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HAL.cpp
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HAL.cpp
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/*
This file is part of the Repetier-Firmware for RF devices from Conrad Electronic SE.
Repetier-Firmware is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Repetier-Firmware is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Repetier-Firmware. If not, see <http://www.gnu.org/licenses/>.
*/
#include "Repetier.h"
#include <compat/twi.h>
#if FEATURE_WATCHDOG
unsigned long g_uLastCommandLoop = 0;
unsigned char g_bPingWatchdog = 0;
#endif // FEATURE_WATCHDOG
HAL::HAL() {
//ctor
} // HAL
HAL::~HAL() {
//dtor
} // ~HAL
uint16_t HAL::integerSqrt(int32_t a) {
// http://www.mikrocontroller.net/articles/AVR_Arithmetik#32_Bit_.2F_32_Bit
//-----------------------------------------------------------
// Fast and short 32 bits AVR sqrt routine, avr-gcc ABI compliant
// R25:R24 = SQRT (R25:R24:R23:R22) rounded to the
// nearest integer (0.5 rounds up)
// Destroys R18-R19,R22-R23,R26-R27
// Cycles incl call & ret = 265-310
// Stack incl call = 2-3
//-----------------------------------------------------------
uint16_t b;
__asm__ __volatile__ (
"ldi R19, 0xc0 \n\t"
"clr R18 \n\t" // rotation mask in R19:R18
"ldi R27, 0x40 \n\t"
"sub R26, R26 \n\t" // developing sqrt in R27:R26, C=0
"1: brcs 2f \n\t" // C --> Bit is always 1
"cp %C1, R26 \n\t"
"cpc %D1, R27 \n\t" // Does test value fit?
"brcs 3f \n\t" // C --> nope, bit is 0
"2: sub %C1, R26 \n\t"
"sbc %D1, R27 \n\t" // Adjust argument for next bit
"or R26, R18 \n\t"
"or R27, R19 \n\t" // Set bit to 1
"3: lsr R19 \n\t"
"ror R18 \n\t" // Shift right mask, C --> end loop
"eor R27, R19 \n\t"
"eor R26, R18 \n\t" // Shift right only test bit in result
"rol %A1 \n\t" // Bit 0 only set if end of loop
"rol %B1 \n\t"
"rol %C1 \n\t"
"rol %D1 \n\t" // Shift left remaining argument (C used at 1:)
"sbrs %A1, 0 \n\t" // Skip if 15 bits developed
"rjmp 1b \n\t" // Develop 15 bits of the sqrt
"brcs 4f \n\t" // C--> Last bits always 1
"cp R26, %C1 \n\t"
"cpc R27, %D1 \n\t" // Test for last bit 1
"brcc 5f \n\t" // NC --> bit is 0
"4: sbc %B1, R19 \n\t" // Subtract C (any value from 1 to 0x7f will do)
"sbc %C1, R26 \n\t"
"sbc %D1, R27 \n\t" // Update argument for test
"inc R26 \n\t" // Last bit is 1
"5: lsl %B1 \n\t" // Only bit 7 matters
"rol %C1 \n\t"
"rol %D1 \n\t" // Remainder * 2 + C
"brcs 6f \n\t" // C --> Always round up
"cp R26, %C1 \n\t"
"cpc R27, %D1 \n\t" // C decides rounding
"6: adc R26, R19 \n\t"
"adc R27, R19 \n\t" // Round up if C (R19=0)
"mov %B0, R27 \n\t" // return in R25:R24 for avr-gcc ABI compliance
"mov %A0, R26 \n\t"
:"=r"(b)
:"r"(a)
:"r18", "r19", "r27", "r26" );
return b;
} // integerSqrt
const uint16_t fast_div_lut[17] PROGMEM = { 0,F_CPU/4096,F_CPU/8192,F_CPU/12288,F_CPU/16384,F_CPU/20480,F_CPU/24576,F_CPU/28672,F_CPU/32768,F_CPU/36864
,F_CPU/40960,F_CPU/45056,F_CPU/49152,F_CPU/53248,F_CPU/57344,F_CPU/61440,F_CPU/65536 };
const uint16_t slow_div_lut[257] PROGMEM = { 0,0,0,0,0,0,0,0,F_CPU/256,F_CPU/288,F_CPU/320,F_CPU/352
,F_CPU/384,F_CPU/416,F_CPU/448,F_CPU/480,F_CPU/512,F_CPU/544,F_CPU/576,F_CPU/608,F_CPU/640,F_CPU/672,F_CPU/704,F_CPU/736,F_CPU/768,F_CPU/800,F_CPU/832
,F_CPU/864,F_CPU/896,F_CPU/928,F_CPU/960,F_CPU/992,F_CPU/1024,F_CPU/1056,F_CPU/1088,F_CPU/1120,F_CPU/1152,F_CPU/1184,F_CPU/1216,F_CPU/1248,F_CPU/1280,F_CPU/1312
,F_CPU/1344,F_CPU/1376,F_CPU/1408,F_CPU/1440,F_CPU/1472,F_CPU/1504,F_CPU/1536,F_CPU/1568,F_CPU/1600,F_CPU/1632,F_CPU/1664,F_CPU/1696,F_CPU/1728,F_CPU/1760,F_CPU/1792
,F_CPU/1824,F_CPU/1856,F_CPU/1888,F_CPU/1920,F_CPU/1952,F_CPU/1984,F_CPU/2016
,F_CPU/2048,F_CPU/2080,F_CPU/2112,F_CPU/2144,F_CPU/2176,F_CPU/2208,F_CPU/2240,F_CPU/2272,F_CPU/2304,F_CPU/2336,F_CPU/2368,F_CPU/2400
,F_CPU/2432,F_CPU/2464,F_CPU/2496,F_CPU/2528,F_CPU/2560,F_CPU/2592,F_CPU/2624,F_CPU/2656,F_CPU/2688,F_CPU/2720,F_CPU/2752,F_CPU/2784,F_CPU/2816,F_CPU/2848,F_CPU/2880
