169 lines
3.3 KiB
C
169 lines
3.3 KiB
C
#include <stddef.h>
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#include <stdint.h>
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#include <string.h>
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#include "machine.h"
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#include "serial.h"
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#include "dda_queue.h"
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#include "dda.h"
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#include "gcode.h"
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#include "timer.h"
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#include "clock.h"
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#include "temp.h"
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#include "sermsg.h"
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#include "watchdog.h"
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#ifndef DEBUG
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#define DEBUG 0
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#endif
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void io_init(void) {
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// disable modules we don't use
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PRR = MASK(PRTWI) | MASK(PRADC);
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ACSR = MASK(ACD);
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// setup I/O pins
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WRITE(X_STEP_PIN, 0); SET_OUTPUT(X_STEP_PIN);
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WRITE(X_DIR_PIN, 0); SET_OUTPUT(X_DIR_PIN);
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WRITE(X_MIN_PIN, 1); SET_INPUT(X_MIN_PIN);
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WRITE(Y_STEP_PIN, 0); SET_OUTPUT(Y_STEP_PIN);
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WRITE(Y_DIR_PIN, 0); SET_OUTPUT(Y_DIR_PIN);
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WRITE(Y_MIN_PIN, 1); SET_INPUT(Y_MIN_PIN);
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WRITE(Z_STEP_PIN, 0); SET_OUTPUT(Z_STEP_PIN);
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WRITE(Z_DIR_PIN, 0); SET_OUTPUT(Z_DIR_PIN);
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WRITE(Z_MIN_PIN, 1); SET_INPUT(Z_MIN_PIN);
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WRITE(E_STEP_PIN, 0); SET_OUTPUT(E_STEP_PIN);
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WRITE(E_DIR_PIN, 0); SET_OUTPUT(E_DIR_PIN);
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#ifdef HEATER_PIN
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WRITE(HEATER_PIN, 0); SET_OUTPUT(HEATER_PIN);
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#ifdef HEATER_PWM
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// setup PWM timer: fast PWM, no prescaler
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TCCR0A = MASK(WGM01) | MASK(WGM00);
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TCCR0B = MASK(CS00);
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TIMSK0 = 0;
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OCR0A = 0;
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#endif
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#endif
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#ifdef FAN_PIN
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disable_fan();
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#endif
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#ifdef STEPPER_ENABLE_PIN
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power_off();
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#endif
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// setup SPI
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WRITE(SCK, 0); SET_OUTPUT(SCK);
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WRITE(MOSI, 1); SET_OUTPUT(MOSI);
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WRITE(MISO, 1); SET_INPUT(MISO);
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WRITE(SS, 1); SET_OUTPUT(SS);
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}
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void init(void) {
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// set up watchdog
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wd_init();
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// set up serial
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serial_init();
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// set up inputs and outputs
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io_init();
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// set up timers
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setupTimerInterrupt();
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// set up clock
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clock_setup();
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// set up default feedrate
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current_position.F = startpoint.F = next_target.target.F = FEEDRATE_SLOW_Z;
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// enable interrupts
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sei();
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// reset watchdog
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wd_reset();
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// say hi to host
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serial_writestr_P(PSTR("Start\nOK\n"));
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}
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void clock_250ms(void) {
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// reset watchdog
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wd_reset();
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temp_tick();
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if (steptimeout > (30 * 4)) {
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power_off();
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}
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else if (temp_get_target() == 0)
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steptimeout++;
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ifclock(CLOCK_FLAG_1S) {
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if (DEBUG) {
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// current position
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serial_writestr_P(PSTR("Pos: "));
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serwrite_int32(current_position.X);
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serial_writechar(',');
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serwrite_int32(current_position.Y);
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serial_writechar(',');
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serwrite_int32(current_position.Z);
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serial_writechar(',');
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serwrite_int32(current_position.E);
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serial_writechar(',');
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serwrite_uint32(current_position.F);
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serial_writechar('\n');
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// target position
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serial_writestr_P(PSTR("Dst: "));
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serwrite_int32(movebuffer[mb_tail].endpoint.X);
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serial_writechar(',');
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serwrite_int32(movebuffer[mb_tail].endpoint.Y);
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serial_writechar(',');
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serwrite_int32(movebuffer[mb_tail].endpoint.Z);
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serial_writechar(',');
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serwrite_int32(movebuffer[mb_tail].endpoint.E);
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serial_writechar(',');
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serwrite_uint32(movebuffer[mb_tail].endpoint.F);
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serial_writechar('\n');
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// Queue
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print_queue();
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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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}
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int main (void)
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{
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init();
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// main loop
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for (;;)
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{
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// if queue is full, no point in reading chars- host will just have to wait
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if ((serial_rxchars() != 0) && (queue_full() == 0)) {
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uint8_t c = serial_popchar();
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scan_char(c);
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}
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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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}
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