndPlaceDriverBoardRev2.c
+ *
+ * Created: 8/6/2014 5:56:07 PM
+ *  Author: corwin
+ */ 
+#define F_CPU 32000000UL
+
+#include <avr/io.h>
+#include <util/delay.h>
+#include <stdio.h>
+
+#include "DefinesAndMacros.h"
+#include "usart_driver.h"
+#include "InitFunctions.h"
+#include "TimerCounterFunctionsAndISR.h"
+#include "SystemInputFunctions.h"
+#include "Steppers.h"
+#include "SystemInputFunctions.h"
+
+#define MANUALCONTROLSTEPSIZE 1
+
+enum SystemStates{
+	systemInitialization,
+	connectToHost,
+	connectedWaitForStart,
+	disconnectedWaitForStart,
+	runSequence,
+	homeAxes,
+	calibrateAxes,
+	manualControl
+}systemState = systemInitialization, systemStatePrevious = systemInitialization;
+
+bool switchToManualMode(){
+	PreviousTime = CurrentTime;
+	while(!SYS_CHNG_STATE_GET()){
+		if((CurrentTime-PreviousTime) >= 2){
+			return true;
+		}
+	}
+	return false;
+}
+
+void roughManualControl(){
+	static char manState = 0;
+	
+	if(manState == 0){
+		if(!SYS_START_GET()){
+			XAxis.desiredPosition = (getAxisPosition(&XAxis) - MANUALCONTROLSTEPSIZE);
+			XAxis.shouldMove = TRUE;
+		}else if(!SYS_STOP_GET()){
+			XAxis.desiredPosition = (getAxisPosition(&XAxis) + MANUALCONTROLSTEPSIZE);
+			XAxis.shouldMove = TRUE;
+		}
+		
+		if(!SYS_HOME_GET()){
+			YAxis.desiredPosition = (getAxisPosition(&YAxis) - MANUALCONTROLSTEPSIZE);
+			YAxis.shouldMove = TRUE;
+		}else if(!SYS_CAL_GET()){
+			YAxis.desiredPosition = (getAxisPosition(&YAxis) + MANUALCONTROLSTEPSIZE);
+			YAxis.shouldMove = TRUE;
+		}
+	}else if(manState == 1){
+		if(!SYS_HOME_GET()){
+			ZAxis.desiredPosition = (getAxisPosition(&ZAxis) + MANUALCONTROLSTEPSIZE);
+			ZAxis.shouldMove = TRUE;
+		}else if(!SYS_CAL_GET()){
+			ZAxis.desiredPosition = (getAxisPosition(&ZAxis) - MANUALCONTROLSTEPSIZE);
+			ZAxis.shouldMove = TRUE;
+		}
+		
+	}
+	_delay_us(500);
+	if(!SYS_CHNG_STATE_GET()){
+		manState = !manState;
+		_delay_ms(500);
+	}
+}
+
+int main(void)
+{
+
+    while(1){
+//////////Initialize System//////////
+		if(systemState == systemInitialization){
+			setupDriverBoardComplete();
+			testDriverBoardComplete();
+			RDY_LED_SET();
+			systemState = connectToHost;
+//////////End initialize system//////////
+
+//////////Wait for host connection//////////
+		}else if(systemState == connectToHost){
+			if(btnState.startPressed == TRUE){
+				enableSteppers();
+				char jump = 5;
+				
+				XAxis.desiredPosition = 10;
+				YAxis.desiredPosition = 10;
+				
+				while(1){
+					//sprintf((char *)sendArray,  "Current jump size is %d.\r\n", jump);
+
+				//	for(int i = 0 ; sendArray[i] != '\0' ; i++){
+				//		while (!USART_IsTXDataRegisterEmpty(&USARTF0));
+				//		USART_TXBuffer_PutByte(&usartData ,sendArray[i]);
+				//	}
+
+					YAxis.desiredPosition += jump;
+					YAxis.shouldMove = TRUE;
+					while(XAxis.shouldMove || YAxis.shouldMove);
+					
+					XAxis.desiredPosition += jump;
+					XAxis.shouldMove = TRUE;
+					while(XAxis.shouldMove || YAxis.shouldMove);
+					
+
+					YAxis.desiredPosition = 10;
+
+					YAxis.shouldMove = TRUE;
+					while(XAxis.shouldMove || YAxis.shouldMove);
+					
+					XAxis.desiredPosition = 10;
+					XAxis.shouldMove = TRUE;
+					while(XAxis.shouldMove || YAxis.shouldMove);
+					jump += 5;
+					
+				}
+				disableSteppers();
+			}else if(btnState.homePressed){
+				systemState = homeAxes;
+				systemStatePrevious = connectToHost;
+			}else if(btnState.calibratePressed == TRUE){
+				systemState = calibrateAxes;
+				systemStatePrevious = connectToHost;
+			}else if(switchToManualMode() == true){
+				systemState = manualControl;
+				systemStatePrevious = connectToHost;
+				enableSteppers();
+				XAxis.inManualMode = TRUE;
+				YAxis.inManualMode = TRUE;
+				ZAxis.inManualMode = TRUE;
+				AAxis.inManualMode = TRUE;
+				_delay_ms(1500);
+			}
+//////////End wait for host connection//////////
+
+//////////Connected to Host and wait for start//////////
+		}else if(systemState == connectedWaitForStart){
+			
+
+//////////End connected to host and wait for start//////////			
+		}else if(systemState == disconnectedWaitForStart){
+		
+//////////End connect to host and wait for start//////////
+
+//////////Start pick and place run sequence//////////
+		}else if(systemState == runSequence){
+			
+//////////End start pick and place run sequence//////////
+
+//////////Home system axes to zero position//////////
+		}else if(systemState == homeAxes){
+			enableSteppers();
+			homeAllSteppers();
+			disableSteppers();
+			btnState.homePressed = FALSE;
+			systemState = systemStatePrevious;
+			systemStatePrevious = homeAxes;		
+//////////End home system axes//////////
+			
+/////////Calibrate system stepper axes//////////
+		}else if(systemState == calibrateAxes){
+			ERR_LED_CLR();
+			enableSteppers();
+			calibrateAllSteppers();
+			btnState.calibratePressed = FALSE;
+			if(systemStatePrevious == systemInitialization){
+				systemState = connectToHost;
+			}else{
+				systemState = systemStatePrevious;
+			}
+			systemStatePrevious = calibrateAxes;
+//////////End calibrate system stepper axes//////////
+
+
+//////////Manual control of system axes//////////
+		}else if(systemState == manualControl){
+			roughManualControl();
+			if(switchToManualMode() == true){
+				XAxis.inManualMode = FALSE;
+				YAxis.inManualMode = FALSE;
+				ZAxis.inManualMode = FALSE;
+				AAxis.inManualMode = FALSE;
+				btnState.homePressed = FALSE;
+				btnState.startPressed = FALSE;
+				btnState.stopPressed = FALSE;
+				btnState.calibratePressed = FALSE;
+				disableSteppers();
+				systemState = systemStatePrevious;
+				systemStatePrevious = manualControl;
+			}
+		}
+//////////End manual control of system axes//////////
+	}
+}

OSU SARL/Control Board Firmware/Pick And Plate/Driver Board Revision 2.0/Firmware/PickAndPlaceDriverBoardRev2.0.cproj

@@ -0,0 +1,157 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <PropertyGroup>
+    <SchemaVersion>2.0</SchemaVersion>
+    <ProjectVersion>6.2</ProjectVersion>
+    <ToolchainName>com.Atmel.AVRGCC8.C</ToolchainName>
+    <ProjectGuid>{e3ff968b-6c08-4b3e-995e-ed8af6d18f09}</ProjectGuid>
+    <avrdevice>ATxmega256A3U</avrdevice>
+    <avrdeviceseries>none</avrdeviceseries>
+    <OutputType>Executable</OutputType>
+    <Language>C</Language>
+    <OutputFileName>$(MSBuildProjectName)</OutputFileName>
+    <OutputFileExtension>.elf</OutputFileExtension>
+    <OutputDirectory>$(MSBuildProjectDirectory)\$(Configuration)</OutputDirectory>
+    <AssemblyName>PickAndPlaceDriverBoardRev2.0</AssemblyName>
+    <Name>PickAndPlaceDriverBoardRev2.0</Name>
+    <RootNamespace>PickAndPlaceDriverBoardRev2.0</RootNamespace>
+    <ToolchainFlavour>Native</ToolchainFlavour>
+    <KeepTimersRunning>true</KeepTimersRunning>
+    <OverrideVtor>false</OverrideVtor>
+    <CacheFlash>true</CacheFlash>
+    <ProgFlashFromRam>true</ProgFlashFromRam>
+    <RamSnippetAddress>0x20000000</RamSnippetAddress>
+    <UncachedRange />
+    <OverrideVtorValue>exception_table</OverrideVtorValue>
+    <BootSegment>2</BootSegment>
+    <eraseonlaunchrule>0</eraseonlaunchrule>
+    <AsfFrameworkConfig>
+      <framework-data xmlns="">
+        <options />
+        <configurations />
+        <files />
+        <documentation help="" />
+        <offline-documentation help="" />
+        <dependencies>
+          <content-extension eid="atmel.asf" uuidref="Atmel.ASF" version="3.18.1" />
+        </dependencies>
+      </framework-data>
+    </AsfFrameworkConfig>
+    <avrtool>com.atmel.avrdbg.tool.avrdragon</avrtool>
+    <com_atmel_avrdbg_tool_avrdragon>
+      <ToolOptions>
+        <InterfaceProperties>
+          <JtagEnableExtResetOnStartSession>false</JtagEnableExtResetOnStartSession>
+        </InterfaceProperties>
+        <InterfaceName>JTAG</InterfaceName>
+      </ToolOptions>
+      <ToolType>com.atmel.avrdbg.tool.avrdragon</ToolType>
+      <ToolNumber>00A200050749</ToolNumber>
+      <ToolName>AVR Dragon</ToolName>
+    </com_atmel_avrdbg_tool_avrdragon>
+    <avrtoolinterface>JTAG</avrtoolinterface>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)' == 'Release' ">
+    <ToolchainSettings>
+      <AvrGcc>
+        <avrgcc.common.optimization.RelaxBranches>True</avrgcc.common.optimization.RelaxBranches>
+        <avrgcc.common.outputfiles.hex>True</avrgcc.common.outputfiles.hex>
+        <avrgcc.common.outputfiles.lss>True</avrgcc.common.outputfiles.lss>
+        <avrgcc.common.outputfiles.eep>True</avrgcc.common.outputfiles.eep>
+        <avrgcc.common.outputfiles.srec>True</avrgcc.common.outputfiles.srec>
+        <avrgcc.common.outputfiles.usersignatures>False</avrgcc.common.outputfiles.usersignatures>
+        <avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>True</avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>
+        <avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>True</avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>
+        <avrgcc.compiler.symbols.DefSymbols>
+          <ListValues>
+            <Value>NDEBUG</Value>
+          </ListValues>
+        </avrgcc.compiler.symbols.DefSymbols>
+        <avrgcc.compiler.optimization.level>Optimize for size (-Os)</avrgcc.compiler.optimization.level>
+        <avrgcc.compiler.optimization.PackStructureMembers>True</avrgcc.compiler.optimization.PackStructureMembers>
+        <avrgcc.compiler.optimization.AllocateBytesNeededForEnum>True</avrgcc.compiler.optimization.AllocateBytesNeededForEnum>
+        <avrgcc.compiler.warnings.AllWarnings>True</avrgcc.compiler.warnings.AllWarnings>
+        <avrgcc.linker.libraries.Libraries>
+          <ListValues>
+            <Value>libm</Value>
+          </ListValues>
+        </avrgcc.linker.libraries.Libraries>
+      </AvrGcc>
+    </ToolchainSettings>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)' == 'Debug' ">
+    <ToolchainSettings>
+      <AvrGcc>
+  <avrgcc.common.optimization.RelaxBranches>True</avrgcc.common.optimization.RelaxBranches>
+  <avrgcc.common.outputfiles.hex>True</avrgcc.common.outputfiles.hex>
+  <avrgcc.common.outputfiles.lss>True</avrgcc.common.outputfiles.lss>
+  <avrgcc.common.outputfiles.eep>True</avrgcc.common.outputfiles.eep>
+  <avrgcc.common.outputfiles.srec>True</avrgcc.common.outputfiles.srec>
+  <avrgcc.common.outputfiles.usersignatures>False</avrgcc.common.outputfiles.usersignatures>
+  <avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>True</avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>
+  <avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>True</avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>
+  <avrgcc.compiler.symbols.DefSymbols>
+    <ListValues>
+      <Value>DEBUG</Value>
+    </ListValues>
+  </avrgcc.compiler.symbols.DefSymbols>
+  <avrgcc.compiler.optimization.level>Optimize (-O1)</avrgcc.compiler.optimization.level>
+  <avrgcc.compiler.optimization.PackStructureMembers>True</avrgcc.compiler.optimization.PackStructureMembers>
+  <avrgcc.compiler.optimization.AllocateBytesNeededForEnum>True</avrgcc.compiler.optimization.AllocateBytesNeededForEnum>
+  <avrgcc.compiler.optimization.DebugLevel>Default (-g2)</avrgcc.compiler.optimization.DebugLevel>
+  <avrgcc.compiler.warnings.AllWarnings>True</avrgcc.compiler.warnings.AllWarnings>
+  <avrgcc.linker.libraries.Libraries>
+    <ListValues>
+      <Value>libm</Value>
+    </ListValues>
+  </avrgcc.linker.libraries.Libraries>
+  <avrgcc.assembler.debugging.DebugLevel>Default (-Wa,-g)</avrgcc.assembler.debugging.DebugLevel>
+</AvrGcc>
+    </ToolchainSettings>
+  </PropertyGroup>
+  <ItemGroup>
+    <Compile Include="avr_compiler.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="DefinesAndMacros.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="InitFunctions.c">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="InitFunctions.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="PickAndPlaceDriverBoardRev2.0.c">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="Steppers.c">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="Steppers.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="SystemInputFunctions.c">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="SystemInputFunctions.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="TC_driver.c">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="TC_driver.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="TimerCounterFunctionsAndISR.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="usart_driver.c">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="usart_driver.h">
+      <SubType>compile</SubType>
+    </Compile>
+  </ItemGroup>
+  <Import Project="$(AVRSTUDIO_EXE_PATH)\\Vs\\Compiler.targets" />
+</Project>

