Asynchronous analog reads

.gitmodules

@@ -1,6 +1,15 @@
-[submodule "libraries/PacketSerial"]
+[submodule "lib/PacketSerial"]
+        active = true
 	path = lib/PacketSerial
 	url = https://github.com/bakercp/PacketSerial.git
-[submodule "libraries/Adafruit_MCP23008"]
-	url = https://github.com/adafruit/Adafruit-MCP23008-library.git
+[submodule "lib/Adafruit_MCP23008"]
+        active = true
 	path = lib/Adafruit_MCP23008
+	url = https://github.com/adafruit/Adafruit-MCP23008-library.git
+[submodule "lib/avr-libc"]
+        active = true
+	path = lib/avr-libc
+	url = https://github.com/avrdudes/avr-libc.git
+[submodule "lib/AnalogReadAsync"]
+	path = lib/AnalogReadAsync
+	url = https://github.com/boothinator/AnalogReadAsync

CHANGELOG.md

@@ -9,14 +9,19 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ## 1.0.0 / Unreleased
 
 * Migrate to AYAB API v6
-* Remove dependency on SerialCommand library
-* Add informative error codes
+* Add support for garter carriage
+* Add support for KH270
 * Allow carriage to start on the right-hand side moving left
 * Add run-time hardware tests
+* Fix intermittent patterning errors
+* Change end-of-line beep to be non-blocking so that knitting can continue during beep
 * Migrate to generic firmware from machine-specific versions
+* Migrate to semantic versioning
 * Change libraries to submodules
+* Remove dependency on SerialCommand library
 * Add unit tests that can run in the absence of the hardware
 * Add GPLv3 license
+* Add informative error codes
 * Add development environment documentation to README
 * Add firmware update instructions to README
 * Add CHANGELOG.md

doc/finite_state_machine.md

@@ -1,9 +1,10 @@
 ### Finite State Machine
 
-The finite state machine is defined in the `Fsm` class.
+The finite state machine is defined in the `Controller` class.
 
 | State  | Action |
      --: | :--
+ `Idle`  | Wait for information on machine type.
  `Init`  | Wait for carriage to be put in the correct location.
  `Ready` | Wait to start operation.
  `Knit`  | Operate in knitting mode.
@@ -14,9 +15,11 @@ A tabular representation of state transitions follows.
 
 | Transition      | Function / condition |
               --: | :--
- `Init  -> Test`  | `Tester::startTest()`  
- `Ready -> Test`  | `Tester::startTest()`  
- `Test  -> Init`  | `Tester::quitCmd()`
- `Init  -> Ready` | `Knitter::isReady()`
- `Ready -> Knit`  | `Knitter::startKnitting()`
- `Knit  -> Ready` | `m_workedOnLine && m_lastLineFlag`
+ `Idle  -> Init`  | `Com::h_reqInit()`
+ `Init  -> Ready` | `OpInit::update()`
+ `Ready -> Knit`  | `OpKnit::startKnitting()`
+ `Init -> Test`   | `OpTest::startTest()`
+ `Ready -> Test`  | `OpTest::startTest()`
+ `Knit -> Test`   | `OpTest::startTest()`
+ `Knit  -> Init`  | `m_workedOnLine && m_lastLineFlag`
+ `Test  -> Init`  | `OpTest::end()`

