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Teacup_Firmware/heater-avr.c

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/** \file
\brief Manage heaters, including PID and PWM, AVR specific part.
For test cases see the intro comment in heater.c.
*/
#if defined TEACUP_C_INCLUDE && defined __AVR__
#include <stdlib.h>
#include "pinio.h"
#include "crc.h"
#include "sersendf.h"
#include "debug.h"
/// \struct heater_definition_t
/// \brief simply holds pinout data- port, pin, pwm channel if used
typedef struct {
volatile uint8_t *heater_port; ///< pointer to port. DDR is inferred from this pointer too
uint8_t heater_pin; ///< heater pin, not masked. eg for PB3 enter '3' here, or PB3_PIN or similar
/// Wether the heater pin signal needs to be inverted.
uint8_t invert;
volatile uint8_t *heater_pwm; ///< pointer to 8-bit PWM register, eg OCR0A (8-bit) or ORC3L (low byte, 16-bit)
} heater_definition_t;
#undef DEFINE_HEATER
/// \brief helper macro to fill heater definition struct from config.h
#define DEFINE_HEATER(name, pin, invert, pwm) { \
&(pin ## _WPORT), pin ## _PIN, invert ? 1 : 0, pwm ? (pin ## _PWM) : NULL},
static const heater_definition_t heaters[NUM_HEATERS] =
{
#include "config_wrapper.h"
};
#undef DEFINE_HEATER
/// \brief initialise heater subsystem
/// Set directions, initialise PWM timers, read PID factors from eeprom, etc
void heater_init() {
heater_t i;
// setup PWM timers: fast PWM
// Warning 2012-01-11: these are not consistent across all AVRs
TCCR0A = MASK(WGM01) | MASK(WGM00);
// PWM frequencies in TCCR0B, see page 108 of the ATmega644 reference.
TCCR0B = MASK(CS00); // F_CPU / 256 (about 78(62.5) kHz on a 20(16) MHz chip)
#ifndef FAST_PWM
TCCR0B = MASK(CS00) | MASK(CS02); // F_CPU / 256 / 1024 (about 76(61) Hz)
#endif
TIMSK0 = 0;
OCR0A = 0;
OCR0B = 0;
// timer 1 is used for stepping
#ifdef TCCR2A
TCCR2A = MASK(WGM21) | MASK(WGM20);
// PWM frequencies in TCCR2B, see page 156 of the ATmega644 reference.
TCCR2B = MASK(CS20); // F_CPU / 256 (about 78(62.5) kHz on a 20(16) MHz chip)
#ifndef FAST_PWM
TCCR2B = MASK(CS20) | MASK(CS21) | MASK(CS22); // F_CPU / 256 / 1024
#endif
TIMSK2 = 0;
OCR2A = 0;
OCR2B = 0;
#endif
#ifdef TCCR3A
TCCR3A = MASK(WGM30);
TCCR3B = MASK(WGM32) | MASK(CS30);
TIMSK3 = 0;
OCR3A = 0;
OCR3B = 0;
#endif
#ifdef TCCR4A
#ifdef TIMER4_IS_10_BIT
// ATmega16/32U4 fourth timer is a special 10 bit timer
TCCR4A = MASK(PWM4A) | MASK(PWM4B) ; // enable A and B
TCCR4C = MASK(PWM4D); // and D
TCCR4D = MASK(WGM40); // Phase correct
TCCR4B = MASK(CS40); // no prescaler
#ifndef FAST_PWM
TCCR4B = MASK(CS40) | MASK(CS42) | MASK(CS43); // 16 MHz / 1024 / 256
//TCCR4B = MASK(CS40) | MASK(CS41) | MASK(CS43); // 16 MHz / 4096 / 256
#endif
TC4H = 0; // clear high bits
OCR4C = 0xff; // 8 bit max count at top before reset
#else
TCCR4A = MASK(WGM40);
TCCR4B = MASK(WGM42) | MASK(CS40);
#endif
TIMSK4 = 0;
OCR4A = 0;
OCR4B = 0;
#ifdef OCR4D
OCR4D = 0;
#endif
#endif
#ifdef TCCR5A
TCCR5A = MASK(WGM50);
TCCR5B = MASK(WGM52) | MASK(CS50);
TIMSK5 = 0;
OCR5A = 0;
OCR5B = 0;
#endif
/**
- - TODO - - - TODO - - - TODO - - - TODO - -
This produces a lot of initialisation code for setting up just 2 or 3
pins. Can't be optimized out, because heaters[] could have been changed
since initialisation.
