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/** \file
\brief Main file - this is where it all starts, and ends
*/
/** \mainpage Teacup Reprap Firmware
\section intro_sec Introduction
Teacup Reprap Firmware (originally named FiveD on Arduino) is a firmware package for numerous reprap electronics sets.
Please see README for a full introduction and long-winded waffle about this project
\section install_sec Installation
\subsection step1 Step 1: Download
\code git clone git://github.com/triffid/Teacup_Firmware \endcode
\subsection step2 Step 2: configure
\code cp config.[yourboardhere].h config.h \endcode
Edit config.h to suit your machone
Edit Makefile to select the correct chip and programming settings
\subsection step3 Step 3: Compile
\code make \endcode
\code make program \endcode
\subsection step4 Step 4: Test!
\code ./func.sh mendel_reset
./func.sh mendel_talk
M115
ctrl+d \endcode
*/
#include <avr/io.h>
#include <avr/interrupt.h>
#include "config.h"
#include "fuses.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"
#include "arduino.h"
#include "clock.h"
#include "intercom.h"
/// initialise all I/O - set pins as input or output, turn off unused subsystems, etc
void io_init(void) {
// disable modules we don't use
#ifdef PRR
PRR = MASK(PRTWI) | MASK(PRADC) | MASK(PRSPI);
#elif defined PRR0
PRR0 = MASK(PRTWI) | MASK(PRADC) | MASK(PRSPI);
#if defined(PRUSART3)
// don't use USART2 or USART3- leave USART1 for GEN3 and derivatives
PRR1 |= MASK(PRUSART3) | MASK(PRUSART2);
#endif
#if defined(PRUSART2)
// don't use USART2 or USART3- leave USART1 for GEN3 and derivatives
PRR1 |= MASK(PRUSART2);
#endif
#endif
ACSR = MASK(ACD);
// setup I/O pins
// X Stepper
WRITE(X_STEP_PIN, 0); SET_OUTPUT(X_STEP_PIN);
WRITE(X_DIR_PIN, 0); SET_OUTPUT(X_DIR_PIN);
#ifdef X_MIN_PIN
SET_INPUT(X_MIN_PIN);
#ifdef USE_INTERNAL_PULLUPS
WRITE(X_MIN_PIN, 1);
#else
WRITE(X_MIN_PIN, 0);
#endif
#endif
#ifdef X_MAX_PIN
SET_INPUT(X_MAX_PIN);
#ifdef USE_INTERNAL_PULLUPS
WRITE(X_MAX_PIN, 1);
#else
WRITE(X_MAX_PIN, 0);
#endif
#endif
// Y Stepper
WRITE(Y_STEP_PIN, 0); SET_OUTPUT(Y_STEP_PIN);
WRITE(Y_DIR_PIN, 0); SET_OUTPUT(Y_DIR_PIN);
#ifdef Y_MIN_PIN
SET_INPUT(Y_MIN_PIN);
#ifdef USE_INTERNAL_PULLUPS
WRITE(Y_MIN_PIN, 1);
#else
WRITE(Y_MIN_PIN, 0);
#endif
#endif
#ifdef Y_MAX_PIN
SET_INPUT(Y_MAX_PIN);
#ifdef USE_INTERNAL_PULLUPS
WRITE(Y_MAX_PIN, 1);
#else
WRITE(Y_MAX_PIN, 0);
#endif
#endif
// Z Stepper
#if defined Z_STEP_PIN && defined Z_DIR_PIN
WRITE(Z_STEP_PIN, 0); SET_OUTPUT(Z_STEP_PIN);
WRITE(Z_DIR_PIN, 0); SET_OUTPUT(Z_DIR_PIN);
#endif
#ifdef Z_MIN_PIN
SET_INPUT(Z_MIN_PIN);
#ifdef USE_INTERNAL_PULLUPS
WRITE(Z_MIN_PIN, 1);
#else
WRITE(Z_MIN_PIN, 0);
#endif
#endif
#ifdef Z_MAX_PIN