init

@@ -0,0 +1,125 @@
+test/test_encoders.cpp:    encoders->init(Machine_t::Kh910);
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:      .WillOnce(Return(FILTER_L_MIN[static_cast<int8_t>(encoders->getMachineType())]));
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getDirection(), Direction_t::Right);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getPosition(), 0x01);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getCarriage(), Carriage_t::NoCarriage);
+test/test_encoders.cpp:      .WillOnce(Return(FILTER_R_MIN[static_cast<int8_t>(encoders->getMachineType())] - 1));
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getDirection(), Direction_t::Right);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getPosition(), END_RIGHT_MINUS_OFFSET[static_cast<int8_t>(encoders->getMachineType())]);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getCarriage(), Carriage_t::Knit);
+test/test_encoders.cpp:      .WillOnce(Return(FILTER_L_MAX[static_cast<int8_t>(encoders->getMachineType())] + 1));
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getDirection(), Direction_t::Right);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getPosition(), END_LEFT_PLUS_OFFSET[static_cast<int8_t>(encoders->getMachineType())]);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getCarriage(), Carriage_t::Knit);
+test/test_encoders.cpp:  ASSERT_FALSE(encoders->getMachineType() == Machine_t::Kh270);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getCarriage(), Carriage_t::NoCarriage);
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:      .WillOnce(Return(FILTER_L_MIN[static_cast<int8_t>(encoders->getMachineType())] - 1));
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getDirection(), Direction_t::Right);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getHallActive(), Direction_t::Left);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getPosition(), END_LEFT_PLUS_OFFSET[static_cast<int8_t>(encoders->getMachineType())]);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getCarriage(), Carriage_t::Lace);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getBeltShift(), BeltShift::Regular);
+test/test_encoders.cpp:      .WillOnce(Return(FILTER_R_MIN[static_cast<int8_t>(encoders->getMachineType())]));
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:  encoders->m_position = 0;
+test/test_encoders.cpp:      .WillOnce(Return(FILTER_L_MAX[static_cast<int8_t>(encoders->getMachineType())] + 1));
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getDirection(), Direction_t::Right);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getPosition(), END_LEFT_PLUS_OFFSET[static_cast<int8_t>(encoders->getMachineType())]);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getCarriage(), Carriage_t::Knit);
+test/test_encoders.cpp:  encoders->init(Machine_t::Kh270);
+test/test_encoders.cpp:  ASSERT_TRUE(encoders->getMachineType() == Machine_t::Kh270);
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getDirection(), Direction_t::Right);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getHallActive(), Direction_t::Left);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getPosition(), END_LEFT_PLUS_OFFSET[static_cast<int8_t>(Machine_t::Kh270)]);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getCarriage(), Carriage_t::Knit);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getBeltShift(), BeltShift::Regular);
+test/test_encoders.cpp:      .WillOnce(Return(FILTER_R_MIN[static_cast<int8_t>(encoders->getMachineType())]));
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:  encoders->init(Machine_t::Kh270);
+test/test_encoders.cpp:  ASSERT_TRUE(encoders->getMachineType() == Machine_t::Kh270);
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:      .WillOnce(Return(FILTER_L_MAX[static_cast<int8_t>(encoders->getMachineType())] + 1));
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getDirection(), Direction_t::Right);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getHallActive(), Direction_t::Left);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getPosition(), END_LEFT_PLUS_OFFSET[static_cast<int8_t>(Machine_t::Kh270)] + MAGNET_DISTANCE_270);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getCarriage(), Carriage_t::Knit);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getBeltShift(), BeltShift::Regular);
+test/test_encoders.cpp:      .WillOnce(Return(FILTER_L_MAX[static_cast<int8_t>(encoders->getMachineType())] + 1));
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getCarriage(), Carriage_t::Knit);
+test/test_encoders.cpp:      .WillOnce(Return(FILTER_R_MAX[static_cast<int8_t>(encoders->getMachineType())] + 1));
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:      .WillOnce(Return(FILTER_L_MIN[static_cast<int8_t>(encoders->getMachineType())] - 1));
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getCarriage(), Carriage_t::Garter);
+test/test_encoders.cpp:      .WillOnce(Return(FILTER_R_MIN[static_cast<int8_t>(encoders->getMachineType())]));
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:      .WillOnce(Return(FILTER_R_MIN[static_cast<int8_t>(encoders->getMachineType())] - 1));
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:      .WillOnce(Return(FILTER_L_MIN[static_cast<int8_t>(encoders->getMachineType())]));
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:  encoders->m_position = END_LEFT[static_cast<uint8_t>(encoders->getMachineType())] + 1;
+test/test_encoders.cpp:      .WillOnce(Return(FILTER_R_MIN[static_cast<int8_t>(encoders->getMachineType())]));
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:      .WillOnce(Return(FILTER_L_MIN[static_cast<int8_t>(encoders->getMachineType())]));
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:      .WillOnce(Return(FILTER_R_MAX[static_cast<int8_t>(encoders->getMachineType())] + 1));
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getDirection(), Direction_t::Right);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getHallActive(), Direction_t::Right);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getPosition(), END_RIGHT_MINUS_OFFSET[static_cast<int8_t>(encoders->getMachineType())]);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getCarriage(), Carriage_t::NoCarriage);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getBeltShift(), BeltShift::Shifted);
+test/test_encoders.cpp:      .WillOnce(Return(FILTER_L_MAX[static_cast<int8_t>(encoders->getMachineType())]));
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:      .WillOnce(Return(FILTER_R_MAX[static_cast<int8_t>(encoders->getMachineType())] + 1));
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getPosition(), END_RIGHT_MINUS_OFFSET[static_cast<int8_t>(encoders->getMachineType())]);
+test/test_encoders.cpp:  uint16_t pos = END_RIGHT_MINUS_OFFSET[static_cast<int8_t>(encoders->getMachineType())];
+test/test_encoders.cpp:  while (pos < END_RIGHT[static_cast<int8_t>(encoders->getMachineType())]) {
+test/test_encoders.cpp:        .WillOnce(Return(FILTER_L_MAX[static_cast<int8_t>(encoders->getMachineType())]));
+test/test_encoders.cpp:    encoders->isr();
+test/test_encoders.cpp:    ASSERT_EQ(encoders->getPosition(), ++pos);
+test/test_encoders.cpp:        .WillOnce(Return(FILTER_R_MAX[static_cast<int8_t>(encoders->getMachineType())]));
+test/test_encoders.cpp:    encoders->isr();
+test/test_encoders.cpp:    ASSERT_EQ(encoders->getPosition(), pos);
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getPosition(), pos);
+test/test_encoders.cpp:      .WillOnce(Return(FILTER_L_MAX[static_cast<int8_t>(encoders->getMachineType())]));
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getPosition(), pos);
+test/test_encoders.cpp:  ASSERT_TRUE(encoders->getMachineType() == Machine_t::Kh910);
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:      .WillOnce(Return(FILTER_R_MIN[static_cast<int8_t>(encoders->getMachineType())] - 1));
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getCarriage(), Carriage_t::Knit);
+test/test_encoders.cpp:      .WillOnce(Return(FILTER_R_MAX[static_cast<int8_t>(encoders->getMachineType())] + 1));
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getPosition(), END_LEFT_PLUS_OFFSET[static_cast<int8_t>(encoders->getMachineType())]);
+test/test_encoders.cpp:      .WillOnce(Return(FILTER_R_MAX[static_cast<int8_t>(encoders->getMachineType())]));
+test/test_encoders.cpp:  encoders->isr();
+test/test_encoders.cpp:  ASSERT_EQ(encoders->getPosition(), END_LEFT_PLUS_OFFSET[static_cast<int8_t>(encoders->getMachineType())]);
+test/test_encoders.cpp:  uint8_t p = encoders->getPosition();
+test/test_encoders.cpp:  BeltShift_t b = encoders->getBeltShift();
+test/test_encoders.cpp:  Direction_t d = encoders->getDirection();
+test/test_encoders.cpp:  Direction_t d = encoders->getHallActive();
+test/test_encoders.cpp:  Carriage_t c = encoders->getCarriage();
+test/test_encoders.cpp:  Machine_t m = encoders->getMachineType();
+test/test_encoders.cpp:  encoders->init(Machine_t::Kh270);
+test/test_encoders.cpp:  Machine_t m = encoders->getMachineType();
+test/test_encoders.cpp:  uint16_t v = encoders->getHallValue(Direction_t::NoDirection);
+test/test_encoders.cpp:  v = encoders->getHallValue(Direction_t::Left);
+test/test_encoders.cpp:  v = encoders->getHallValue(Direction_t::Right);
+test/test_encoders.cpp:  v = encoders->getHallValue(Direction_t::Right);