A much better strategy for this is the one found in heaters-arm.c: use
the config_wrapper.h magic to initialise only what's needed. The needed
values are likely already in arduino_xxx.h.
*/
// setup pins
for (i = 0; i < NUM_HEATERS; i++) {
if (heaters[i].heater_pwm) {
*heaters[i].heater_pwm = heaters[i].invert ? 255 : 0;
// this is somewhat ugly too, but switch() won't accept pointers for reasons unknown
switch((uint16_t) heaters[i].heater_pwm) {
case (uint16_t) &OCR0A:
TCCR0A |= MASK(COM0A1);
break;
case (uint16_t) &OCR0B:
TCCR0A |= MASK(COM0B1);
break;
#ifdef TCCR2A
case (uint16_t) &OCR2A:
TCCR2A |= MASK(COM2A1);
break;
case (uint16_t) &OCR2B:
TCCR2A |= MASK(COM2B1);
break;
#endif
#ifdef TCCR3A
case (uint16_t) &OCR3AL:
TCCR3A |= MASK(COM3A1);
break;
case (uint16_t) &OCR3BL:
TCCR3A |= MASK(COM3B1);
break;
#ifdef COM3C1
case (uint16_t) &OCR3CL:
TCCR3A |= MASK(COM3C1);
break;
#endif
#endif
#ifdef TCCR4A
#if defined (OCR4AL)
case (uint16_t) &OCR4AL:
TCCR4A |= MASK(COM4A1);
break;
case (uint16_t) &OCR4BL:
TCCR4A |= MASK(COM4B1);
break;
case (uint16_t) &OCR4CL:
TCCR4A |= MASK(COM4C1);
break;
#else
// 10 bit timer
case (uint16_t) &OCR4A:
TCCR4A |= MASK(COM4A1);
break;
case (uint16_t) &OCR4B:
TCCR4A |= MASK(COM4B1);
break;
#ifdef OCR4D
case (uint16_t) &OCR4D:
TCCR4C |= MASK(COM4D1);
break;
#endif
#endif
#endif
#ifdef TCCR5A
case (uint16_t) &OCR5AL:
TCCR5A |= MASK(COM5A1);
break;
case (uint16_t) &OCR5BL:
TCCR5A |= MASK(COM5B1);
break;
case (uint16_t) &OCR5CL:
TCCR5A |= MASK(COM5C1);
break;
#endif
}
}
pid_init(i);
}
// set all heater pins to output
#undef DEFINE_HEATER
#define DEFINE_HEATER(name, pin, invert, pwm) \
SET_OUTPUT(pin); \
WRITE(pin, invert ? 1 : 0);
#include "config_wrapper.h"
#undef DEFINE_HEATER
}
/** \brief manually set PWM output
\param index the heater we're setting the output for
\param value the PWM value to write
anything done by this function is overwritten by heater_tick above if the heater has an associated temp sensor
*/
void heater_set(heater_t index, uint8_t value) {
if (index >= NUM_HEATERS)
return;
heaters_runtime[index].heater_output = value;
if (heaters[index].heater_pwm) {
*(heaters[index].heater_pwm) = heaters[index].invert ?
(255 - value) : value;
if (DEBUG_PID && (debug_flags & DEBUG_PID))
sersendf_P(PSTR("PWM{%u = %u}\n"), index, *heaters[index].heater_pwm);
}
else {
if ((value >= HEATER_THRESHOLD && ! heaters[index].invert) ||
(value < HEATER_THRESHOLD && heaters[index].invert))
*(heaters[index].heater_port) |= MASK(heaters[index].heater_pin);
else
*(heaters[index].heater_port) &= ~MASK(heaters[index].heater_pin);
}
if (value)
power_on();
}
#endif /* defined TEACUP_C_INCLUDE && defined __AVR__ */
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