SET_INPUT(Z_MAX_PIN);
#ifdef USE_INTERNAL_PULLUPS
WRITE(Z_MAX_PIN, 1);
#else
WRITE(Z_MAX_PIN, 0);
#endif
#endif
#if defined E_STEP_PIN && defined E_DIR_PIN
WRITE(E_STEP_PIN, 0); SET_OUTPUT(E_STEP_PIN);
WRITE(E_DIR_PIN, 0); SET_OUTPUT(E_DIR_PIN);
#endif
// Common Stepper Enable
#ifdef STEPPER_ENABLE_PIN
#ifdef STEPPER_INVERT_ENABLE
WRITE(STEPPER_ENABLE_PIN, 0);
#else
WRITE(STEPPER_ENABLE_PIN, 1);
#endif
SET_OUTPUT(STEPPER_ENABLE_PIN);
#endif
// X Stepper Enable
#ifdef X_ENABLE_PIN
#ifdef X_INVERT_ENABLE
WRITE(X_ENABLE_PIN, 0);
#else
WRITE(X_ENABLE_PIN, 1);
#endif
SET_OUTPUT(X_ENABLE_PIN);
#endif
// Y Stepper Enable
#ifdef Y_ENABLE_PIN
#ifdef Y_INVERT_ENABLE
WRITE(Y_ENABLE_PIN, 0);
#else
WRITE(Y_ENABLE_PIN, 1);
#endif
SET_OUTPUT(Y_ENABLE_PIN);
#endif
// Z Stepper Enable
#ifdef Z_ENABLE_PIN
#ifdef Z_INVERT_ENABLE
WRITE(Z_ENABLE_PIN, 0);
#else
WRITE(Z_ENABLE_PIN, 1);
#endif
SET_OUTPUT(Z_ENABLE_PIN);
#endif
// E Stepper Enable
#ifdef E_ENABLE_PIN
#ifdef E_INVERT_ENABLE
WRITE(E_ENABLE_PIN, 0);
#else
WRITE(E_ENABLE_PIN, 1);
#endif
SET_OUTPUT(E_ENABLE_PIN);
#endif
// setup PWM timers: fast PWM, no prescaler
TCCR0A = MASK(WGM01) | MASK(WGM00);
TCCR0B = MASK(CS00);
TIMSK0 = 0;
OCR0A = 0;
OCR0B = 0;
TCCR2A = MASK(WGM21) | MASK(WGM20);
TCCR2B = MASK(CS20);
TIMSK2 = 0;
OCR2A = 0;
OCR2B = 0;
#ifdef TCCR3A
TCCR3A = MASK(WGM30);
TCCR3B = MASK(WGM32) | MASK(CS30);
TIMSK3 = 0;
OCR3A = 0;
OCR3B = 0;
#endif
#ifdef TCCR4A
TCCR4A = MASK(WGM40);
TCCR4B = MASK(WGM42) | MASK(CS40);
TIMSK4 = 0;
OCR4A = 0;
OCR4B = 0;
#endif
#ifdef TCCR5A
TCCR5A = MASK(WGM50);
TCCR5B = MASK(WGM52) | MASK(CS50);
TIMSK5 = 0;
OCR5A = 0;
OCR5B = 0;
#endif
#ifdef STEPPER_ENABLE_PIN
power_off();
#endif
// set all heater pins to output
do {
#undef DEFINE_HEATER
#define DEFINE_HEATER(name, pin) WRITE(pin, 0); SET_OUTPUT(pin);
#include "config.h"
#undef DEFINE_HEATER
} while (0);
#ifdef TEMP_MAX6675
// 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);
#endif
#ifdef TEMP_INTERCOM
// Enable the RS485 transceiver
SET_OUTPUT(RX_ENABLE_PIN);
SET_OUTPUT(TX_ENABLE_PIN);
WRITE(RX_ENABLE_PIN,0);
disable_transmit();
#endif
}
/// Startup code, run when we come out of reset
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 dda
dda_init();
// start up analog read interrupt loop,
// if any of the temp sensors in your config.h use analog interface
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"));
}
/// this is where it all starts, and ends
///
/// just run init(), then run an endless loop where we pass characters from the serial RX buffer to gcode_parse_char() and check the clocks
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();
}
}
}
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