,F_CPU/2912,F_CPU/2944,F_CPU/2976,F_CPU/3008,F_CPU/3040,F_CPU/3072,F_CPU/3104,F_CPU/3136,F_CPU/3168,F_CPU/3200,F_CPU/3232,F_CPU/3264,F_CPU/3296,F_CPU/3328,F_CPU/3360
,F_CPU/3392,F_CPU/3424,F_CPU/3456,F_CPU/3488,F_CPU/3520,F_CPU/3552,F_CPU/3584,F_CPU/3616,F_CPU/3648,F_CPU/3680,F_CPU/3712,F_CPU/3744,F_CPU/3776,F_CPU/3808,F_CPU/3840
,F_CPU/3872,F_CPU/3904,F_CPU/3936,F_CPU/3968,F_CPU/4000,F_CPU/4032,F_CPU/4064
,F_CPU/4096,F_CPU/4128,F_CPU/4160,F_CPU/4192,F_CPU/4224,F_CPU/4256,F_CPU/4288,F_CPU/4320,F_CPU/4352,F_CPU/4384,F_CPU/4416,F_CPU/4448,F_CPU/4480,F_CPU/4512,F_CPU/4544
,F_CPU/4576,F_CPU/4608,F_CPU/4640,F_CPU/4672,F_CPU/4704,F_CPU/4736,F_CPU/4768,F_CPU/4800,F_CPU/4832,F_CPU/4864,F_CPU/4896,F_CPU/4928,F_CPU/4960,F_CPU/4992,F_CPU/5024
,F_CPU/5056,F_CPU/5088,F_CPU/5120,F_CPU/5152,F_CPU/5184,F_CPU/5216,F_CPU/5248,F_CPU/5280,F_CPU/5312,F_CPU/5344,F_CPU/5376,F_CPU/5408,F_CPU/5440,F_CPU/5472,F_CPU/5504
,F_CPU/5536,F_CPU/5568,F_CPU/5600,F_CPU/5632,F_CPU/5664,F_CPU/5696,F_CPU/5728,F_CPU/5760,F_CPU/5792,F_CPU/5824,F_CPU/5856,F_CPU/5888,F_CPU/5920,F_CPU/5952,F_CPU/5984
,F_CPU/6016,F_CPU/6048,F_CPU/6080,F_CPU/6112,F_CPU/6144,F_CPU/6176,F_CPU/6208,F_CPU/6240,F_CPU/6272,F_CPU/6304,F_CPU/6336,F_CPU/6368,F_CPU/6400,F_CPU/6432,F_CPU/6464
,F_CPU/6496,F_CPU/6528,F_CPU/6560,F_CPU/6592,F_CPU/6624,F_CPU/6656,F_CPU/6688,F_CPU/6720,F_CPU/6752,F_CPU/6784,F_CPU/6816,F_CPU/6848,F_CPU/6880,F_CPU/6912,F_CPU/6944
,F_CPU/6976,F_CPU/7008,F_CPU/7040,F_CPU/7072,F_CPU/7104,F_CPU/7136,F_CPU/7168,F_CPU/7200,F_CPU/7232,F_CPU/7264,F_CPU/7296,F_CPU/7328,F_CPU/7360,F_CPU/7392,F_CPU/7424
,F_CPU/7456,F_CPU/7488,F_CPU/7520,F_CPU/7552,F_CPU/7584,F_CPU/7616,F_CPU/7648,F_CPU/7680,F_CPU/7712,F_CPU/7744,F_CPU/7776,F_CPU/7808,F_CPU/7840,F_CPU/7872,F_CPU/7904
,F_CPU/7936,F_CPU/7968,F_CPU/8000,F_CPU/8032,F_CPU/8064,F_CPU/8096,F_CPU/8128,F_CPU/8160,F_CPU/8192 };
/** \brief approximates division of F_CPU/divisor
In the stepper interrupt a division is needed, which is a slow operation.
The result is used for timer calculation where small errors are ok. This
function uses lookup tables to find a fast approximation of the result.
*/
int32_t HAL::CPUDivU2(unsigned int divisor)
{
int32_t res;
unsigned short table;
if(divisor<8192)
{
if(divisor<512)
{
if(divisor<10) divisor = 10;
return Div4U2U(F_CPU,divisor); // These entries have overflows in lookuptable!
}
table = (unsigned short)&slow_div_lut[0];
__asm__ __volatile__( // needs 64 ticks neu 49 Ticks
"mov r18,%A1 \n\t"
"andi r18,31 \n\t" // divisor & 31 in r18
"lsr %B1 \n\t" // divisor >> 4
"ror %A1 \n\t"
"lsr %B1 \n\t"
"ror %A1 \n\t"
"lsr %B1 \n\t"
"ror %A1 \n\t"
"lsr %B1 \n\t"
"ror %A1 \n\t"
"andi %A1,254 \n\t"
"add %A2,%A1 \n\t" // table+divisor>>3
"adc %B2,%B1 \n\t"
"lpm %A0,Z+ \n\t" // y0 in res
"lpm %B0,Z+ \n\t" // %C0,%D0 are 0
"movw r4,%A0 \n\t" // y0 nach gain (r4-r5)
"lpm r0,Z+ \n\t" // gain = gain-y1
"sub r4,r0 \n\t"
"lpm r0,Z+ \n\t"
"sbc r5,r0 \n\t"
"mul r18,r4 \n\t" // gain*(divisor & 31)
"movw %A1,r0 \n\t" // divisor not needed any more, use for byte 0,1 of result
"mul r18,r5 \n\t"
"add %B1,r0 \n\t"
"mov %A2,r1 \n\t"
"lsl %A1 \n\t"
"rol %B1 \n\t"
"rol %A2 \n\t"
"lsl %A1 \n\t"
"rol %B1 \n\t"
"rol %A2 \n\t"
"lsl %A1 \n\t"
"rol %B1 \n\t"
"rol %A2 \n\t"
"sub %A0,%B1 \n\t"
"sbc %B0,%A2 \n\t"
"clr %C0 \n\t"
"clr %D0 \n\t"
"clr r1 \n\t"
: "=&r" (res),"=&d"(divisor),"=&z"(table) : "1"(divisor),"2"(table) : "r18","r4","r5");
return res;
/*unsigned short adr0 = (unsigned short)&slow_div_lut+(divisor>>4)&1022;
long y0= pgm_read_dword_near(adr0);
long gain = y0-pgm_read_dword_near(adr0+2);
return y0-((gain*(divisor & 31))>>5);*/
}
else
{
table = (unsigned short)&fast_div_lut[0];
__asm__ __volatile__( // needs 49 ticks
"movw r18,%A1 \n\t"
"andi r19,15 \n\t" // divisor & 4095 in r18,r19
"lsr %B1 \n\t" // divisor >> 3, then %B1 is 2*(divisor >> 12)
"lsr %B1 \n\t"
"lsr %B1 \n\t"
"andi %B1,254 \n\t"
"add %A2,%B1 \n\t" // table+divisor>>11
"adc %B2,r1 \n\t" //
"lpm %A0,Z+ \n\t" // y0 in res
"lpm %B0,Z+ \n\t"
