Teacup_Firmware/mendel.c

#include	<avr/io.h>
#include	<avr/interrupt.h>

#include	"config.h"

#include	"serial.h"
#include	"dda_queue.h"
#include	"dda.h"
#include	"gcode_parse.h"
#include	"timer.h"
#include	"temp.h"
#include	"sermsg.h"
#include	"watchdog.h"
#include	"debug.h"
#include	"sersendf.h"
#include	"heater.h"
#include	"analog.h"
#include	"pinio.h"

void io_init(void) {
	// disable modules we don't use
	#ifdef PRR
		PRR = MASK(PRTWI) | MASK(PRADC) | MASK(PRSPI);
	#endif
	#ifdef PRR0
		PRR0 = MASK(PRTWI) | MASK(PRADC) | MASK(PRSPI);
		#ifdef PRR1
			PRR1 = 0xFF;
		#endif
	#endif
	ACSR = MASK(ACD);

	// setup I/O pins
	WRITE(X_STEP_PIN, 0);	SET_OUTPUT(X_STEP_PIN);
	WRITE(X_DIR_PIN,  0);	SET_OUTPUT(X_DIR_PIN);
	WRITE(X_MIN_PIN,  1);	SET_INPUT(X_MIN_PIN);
	#ifdef X_MAX_PIN
		WRITE(X_MAX_PIN, 1); SET_INPUT(X_MAX_PIN);
	#endif
	#ifdef X_ENABLE_PIN
		WRITE(X_ENABLE_PIN, 1); SET_OUTPUT(X_ENABLE_PIN);
	#endif

	WRITE(Y_STEP_PIN, 0);	SET_OUTPUT(Y_STEP_PIN);
	WRITE(Y_DIR_PIN,  0);	SET_OUTPUT(Y_DIR_PIN);
	WRITE(Y_MIN_PIN,  1);	SET_INPUT(Y_MIN_PIN);
	#ifdef Y_MAX_PIN
		WRITE(Y_MAX_PIN, 1); SET_INPUT(Y_MAX_PIN);
	#endif
	#ifdef Y_ENABLE_PIN
		WRITE(Y_ENABLE_PIN, 1); SET_OUTPUT(Y_ENABLE_PIN);
	#endif
	
	WRITE(Z_STEP_PIN, 0);	SET_OUTPUT(Z_STEP_PIN);
	WRITE(Z_DIR_PIN,  0);	SET_OUTPUT(Z_DIR_PIN);
	WRITE(Z_MIN_PIN,  1);	SET_INPUT(Z_MIN_PIN);
	#ifdef Z_MAX_PIN
		WRITE(Z_MAX_PIN, 1); SET_INPUT(Z_MAX_PIN);
	#endif
	#ifdef Z_ENABLE_PIN
		WRITE(Z_ENABLE_PIN, 1); SET_OUTPUT(Z_ENABLE_PIN);
	#endif
	
	WRITE(E_STEP_PIN, 0);	SET_OUTPUT(E_STEP_PIN);
	WRITE(E_DIR_PIN,  0);	SET_OUTPUT(E_DIR_PIN);

	// setup PWM timer: fast PWM, no prescaler
	TCCR0A = MASK(WGM01) | MASK(WGM00);
	TCCR0B = MASK(CS00);
	TIMSK0 = 0;
	OCR0A = 0;
	OCR0B = 255;

	TCCR2A = MASK(WGM21) | MASK(WGM20);
	TCCR2B = MASK(CS20);
	TIMSK2 = 0;
	OCR2A = 0;
	OCR2B = 0;

	#ifdef	STEPPER_ENABLE_PIN
		power_off();
	#endif

	// setup SPI
	WRITE(SCK, 0);				SET_OUTPUT(SCK);
	WRITE(MOSI, 1);				SET_OUTPUT(MOSI);
	WRITE(MISO, 1);				SET_INPUT(MISO);
	WRITE(SS, 1);					SET_OUTPUT(SS);
}

void init(void) {
	// set up watchdog
	wd_init();

	// set up serial
	serial_init();

	// set up inputs and outputs
	io_init();

	// set up timers
	timer_init();

	// read PID settings from EEPROM
	heater_init();

	// set up default feedrate
	current_position.F = startpoint.F = next_target.target.F = SEARCH_FEEDRATE_Z;

	// start up analog read interrupt loop, if anything uses analog as determined by ANALOG_MASK in your config.h
	analog_init();

	// set up temperature inputs
	temp_init();

	// enable interrupts
	sei();

	// reset watchdog
	wd_reset();

	// say hi to host
	serial_writestr_P(PSTR("Start\nok\n"));

}

void clock_250ms(void) {
	if (steptimeout > (30 * 4)) {
		power_off();
	}
	else
		steptimeout++;

	ifclock(CLOCK_FLAG_1S) {
		if (debug_flags & DEBUG_POSITION) {
			// current position
			sersendf_P(PSTR("Pos: %ld,%ld,%ld,%ld,%lu\n"), current_position.X, current_position.Y, current_position.Z, current_position.E, current_position.F);

			// target position
			sersendf_P(PSTR("Dst: %ld,%ld,%ld,%ld,%lu\n"), movebuffer[mb_tail].endpoint.X, movebuffer[mb_tail].endpoint.Y, movebuffer[mb_tail].endpoint.Z, movebuffer[mb_tail].endpoint.E, movebuffer[mb_tail].endpoint.F);

			// Queue
			print_queue();
		}
		// temperature
/*		if (temp_get_target())
			temp_print();*/
	}
}

void clock_10ms(void) {
	// reset watchdog
	wd_reset();
	
	temp_tick();
	
	ifclock(CLOCK_FLAG_250MS) {
		clock_250ms();
	}
}

int main (void)
{
	init();

	// main loop
	for (;;)
	{
		// if queue is full, no point in reading chars- host will just have to wait
		if ((serial_rxchars() != 0) && (queue_full() == 0)) {
			uint8_t c = serial_popchar();
			gcode_parse_char(c);
		}

		ifclock(CLOCK_FLAG_10MS) {
			clock_10ms();
		}
	}
}