OSU SARL/Control Board Firmware/Pick And Plate/Driver Board Revision 2.0/Firmware/Steppers.c

@@ -0,0 +1,109 @@
+/*
+ * Steppers.c
+ *
+ * Created: 8/9/2014 1:10:47 PM
+ *  Author: corwin
+ */ 
+
+#include "Steppers.h"
+
+void enableSteppers()
+{
+	STEP_EN_CLR();
+	steppersEnabled = TRUE;
+	_delay_ms(100);
+}
+
+void disableSteppers()
+{
+	STEP_EN_SET();
+	steppersEnabled = FALSE;
+	_delay_ms(100);
+}
+
+void calibrateAllSteppers()
+{
+	ZAxis.desiredPosition = 40;														//Set position for the pipette to be up initially so it doesn't get broken on anything
+	ZAxis.shouldMove = TRUE;														//Allow axis to move
+	while(ZAxis.shouldMove);														//Wait for the pipette to come up before continuing
+	
+	homeYStepper();																	//Home the y axis against the limit switch
+	homeXStepper();																	//Home the x axis against the limit switch
+	_delay_ms(100);
+	
+	XAxis.desiredPosition = 47.5;														//Set x position to z calibration point
+	YAxis.desiredPosition = 36.5;													//Move y position to z calibration point
+	XAxis.shouldMove = TRUE;														//Allow axis to move
+	YAxis.shouldMove = TRUE;														//Allow axis to move
+	while(YAxis.shouldMove || XAxis.shouldMove);									//Don't continue until calibration point has been reached
+	
+	homeZStepper();																	//Home the z axis against the limit switch
+	setStepsOffset(&ZAxis);															//Re-align z steps to account for switch offset
+}
+
+void homeAllSteppers()
+{
+	
+	ZAxis.desiredPosition = 40;														//Set position for the pipette to be up initially so it doesn't get broken on anything
+	ZAxis.shouldMove = TRUE;														//Allow axis to move
+	while(ZAxis.shouldMove);														//Wait for the pipette to come up before continuing
+	
+	homeYStepper();																	//Home the y axis against the limit switch
+	homeXStepper();																	//Home the x axis against the limit switch
+	
+}
+
+void homeXStepper()
+{
+	X_DIR_CLR();
+	while(X_LIM_LEFT_GET()){
+		X_STEP_SET();
+		_delay_us(2);
+		X_STEP_CLR();
+		_delay_us(400);
+	}
+	XAxis.steps = 0;
+}
+
+void homeYStepper()
+{
+	Y_DIR_SET();
+	while(Y_LIM_FORW_GET()){
+		Y_STEP_SET();
+		_delay_us(2);
+		Y_STEP_CLR();
+		_delay_us(400);
+	}
+	YAxis.steps = 0;
+}
+
+void homeZStepper()
+{
+	Z_DIR_SET();
+	while(Z_LIM_DOWN_GET()){
+		Z_STEP_SET();
+		_delay_us(2);
+		Z_STEP_CLR();
+		_delay_us(400);
+	}
+	ZAxis.steps = 0;
+	ZAxis.desiredPosition = 30;
+	ZAxis.shouldMove = TRUE;
+	while(ZAxis.shouldMove);
+}
+
+void homeAStepper()
+{
+	
+}
+
+double getAxisPosition(Axes_t *axis)
+{
+	return (axis->steps/axis->stepsPerMM);
+}
+
+void setStepsOffset(Axes_t *axis)
+{
+	axis->steps = (axis->steps + (axis->mmFromZero * axis->stepsPerMM));
+}
+

OSU SARL/Control Board Firmware/Pick And Plate/Driver Board Revision 2.0/Firmware/Steppers.h

@@ -0,0 +1,74 @@
+/*
+ * Steppers.h
+ *
+ * Created: 8/9/2014 1:10:58 PM
+ *  Author: corwin
+ */ 
+
+
+#ifndef STEPPERS_H_
+#define STEPPERS_H_
+
+#define  F_CPU 32000000UL
+
+#include <avr/io.h>
+#include <util/delay.h>
+
+#include "DefinesAndMacros.h"
+
+#define XLEFT		0
+#define XRIGHT		1
+#define YFORWARDS	1
+#define YBACKWARDS	0
+#define ZUP			0
+#define ZDOWN		1
+
+#define XSTEPPERMM  250
+#define YSTEPERMM   250
+#define ZSTEPPERMM	323
+#define ASTEPPERMM  250	//Needs to be found
+
+typedef struct Axes{
+	PORT_t *dirPort;
+	int dirPin;
+	
+	PORT_t *stepPort;
+	int stepPin;
+	
+	char directionReversed;
+	char inManualMode;
+	
+	int stepsPerMM;
+	double mmFromZero;
+	double acceptableError;
+	
+	volatile long long steps;
+	volatile double desiredPosition;
+	
+	volatile char shouldMove;
+		
+}Axes_t;
+
+Axes_t XAxis;
+Axes_t YAxis;
+Axes_t ZAxis;
+Axes_t AAxis;
+
+char steppersEnabled;
+
+void enableSteppers();
+void disableSteppers();
+
+void calibrateAllSteppers();
+void homeAllSteppers();
+
+void homeXStepper();
+void homeYStepper();
+void homeZStepper();
+void homeAStepper();
+
+double getAxisPosition(Axes_t *axis);
+
+void setStepsOffset(Axes_t *axis);
+
+#endif /* STEPPERS_H_ */

OSU SARL/Control Board Firmware/Pick And Plate/Driver Board Revision 2.0/Firmware/SystemInputFunctions.c

@@ -0,0 +1,8 @@
+/*
+ * SystemInputFunctions.c
+ *
+ * Created: 8/12/2014 3:31:50 PM
+ *  Author: corwin
+ */ 
+
+#include "SystemInputFunctions.h"

OSU SARL/Control Board Firmware/Pick And Plate/Driver Board Revision 2.0/Firmware/SystemInputFunctions.h

@@ -0,0 +1,23 @@
+/*
+ * SystemInputFunctions.h
+ *
+ * Created: 8/12/2014 3:32:03 PM
+ *  Author: corwin
+ */ 
+
+
+#ifndef SYSTEMINPUTFUNCTIONS_H_
+#define SYSTEMINPUTFUNCTIONS_H_
+
+
+typedef struct ButtonStates{
+	volatile char estopPressed;
+	volatile char startPressed;
+	volatile char stopPressed;
+	volatile char homePressed;
+	volatile char calibratePressed;
+}ButtonStates_t;
+ 
+ButtonStates_t btnState;
+
+#endif /* SYSTEMINPUTFUNCTIONS_H_ */

OSU SARL/Control Board Firmware/Pick And Plate/Driver Board Revision 2.0/Firmware/TC_driver.c