"movw r4,%A0 \n\t" // y0 to gain (r4-r5)
"lpm r0,Z+ \n\t" // gain = gain-y1
"sub r4,r0 \n\t"
"lpm r0,Z+ \n\t"
"sbc r5,r0 \n\t" // finished - result has max. 16 bit
"mul r18,r4 \n\t" // gain*(divisor & 4095)
"movw %A1,r0 \n\t" // divisor not needed any more, use for byte 0,1 of result
"mul r19,r5 \n\t"
"mov %A2,r0 \n\t" // %A2 = byte 3 of result
"mul r18,r5 \n\t"
"add %B1,r0 \n\t"
"adc %A2,r1 \n\t"
"mul r19,r4 \n\t"
"add %B1,r0 \n\t"
"adc %A2,r1 \n\t"
"andi %B1,240 \n\t" // >> 12
"swap %B1 \n\t"
"swap %A2 \r\n"
"mov %A1,%A2 \r\n"
"andi %A1,240 \r\n"
"or %B1,%A1 \r\n"
"andi %A2,15 \r\n"
"sub %A0,%B1 \n\t"
"sbc %B0,%A2 \n\t"
"clr %C0 \n\t"
"clr %D0 \n\t"
"clr r1 \n\t"
: "=&r" (res),"=&d"(divisor),"=&z"(table) : "1"(divisor),"2"(table) : "r18","r19","r4","r5");
return res;
/*
// The asm mimics the following code
unsigned short adr0 = (unsigned short)&fast_div_lut+(divisor>>11)&254;
unsigned short y0= pgm_read_word_near(adr0);
unsigned short gain = y0-pgm_read_word_near(adr0+2);
return y0-(((long)gain*(divisor & 4095))>>12);*/
}
} // CPUDivU2
void HAL::setupTimer()
{
#if USE_ADVANCE
EXTRUDER_TCCR = 0; // need Normal not fastPWM set by arduino init
EXTRUDER_TIMSK |= (1 << EXTRUDER_OCIE); // Activate compa interrupt on timer 0
#endif // USE_ADVANCE
PWM_TCCR = 0; // Setup PWM interrupt
PWM_OCR = 64;
PWM_TIMSK |= (1 << PWM_OCIE);
TCCR1A = 0; // Stepper timer 1 interrupt to no prescale CTC mode
TCCR1C = 0;
TIMSK1 = 0;
TCCR1B = (_BV(WGM12) | _BV(CS10)); // no prescaler == 0.0625 usec tick | 001 = clk/1
OCR1A=65500; // start off with a slow frequency.
TIMSK1 |= (1 << OCIE1A); // Enable interrupt
#if FEATURE_RGB_LIGHT_EFFECTS
// Configure Timer 4 for RGB-PWM
TCCR4A = 0; // clear Register
TCCR4B = 0;
ICR4 = 20480; // set frequency to 100Hz = 10ms
TCCR4A |= (1<<WGM41); // Fast PWM
TCCR4B |= (1<<WGM42)|(1<<WGM43)|(1<<CS41); // Prescaler = 8
SET_OUTPUT(RGB_LIGHT_R_PIN); // PH3 - Pin 15 ( OC4A )
SET_OUTPUT(RGB_LIGHT_G_PIN); // PH4 - Pin 16 ( OC4B )
SET_OUTPUT(RGB_LIGHT_B_PIN); // PH5 - Pin 17 ( OC4C )
TCCR4A |= (1<<COM4A1)|(1<<COM4B1)|(1<<COM4C1); // enable fast PWM
OCR4A = 0; // default R = 0 at startup
OCR4B = 0; // default G = 0 at startup
OCR4C = 0; // default B = 0 at startup
#endif // FEATURE_RGB_LIGHT_EFFECTS
#if FEATURE_SERVO && (MOTHERBOARD == DEVICE_TYPE_RF2000 || MOTHERBOARD == DEVICE_TYPE_RF2000_V2)
//Configure Timer 5
TCCR5A = 0; // clear Register
TCCR5B = 0;
ICR5 = 39999; // set frequency to 50Hz = 20ms
TCCR5A |= (1<<WGM51); // Fast PWM
TCCR5B |= (1<<WGM52)|(1<<WGM53)|(1<<CS51); // Prescaler = 8
SET_OUTPUT(SERVO1_PIN); // PL3 - Pin 38 ( OC5A )
SET_OUTPUT(SERVO2_PIN); // PL4 - Pin 39 ( OC5B )
SET_OUTPUT(SERVO3_PIN); // PL5 - Pin 40 ( OC5C )
TCCR5A |= (1<<COM5A1)|(1<<COM5B1)|(1<<COM5C1); // enable Fast PWM
OCR5A = 1600; // default ( 800 [uS] )
OCR5B = 1600; // default ( 800 [uS] )
OCR5C = 1600; // default ( 800 [uS] )
#endif // FEATURE_SERVO && (MOTHERBOARD == DEVICE_TYPE_RF2000 || MOTHERBOARD == DEVICE_TYPE_RF2000_V2)
#if FEATURE_SERVO && MOTHERBOARD == DEVICE_TYPE_RF1000
#if SERVO0_PIN>-1
SET_OUTPUT(SERVO0_PIN);
WRITE(SERVO0_PIN,LOW);
#endif // SERVO0_PIN>-1
#if SERVO1_PIN>-1
SET_OUTPUT(SERVO1_PIN);
WRITE(SERVO1_PIN,LOW);
#endif // SERVO1_PIN>-1
#if SERVO2_PIN>-1
SET_OUTPUT(SERVO2_PIN);
WRITE(SERVO2_PIN,LOW);
#endif // SERVO2_PIN>-1
TCCR3A = 0; // normal counting mode
TCCR3B = _BV(CS31); // set prescaler of 8
TCNT3 = 0; // clear the timer count
#if defined(__AVR_ATmega128__)
TIFR |= _BV(OCF3A); // clear any pending interrupts;
ETIMSK |= _BV(OCIE3A); // enable the output compare interrupt
#else
TIFR3 = _BV(OCF3A); // clear any pending interrupts;
TIMSK3 = _BV(OCIE3A) ; // enable the output compare interrupt
#endif // defined(__AVR_ATmega128__)
#endif // FEATURE_SERVO && MOTHERBOARD == DEVICE_TYPE_RF1000
} // setupTimer
void HAL::showStartReason() {
// Check startup - does nothing if bootloader sets MCUSR to 0
uint8_t mcu = MCUSR;
if( MCUSR != 0 ) //Printer::debugInfo()
{
