Merge branch 'master' of git@github.com:triffid/FiveD_on_Arduino

Conflicts:

	gcode.c

Makefile

@@ -14,7 +14,7 @@
 
 PROGRAM = mendel
 
-SOURCES = $(PROGRAM).c serial.c dda.c gcode.c timer.c clock.c temp.c sermsg.c dda_queue.c watchdog.c debug.c sersendf.c heater.c analog.c
+SOURCES = $(PROGRAM).c serial.c dda.c gcode.c timer.c clock.c temp.c sermsg.c dda_queue.c watchdog.c debug.c sersendf.c heater.c analog.c delay.c
 
 ##############################################################################
 #                                                                            #

dda_queue.c

@@ -8,6 +8,7 @@
 #include	"serial.h"
 #include	"sermsg.h"
 #include	"temp.h"
+#include	"delay.h"
 
 uint8_t	mb_head = 0;
 uint8_t	mb_tail = 0;

delay.c

@@ -0,0 +1,50 @@
+#include	"delay.h"
+
+#include	"watchdog.h"
+
+// delay( microseconds )
+void delay(uint32_t delay) {
+	wd_reset();
+	while (delay > 65535) {
+		delayMicrosecondsInterruptible(65533);
+		delay -= 65535;
+		wd_reset();
+	}
+	delayMicrosecondsInterruptible(delay & 0xFFFF);
+	wd_reset();
+}
+
+// delay_ms( milliseconds )
+void delay_ms(uint32_t delay) {
+	wd_reset();
+	while (delay > 65) {
+		delayMicrosecondsInterruptible(64999);
+		delay -= 65;
+		wd_reset();
+	}
+	delayMicrosecondsInterruptible(delay * 1000);
+	wd_reset();
+}
+
+void delayMicrosecondsInterruptible(uint16_t us)
+{
+	// for a one-microsecond delay, simply return.  the overhead
+	// of the function call yields a delay of approximately 1 1/8 us.
+	if (--us == 0)
+		return;
+	
+	// the following loop takes a quarter of a microsecond (4 cycles)
+	// per iteration, so execute it four times for each microsecond of
+	// delay requested.
+	us <<= 2;
+	
+	// account for the time taken in the preceeding commands.
+	us -= 2;
+	
+	// busy wait
+	__asm__ __volatile__ ("1: sbiw %0,1" "\n\t" // 2 cycles
+	"brne 1b" :
+	"=w" (us) :
+	"0" (us) // 2 cycles
+	);
+}

delay.h

@@ -0,0 +1,13 @@
+#ifndef	_DELAY_H
+#define	_DELAY_H
+
+#include	<stdint.h>
+
+void delay(uint32_t delay);
+
+void delay_ms(uint32_t delay);
+
+#define	delay_us(d) delayMicrosecondsInterruptible(d)
+void delayMicrosecondsInterruptible(unsigned int us);
+
+#endif	/* _DELAY_H */

gcode.c

@@ -14,6 +14,7 @@
 #include	"debug.h"
 #include	"heater.h"
 #include	"sersendf.h"
+#include	"delay.h"
 
 /*
 	Switch user friendly values to coding friendly values
@@ -669,18 +670,26 @@ void process_gcode_command(GCODE_COMMAND *gcmd) {
 			// M190- power on
 			case 190:
 				power_on();
-				#ifdef	GEN3
+				#ifdef	X_ENABLE_PIN
 					WRITE(X_ENABLE_PIN, 0);
-					WRITE(Y_ENABLE_PIN, 0);
-					WRITE(Z_ENABLE_PIN, 0);
-					steptimeout = 0;
 				#endif
+				#ifdef	Y_ENABLE_PIN
+					WRITE(Y_ENABLE_PIN, 0);
+				#endif
+				#ifdef	Z_ENABLE_PIN
+					WRITE(Z_ENABLE_PIN, 0);
+				#endif
+				steptimeout = 0;
 				break;
 			// M191- power off
 			case 191:
-				#ifdef	GEN3
+				#ifdef	X_ENABLE_PIN
 					WRITE(X_ENABLE_PIN, 1);
+				#endif
+				#ifdef	Y_ENABLE_PIN
 					WRITE(Y_ENABLE_PIN, 1);
+				#endif
+				#ifdef	Z_ENABLE_PIN
 					WRITE(Z_ENABLE_PIN, 1);
 				#endif
 				power_off();
@@ -780,7 +789,6 @@ void request_resend(void) {
 	#else
 	serial_writestr_P(PSTR("Resend:"));
 	#endif
-	serial_writestr_P(PSTR("rs "));
 	serwrite_uint8(next_target.N);
 	serial_writechar('\n');
 }

timer.c

@@ -102,50 +102,3 @@ void setTimer(uint32_t delay)
 	setTimerCeiling(getTimerCeiling(delay));				// set timeout
 	setTimerResolution(getTimerResolution(delay));	// restart timer with proper prescaler
 }
-
-// delay( microseconds )
-void delay(uint32_t delay) {
-	wd_reset();
-	while (delay > 65535) {
-		delayMicrosecondsInterruptible(65533);
-		delay -= 65535;
-		wd_reset();
-	}
-	delayMicrosecondsInterruptible(delay & 0xFFFF);
-	wd_reset();
-}
-
-// delay_ms( milliseconds )
-void delay_ms(uint32_t delay) {
-	wd_reset();
-	while (delay > 65) {
-		delayMicrosecondsInterruptible(64999);
-		delay -= 65;
-		wd_reset();
-	}
-	delayMicrosecondsInterruptible(delay * 1000);
-	wd_reset();
-}
-
-void delayMicrosecondsInterruptible(uint16_t us)
-{
-  // for a one-microsecond delay, simply return.  the overhead
-  // of the function call yields a delay of approximately 1 1/8 us.
-  if (--us == 0)
-    return;
-
-  // the following loop takes a quarter of a microsecond (4 cycles)
-  // per iteration, so execute it four times for each microsecond of
-  // delay requested.
-  us <<= 2;
-
-  // account for the time taken in the preceeding commands.
-  us -= 2;
-
-  // busy wait
-  __asm__ __volatile__ ("1: sbiw %0,1" "\n\t" // 2 cycles
-		"brne 1b" :
-  	"=w" (us) :
-  	"0" (us) // 2 cycles
-    );
-}

timer.h

@@ -21,13 +21,6 @@ uint16_t getTimerCeiling(const uint32_t delay);
 
 void setTimer(uint32_t delay);
 
-void delay(uint32_t delay);
-
-void delay_ms(uint32_t delay);
-
-#define	delay_us(d) delayMicrosecondsInterruptible(d)
-void delayMicrosecondsInterruptible(unsigned int us);
-
 #define enableTimerInterrupt()	do { TIMSK1 |= (1<<OCIE1A); } while (0)
 #define disableTimerInterrupt() do { TIMSK1 &= ~(1<<OCIE1A); } while (0)
 #define timerInterruptIsEnabled() (TIMSK1 & (1 << OCIE1A))