platformio.ini

@@ -13,8 +13,8 @@ default_envs = uno
 
 [env]
 framework = arduino
-extra_scripts = 
-    pre:scripts/preBuild.py 
+extra_scripts =
+    pre:scripts/preBuild.py
 
 [env:uno]
 platform = atmelavr

scripts/preBuild.py

@@ -5,7 +5,7 @@
 Import("env")
 print("Pre build script")
 
-# Reads the current git tag of the repo and returns the version number 
+# Reads the current git tag of the repo and returns the version number
 # elements
 # In case there are changes since the last tag, the dirty flag is set
 # In case the git tag does not match the x.y.z format, 0.0.0 is used as fallback

src/ayab/analogReadAsyncWrapper.cpp

@@ -0,0 +1,39 @@
+/*!
+ * \file analogReadAsyncWrapper.cpp
+ * \brief Class containing methods to actuate a analogReadAsyncWrapper connected
+ *    to PIEZO_PIN.
+ *
+ * This file is part of AYAB.
+ *
+ *    AYAB is free software: you can redistribute it and/or modify
+ *    it under the terms of the GNU General Public License as published by
+ *    the Free Software Foundation, either version 3 of the License, or
+ *    (at your option) any later version.
+ *
+ *    AYAB is distributed in the hope that it will be useful,
+ *    but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *    GNU General Public License for more details.
+ *
+ *    You should have received a copy of the GNU General Public License
+ *    along with AYAB.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ *    Original Work Copyright 2013 Christian Obersteiner, Andreas Müller
+ *    Modified Work Copyright 2020-3 Sturla Lange, Tom Price
+ *    http://ayab-knitting.com
+ */
+
+#include "analogReadAsyncWrapper.h"
+
+/*!
+ * \brief Wrapper for analogReadAsync
+ */
+void AnalogReadAsyncWrapper::analogReadAsyncWrapped(uint8_t pin, analogReadCompleteCallback_t cb, const void *data) {
+#ifndef AYAB_TESTS
+  analogReadAsync(pin, cb, data);
+#else
+  (void) pin;
+  (void) cb;
+  (void) data;
+#endif
+}