if(mcu & 1) Com::printInfoFLN(Com::tPowerUp);
if(mcu & 2) Com::printInfoFLN(Com::tExternalReset);
if(mcu & 4) Com::printInfoFLN(Com::tBrownOut);
if(mcu & 8) Com::printInfoFLN(Com::tWatchdog);
if(mcu & 32) Com::printInfoFLN(Com::tSoftwareReset);
}else{
Com::printInfoFLN(Com::tUnknownReset);
}
MCUSR = 0;
} // showStartReason
int HAL::getFreeRam() {
int freeram = 0;
InterruptProtectedBlock noInts; //BEGIN_INTERRUPT_PROTECTED
uint8_t * heapptr, * stackptr;
heapptr = (uint8_t *)malloc(4); // get heap pointer
free(heapptr); // free up the memory again (sets heapptr to 0)
stackptr = (uint8_t *)(SP); // save value of stack pointer
freeram = (int)stackptr-(int)heapptr;
//END_INTERRUPT_PROTECTED
return freeram;
} // getFreeRam
void(* resetFunc) (void) = 0; // declare reset function @ address 0
void HAL::resetHardware() {
resetFunc();
} // resetHardware
void HAL::analogStart() {
#if ANALOG_INPUTS>0
ADMUX = ANALOG_REF; // refernce voltage
for(uint8_t i=0; i<ANALOG_INPUTS; i++) {
osAnalogInputCounter[i] = 0;
osAnalogInputBuildup[i] = 0;
osAnalogInputValues[i] = 0;
}
ADCSRA = _BV(ADEN) | _BV(ADSC) | ANALOG_PRESCALER;
//ADCSRA |= _BV(ADSC); // start ADC-conversion
while (ADCSRA & _BV(ADSC) ) {} // wait for conversion
/* ADCW must be read once, otherwise the next result is wrong. */
uint dummyADCResult;
dummyADCResult = ADCW;
(void)dummyADCResult;
// Enable interrupt driven conversion loop
uint8_t channel = pgm_read_byte(&osAnalogInputChannels[osAnalogInputPos]);
#if defined(ADCSRB) && defined(MUX5)
if(channel & 8) // Reading channel 0-7 or 8-15?
ADCSRB |= _BV(MUX5);
else
ADCSRB &= ~_BV(MUX5);
#endif // defined(ADCSRB) && defined(MUX5)
ADMUX = (ADMUX & ~(0x1F)) | (channel & 7);
ADCSRA |= _BV(ADSC); // start conversion without interrupt!
#endif // ANALOG_INPUTS>0
} // analogStart
/*************************************************************************
* Title: I2C master library using hardware TWI interface
* Author: Peter Fleury <pfleury@gmx.ch> http://jump.to/fleury
* File: $Id: twimaster.c,v 1.3 2005/07/02 11:14:21 Peter Exp $
* Software: AVR-GCC 3.4.3 / avr-libc 1.2.3
* Target: any AVR device with hardware TWI
* Usage: API compatible with I2C Software Library i2cmaster.h
**************************************************************************/
#if (__GNUC__ * 100 + __GNUC_MINOR__) < 304
#error "This library requires AVR-GCC 3.4 or later, update to newer AVR-GCC compiler !"
#endif
/*************************************************************************
Initialization of the I2C bus interface. Need to be called only once
*************************************************************************/
void HAL::i2cInit(unsigned long clockSpeedHz)
{
// initialize TWI clock: 100 kHz clock, TWPS = 0 => prescaler = 1
TWSR = 0; // no prescaler
TWBR = ((F_CPU / clockSpeedHz)-16) / 2; // must be > 10 for stable operation
} // i2cInit
/*************************************************************************
Issues a start condition and sends address and transfer direction.
return 0 = device accessible, 1= failed to access device
*************************************************************************/
unsigned char HAL::i2cStart(unsigned char address) {
uint8_t twst;
// send START condition
TWCR = (1 << TWINT) | (1 << TWSTA) | (1 << TWEN);
// wait until transmission completed
while(!(TWCR & (1 << TWINT)));
// check value of TWI Status Register. Mask prescaler bits.
twst = TW_STATUS & 0xF8;
if ( (twst != TW_START) && (twst != TW_REP_START)) return 1;
// send device address
TWDR = address;
TWCR = (1 << TWINT) | (1 << TWEN);
// wail until transmission completed and ACK/NACK has been received
while(!(TWCR & (1 << TWINT)));
// check value of TWI Status Register. Mask prescaler bits.
twst = TW_STATUS & 0xF8;
if ( (twst != TW_MT_SLA_ACK) && (twst != TW_MR_SLA_ACK) ) return 1;
return 0;
} // i2cStart
/*************************************************************************
Issues a start condition and sends address and transfer direction.