@@ -0,0 +1,433 @@
+/* This file has been prepared for Doxygen automatic documentation generation.*/
+/*! \file *********************************************************************
+ *
+ * \brief  XMEGA Timer/Counter driver source file.
+ *
+ *      This file contains the function implementations the XMEGA Timer/Counter
+ *      driver.
+ *
+ *      The driver is not intended for size and/or speed critical code, since
+ *      most functions are just a few lines of code, and the function call
+ *      overhead would decrease code performance. The driver is intended for
+ *      rapid prototyping and documentation purposes for getting started with
+ *      the XMEGA Timer/Counter module.
+ *
+ *      For size and/or speed critical code, it is recommended to copy the
+ *      function contents directly into your application instead of making
+ *      a function call.
+ *
+ *      Several functions use the following construct:
+ *          "some_register = ... | (some_parameter ? SOME_BIT_bm : 0) | ..."
+ *      Although the use of the ternary operator ( if ? then : else ) is discouraged,
+ *      in some occasions the operator makes it possible to write pretty clean and
+ *      neat code. In this driver, the construct is used to set or not set a
+ *      configuration bit based on a boolean input parameter, such as
+ *      the "some_parameter" in the example above.
+ *
+ * \par Application note:
+ *      AVR1306: Using the XMEGA Timer/Counter
+ *
+ * \par Documentation
+ *      For comprehensive code documentation, supported compilers, compiler
+ *      settings and supported devices see readme.html
+ *
+ * \author
+ *      Atmel Corporation: http://www.atmel.com \n
+ *      Support email: avr@atmel.com
+ *
+ * $Revision: 1569 $
+ * $Date: 2008-04-22 13:03:43 +0200 (ti, 22 apr 2008) $  \n
+ *
+ * Copyright (c) 2008, Atmel Corporation All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * 3. The name of ATMEL may not be used to endorse or promote products derived
+ * from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR IMPLIED
+ * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE EXPRESSLY AND
+ * SPECIFICALLY DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT,
+ * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
+ * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *****************************************************************************/
+
+#include "avr_compiler.h"
+#include "TC_driver.h"
+
+/*! \brief Configures clock source for the Timer/Counter 0.
+ *
+ *  This function clears the old clock source setting of the Timer/Counter and
+ *  sets a new clock source according to the clockSelection parameter.
+ *
+ *  \param tc              Timer/Counter module instance.
+ *  \param clockSelection  Timer/Counter clock source setting.
+ */
+void TC0_ConfigClockSource( volatile TC0_t * tc, TC_CLKSEL_t clockSelection )
+{
+	tc->CTRLA = ( tc->CTRLA & ~TC0_CLKSEL_gm ) | clockSelection;
+}
+
+/*! \brief Configures clock source for the Timer/Counter 1.
+ *
+ *  This function clears the old clock source setting of the Timer/Counter and
+ *  sets a new clock source according to the clockSelection parameter.
+ *
+ *  \param tc              Timer/Counter module instance.
+ *  \param clockSelection  Timer/Counter clock source setting.
+ */
+void TC1_ConfigClockSource( volatile TC1_t * tc, TC_CLKSEL_t clockSelection )
+{
+	tc->CTRLA = ( tc->CTRLA & ~TC1_CLKSEL_gm ) | clockSelection;
+}
+
+
+/*! \brief Configures the Waveform Generation Mode for the Timer/Counter 0.
+ *
+ *  This function clears the old WGM setting of the Timer/Counter and sets a
+ *  new WGM setting according to the wgm parameter.
+ *
+ *  \param tc    Timer/Counter module instance.
+ *  \param wgm   Waveform generation mode.
+ */
+void TC0_ConfigWGM( volatile TC0_t * tc, TC_WGMODE_t wgm )
+{
+	tc->CTRLB = ( tc->CTRLB & ~TC0_WGMODE_gm ) | wgm;
+}
+
+
+/*! \brief Configures the Waveform Generation Mode for the Timer/Counter 1.
+ *
+ *  This function clears the old WGM setting of the Timer/Counter and sets a
+ *  new WGM setting according to the wgm parameter.
+ *
+ *  \param tc    Timer/Counter module instance.
+ *  \param wgm   Waveform generation mode.
+ */
+void TC1_ConfigWGM( volatile TC1_t * tc, TC_WGMODE_t wgm )
+{
+	tc->CTRLB = ( tc->CTRLB & ~TC1_WGMODE_gm ) | wgm;
+}
+
+
+/*! \brief Configures the Timer/Counter 0 for input capture operation.
+ *
+ *  This function sets the Timer/Counter in input capture mode and selects
+ *  the event lines that will trigger the individual input capture channels.
+ *
+ *  \note Output compare operation is disabled when input capture operation is
+ *  enabled.
+ *
+ *  \param tc               Timer/Counter module instance.
+ *  \param eventSource      Event source selection.
+ */
+void TC0_ConfigInputCapture( volatile TC0_t * tc, TC_EVSEL_t eventSource )
+{
+	tc->CTRLD = ( tc->CTRLD & ~( TC0_EVSEL_gm | TC0_EVACT_gm ) ) |
+	            eventSource |
+	            TC_EVACT_CAPT_gc;
+}
+
+
+/*! \brief Configures the Timer/Counter 1 for input capture operation.
+ *
+ *  This function sets the Timer/Counter in input capture mode and selects
+ *  the event lines that will trigger the individual input capture channels.
+ *
+ *  \note Output compare operation is disabled when input capture operation is
+ *  enabled.
+ *
+ *  \param tc               Timer/Counter module instance.
+ *  \param eventSource      Event source selection.
+ */
+void TC1_ConfigInputCapture( volatile TC1_t * tc, TC_EVSEL_t eventSource )
+{
+	tc->CTRLD = ( tc->CTRLD & ~( TC1_EVSEL_gm | TC1_EVACT_gm ) ) |
+	            eventSource |
+	            TC_EVACT_CAPT_gc;
+}
+
+
+/*! \brief Enables compare/capture channels for Timer/Counter 0.
+ *
+ *  This function enables compare/capture channels according to the supplied
+ *  enableMask. The enableMask can be obtained by ORing together the symbols
+ *    - TC0_CCAEN_bm
+ *    - TC0_CCBEN_bm
+ *    - TC0_CCCEN_bm
+ *    - TC0_CCDEN_bm
+ *
+ *  Example: TC0_EnableCCChannels( &TCC0, TC0_CCAEN_bm | TC0_CCCEN_bm ) will
+ *  enable channels A and C.
+ *
+ *  \note No capture/compare channels are disabled by calling this function.
+ *  Disabling is done by calling \ref TC0_DisableCCChannels.
+ *
+ *  \param tc               Timer/Counter module instance.
+ *  \param enableMask       Mask of channels to enable.
+ */
+void TC0_EnableCCChannels( volatile TC0_t * tc, uint8_t enableMask )
+{
+	/* Make sure only CCxEN bits are set in enableMask. */
+	enableMask &= ( TC0_CCAEN_bm | TC0_CCBEN_bm | TC0_CCCEN_bm | TC0_CCDEN_bm );
+
+	/* Enable channels. */
+	tc->CTRLB |= enableMask;
+}
+
+/*! \brief Enables compare/capture channels for Timer/Counter 1.
+ *
+ *  This function enables compare/capture channels according to the supplied
+ *  enableMask. The enableMask can be obtained by ORing together the symbols
+ *    - TC1_CCAEN_bm
+ *    - TC1_CCBEN_bm
+ *
+ *  Example: TC1_EnableCCChannels( &TCC1, TC1_CCAEN_bm | TC1_CCBEN_bm ) will
+ *  enable channels A and B.
+ *
+ *  \note No capture/compare channels are disabled by calling this function.
+ *  Disabling is done by calling \ref TC1_DisableCCChannels.
+ *
+ *  \param tc               Timer/Counter module instance.
+ *  \param enableMask       Mask of channels to enable.
+ */
+void TC1_EnableCCChannels( volatile TC1_t * tc, uint8_t enableMask )
+{
+	/* Make sure only CCxEN bits are set in enableMask. */
+	enableMask &= ( TC1_CCAEN_bm | TC1_CCBEN_bm );
+
+	/* Enable channels. */
+	tc->CTRLB |= enableMask;
+}
+
+
+/*! \brief Disables compare/capture channels on Timer/Counter 0.
+ *
+ *  This function disables compare/capture channels according to the supplied
+ *  disableMask. The disableMask can be obtained by ORing together the symbols
+ *    - TC0_CCAEN_bm
+ *    - TC0_CCBEN_bm
+ *    - TC0_CCCEN_bm
+ *    - TC0_CCDEN_bm
+ *
+ *  Example: TC0_DisableCCChannels( &TCC0, TC0_CCAEN_bm | TC0_CCCEN_bm ) will
+ *  disable channels A and C.
+ *
+ *  \param tc               Timer/Counter module instance.
+ *  \param disableMask      Mask of channels to disable.
+ */
+void TC0_DisableCCChannels( volatile TC0_t * tc, uint8_t disableMask )
+{
+	/* Make sure only CCxEN bits are set in disableMask. */
+	disableMask &= ( TC0_CCAEN_bm | TC0_CCBEN_bm | TC0_CCCEN_bm | TC0_CCDEN_bm );
+
+	/* Disable channels. */
+	tc->CTRLB &= ~disableMask;
+}
+
+
+/*! \brief Disables compare/capture channels on Timer/Counter 1.
+ *
+ *  This function disables compare/capture channels according to the supplied
+ *  disableMask. The disableMask can be obtained by ORing together the symbols
+ *    - TC1_CCAEN_bm
+ *    - TC1_CCBEN_bm
+ *
+ *  Example: TC1_DisableCCChannels( &TCC1, TC1_CCAEN_bm | TC1_CCBEN_bm ) will
+ *  disable channels A and B.
+ *
+ *  \param tc               Timer/Counter module instance.
+ *  \param disableMask      Mask of channels to disable.
+ */
+void TC1_DisableCCChannels( volatile TC1_t * tc, uint8_t disableMask )
+{
+	/* Make sure only CCxEN bits are set in disableMask. */
+	disableMask &= ( TC1_CCAEN_bm | TC1_CCBEN_bm );
+
+	/* Disable channels. */
+	tc->CTRLB &= ~disableMask;
+}
+
+/*! \brief Sets the overflow interrupt level.
+ *
+ *  This function sets the overflow interrupt level of this Timer/Counter 0.
+ *
+ *  \param tc               Timer/Counter module instance.
+ *  \param intLevel         New overflow interrupt level.
+ */
+void TC0_SetOverflowIntLevel( volatile TC0_t * tc, TC_OVFINTLVL_t intLevel )
+{
+	tc->INTCTRLA = ( tc->INTCTRLA & ~TC0_OVFINTLVL_gm ) | intLevel;
+}
+
+
+/*! \brief Sets the overflow interrupt level.
+ *
+ *  This function sets the overflow interrupt level of this Timer/Counter 1.
+ *
+ *  \param tc               Timer/Counter module instance.
+ *  \param intLevel         New overflow interrupt level.
+ */
+void TC1_SetOverflowIntLevel( volatile TC1_t * tc, TC_OVFINTLVL_t intLevel )
+{
+	tc->INTCTRLA = ( tc->INTCTRLA & ~TC1_OVFINTLVL_gm ) | intLevel;
+}
+
+
+/*! \brief Sets the Error interrupt level.
+ *
+ *  This function sets the overflow interrupt level of this Timer/Counter 0.
+ *
+ *  \param tc               Timer/Counter module instance.
+ *  \param intLevel         New error interrupt level.
+ */
+void TC0_SetErrorIntLevel( volatile TC0_t * tc, TC_ERRINTLVL_t intLevel )
+{
+	tc->INTCTRLA = ( tc->INTCTRLA & ~TC0_ERRINTLVL_gm ) | intLevel;
+}
+
+
+/*! \brief Sets the Error interrupt level.
+ *
+ *  This function sets the overflow interrupt level of this Timer/Counter 1.
+ *
+ *  \param tc               Timer/Counter module instance.
+ *  \param intLevel         New error interrupt level.
+ */
+void TC1_SetErrorIntLevel( volatile TC1_t * tc, TC_ERRINTLVL_t intLevel )
+{
+	tc->INTCTRLA = ( tc->INTCTRLA & ~TC1_ERRINTLVL_gm ) | intLevel;
+}
+
+
+/*! \brief Sets the interrupt level for compare/capture channel A interrupt.
+ *
+ *  This function sets the interrupt level for compare/capture channel A
+ *  interrupt in Timer/Counter 0.
+ *
+ *  \param tc               Timer/Counter module instance.
+ *  \param intLevel         New compare/capture channel A interrupt level.
+ */
+void TC0_SetCCAIntLevel( volatile TC0_t * tc, TC_CCAINTLVL_t intLevel )
+{
+	tc->INTCTRLB = ( tc->INTCTRLB & ~TC0_CCAINTLVL_gm ) | intLevel;
+}
+
+
+/*! \brief Sets the interrupt level for compare/capture channel A interrupt.
+ *
+ *  This function sets the interrupt level for compare/capture channel A
+ *  interrupt in Timer/Counter 1.
+ *
+ *  \param tc               Timer/Counter module instance.
+ *  \param intLevel         New compare/capture channel A interrupt level.
+ */
+void TC1_SetCCAIntLevel( volatile TC1_t * tc, TC_CCAINTLVL_t intLevel )
+{
+	tc->INTCTRLB = ( tc->INTCTRLB & ~TC1_CCAINTLVL_gm ) | intLevel;
+}
+
+
+/*! \brief Sets the interrupt level for compare/capture channel B interrupt.
+ *
+ *  This function sets the interrupt level for compare/capture channel B
+ *  interrupt in Timer/Counter 0.
+ *
+ *  \param tc               Timer/Counter module instance.
+ *  \param intLevel         New compare/capture channel B interrupt level.
+ */
+void TC0_SetCCBIntLevel( volatile TC0_t * tc, TC_CCBINTLVL_t intLevel )
+{
+	tc->INTCTRLB = ( tc->INTCTRLB & ~TC0_CCBINTLVL_gm ) | intLevel;
+}
+
+
+/*! \brief Sets the interrupt level for compare/capture channel B interrupt.
+ *
+ *  This function sets the interrupt level for compare/capture channel B
+ *  interrupt in Timer/Counter 1.
+ *
+ *  \param tc               Timer/Counter module instance.
+ *  \param intLevel         New compare/capture channel B interrupt level.
+ */
+void TC1_SetCCBIntLevel( volatile TC1_t * tc, TC_CCBINTLVL_t intLevel )
+{
+	tc->INTCTRLB = ( tc->INTCTRLB & ~TC1_CCBINTLVL_gm ) | intLevel;
+}
+
+
+/*! \brief Sets the interrupt level for compare/capture channel C interrupt.
+ *
+ *  This function sets the interrupt level for compare/capture channel C
+ *  interrupt in Timer/Counter 0.
+ *
+ *  \param tc               Timer/Counter module instance.
+ *  \param intLevel         New compare/capture channel A interrupt level.
+ */
+void TC0_SetCCCIntLevel( volatile TC0_t * tc, TC_CCCINTLVL_t intLevel )
+{
+	tc->INTCTRLB = ( tc->INTCTRLB & ~TC0_CCCINTLVL_gm ) | intLevel;
+}
+
+
+/*! \brief Sets the interrupt level for compare/capture channel D interrupt.
+ *
+ *  This function sets the interrupt level for compare/capture channel D
+ *  interrupt in Timer/Counter 0.
+ *
+ *  \param tc               Timer/Counter module instance.
+ *  \param intLevel         New compare/capture channel A interrupt level.
+ */
+void TC0_SetCCDIntLevel( volatile TC0_t * tc, TC_CCDINTLVL_t intLevel )
+{
+	tc->INTCTRLB = ( tc->INTCTRLB & ~TC0_CCDINTLVL_gm ) | intLevel;
+}
+
+
+/*! \brief Resets the Timer/Counter 0.
+ *
+ *  This function will reset the Timer/Counter. After calling this function,
+ *  the Timer/Counter will be in the same state as it would after a full
+ *  reset of the device.
+ *
+ *  \param tc  Timer/Counter 0 module instance.
+ */
+void TC0_Reset( volatile TC0_t * tc )
+{
+	/* TC must be turned off before a Reset command. */
+	tc->CTRLA = ( tc->CTRLA & ~TC0_CLKSEL_gm ) | TC_CLKSEL_OFF_gc;
+
+	/* Issue Reset command. */
+	tc->CTRLFSET = TC_CMD_RESET_gc;
+}
+
+
+/*! \brief Resets the Timer/Counter 1.
+ *
+ *  This function will reset the Timer/Counter. After calling this function,
+ *  the Timer/Counter will be in the same state as it would after a full
+ *  reset of the device.
+ *
+ *  \param tc  Timer/Counter 1 module instance.
+ */
+void TC1_Reset( volatile TC1_t * tc )
+{
+	/* TC must be turned off before a Reset command. */
+	tc->CTRLA = ( tc->CTRLA & ~TC1_CLKSEL_gm ) | TC_CLKSEL_OFF_gc;
+
+	/* Issue Reset command. */
+	tc->CTRLFSET = TC_CMD_RESET_gc;
+}