src/ayab/analogReadAsyncWrapper.h

@@ -0,0 +1,64 @@
+/*!
+ * \file analogReadAsyncWrapper.h
+ *
+ * This file is part of AYAB.
+ *
+ *    AYAB is free software: you can redistribute it and/or modify
+ *    it under the terms of the GNU General Public License as published by
+ *    the Free Software Foundation, either version 3 of the License, or
+ *    (at your option) any later version.
+ *
+ *    AYAB is distributed in the hope that it will be useful,
+ *    but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *    GNU General Public License for more details.
+ *
+ *    You should have received a copy of the GNU General Public License
+ *    along with AYAB.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ *    Original Work Copyright 2013 Christian Obersteiner, Andreas Müller
+ *    Modified Work Copyright 2020-3 Sturla Lange, Tom Price
+ *    http://ayab-knitting.com
+ */
+
+#ifndef ANALOGREADASYNCWRAPPER_H_
+#define ANALOGREADASYNCWRAPPER_H_
+
+#include <Arduino.h>
+#include <analogReadAsync.h>
+
+class AnalogReadAsyncWrapperInterface {
+public:
+  virtual ~AnalogReadAsyncWrapperInterface() = default;
+
+  // any methods that need to be mocked should go here
+  virtual void analogReadAsyncWrapped(uint8_t pin, analogReadCompleteCallback_t cb, const void *data) = 0;
+};
+
+// Container class for the static method analogReadAsync.
+// Dependency injection is enabled using a pointer to a global instance of
+// either `AnalogReadAsyncWrapper` or `AnalogReadAsyncWrapperMock`,
+// both of which classes implement the
+// pure virtual methods of `AnalogReadAsyncWrapperInterface`.
+
+class GlobalAnalogReadAsyncWrapper final {
+private:
+  // singleton class so private constructor is appropriate
+  GlobalAnalogReadAsyncWrapper() = default;
+
+public:
+  // pointer to global instance whose methods are implemented
+  static AnalogReadAsyncWrapperInterface *m_instance;
+
+  static void analogReadAsyncWrapped(uint8_t pin, analogReadCompleteCallback_t cb = nullptr, const void *data = nullptr);
+};
+
+/*!
+ * \brief Wrapper for analogReadAsync method
+ */
+class AnalogReadAsyncWrapper : public AnalogReadAsyncWrapperInterface {
+public:
+  void analogReadAsyncWrapped(uint8_t pin, analogReadCompleteCallback_t cb = nullptr, const void *data = nullptr) final;
+};
+
+#endif // ANALOGREADASYNCWRAPPER_H_

src/ayab/atomic.h

@@ -0,0 +1,58 @@
+#include <avr/io.h>
+#include <avr/interrupt.h>
+
+/* Inline assembly suggested by @jpcornil-git */
+
+#define ENTER_CRITICAL() __asm__ __volatile__ (       \
+   "in __tmp_reg__, __SREG__"                  "\n\t" \
+   "cli"                                       "\n\t" \
+   "push __tmp_reg__"                          "\n\t" \
+   ::: "memory"                                       \
+   )
+
+#define EXIT_CRITICAL() __asm__ __volatile__ (        \
+   "pop __tmp_reg__"                           "\n\t" \
+   "out __SREG__, __tmp_reg__"                 "\n\t" \
+   ::: "memory"                                       \
+   )
+
+/* Suggested by @jpcornil-git based on https://arduino.stackexchange.com/questions/77494/which-arduinos-support-atomic-block */
+
+#define ATOMIC_BLOCK(type) for(type; type##_OBJECT_NAME.run(); type##_OBJECT_NAME.stop())
+#define ATOMIC_RESTORESTATE_OBJECT_NAME atomicBlockRestoreState_
+#define ATOMIC_RESTORESTATE AtomicBlockRestoreState ATOMIC_RESTORESTATE_OBJECT_NAME
+
+class AtomicBlockRestoreState
+{
+public:
+    // Constructor: called when the object is created
+    inline AtomicBlockRestoreState()
+    {
+        sreg_save = SREG; // save status register
+        cli(); // turn interrupts OFF
+    }
+
+    // Destructor: called when the object is destroyed (ex: goes out-of-scope)
+    inline ~AtomicBlockRestoreState()
+    {
+        SREG = sreg_save; // restore status register
+        __asm__ volatile ("" ::: "memory");  // memory barrier
+    }
+
+    // Can we run? Returns true to run the `for` loop or
+    // `false` to stop it.
+    inline bool run()
+    {
+        return run_now;
+    }
+
+    // Tell the `for` loop to stop
+    inline void stop()
+    {
+        run_now = false;
+    }
+
+private:
+    bool run_now = true;
+    uint8_t sreg_save;
+};