If device is busy, use ack polling to wait until device is ready
Input: address and transfer direction of I2C device
*************************************************************************/
void HAL::i2cStartWait(unsigned char address) {
uint8_t twst;
while ( 1 ) {
// send START condition
TWCR = (1 << TWINT) | (1 << TWSTA) | (1 << TWEN);
// wait until transmission completed
while(!(TWCR & (1 << TWINT)));
// check value of TWI Status Register. Mask prescaler bits.
twst = TW_STATUS & 0xF8;
if ( (twst != TW_START) && (twst != TW_REP_START)) continue;
// send device address
TWDR = address;
TWCR = (1 << TWINT) | (1 << TWEN);
// wail until transmission completed
while(!(TWCR & (1 << TWINT)));
// check value of TWI Status Register. Mask prescaler bits.
twst = TW_STATUS & 0xF8;
if ( (twst == TW_MT_SLA_NACK )||(twst ==TW_MR_DATA_NACK) )
{
/* device busy, send stop condition to terminate write operation */
TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWSTO);
// wait until stop condition is executed and bus released
while(TWCR & (1 << TWSTO));
continue;
}
//if( twst != TW_MT_SLA_ACK) return 1;
break;
}
} // i2cStartWait
/*************************************************************************
Terminates the data transfer and releases the I2C bus
*************************************************************************/
void HAL::i2cStop(void) {
// send stop condition
TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWSTO);
// wait until stop condition is executed and bus released
while(TWCR & (1 << TWSTO));
} // i2cStop
/*************************************************************************
Send one byte to I2C device
Input: byte to be transfered
Return: 0 write successful
1 write failed
*************************************************************************/
void HAL::i2cWrite( unsigned char data ) {
//uint8_t twst;
// send data to the previously addressed device
TWDR = data;
TWCR = (1 << TWINT) | (1 << TWEN);
// wait until transmission completed
while(!(TWCR & (1 << TWINT)));
// check value of TWI Status Register. Mask prescaler bits
//twst = TW_STATUS & 0xF8;
//if( twst != TW_MT_DATA_ACK) return 1;
//return 0;
} // i2cWrite
/*************************************************************************
Read one byte from the I2C device, request more data from device
Return: byte read from I2C device
*************************************************************************/
unsigned char HAL::i2cReadAck(void)
{
TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWEA);
while(!(TWCR & (1<<TWINT)));
return TWDR;
} // i2cReadAck
/*************************************************************************
Read one byte from the I2C device, read is followed by a stop condition
Return: byte read from I2C device
*************************************************************************/
unsigned char HAL::i2cReadNak(void) {
TWCR = (1 << TWINT) | (1 << TWEN);
while(!(TWCR & (1 << TWINT)));
return TWDR;
} // i2cReadNak
#if FEATURE_SERVO && MOTHERBOARD == DEVICE_TYPE_RF1000
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) || defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__) || defined(__AVR_ATmega128__) ||defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__)
#define SERVO2500US F_CPU/3200
#define SERVO5000US F_CPU/1600
unsigned int HAL::servoTimings[4] = {0,0,0,0};
static uint8_t servoIndex = 0;
void HAL::servoMicroseconds(uint8_t servo,int ms)
{
if(ms<500) ms = 0;
if(ms>2500) ms = 2500;
servoTimings[servo] = (unsigned int)(((F_CPU/1000000)*(long)ms)>>3);
} // servoMicroseconds
SIGNAL (TIMER3_COMPA_vect)
{
switch(servoIndex)
{
case 0:
{
TCNT3 = 0;
if(HAL::servoTimings[0])
{
#if SERVO0_PIN>-1
WRITE(SERVO0_PIN,HIGH);
#endif // SERVO0_PIN>-1
OCR3A = HAL::servoTimings[0];
}
else
{
OCR3A = SERVO2500US;
}
break;
}
case 1:
{
#if SERVO0_PIN>-1
WRITE(SERVO0_PIN,LOW);
#endif // SERVO0_PIN>-1
OCR3A = SERVO5000US;
break;
}
case 2:
{
TCNT3 = 0;
if(HAL::servoTimings[1])
{
#if SERVO1_PIN>-1
WRITE(SERVO1_PIN,HIGH);
#endif // SERVO1_PIN>-1
OCR3A = HAL::servoTimings[1];
}
else
{
OCR3A = SERVO2500US;
}
break;
}
case 3:
{
#if SERVO1_PIN>-1
WRITE(SERVO1_PIN,LOW);
#endif // SERVO1_PIN>-1
OCR3A = SERVO5000US;
break;
}
case 4:
{
TCNT3 = 0;
if(HAL::servoTimings[2])
{
#if SERVO2_PIN>-1
WRITE(SERVO2_PIN,HIGH);
#endif // SERVO2_PIN>-1
OCR3A = HAL::servoTimings[2];
}
else
{
OCR3A = SERVO2500US;
}
break;
}
case 5:
{
#if SERVO2_PIN>-1
WRITE(SERVO2_PIN,LOW);
#endif // SERVO2_PIN>-1
OCR3A = SERVO5000US;
break;
}
}
servoIndex++;
if(servoIndex>5)
servoIndex = 0;
}
#else
#error No servo support for your board, please disable FEATURE_SERVO
#endif // defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) || defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__) || defined(__AVR_ATmega128__) ||defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__)
#endif // #if FEATURE_SERVO && MOTHERBOARD == DEVICE_TYPE_RF1000
//initialize watchdog
void HAL::WDT_Init(void)
{
// Just to be safe since we can not clear WDE if WDRF is set
MCUSR &= ~(1<<WDRF);
//disable interrupts
cli();
//reset watchdog
wdt_reset();
//set up WDT interrupt
WDTCSR = (1<<WDCE)|(1<<WDE);
// timeout in XXX millisecond, disable reset mode. Must be done in one operation --> S66 http://www.atmel.com/Images/Atmel-2549-8-bit-AVR-Microcontroller-ATmega640-1280-1281-2560-2561_datasheet.pdf
//WDTCSR = 1<<WDP0; //32ms
WDTCSR = 0; //16ms
//Enable global interrupts
sei();
// enable watchdog interrupt only mode
WDTCSR |= _BV(WDIE);
}
//Watchdog timeout ISR
ISR(WDT_vect)
{
#if FEATURE_WATCHDOG
HAL::pingWatchdog();
#endif // FEATURE_WATCHDOG
WDTCSR |= (1<<WDIE); //Nibbels: nächstes mal kein Reset durch internen Watchdog, sondern wieder dieser interrupt.