OSU SARL/Control Board Firmware/Pick And Plate/Driver Board Revision 2.0/Firmware/TC_driver.h

@@ -0,0 +1,423 @@
+/* This file has been prepared for Doxygen automatic documentation generation.*/
+/*! \file *********************************************************************
+ *
+ * \brief  XMEGA Timer/Counter driver header file.
+ *
+ *      This file contains the function prototypes and enumerator definitions
+ *      for various configuration parameters for the XMEGA Timer/Counter driver.
+ *
+ *      The driver is not intended for size and/or speed critical code, since
+ *      most functions are just a few lines of code, and the function call
+ *      overhead would decrease code performance. The driver is intended for
+ *      rapid prototyping and documentation purposes for getting started with
+ *      the XMEGA Timer/Counter module.
+ *
+ *      For size and/or speed critical code, it is recommended to copy the
+ *      function contents directly into your application instead of making
+ *      a function call.
+ *
+ * \par Application note:
+ *      AVR1306: Using the XMEGA Timer/Counter
+ *
+ * \par Documentation
+ *      For comprehensive code documentation, supported compilers, compiler
+ *      settings and supported devices see readme.html
+ *
+ * \author
+ *      Atmel Corporation: http://www.atmel.com \n
+ *      Support email: avr@atmel.com
+ *
+ * $Revision: 1569 $
+ * $Date: 2008-04-22 13:03:43 +0200 (ti, 22 apr 2008) $  \n
+ *
+ * Copyright (c) 2008, Atmel Corporation All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * 3. The name of ATMEL may not be used to endorse or promote products derived
+ * from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR IMPLIED
+ * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE EXPRESSLY AND
+ * SPECIFICALLY DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT,
+ * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
+ * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *****************************************************************************/
+#ifndef TC_DRIVER_H
+#define TC_DRIVER_H
+
+#include "avr_compiler.h"
+
+/* Definition of macros. */
+
+/*! \brief Enables the event delay for this TC.
+ *
+ *  This macro enables a one clock cycle delay of event sources for this TC.
+ *  Mainly used for the high word TC when two TCs are cascaded to form a 32-bit
+ *  TC.
+ *
+ *  \param _tc  The Timer/Counter to enable delay on.
+ */
+#define TC_EnableEventDelay( _tc )  ( (_tc)->CTRLD |= TC0_EVDLY_bm )
+
+/*! \brief  This macro disables the event delay for this TC.
+ *
+ *  \param _tc  The Timer/Counter to disable delay on.
+ */
+#define TC_DisableEventDelay( _tc ) ( (_tc)->CTRLD &= ~TC0_EVDLY_bm )
+
+/*! \brief Locks automatic updating of compare and period registers.
+ *
+ *  This macro will lock automatic updates of compare registers from the
+ *  corresponding buffer registers. To enable automatic updates again, use the
+ *  \ref TC_UnlockCompareUpdate macro.
+ *
+ *  \param _tc  Timer/Counter module instance.
+ */
+#define TC_LockCompareUpdate( _tc ) ( (_tc)->CTRLFSET = TC0_LUPD_bm )
+
+/*! \brief Unlocks automatic updating of compare and period registers.
+ *
+ *  This macro will unlock automatic updates of compare registers from the
+ *  corresponding buffer registers. Note that the output compare registers will
+ *  not be updated until an update event occurs, e.g. that the counter hits
+ *  TOP or BOTTOM. To force an update of the compare register from the buffer
+ *  register, use the \ref TC_ForceUpdate macro.
+ *
+ *  \param _tc               Timer/Counter module instance.
+ */
+#define TC_UnlockCompareUpdate( _tc ) ( (_tc)->CTRLFCLR = TC0_LUPD_bm )
+
+
+/*! \brief Force an update of the output compare and period registers.
+ *
+ *  This macro will trigger a transfer from the output compare and period
+ *  buffer registers ( CCxBUF and PERBUF ) to the output compare and period
+ *  registers ( CCx and PER ). Calling this macro has the same effect as an
+ *  update condition.
+ *
+ *  \param _tc    Timer/Counter module instance.
+ */
+#define TC_ForceUpdate( _tc ) ( (_tc)->CTRLFSET = TC_CMD_UPDATE_gc )
+
+/*! \brief Restart the Timer/Counter.
+ *
+ *  This macro will restart the timer. The effect of running this command is:
+ *    - The CNT[H:L] register is cleared.
+ *    - The direction (DIR ) is reset. (Next clock cycle will increase the counter )
+ *    - All compare outputs are set to 0.
+ *    - If a DTI module is connected to the timer, it will be reset as well.
+ *
+ *  \param _tc    Timer/Counter module instance.
+ */
+#define TC_Restart( _tc ) ( (_tc)->CTRLFSET = TC_CMD_RESTART_gc )
+
+/*! \brief Manually set the count.
+ *
+ *  This macro writes a new value to the CNT[H:L] register.
+ *  Note that the CNT[H:L] register is not double buffered, so it is recommended
+ *  that the timer is not running when this macro is used.
+ *
+ *  \param _tc               Timer/Counter module instance.
+ *  \param _count            New count value.
+ */
+#define TC_SetCount( _tc, _count ) ( (_tc)->CNT = (_count) )
+
+/*! \brief Sets the timer period.
+ *
+ *  This macro sets a new timer period. The period buffer register is not
+ *  used, so the new period will be valid immediately after the 16-bit write
+ *  is finished.
+ *
+ *  \param _tc               Timer/Counter module instance.
+ *  \param _period           New Timer/Counter period.
+ */
+#define TC_SetPeriod( _tc, _period ) ( (_tc)->PER = (_period) )
+
+/*! \brief Sets the timer period ( double buffered ).
+ *
+ *  This macro sets a new timer period. The period buffer register is used,
+ *  so the new period will be valid after the next update condition.
+ *
+ *  \param _tc               Timer/Counter 0 or 1 module instance.
+ *  \param _period           New Timer/Counter period.
+ */
+#define TC_SetPeriodBuffered( _tc, _period ) ( (_tc)->PERBUF = (_period) )
+
+/*! \brief Set new compare value for compare channel A. ( Double buffered )
+ *
+ *  This macro sets a new compare value for compare channel A. The compare
+ *  channel A buffer register is used, so the new period will be valid from the
+ *  next update condition.
+ *
+ *  \param _tc               Timer/Counter 0 or 1 module instance.
+ *  \param _compareValue     New compare value for compare channel A.
+ */
+#define TC_SetCompareA( _tc, _compareValue ) ( (_tc)->CCABUF = (_compareValue) )
+
+/*! \brief Set new compare value for compare channel B. ( Double buffered )
+ *
+ *  This macro sets a new compare value for compare channel B. The compare
+ *  channel B buffer register is used, so the new period will be valid from the
+ *  next update condition.
+ *
+ *  \param _tc               Timer/Counter 0 or 1 module instance.
+ *  \param _compareValue     New compare value for compare channel B.
+ */
+#define TC_SetCompareB( _tc, _compareValue ) ( (_tc)->CCBBUF = (_compareValue) )
+
+/*! \brief Set new compare value for compare channel C. ( Double buffered )
+ *
+ *  This macro sets a new compare value for compare channel C. The compare
+ *  channel C buffer register is used, so the new period will be valid from the
+ *  next update condition.
+ *
+ *  \note The CCC channel is not available on TCx1.
+ *
+ *  \param _tc               Timer/Counter 0 module instance.
+ *  \param _compareValue     New compare value for compare channel C.
+ */
+#define TC_SetCompareC( _tc, _compareValue ) ( (_tc)->CCCBUF = (_compareValue) )
+
+/*! \brief Set new compare value for compare channel D. ( Double buffered )
+ *
+ *  This macro sets a new compare value for compare channel D. The compare
+ *  channel D buffer register is used, so the new period will be valid from the
+ *  next update condition.
+ *
+ *  \note The CCD channel is not available on TCx1.
+ *
+ *  \param _tc               Timer/Counter 0 module instance.
+ *  \param _compareValue     New compare value for compare channel D.
+ */
+#define TC_SetCompareD( _tc, _compareValue ) ( (_tc)->CCDBUF = (_compareValue) )
+
+/*! \brief Test whether an overflow has occurred.
+ *
+ *  The return value of this macro indicates if an overflow has occurred.
