92 lines
1.7 KiB
C
92 lines
1.7 KiB
C
#include "clock.h"
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/** \file
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\brief Do stuff periodically
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*/
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#include "pinio.h"
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#include "sersendf.h"
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#include "dda_queue.h"
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#include "watchdog.h"
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#include "temp.h"
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#include "timer.h"
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#include "debug.h"
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#include "heater.h"
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#include "serial.h"
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#ifdef TEMP_INTERCOM
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#include "intercom.h"
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#endif
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#include "memory_barrier.h"
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/*! do stuff every 1/4 second
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called from clock_10ms(), do not call directly
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*/
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static void clock_250ms(void) {
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#ifndef NO_AUTO_IDLE
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if (temp_all_zero()) {
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if (psu_timeout > (30 * 4)) {
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power_off();
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}
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else {
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uint8_t save_reg = SREG;
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cli();
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CLI_SEI_BUG_MEMORY_BARRIER();
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psu_timeout++;
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MEMORY_BARRIER();
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SREG = save_reg;
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}
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}
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#endif
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ifclock(clock_flag_1s) {
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if (DEBUG_POSITION && (debug_flags & DEBUG_POSITION)) {
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// current position
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update_current_position();
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sersendf_P(PSTR("Pos: %lq,%lq,%lq,%lq,%lu\n"), current_position.X, current_position.Y, current_position.Z, current_position.E, current_position.F);
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// target position
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sersendf_P(PSTR("Dst: %lq,%lq,%lq,%lq,%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);
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// Queue
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print_queue();
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// newline
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serial_writechar('\n');
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}
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// temperature
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/* if (temp_get_target())
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temp_print();*/
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}
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#ifdef TEMP_INTERCOM
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start_send();
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#endif
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}
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/*! do stuff every 10 milliseconds
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called from clock(), do not call directly
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*/
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static void clock_10ms(void) {
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// reset watchdog
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wd_reset();
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temp_tick();
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ifclock(clock_flag_250ms) {
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clock_250ms();
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}
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}
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/*! do reoccuring stuff
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call it occasionally in busy loops
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*/
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void clock() {
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ifclock(clock_flag_10ms) {
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clock_10ms();
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}
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}
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