DEBUG_MEMORY
execute16msPeriodical = 1; //Tell commandloop that 16ms have passed
}
// ================== Interrupt handling ======================
/** \brief Sets the timer 1 compare value to delay ticks.
This function sets the OCR1A compare counter to get the next interrupt
at delay ticks measured from the last interrupt. delay must be << 2^24 */
inline void setTimer(uint32_t delay)
{
__asm__ __volatile__ (
"cli \n\t"
"tst %C[delay] \n\t" //if(delay<65536) {
"brne else%= \n\t" // Still > 65535
"cpi %B[delay],255 \n\t"
"breq else%= \n\t" // delay <65280
"sts stepperWait,r1 \n\t" // stepperWait = 0;
"sts stepperWait+1,r1 \n\t"
"sts stepperWait+2,r1 \n\t"
"lds %C[delay],%[time] \n\t" // Read TCNT1
"lds %D[delay],%[time]+1 \n\t"
"ldi r18,100 \n\t" // Add 100 to TCNT1
"add %C[delay],r18 \n\t"
"adc %D[delay],r1 \n\t"
"cp %A[delay],%C[delay] \n\t" // delay<TCNT1+1
"cpc %B[delay],%D[delay] \n\t"
"brcc exact%= \n\t"
"sts %[ocr]+1,%D[delay] \n\t" // OCR1A = TCNT1+100;
"sts %[ocr],%C[delay] \n\t"
"rjmp end%= \n\t"
"exact%=: sts %[ocr]+1,%B[delay] \n\t" // OCR1A = delay;
"sts %[ocr],%A[delay] \n\t"
"rjmp end%= \n\t"
"else%=: subi %B[delay], 0x80 \n\t" //} else { stepperWait = delay-32768;
"sbci %C[delay], 0x00 \n\t"
"sts stepperWait,%A[delay] \n\t"
"sts stepperWait+1,%B[delay] \n\t"
"sts stepperWait+2,%C[delay] \n\t"
"ldi %D[delay], 0x80 \n\t" //OCR1A = 32768;
"sts %[ocr]+1, %D[delay] \n\t"
"sts %[ocr], r1 \n\t"
"end%=: \n\t"
:[delay]"=&d"(delay) // Output
:"0"(delay),[ocr]"i" (_SFR_MEM_ADDR(OCR1A)),[time]"i"(_SFR_MEM_ADDR(TCNT1)) // Input
:"r18" // Clobber
);
/* // Assembler above replaced this code
if(delay<65280) {
stepperWait = 0;
unsigned int count = TCNT1+100;
if(delay<count)
OCR1A = count;
else
OCR1A = delay;
} else {
stepperWait = delay-32768;
OCR1A = 32768;
}*/
} // setTimer
volatile long __attribute__((used)) stepperWait = 0;
/** \brief Timer interrupt routine to drive the stepper motors.
*/
ISR(TIMER1_COMPA_vect)
{
uint8_t doExit;
__asm__ __volatile__ (
"ldi %[ex],0 \n\t"
"lds r23,stepperWait+2 \n\t"
"tst r23 \n\t" //if(stepperWait<65536) {
"brne else%= \n\t" // Still > 65535
"lds r23,stepperWait+1 \n\t"
"tst r23 \n\t"
"brne last%= \n\t" // Still not 0, go ahead
"lds r22,stepperWait \n\t"
"breq end%= \n\t" // stepperWait is 0, do your work
"last%=: \n\t"
"sts %[ocr]+1,r23 \n\t" // OCR1A = stepper wait;
"sts %[ocr],r22 \n\t"
"sts stepperWait,r1 \n\t"
"sts stepperWait+1,r1 \n\t"
"rjmp end1%= \n\t"
"else%=: lds r22,stepperWait+1 \n\t" //} else { stepperWait = stepperWait-32768;
"subi r22, 0x80 \n\t"
"sbci r23, 0x00 \n\t"
"sts stepperWait+1,r22 \n\t" // ocr1a stays 32768
"sts stepperWait+2,r23 \n\t"
"end1%=: ldi %[ex],1 \n\t"
"end%=: \n\t"
:[ex]"=&d"(doExit):[ocr]"i" (_SFR_MEM_ADDR(OCR1A)):"r22","r23" );
if(doExit) return;
cbi(TIMSK1, OCIE1A); // prevent retrigger timer by disabling timer interrupt. Should be faster than guarding with insideTimer1.