+ *
+ *  \param  _tc Timer/Counter module instance.
+ *
+ *  \return Non-zero if overflow flag is set, zero otherwise.
+ */
+#define TC_GetOverflowFlag( _tc ) ( (_tc)->INTFLAGS & TC0_OVFIF_bm )
+
+/*! \brief Clears the Timer/Counter overflow flag.
+ *
+ *   This macro clears the Timer/Counter overflow flag.
+ *
+ *  \param _tc  Timer/Counter module instance.
+ */
+#define TC_ClearOverflowFlag( _tc ) ( (_tc)->INTFLAGS = TC0_OVFIF_bm )
+
+/*! \brief Test whether an error has occurred.
+ *
+ *  The return value of this macro indicates if an error has occurred.
+ *
+ *  \param _tc  Timer/Counter module instance.
+ *
+ *  \return Non-zero if the Timer error flag is set.
+ */
+#define TC_GetErrorFlag( _tc ) ( (_tc)->INTFLAGS & TC0_ERRIF_bm )
+
+/*! \brief Clears the Timer/Counter error flag.
+ *
+ *   This macro clears the Timer/Counter error flag.
+ *
+ *  \param _tc  Timer/Counter module instance.
+ */
+#define TC_ClearErrorFlag( _tc ) ( (_tc)->INTFLAGS = TC0_ERRIF_bm )
+
+/*! \brief Get the status for Compare or Capture channel A.
+ *
+ *  When the TC is in Input Capture mode, the return value of this macro
+ *  indicates whether there is an unread input capture value available for
+ *  capture channel A.
+ *
+ *  When the TC is in any other mode, the return value of this macro
+ *  indicates whether there has been a compare match between channel A and the
+ *  counter.
+ *
+ *  \param _tc  Timer/Counter 0 or 1 module instance.
+ *
+ *  \return Non-zero if Compare or capture has occured, zero otherwise.
+ */
+#define TC_GetCCAFlag( _tc ) ( (_tc)->INTFLAGS & TC0_CCAIF_bm )
+
+/*! \brief Clears the Timer/Counter compare or capture A interrupt flag.
+ *
+ *  \param _tc   Timer/Counter 0 or 1 module instance.
+ */
+#define TC_ClearCCAFlag( _tc ) ( (_tc)->INTFLAGS = TC0_CCAIF_bm )
+
+/*! \brief Get the status for Compare or Capture channel B.
+ *
+ *  When the TC is in Input Capture mode, the return value of this macro
+ *  indicates whether there is an unread input capture value available for
+ *  capture channel B.
+ *
+ *  When the TC is in any other mode, the return value of this macro
+ *  indicates whether there has been a compare match between channel B and the
+ *  counter.
+ *
+ *  \param _tc   Timer/Counter 0 or 1 module instance.
+ *
+ *  \return Non-zero if Compare or capture has occured, zero otherwise.
+ */
+#define TC_GetCCBFlag( _tc ) ( (_tc)->INTFLAGS & TC0_CCBIF_bm )
+
+/*! \brief Clears the Timer/Counter compare or capture B interrupt flag.
+ *
+ *  \param _tc   Timer/Counter 0 or 1 module instance.
+ */
+#define TC_ClearCCBFlag( _tc ) ( (_tc)->INTFLAGS = TC0_CCBIF_bm )
+
+/*! \brief Get the status for Compare or Capture channel C.
+ *
+ *  When the TC is in Input Capture mode, the return value of this macro
+ *  indicates whether there is an unread input capture value available for
+ *  capture channel C.
+ *
+ *  When the TC is in any other mode, the return value of this macro
+ *  indicates whether there has been a compare match between channel C and the
+ *  counter.
+ *
+ *  \note The CCC channel is not available on TCx1.
+ *
+ *  \param _tc    Timer/Counter 0 module instance.
+ *
+ *  \return       Non-zero if Compare or capture has occured, zero otherwise.
+ */
+#define TC_GetCCCFlag( _tc ) ( (_tc)->INTFLAGS & TC0_CCCIF_bm )
+
+/*! \brief Clears the Timer/Counter compare or capture C interrupt flag.
+ *
+ *   This macro clears the Timer/Counter compare or capture C interrupt flag.
+ *
+ *  \note The CCC channel is not available on TCx1.
+ *
+ *  \param _tc   Timer/Counter 0 module instance.
+ */
+#define TC_ClearCCCFlag( _tc ) ( (_tc)->INTFLAGS = TC0_CCCIF_bm )
+
+/*! \brief Get the status for Compare or Capture channel D.
+ *
+ *  When the TC is in Input Capture mode, the return value of this macro
+ *  indicates whether there is an unread input capture value available for
+ *  capture channel D.
+ *
+ *  When the TC is in any other mode, the return value of this macro
+ *  indicates whether there has been a compare match between channel D and the
+ *  counter.
+ *
+ *  \note The CCD channel is not available on TCx1.
+ *
+ *  \param _tc    Timer/Counter 0 module instance.
+ *
+ *  \return       Non-zero if Compare or capture has occured, zero otherwise.
+ */
+#define TC_GetCCDFlag( _tc ) ( (_tc)->INTFLAGS & TC0_CCDIF_bm )
+
+/*! \brief Clears the Timer/Counter compare or capture D interrupt flag.
+ *
+ *   This macro clears the Timer/Counter compare or capture D interrupt flag.
+ *
+ *  \note The CCD channel is not available on TCx1.
+ *
+ *  \param _tc    Timer/Counter 0 module instance.
+ */
+#define TC_ClearCCDFlag( _tc ) ( (_tc)->INTFLAGS = TC0_CCDIF_bm )
+
+
+/*! \brief Reads the first available input capture value for channel A.
+ *
+ *  This macro returns the first available input capture value for
+ *  capture channel A.
+ *
+ *  \param _tc    Timer/Counter 0 or 1 module instance.
+ *
+ *  \return       The first available input capture value for channel A.
+ */
+#define TC_GetCaptureA( _tc ) ( (_tc)->CCA )
+
+/*! \brief Reads the first available input capture value for channel B.
+ *
+ *  This macro returns the first available input capture value for
+ *  capture channel B.
+ *
+ *  \param _tc    Timer/Counter 0 or 1 module instance.
+ *
+ *  \return       The first available input capture value for channel B.
+ */
+#define TC_GetCaptureB( _tc ) ( (_tc)->CCB )
+
+/*! \brief Reads the first available input capture value for channel C.
+ *
+ *  This macro returns the first available input capture value for
+ *  capture channel C.
+ *
+ *  \note The CCC channel is not available on TCx1.
+ *
+ *  \param _tc    Timer/Counter 0 module instance.
+ *
+ *  \return       The first available input capture value for channel C.
+ */
+#define TC_GetCaptureC( _tc ) ( (_tc)->CCC )
+
+/*! \brief Reads the first available input capture value for channel D.
+ *
+ *  This macro returns the first available input capture value for
+ *  capture channel D.
+ *
+ *  \note The CCD channel is not available on TCx1.
+ *
+ *  \param _tc    Timer/Counter 0 module instance.
+ *
+ *  \return       The first available input capture value for channel D.
+ */
+#define TC_GetCaptureD( _tc ) ( (_tc)->CCD )
+
+
+/* Prototyping of functions. Documentation can be found in source file. */
+
+void TC0_ConfigClockSource( volatile TC0_t * tc, TC_CLKSEL_t clockSelection );
+void TC0_ConfigWGM( volatile TC0_t * tc, TC_WGMODE_t wgm );
+void TC0_ConfigInputCapture( volatile TC0_t * tc, TC_EVSEL_t eventSource );
+void TC0_EnableCCChannels( volatile TC0_t * tc, uint8_t enableMask );
+void TC0_DisableCCChannels( volatile TC0_t * tc, uint8_t disableMask );
+void TC0_SetOverflowIntLevel( volatile TC0_t * tc, TC_OVFINTLVL_t intLevel );
+void TC0_SetErrorIntLevel( volatile TC0_t * tc, TC_ERRINTLVL_t intLevel );
+void TC0_SetCCAIntLevel( volatile TC0_t * tc, TC_CCAINTLVL_t intLevel );
+void TC0_SetCCBIntLevel( volatile TC0_t * tc, TC_CCBINTLVL_t intLevel );
+void TC0_SetCCCIntLevel( volatile TC0_t * tc, TC_CCCINTLVL_t intLevel );
+void TC0_SetCCDIntLevel( volatile TC0_t * tc, TC_CCDINTLVL_t intLevel );
+void TC0_Reset( volatile TC0_t * tc );
+
+void TC1_ConfigClockSource( volatile TC1_t * tc, TC_CLKSEL_t clockSelection );
+void TC1_ConfigWGM( volatile TC1_t * tc, TC_WGMODE_t wgm );
+void TC1_ConfigInputCapture( volatile TC1_t * tc, TC_EVSEL_t eventSource );
+void TC1_EnableCCChannels( volatile TC1_t * tc, uint8_t enableMask );
+void TC1_DisableCCChannels( volatile TC1_t * tc, uint8_t disableMask );
+void TC1_SetOverflowIntLevel( volatile TC1_t * tc, TC_OVFINTLVL_t intLevel );
+void TC1_SetErrorIntLevel( volatile TC1_t * tc, TC_ERRINTLVL_t intLevel );
+void TC1_SetCCAIntLevel( volatile TC1_t * tc, TC_CCAINTLVL_t intLevel );
+void TC1_SetCCBIntLevel( volatile TC1_t * tc, TC_CCBINTLVL_t intLevel );
+void TC1_SetCCCIntLevel( volatile TC1_t * tc, TC_CCCINTLVL_t intLevel );
+void TC1_SetCCDIntLevel( volatile TC1_t * tc, TC_CCDINTLVL_t intLevel );
+void TC1_Reset( volatile TC1_t * tc );
+
+
+#endif

OSU SARL/Control Board Firmware/Pick And Plate/Driver Board Revision 2.0/Firmware/TimerCounterFunctionsAndISR.h

@@ -0,0 +1,310 @@
+/*
+ * TimerCounterFunctionsAndISR.h
+ *
+ * Created: 8/12/2014 3:56:59 PM
+ *  Author: corwin
+ */ 
+
+
+#ifndef TIMERCOUNTERFUNCTIONSANDISR_H_
+#define TIMERCOUNTERFUNCTIONSANDISR_H_
+#include "DefinesAndMacros.h"
+#include "Steppers.h"
+#include "SystemInputFunctions.h"
+#include <stdlib.h>
+
+volatile long int CurrentTime = 0, PreviousTime = 0;
+volatile char secondCounter = 0;
+
+ISR(RTC_OVF_vect)
+{
+	secondCounter++;
+	if(secondCounter >= 100){
+		CurrentTime++;
+		if(CurrentTime == 0){
+			PreviousTime = 0;
+		}
+		secondCounter = 0;
+	}
+	
+	if((secondCounter % 25) == 0){
+		RDY_LED_TGL();
+	}
+	
+}
+
+ISR(TCC0_OVF_vect){
+	static double desiredPositionPrevious = 0, currentPosition = 0;
+	static double middlePosition = 0, middleOffset = 0, maxDiff = 0, scalar = 0;
+	static double axisDiff = 0;			  
+	static char doneOnce = FALSE;
+	
+	
+	
+	if(XAxis.shouldMove && steppersEnabled){
+		currentPosition = getAxisPosition(&XAxis);
+		
+		if(doneOnce == FALSE){
+			desiredPositionPrevious = currentPosition;
+			middlePosition = (((XAxis.desiredPosition-desiredPositionPrevious)/2) + desiredPositionPrevious);
+			maxDiff = abs(middlePosition - desiredPositionPrevious);
+			doneOnce = TRUE;
+		}
+		
+		axisDiff = (XAxis.desiredPosition - currentPosition);
+		if(XAxis.inManualMode == TRUE){
+			TCC0.PER = 14336;
+		}else{
+			middleOffset = abs(middlePosition - currentPosition);
+			if(middleOffset >= (((double)7*maxDiff)/10)){
+				double ratio = (maxDiff - (((double)7*maxDiff)/10));
+				double prescalar = (ratio-((double)maxDiff-middleOffset));
+				scalar = ((prescalar*10000)/ratio);
+				TCC0.PER = 5500+(int)scalar;
+			}
+		}
+
+		if(abs(axisDiff) <= XAxis.acceptableError){
+			XAxis.shouldMove = FALSE;
+			doneOnce = FALSE;
+		}else if(axisDiff > 0){
+			X_DIR_SET();
+			_delay_us(2);
+			X_STEP_SET();
+			_delay_us(2);
+			X_STEP_CLR();
+			XAxis.steps++;
+		}else if(axisDiff < 0){
+			if(X_LIM_LEFT_GET()){
+				X_DIR_CLR();
+				_delay_us(2);
+				X_STEP_SET();
+				_delay_us(2);
+				X_STEP_CLR();
+				XAxis.steps--;
+			}else{
+				XAxis.steps = 0;
+			}
+		}else{
+			ERR_LED_SET();
+			while(1);
+		}
+	}
+}
+
+ISR(TCD0_OVF_vect){
+	static double desiredPositionPrevious = 0, currentPosition = 0;
+	static double middlePosition = 0, middleOffset = 0, maxDiff = 0, scalar = 0;
+	static double axisDiff = 0;
+	static char doneOnce = FALSE;
+	
+	
+	
+	if(YAxis.shouldMove && steppersEnabled){
+		currentPosition = getAxisPosition(&YAxis);
+		
+		if(doneOnce == FALSE){
+			desiredPositionPrevious = currentPosition;
+			middlePosition = (((YAxis.desiredPosition-desiredPositionPrevious)/2) + desiredPositionPrevious);
+			maxDiff = abs(middlePosition - desiredPositionPrevious);
+			doneOnce = TRUE;
+		}
+		
+		axisDiff = (YAxis.desiredPosition - currentPosition);
+		if(YAxis.inManualMode == TRUE){
+			TCD0.PER = 10752;
+		}else{
+			middleOffset = abs(middlePosition - currentPosition);
+			if(middleOffset >= (((double)7*maxDiff)/10)){
+				double ratio = (maxDiff - (((double)7*maxDiff)/10));
+				double prescalar = (ratio-((double)maxDiff-middleOffset));
+				scalar = ((prescalar*10000)/ratio);
+				TCD0.PER = 5500+(int)scalar;
+			}
+		}
+		
+		if(abs(axisDiff) <= YAxis.acceptableError){
+			YAxis.shouldMove = FALSE;
+			doneOnce = FALSE;
+		}else if(axisDiff > 0){
+			Y_DIR_CLR();
+			_delay_us(2);
+			Y_STEP_SET();
+			_delay_us(2);
+			Y_STEP_CLR();
+			YAxis.steps++;
+		}else if(axisDiff < 0){
+			if(Y_LIM_FORW_GET()){
+				Y_DIR_SET();
+				_delay_us(2);
+				Y_STEP_SET();
+				_delay_us(2);
+				Y_STEP_CLR();
+				YAxis.steps--;
+			}else{
+				YAxis.steps = 0;
+			}
+		}else{
+			ERR_LED_SET();
+			while(1);
+		}
+	}
+}
+
+
+ISR(TCE0_OVF_vect){
+	static double desiredPositionPrevious = 0, currentPosition = 0;
+	static double middlePosition = 0, middleOffset = 0, maxDiff = 0, scalar = 0;
+	static double axisDiff = 0;
+	static char doneOnce = FALSE;
+	
+	
+	
+	if(ZAxis.shouldMove && steppersEnabled){
+		currentPosition = getAxisPosition(&ZAxis);
+		
+		if(doneOnce == FALSE){
+			desiredPositionPrevious = currentPosition;
+			middlePosition = (((ZAxis.desiredPosition-desiredPositionPrevious)/2) + desiredPositionPrevious);
+			maxDiff = abs(middlePosition - desiredPositionPrevious);
+			doneOnce = TRUE;
+		}
+		
+		axisDiff = (ZAxis.desiredPosition - currentPosition);
+		if(ZAxis.inManualMode == TRUE){
+			TCE0.PER = 10752;
+		}else{
+			middleOffset = abs(middlePosition - currentPosition);
+			if(middleOffset >= (((double)7*maxDiff)/10)){
+				double ratio = (maxDiff - (((double)7*maxDiff)/10));
+				double prescalar = (ratio-((double)maxDiff-middleOffset));
+				scalar = ((prescalar*4608)/ratio);
+				TCE0.PER = 2304+(int)scalar;
+			}
+		}
+		
+		if(abs(axisDiff) <= ZAxis.acceptableError){
+			ZAxis.shouldMove = FALSE;
+			doneOnce = FALSE;
+		}else if(axisDiff > 0){
+			Z_DIR_CLR();
+			_delay_us(2);
+			Z_STEP_SET();
+			_delay_us(2);
+			Z_STEP_CLR();
+			ZAxis.steps++;
+		}else if(axisDiff < 0){
+			Z_DIR_SET();
+			_delay_us(2);
+			Z_STEP_SET();
+			_delay_us(2);
+			Z_STEP_CLR();
+			ZAxis.steps--;
+		}else{
+			ERR_LED_SET();
+			while(1);
+		}
+	}
+}
+
+
+ISR(TCF0_OVF_vect){
+	static double desiredPositionPrevious = 0, currentPosition = 0;
+	static double middlePosition = 0, middleOffset = 0, maxDiff = 0, scalar = 0;
+	static double axisDiff = 0;
+	static char doneOnce = FALSE;
+	
+	
+	if(AAxis.shouldMove){
+		currentPosition = getAxisPosition(&AAxis);
+		
+		if(doneOnce == FALSE){
+			desiredPositionPrevious = currentPosition;
+			middlePosition = (((AAxis.desiredPosition-desiredPositionPrevious)/2) + desiredPositionPrevious);
+			maxDiff = abs(middlePosition - desiredPositionPrevious);
+			doneOnce = TRUE;
+		}
+		
+		axisDiff = (AAxis.desiredPosition - currentPosition);
+		if(AAxis.inManualMode == TRUE){
+			TCF0.PER = 10752;
+		}else{
+			middleOffset = abs(middlePosition - currentPosition);
+			scalar = (middleOffset*9216/maxDiff);
+			TCF0.PER = 4608+(int)scalar;
+		}
+		
+		if(abs(axisDiff) <= AAxis.acceptableError){
+			AAxis.shouldMove = FALSE;
+			doneOnce = FALSE;
+			}else if(axisDiff > 0){
+			A_DIR_SET();
+			_delay_us(2);
+			A_STEP_SET();
+			_delay_us(2);
+			A_STEP_CLR();
+			AAxis.steps++;
+			}else if(axisDiff < 0){
+			A_DIR_CLR();
+			_delay_us(2);
+			A_STEP_SET();
+			_delay_us(2);
+			A_STEP_CLR();
+			AAxis.steps--;
+			}else{
+			ERR_LED_SET();
+			while(1);
+		}
+	}
+}
+
+ISR(USARTC0_RXC_vect){
+	USART_RXComplete(&usartData);
+}
+
+
+ISR(USARTC0_DRE_vect){
+	USART_DataRegEmpty(&usartData);
+}
+
+ISR(PORTB_INT0_vect){
+	static long int debounceTimePrevious;
+	
+	if((CurrentTime - debounceTimePrevious) > 1){		
+		if(!SYS_HOME_GET()){
+			btnState.homePressed = TRUE;
+		}
+		
+		if(!SYS_CAL_GET()){
+			btnState.calibratePressed = TRUE;
+		}
+		
+		if(!SYS_START_GET()){
+			btnState.startPressed = TRUE;
+		}
+		debounceTimePrevious = CurrentTime;
+	}
+}
+
+ISR(PORTF_INT0_vect){
+	static long int debounceTimePrevious;
+	
+	if((CurrentTime - debounceTimePrevious) > 1){
+		
+		if(!ESTOP_GET()){
+			disableSteppers();
+			ERR_LED_SET();
+			
+			_delay_ms(5000);
+			
+			CCP = CCP_IOREG_gc;
+			RST.CTRL =  RST_SWRST_bm;
+		}
+
+		debounceTimePrevious = CurrentTime;
+	}	
+}
+
+
+
+#endif /* TIMERCOUNTERFUNCTIONSANDISR_H_ */

OSU SARL/Control Board Firmware/Pick And Plate/Driver Board Revision 2.0/Firmware/avr_compiler.h

@@ -0,0 +1,154 @@
+/* This file has been prepared for Doxygen automatic documentation generation.*/
+/*! \file *********************************************************************
+ *
+ * \brief This file implements some macros that makes the IAR C-compiler and
+ *        avr-gcc work with the same code base for the AVR architecture.
+ *
+ * \par Documentation
+ *      For comprehensive code documentation, supported compilers, compiler
+ *      settings and supported devices see readme.html
+ *
+ * \author
+ *      Atmel Corporation: http://www.atmel.com \n
+ *      Support email: avr@atmel.com
+ *
+ * $Revision: 1694 $
+ * $Date: 2008-07-29 14:21:58 +0200 (ti, 29 jul 2008) $  \n
+ *
+ * Copyright (c) 2008, Atmel Corporation All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * 3. The name of ATMEL may not be used to endorse or promote products derived
+ * from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR IMPLIED
+ * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE EXPRESSLY AND
+ * SPECIFICALLY DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT,
+ * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
+ * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ ******************************************************************************/
+
+#ifndef COMPILER_AVR_H
+#define COMPILER_AVR_H
+
+#ifndef F_CPU
+/*! \brief Define default CPU frequency, if this is not already defined. */
+#define F_CPU 2000000UL
+#endif
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <stdlib.h>
+
+/*! \brief This macro will protect the following code from interrupts. */
+#define AVR_ENTER_CRITICAL_REGION( ) uint8_t volatile saved_sreg = SREG; \
+                                     cli();
+
+/*! \brief This macro must always be used in conjunction with AVR_ENTER_CRITICAL_REGION
+ *        so the interrupts are enabled again.
+ */
+#define AVR_LEAVE_CRITICAL_REGION( ) SREG = saved_sreg;
+
+#if defined( __ICCAVR__ )
+
+#include <inavr.h>
+#include <ioavr.h>
+#include <intrinsics.h>
+#include <pgmspace.h>
+
+#ifndef __HAS_ELPM__
+#define _MEMATTR  __flash
+#else /* __HAS_ELPM__ */
+#define _MEMATTR  __farflash
+#endif /* __HAS_ELPM__ */
+
+/*! \brief Perform a delay of \c us microseconds.
+ *
+ *  The macro F_CPU is supposed to be defined to a constant defining the CPU
+ *  clock frequency (in Hertz).
+ *
+ *  The maximal possible delay is 262.14 ms / F_CPU in MHz.
+ *
+ *  \note For the IAR compiler, currently F_CPU must be a
+ *        multiple of 1000000UL (1 MHz).
+ */
+#define delay_us( us )   ( __delay_cycles( ( F_CPU / 1000000UL ) * ( us ) ) )
+
+/*! \brief Preprocessor magic.
+ *
+ *  Some preprocessor magic to allow for a header file abstraction of
+ *  interrupt service routine declarations for the IAR compiler.  This
+ *  requires the use of the C99 _Pragma() directive (rather than the
+ *  old #pragma one that could not be used as a macro replacement), as
+ *  well as two different levels of preprocessor concetanations in
+ *  order to do both, assign the correct interrupt vector name, as well
+ *  as construct a unique function name for the ISR.
+ *
+ *  \note Do *NOT* try to reorder the macros below, as this will only
+ *        work in the given order.
+ */
+#define PRAGMA(x) _Pragma( #x )
+#define ISR(vec) PRAGMA( vector=vec ) __interrupt void handler_##vec(void)
+#define sei( ) (__enable_interrupt( ))
+#define cli( ) (__disable_interrupt( ))
+
+/*! \brief Define the no operation macro. */
+#define nop( ) (__no_operation())
+
+/*! \brief Define the watchdog reset macro. */
+#define watchdog_reset( ) (__watchdog_reset( ))
+
+
+#define INLINE PRAGMA( inline=forced ) static
+
+#define FLASH_DECLARE(x) _MEMATTR x
+#define FLASH_STRING(x) ((_MEMATTR const char *)(x))
+#define FLASH_STRING_T  char const _MEMATTR *
+#define FLASH_BYTE_ARRAY_T uint8_t const _MEMATTR *
+#define PGM_READ_BYTE(x) *(x)
+#define PGM_READ_WORD(x) *(x)
+
+#define SHORTENUM /**/
+
+#elif defined( __GNUC__ )
+
+#include <avr/io.h>
+#include <avr/interrupt.h>
+#include <avr/pgmspace.h>
+#include <util/delay.h>
+
+/*! \brief Define the delay_us macro for GCC. */
+#define delay_us( us )   (_delay_us( us ))
+
+#define INLINE static inline
+
+/*! \brief Define the no operation macro. */
+#define nop()   do { __asm__ __volatile__ ("nop"); } while (0)
+
+#define MAIN_TASK_PROLOGUE int
+
+
+#define MAIN_TASK_EPILOGUE() return -1;
+
+#define SHORTENUM __attribute__ ((packed))
+
+#else
+#error Compiler not supported.
+#endif
+
+#endif
+