OCR1A = 61000;
#if FEATURE_HEAT_BED_Z_COMPENSATION || FEATURE_WORK_PART_Z_COMPENSATION
Printer::performZCompensation(); //no interrupttempering
#endif // FEATURE_HEAT_BED_Z_COMPENSATION || FEATURE_WORK_PART_Z_COMPENSATION
#if FEATURE_EXTENDED_BUTTONS || FEATURE_PAUSE_PRINTING
if( Printer::allowDirectSteps() )
{
PrintLine::performDirectSteps(); //no interrupttempering
}
#endif // FEATURE_EXTENDED_BUTTONS || FEATURE_PAUSE_PRINTING
if(PrintLine::performPauseCheck()){
setTimer(1000);
DEBUG_MEMORY;
sbi(TIMSK1, OCIE1A);
return;
}
if(Printer::allowQueueMove())
{
setTimer(PrintLine::performQueueMove());
DEBUG_MEMORY;
sbi(TIMSK1, OCIE1A);
return;
}
#if FEATURE_EXTENDED_BUTTONS || FEATURE_PAUSE_PRINTING
if(Printer::allowDirectMove())
{
setTimer(PrintLine::performDirectMove());
DEBUG_MEMORY;
sbi(TIMSK1, OCIE1A);
return;
}
#endif // FEATURE_EXTENDED_BUTTONS || FEATURE_PAUSE_PRINTING
if(waitRelax == 0)
{
#if USE_ADVANCE
if(Printer::advanceStepsSet)
{
Printer::extruderStepsNeeded -= Printer::advanceStepsSet;
#ifdef ENABLE_QUADRATIC_ADVANCE
Printer::advanceExecuted = 0;
#endif // ENABLE_QUADRATIC_ADVANCE
Printer::advanceStepsSet = 0;
}
if(!Printer::extruderStepsNeeded) if(DISABLE_E) Extruder::disableCurrentExtruderMotor();
#else
if(DISABLE_E) Extruder::disableCurrentExtruderMotor();
#endif // USE_ADVANCE
}
else waitRelax--;
stepperWait = 0; // Important because of optimization in asm at begin
OCR1A = 3000; // Nicht zu hohe Werte, weil sonst die DirectSteps limitiert werden. Ansonsten hoch.
DEBUG_MEMORY;
sbi(TIMSK1, OCIE1A);
} // ISR(TIMER1_COMPA_vect)
#if !defined(HEATER_PWM_SPEED)
#define HEATER_PWM_SPEED 0
#endif
#if HEATER_PWM_SPEED < 0
#define HEATER_PWM_SPEED 0
#endif
#if HEATER_PWM_SPEED > 4
#define HEATER_PWM_SPEED 4
#endif
#if HEATER_PWM_SPEED == 0
#define HEATER_PWM_STEP 1 // 2^0 == 0000 0001 == 1 << 0
#define HEATER_PWM_MASK 255 //1111 1111 = (255 << 0) & 0xff
#elif HEATER_PWM_SPEED == 1
#define HEATER_PWM_STEP 2 // 2^1 == 0000 0010 == 1 << 1
#define HEATER_PWM_MASK 254 //1111 1110 = (255 << 1) & 0xff
#elif HEATER_PWM_SPEED == 2
#define HEATER_PWM_STEP 4 // 2^2 == 0000 0100 == 1 << 2
#define HEATER_PWM_MASK 252 //1111 1100 = (255 << 2) & 0xff
#elif HEATER_PWM_SPEED == 3
#define HEATER_PWM_STEP 8 // 2^3 == 0000 1000 == 1 << 3
#define HEATER_PWM_MASK 248 //1111 1000 = (255 << 3) & 0xff
#elif HEATER_PWM_SPEED == 4
#define HEATER_PWM_STEP 16 // 2^4 == 0001 0000 == 1 << 4
#define HEATER_PWM_MASK 240 //1111 0000 = (255 << 4) & 0xff
#endif // HEATER_PWM_SPEED
#if !defined(COOLER_PWM_SPEED)
#define COOLER_PWM_SPEED 0
#endif
#if COOLER_PWM_SPEED < 0
#define COOLER_PWM_SPEED 0
#endif
#if COOLER_PWM_SPEED > 4
#define COOLER_PWM_SPEED 4
#endif
#if COOLER_PWM_SPEED == 0
#define COOLER_PWM_STEP 1 // 2^0 == 0000 0001 == 1 << 0
#define COOLER_PWM_MASK 255 //1111 1111 = (255 << 0) & 0xff
#elif COOLER_PWM_SPEED == 1
#define COOLER_PWM_STEP 2 // 2^1 == 0000 0010 == 1 << 1
#define COOLER_PWM_MASK 254 //1111 1110 = (255 << 1) & 0xff
#elif COOLER_PWM_SPEED == 2
#define COOLER_PWM_STEP 4 // 2^2 == 0000 0100 == 1 << 2
#define COOLER_PWM_MASK 252 //1111 1100 = (255 << 2) & 0xff
#elif COOLER_PWM_SPEED == 3
#define COOLER_PWM_STEP 8 // 2^3 == 0000 1000 == 1 << 3
#define COOLER_PWM_MASK 248 //1111 1000 = (255 << 3) & 0xff
#elif COOLER_PWM_SPEED == 4
#define COOLER_PWM_STEP 16 // 2^4 == 0001 0000 == 1 << 4
#define COOLER_PWM_MASK 240 //1111 0000 = (255 << 4) & 0xff
#endif // COOLER_PWM_SPEED
uint8_t cooler_pwm_speed = COOLER_PWM_SPEED;
uint8_t cooler_pwm_step = COOLER_PWM_STEP; //1 << cooler_pwm_speed
uint8_t cooler_pwm_mask = COOLER_PWM_MASK; //(255 << cooler_pwm_speed) & 0xff
uint8_t cooler_mode = COOLER_MODE_PWM;
#define pulseDensityModulate(pin, density, error, invert) {uint8_t carry;carry = error + (invert ? 255 - density : density); WRITE(pin, (carry < error)); error = carry;}
/**
This timer is called 3906 times per second. It is used to update pwm values for heater and some other frequent jobs.