OSU SARL/Control Board Firmware/Pick And Plate/Driver Board Revision 2.0/Firmware/usart_driver.c

@@ -0,0 +1,320 @@
+/* This file has been prepared for Doxygen automatic documentation generation.*/
+/*! \file *********************************************************************
+ *
+ * \brief
+ *      XMEGA USART driver source file.
+ *
+ *      This file contains the function implementations the XMEGA interrupt
+ *      and polled USART driver.
+ *
+ *      The driver is not intended for size and/or speed critical code, since
+ *      most functions are just a few lines of code, and the function call
+ *      overhead would decrease code performance. The driver is intended for
+ *      rapid prototyping and documentation purposes for getting started with
+ *      the XMEGA ADC module.
+ *
+ *      For size and/or speed critical code, it is recommended to copy the
+ *      function contents directly into your application instead of making
+ *      a function call.
+ *
+ *      Some functions use the following construct:
+ *          "some_register = ... | (some_parameter ? SOME_BIT_bm : 0) | ..."
+ *      Although the use of the ternary operator ( if ? then : else ) is discouraged,
+ *      in some occasions the operator makes it possible to write pretty clean and
+ *      neat code. In this driver, the construct is used to set or not set a
+ *      configuration bit based on a boolean input parameter, such as
+ *      the "some_parameter" in the example above.
+ *
+ * \par Application note:
+ *      AVR1307: Using the XMEGA USART
+ *
+ * \par Documentation
+ *      For comprehensive code documentation, supported compilers, compiler
+ *      settings and supported devices see readme.html
+ *
+ * \author
+ *      Atmel Corporation: http://www.atmel.com \n
+ *      Support email: avr@atmel.com
+ *
+ * $Revision: 1694 $
+ * $Date: 2008-07-29 14:21:58 +0200 (ti, 29 jul 2008) $  \n
+ *
+ * Copyright (c) 2008, Atmel Corporation All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * 3. The name of ATMEL may not be used to endorse or promote products derived
+ * from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR IMPLIED
+ * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE EXPRESSLY AND
+ * SPECIFICALLY DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT,
+ * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
+ * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *****************************************************************************/
+#include "usart_driver.h"
+
+
+
+/*! \brief Initializes buffer and selects what USART module to use.
+ *
+ *  Initializes receive and transmit buffer and selects what USART module to use,
+ *  and stores the data register empty interrupt level.
+ *
+ *  \param usart_data           The USART_data_t struct instance.
+ *  \param usart                The USART module.
+ *  \param dreIntLevel          Data register empty interrupt level.
+ */
+void USART_InterruptDriver_Initialize(USART_data_t * usart_data,
+                                      USART_t * usart,
+                                      USART_DREINTLVL_t dreIntLevel)
+{
+	usart_data->usart = usart;
+	usart_data->dreIntLevel = dreIntLevel;
+
+	usart_data->buffer.RX_Tail = 0;
+	usart_data->buffer.RX_Head = 0;
+	usart_data->buffer.TX_Tail = 0;
+	usart_data->buffer.TX_Head = 0;
+}
+
+
+/*! \brief Set USART DRE interrupt level.
+ *
+ *  Set the interrupt level on Data Register interrupt.
+ *
+ *  \note Changing the DRE interrupt level in the interrupt driver while it is
+ *        running will not change the DRE interrupt level in the USART before the
+ *        DRE interrupt have been disabled and enabled again.
+ *
+ *  \param usart_data         The USART_data_t struct instance
+ *  \param dreIntLevel        Interrupt level of the DRE interrupt.
+ */
+void USART_InterruptDriver_DreInterruptLevel_Set(USART_data_t * usart_data,
+                                                 USART_DREINTLVL_t dreIntLevel)
+{
+	usart_data->dreIntLevel = dreIntLevel;
+}
+
+
+/*! \brief Test if there is data in the transmitter software buffer.
+ *
+ *  This function can be used to test if there is free space in the transmitter
+ *  software buffer.
+ *
+ *  \param usart_data The USART_data_t struct instance.
+ *
+ *  \retval true      There is data in the receive buffer.
+ *  \retval false     The receive buffer is empty.
+ */
+bool USART_TXBuffer_FreeSpace(USART_data_t * usart_data)
+{
+	/* Make copies to make sure that volatile access is specified. */
+	uint8_t tempHead = (usart_data->buffer.TX_Head + 1) & USART_TX_BUFFER_MASK;
+	uint8_t tempTail = usart_data->buffer.TX_Tail;
+
+	/* There are data left in the buffer unless Head and Tail are equal. */
+	return (tempHead != tempTail);
+}
+
+
+
+/*! \brief Put data (5-8 bit character).
+ *
+ *  Stores data byte in TX software buffer and enables DRE interrupt if there
+ *  is free space in the TX software buffer.
+ *
+ *  \param usart_data The USART_data_t struct instance.
+ *  \param data       The data to send.
+ */
+bool USART_TXBuffer_PutByte(USART_data_t * usart_data, uint8_t data)
+{
+	uint8_t tempCTRLA;
+	uint8_t tempTX_Head;
+	bool TXBuffer_FreeSpace;
+	USART_Buffer_t * TXbufPtr;
+
+	TXbufPtr = &usart_data->buffer;
+	TXBuffer_FreeSpace = USART_TXBuffer_FreeSpace(usart_data);
+
+
+	if(TXBuffer_FreeSpace)
+	{
+	  	tempTX_Head = TXbufPtr->TX_Head;
+	  	TXbufPtr->TX[tempTX_Head]= data;
+		/* Advance buffer head. */
+		TXbufPtr->TX_Head = (tempTX_Head + 1) & USART_TX_BUFFER_MASK;
+
+		/* Enable DRE interrupt. */
+		tempCTRLA = usart_data->usart->CTRLA;
+		tempCTRLA = (tempCTRLA & ~USART_DREINTLVL_gm) | usart_data->dreIntLevel;
+		usart_data->usart->CTRLA = tempCTRLA;
+	}
+	return TXBuffer_FreeSpace;
+}
+
+
+
+/*! \brief Test if there is data in the receive software buffer.
+ *
+ *  This function can be used to test if there is data in the receive software
+ *  buffer.
+ *
+ *  \param usart_data         The USART_data_t struct instance
+ *
+ *  \retval true      There is data in the receive buffer.
+ *  \retval false     The receive buffer is empty.
+ */
+bool USART_RXBufferData_Available(USART_data_t * usart_data)
+{
+	/* Make copies to make sure that volatile access is specified. */
+	uint8_t tempHead = usart_data->buffer.RX_Head;
+	uint8_t tempTail = usart_data->buffer.RX_Tail;
+
+	/* There are data left in the buffer unless Head and Tail are equal. */
+	return (tempHead != tempTail);
+}
+
+
+
+/*! \brief Get received data (5-8 bit character).
+ *
+ *  The function USART_RXBufferData_Available should be used before this
+ *  function is used to ensure that data is available.
+ *
+ *  Returns data from RX software buffer.
+ *
+ *  \param usart_data       The USART_data_t struct instance.
+ *
+ *  \return         Received data.
+ */
+uint8_t USART_RXBuffer_GetByte(USART_data_t * usart_data)
+{
+	USART_Buffer_t * bufPtr;
+	uint8_t ans;
+
+	bufPtr = &usart_data->buffer;
+	ans = (bufPtr->RX[bufPtr->RX_Tail]);
+
+	/* Advance buffer tail. */
+	bufPtr->RX_Tail = (bufPtr->RX_Tail + 1) & USART_RX_BUFFER_MASK;
+
+	return ans;
+}
+
+
+
+/*! \brief RX Complete Interrupt Service Routine.
+ *
+ *  RX Complete Interrupt Service Routine.
+ *  Stores received data in RX software buffer.
+ *
+ *  \param usart_data      The USART_data_t struct instance.
+ */
+bool USART_RXComplete(USART_data_t * usart_data)
+{
+	USART_Buffer_t * bufPtr;
+	bool ans;
+
+	bufPtr = &usart_data->buffer;
+	/* Advance buffer head. */
+	uint8_t tempRX_Head = (bufPtr->RX_Head + 1) & USART_RX_BUFFER_MASK;
+
+	/* Check for overflow. */
+	uint8_t tempRX_Tail = bufPtr->RX_Tail;
+	uint8_t data = usart_data->usart->DATA;
+
+	if (tempRX_Head == tempRX_Tail) {
+	  	ans = false;
+	}else{
+		ans = true;
+		usart_data->buffer.RX[usart_data->buffer.RX_Head] = data;
+		usart_data->buffer.RX_Head = tempRX_Head;
+	}
+	return ans;
+}
+
+
+
+/*! \brief Data Register Empty Interrupt Service Routine.
+ *
+ *  Data Register Empty Interrupt Service Routine.
+ *  Transmits one byte from TX software buffer. Disables DRE interrupt if buffer
+ *  is empty. Argument is pointer to USART (USART_data_t).
+ *
+ *  \param usart_data      The USART_data_t struct instance.
+ */
+void USART_DataRegEmpty(USART_data_t * usart_data)
+{
+	USART_Buffer_t * bufPtr;
+	bufPtr = &usart_data->buffer;
+
+	/* Check if all data is transmitted. */
+	uint8_t tempTX_Tail = usart_data->buffer.TX_Tail;
+	if (bufPtr->TX_Head == tempTX_Tail){
+	    /* Disable DRE interrupts. */
+		uint8_t tempCTRLA = usart_data->usart->CTRLA;
+		tempCTRLA = (tempCTRLA & ~USART_DREINTLVL_gm) | USART_DREINTLVL_OFF_gc;
+		usart_data->usart->CTRLA = tempCTRLA;
+
+	}else{
+		/* Start transmitting. */
+		uint8_t data = bufPtr->TX[usart_data->buffer.TX_Tail];
+		usart_data->usart->DATA = data;
+
+		/* Advance buffer tail. */
+		bufPtr->TX_Tail = (bufPtr->TX_Tail + 1) & USART_TX_BUFFER_MASK;
+	}
+}
+
+
+/*! \brief Put data (9 bit character).
+ *
+ *  Use the function USART_IsTXDataRegisterEmpty before using this function to
+ *  put 9 bit character to the TX register.
+ *
+ *  \param usart      The USART module.
+ *  \param data       The data to send.
+ */
+void USART_NineBits_PutChar(USART_t * usart, uint16_t data)
+{
+	if(data & 0x0100) {
+		usart->CTRLB |= USART_TXB8_bm;
+	}else {
+		usart->CTRLB &= ~USART_TXB8_bm;
+	}
+
+	usart->DATA = (data & 0x00FF);
+}
+
+
+/*! \brief Get received data (9 bit character).
+ *
+ *  This function reads out the received 9 bit character (uint16_t).
+ *  Use the function USART_IsRXComplete to check if anything is received.
+ *
+ *  \param usart      The USART module.
+ *
+ *  \retval           Received data.
+ */
+uint16_t USART_NineBits_GetChar(USART_t * usart)
+{
+	if(usart->CTRLB & USART_RXB8_bm) {
+		return(0x0100 | usart->DATA);
+	}else {
+		return(usart->DATA);
+	}
+}

OSU SARL/Control Board Firmware/Pick And Plate/Driver Board Revision 2.0/Firmware/usart_driver.h

@@ -0,0 +1,306 @@
+/* This file has been prepared for Doxygen automatic documentation generation.*/
+/*! \file *********************************************************************
+ *
+ * \brief  XMEGA USART driver header file.
+ *
+ *      This file contains the function prototypes and enumerator definitions
+ *      for various configuration parameters for the XMEGA USART driver.
+ *
+ *      The driver is not intended for size and/or speed critical code, since
+ *      most functions are just a few lines of code, and the function call
+ *      overhead would decrease code performance. The driver is intended for
+ *      rapid prototyping and documentation purposes for getting started with
+ *      the XMEGA ADC module.
+ *
+ *      For size and/or speed critical code, it is recommended to copy the
+ *      function contents directly into your application instead of making
+ *      a function call.
+ *
+ * \par Application note:
+ *      AVR1307: Using the XMEGA USART
+ *
+ * \par Documentation
+ *      For comprehensive code documentation, supported compilers, compiler
+ *      settings and supported devices see readme.html
+ *
+ * \author
+ *      Atmel Corporation: http://www.atmel.com \n
+ *      Support email: avr@atmel.com
+ *
+ * $Revision: 1694 $
+ * $Date: 2008-07-29 14:21:58 +0200 (ti, 29 jul 2008) $  \n
+ *
+ * Copyright (c) 2008, Atmel Corporation All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * 3. The name of ATMEL may not be used to endorse or promote products derived
+ * from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR IMPLIED
+ * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE EXPRESSLY AND
+ * SPECIFICALLY DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT,
+ * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
+ * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *****************************************************************************/
+#ifndef USART_DRIVER_H
+#define USART_DRIVER_H
+
+#include "avr_compiler.h"
+
+/* USART buffer defines. */
+
+/* \brief  Receive buffer size: 2,4,8,16,32,64,128 or 256 bytes. */
+#define USART_RX_BUFFER_SIZE 4
+/* \brief Transmit buffer size: 2,4,8,16,32,64,128 or 256 bytes */
+#define USART_TX_BUFFER_SIZE 4
+/* \brief Receive buffer mask. */
+#define USART_RX_BUFFER_MASK ( USART_RX_BUFFER_SIZE - 1 )
+/* \brief Transmit buffer mask. */
+#define USART_TX_BUFFER_MASK ( USART_TX_BUFFER_SIZE - 1 )
+
+
+#if ( USART_RX_BUFFER_SIZE & USART_RX_BUFFER_MASK )
+#error RX buffer size is not a power of 2
+#endif
+#if ( USART_TX_BUFFER_SIZE & USART_TX_BUFFER_MASK )
+#error TX buffer size is not a power of 2
+#endif
+
+
+/* \brief USART transmit and receive ring buffer. */
+typedef struct USART_Buffer
+{
+	/* \brief Receive buffer. */
+	volatile uint8_t RX[USART_RX_BUFFER_SIZE];
+	/* \brief Transmit buffer. */
+	volatile uint8_t TX[USART_TX_BUFFER_SIZE];
+	/* \brief Receive buffer head. */
+	volatile uint8_t RX_Head;
+	/* \brief Receive buffer tail. */
+	volatile uint8_t RX_Tail;
+	/* \brief Transmit buffer head. */
+	volatile uint8_t TX_Head;
+	/* \brief Transmit buffer tail. */
+	volatile uint8_t TX_Tail;
+} USART_Buffer_t;
+
+
+/*! \brief Struct used when interrupt driven driver is used.
+*
+*  Struct containing pointer to a usart, a buffer and a location to store Data
+*  register interrupt level temporary.
+*/
+typedef struct Usart_and_buffer
+{
+	/* \brief Pointer to USART module to use. */
+	USART_t * usart;
+	/* \brief Data register empty interrupt level. */
+	USART_DREINTLVL_t dreIntLevel;
+	/* \brief Data buffer. */
+	USART_Buffer_t buffer;
+} USART_data_t;
+
+
+/* Macros. */
+
+/*! \brief Macro that sets the USART frame format.
+ *
+ *  Sets the frame format, Frame Size, parity mode and number of stop bits.
+ *
+ *  \param _usart        Pointer to the USART module
+ *  \param _charSize     The character size. Use USART_CHSIZE_t type.
+ *  \param _parityMode   The parity Mode. Use USART_PMODE_t type.
+ *  \param _twoStopBits  Enable two stop bit mode. Use bool type.
+ */
+#define USART_Format_Set(_usart, _charSize, _parityMode, _twoStopBits)         \
+	(_usart)->CTRLC = (uint8_t) _charSize | _parityMode |                      \
+	                  (_twoStopBits ? USART_SBMODE_bm : 0)
+
+
+/*! \brief Set USART baud rate.
+ *
+ *  Sets the USART's baud rate register.
+ *
+ *  UBRR_Value   : Value written to UBRR
+ *  ScaleFactor  : Time Base Generator Scale Factor
+ *
+ *  Equation for calculation of BSEL value in asynchronous normal speed mode:
+ *  	If ScaleFactor >= 0
+ *  		BSEL = ((I/O clock frequency)/(2^(ScaleFactor)*16*Baudrate))-1
+ *  	If ScaleFactor < 0
+ *  		BSEL = (1/(2^(ScaleFactor)*16))*(((I/O clock frequency)/Baudrate)-1)
+ *
+ *	\note See XMEGA manual for equations for calculation of BSEL value in other
+ *        modes.
+ *
+ *  \param _usart          Pointer to the USART module.
+ *  \param _bselValue      Value to write to BSEL part of Baud control register.
+ *                         Use uint16_t type.
+ *  \param _bScaleFactor   USART baud rate scale factor.
+ *                         Use uint8_t type
+ */
+#define USART_Baudrate_Set(_usart, _bselValue, _bScaleFactor)                  \
+	(_usart)->BAUDCTRLA =(uint8_t)_bselValue;                                           \
+	(_usart)->BAUDCTRLB =(_bScaleFactor << USART_BSCALE0_bp)|(_bselValue >> 8)
+
+
+/*! \brief Enable USART receiver.
+ *
+ *  \param _usart    Pointer to the USART module
+ */
+#define USART_Rx_Enable(_usart) ((_usart)->CTRLB |= USART_RXEN_bm)
+
+
+/*! \brief Disable USART receiver.
+ *
+ *  \param _usart Pointer to the USART module.
+ */
+#define USART_Rx_Disable(_usart) ((_usart)->CTRLB &= ~USART_RXEN_bm)
+
+
+/*! \brief Enable USART transmitter.
+ *
+ *  \param _usart Pointer to the USART module.
+ */
+#define USART_Tx_Enable(_usart)	((_usart)->CTRLB |= USART_TXEN_bm)
+
+
+/*! \brief Disable USART transmitter.
+ *
+ *  \param _usart Pointer to the USART module.
+ */
+#define USART_Tx_Disable(_usart) ((_usart)->CTRLB &= ~USART_TXEN_bm)
+
+
+/*! \brief Set USART RXD interrupt level.
+ *
+ *  Sets the interrupt level on RX Complete interrupt.
+ *
+ *  \param _usart        Pointer to the USART module.
+ *  \param _rxdIntLevel  Interrupt level of the RXD interrupt.
+ *                       Use USART_RXCINTLVL_t type.
+ */
+#define USART_RxdInterruptLevel_Set(_usart, _rxdIntLevel)                      \
+	((_usart)->CTRLA = ((_usart)->CTRLA & ~USART_RXCINTLVL_gm) | _rxdIntLevel)
+
+
+/*! \brief Set USART TXD interrupt level.
+ *
+ *  Sets the interrupt level on TX Complete interrupt.
+ *
+ *  \param _usart        Pointer to the USART module.
+ *  \param _txdIntLevel  Interrupt level of the TXD interrupt.
+ *                       Use USART_TXCINTLVL_t type.
+ */
+#define USART_TxdInterruptLevel_Set(_usart, _txdIntLevel)                      \
+	(_usart)->CTRLA = ((_usart)->CTRLA & ~USART_TXCINTLVL_gm) | _txdIntLevel
+
+
+
+/*! \brief Set USART DRE interrupt level.
+ *
+ *  Sets the interrupt level on Data Register interrupt.
+ *
+ *  \param _usart        Pointer to the USART module.
+ *  \param _dreIntLevel  Interrupt level of the DRE interrupt.
+ *                       Use USART_DREINTLVL_t type.
+ */
+#define USART_DreInterruptLevel_Set(_usart, _dreIntLevel)                      \
+	(_usart)->CTRLA = ((_usart)->CTRLA & ~USART_DREINTLVL_gm) | _dreIntLevel
+
+
+/*! \brief Set the mode the USART run in.
+ *
+ * Set the mode the USART run in. The default mode is asynchronous mode.
+ *
+ *  \param  _usart       Pointer to the USART module register section.
+ *  \param  _usartMode   Selects the USART mode. Use  USART_CMODE_t type.
+ *
+ *  USART modes:
+ *  - 0x0        : Asynchronous mode.
+ *  - 0x1        : Synchronous mode.
+ *  - 0x2        : IrDA mode.
+ *  - 0x3        : Master SPI mode.
+ */
+#define USART_SetMode(_usart, _usartMode)                                      \
+	((_usart)->CTRLC = ((_usart)->CTRLC & (~USART_CMODE_gm)) | _usartMode)
+
+
+
+/*! \brief Check if data register empty flag is set.
+ *
+ *  \param _usart      The USART module.
+ */
+#define USART_IsTXDataRegisterEmpty(_usart) (((_usart)->STATUS & USART_DREIF_bm) != 0)
+
+
+
+/*! \brief Put data (5-8 bit character).
+ *
+ *  Use the macro USART_IsTXDataRegisterEmpty before using this function to
+ *  put data to the TX register.
+ *
+ *  \param _usart      The USART module.
+ *  \param _data       The data to send.
+ */
+#define USART_PutChar(_usart, _data) ((_usart)->DATA = _data)
+
+
+
+/*! \brief Checks if the RX complete interrupt flag is set.
+ *
+ *   Checks if the RX complete interrupt flag is set.
+ *
+ *  \param _usart     The USART module.
+ */
+#define USART_IsRXComplete(_usart) (((_usart)->STATUS & USART_RXCIF_bm) != 0)
+
+
+
+
+/*! \brief Get received data (5-8 bit character).
+ *
+ *  This macro reads out the RX register.
+ *  Use the macro USART_RX_Complete to check if anything is received.
+ *
+ *  \param _usart     The USART module.
+ *
+ *  \retval           Received data.
+ */
+#define USART_GetChar(_usart)  ((_usart)->DATA)
+
+
+/* Functions for interrupt driven driver. */
+void USART_InterruptDriver_Initialize(USART_data_t * usart_data,
+                                      USART_t * usart,
+                                      USART_DREINTLVL_t dreIntLevel );
+
+void USART_InterruptDriver_DreInterruptLevel_Set(USART_data_t * usart_data,
+                                                 USART_DREINTLVL_t dreIntLevel);
+
+bool USART_TXBuffer_FreeSpace(USART_data_t * usart_data);
+bool USART_TXBuffer_PutByte(USART_data_t * usart_data, uint8_t data);
+bool USART_RXBufferData_Available(USART_data_t * usart_data);
+uint8_t USART_RXBuffer_GetByte(USART_data_t * usart_data);
+bool USART_RXComplete(USART_data_t * usart_data);
+void USART_DataRegEmpty(USART_data_t * usart_data);
+
+/* Functions for polled driver. */
+void USART_NineBits_PutChar(USART_t * usart, uint16_t data);
+uint16_t USART_NineBits_GetChar(USART_t * usart);
+
+#endif