*/
ISR(PWM_TIMER_VECTOR)
{
static uint8_t pwm_count_heater = 0;
static uint8_t pwm_count_cooler = 0;
static uint8_t pwm_pos_set[NUM_EXTRUDER+3];
#if NUM_EXTRUDER > 0 && ( (defined(EXT0_HEATER_PIN) && EXT0_HEATER_PIN > -1 && EXT0_EXTRUDER_COOLER_PIN > -1) || (NUM_EXTRUDER > 1 && EXT1_EXTRUDER_COOLER_PIN > -1 && EXT1_EXTRUDER_COOLER_PIN != EXT0_EXTRUDER_COOLER_PIN) )
/*
|| (NUM_EXTRUDER > 2 && EXT2_EXTRUDER_COOLER_PIN > -1 && EXT2_EXTRUDER_COOLER_PIN != EXT2_EXTRUDER_COOLER_PIN)
|| (NUM_EXTRUDER > 3 && EXT3_EXTRUDER_COOLER_PIN > -1 && EXT3_EXTRUDER_COOLER_PIN != EXT3_EXTRUDER_COOLER_PIN)
|| (NUM_EXTRUDER > 4 && EXT4_EXTRUDER_COOLER_PIN > -1 && EXT4_EXTRUDER_COOLER_PIN != EXT4_EXTRUDER_COOLER_PIN)
|| (NUM_EXTRUDER > 5 && EXT5_EXTRUDER_COOLER_PIN > -1 && EXT5_EXTRUDER_COOLER_PIN != EXT5_EXTRUDER_COOLER_PIN)
*/
static uint8_t pwm_cooler_pos_set[NUM_EXTRUDER];
#endif
PWM_OCR += 64;
if(pwm_count_heater == 0)
{
#if EXT0_HEATER_PIN>-1
if((pwm_pos_set[0] = (pwm_pos[0] & HEATER_PWM_MASK)) > 0) WRITE(EXT0_HEATER_PIN,!HEATER_PINS_INVERTED);
#endif // EXT0_HEATER_PIN>-1
#if defined(EXT1_HEATER_PIN) && EXT1_HEATER_PIN>-1 && NUM_EXTRUDER>1
if((pwm_pos_set[1] = (pwm_pos[1] & HEATER_PWM_MASK)) > 0) WRITE(EXT1_HEATER_PIN,!HEATER_PINS_INVERTED);
#endif // defined(EXT1_HEATER_PIN) && EXT1_HEATER_PIN>-1 && NUM_EXTRUDER>1
#if HEATED_BED_HEATER_PIN>-1 && HAVE_HEATED_BED
if((pwm_pos_set[NUM_EXTRUDER] = (pwm_pos[NUM_EXTRUDER] & HEATER_PWM_MASK)) > 0) WRITE(HEATED_BED_HEATER_PIN, !HEATER_PINS_INVERTED);
#endif // HEATED_BED_HEATER_PIN>-1 && HAVE_HEATED_BED
}
if(pwm_count_cooler == 0)
{
#if EXT0_HEATER_PIN>-1 && EXT0_EXTRUDER_COOLER_PIN>-1
if((pwm_cooler_pos_set[0] = extruder[0].coolerPWM)>0) WRITE(EXT0_EXTRUDER_COOLER_PIN,1);
#endif // EXT0_HEATER_PIN>-1 && EXT0_EXTRUDER_COOLER_PIN>-1
#if defined(EXT1_HEATER_PIN) && EXT1_HEATER_PIN>-1 && NUM_EXTRUDER>1
#if EXT1_EXTRUDER_COOLER_PIN>-1 && EXT1_EXTRUDER_COOLER_PIN != EXT0_EXTRUDER_COOLER_PIN
if((pwm_cooler_pos_set[1] = extruder[1].coolerPWM)>0) WRITE(EXT1_EXTRUDER_COOLER_PIN,1);
#endif // EXT1_EXTRUDER_COOLER_PIN>-1 && EXT1_EXTRUDER_COOLER_PIN!=EXT0_EXTRUDER_COOLER_PIN
#endif // defined(EXT1_HEATER_PIN) && EXT1_HEATER_PIN>-1 && NUM_EXTRUDER>1
#if FAN_BOARD_PIN>-1
if((pwm_pos_set[NUM_EXTRUDER+1] = (pwm_pos[NUM_EXTRUDER+1] & cooler_pwm_mask)) > 0) WRITE(FAN_BOARD_PIN,1);
#endif // FAN_BOARD_PIN>-1
#if FAN_PIN>-1 && FEATURE_FAN_CONTROL
if(cooler_mode != COOLER_MODE_PDM){
if((pwm_pos_set[NUM_EXTRUDER+2] = (pwm_pos[NUM_EXTRUDER+2] & cooler_pwm_mask)) > 0) WRITE(FAN_PIN,1);
}
#endif // FAN_PIN>-1 && FEATURE_FAN_CONTROL
}
#if EXT0_HEATER_PIN>-1
if(pwm_pos_set[0] == pwm_count_heater && pwm_pos_set[0]!=HEATER_PWM_MASK) WRITE(EXT0_HEATER_PIN,HEATER_PINS_INVERTED);
#if EXT0_EXTRUDER_COOLER_PIN>-1
if(pwm_cooler_pos_set[0] == pwm_count_cooler && pwm_cooler_pos_set[0]!=255) WRITE(EXT0_EXTRUDER_COOLER_PIN,0);
#endif // #if EXT0_EXTRUDER_COOLER_PIN>-1
#endif // #if EXT0_HEATER_PIN>-1
#if defined(EXT1_HEATER_PIN) && EXT1_HEATER_PIN>-1 && NUM_EXTRUDER>1
if(pwm_pos_set[1] == pwm_count_heater && pwm_pos_set[1]!=HEATER_PWM_MASK) WRITE(EXT1_HEATER_PIN,HEATER_PINS_INVERTED);
#if EXT1_EXTRUDER_COOLER_PIN>-1 && EXT1_EXTRUDER_COOLER_PIN!=EXT0_EXTRUDER_COOLER_PIN
if(pwm_cooler_pos_set[1] == pwm_count_cooler && pwm_cooler_pos_set[1]!=255) WRITE(EXT1_EXTRUDER_COOLER_PIN,0);
#endif // EXT1_EXTRUDER_COOLER_PIN>-1 && EXT1_EXTRUDER_COOLER_PIN!=EXT0_EXTRUDER_COOLER_PIN
#endif // defined(EXT1_HEATER_PIN) && EXT1_HEATER_PIN>-1 && NUM_EXTRUDER>1
#if FAN_BOARD_PIN>-1
if(pwm_pos_set[NUM_EXTRUDER+1] == pwm_count_cooler && pwm_pos_set[NUM_EXTRUDER+1] != cooler_pwm_mask) WRITE(FAN_BOARD_PIN,0);
#endif // #if FAN_BOARD_PIN>-1