146 lines
3.7 KiB
C++
146 lines
3.7 KiB
C++
/// @file main.cpp
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#include "hal/cpu.h"
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#include "hal/adc.h"
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#include "hal/gpio.h"
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#include "hal/shr16.h"
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#include "hal/spi.h"
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#include "hal/usart.h"
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#include "hal/watchdog.h"
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#include "pins.h"
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#include <avr/interrupt.h>
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#include <util/delay.h>
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#include "modules/buttons.h"
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#include "modules/finda.h"
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#include "modules/fsensor.h"
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#include "modules/globals.h"
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#include "modules/idler.h"
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#include "modules/leds.h"
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#include "modules/protocol.h"
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#include "modules/pulley.h"
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#include "modules/selector.h"
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#include "modules/user_input.h"
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#include "modules/timebase.h"
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#include "modules/motion.h"
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#include "modules/usb_cdc.h"
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#include "idle_mode.h"
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/// One-time setup of HW and SW components
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/// Called before entering the loop() function
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/// Green LEDs signalize the progress of initialization. If anything goes wrong we shall turn on a red LED
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void setup() {
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hal::cpu::Init();
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mt::timebase.Init();
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// watchdog init
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hwd::Enable(hwd::configuration::compute(8000)); //set 8s timeout
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mg::globals.Init();
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hal::shr16::shr16.Init();
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ml::leds.SetMode(4, ml::green, ml::on);
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ml::leds.Step();
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// if the shift register doesn't work we really can't signalize anything, only internal variables will be accessible if the UART works
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hu::USART::USART_InitTypeDef usart_conf = {
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.rx_pin = USART_RX,
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.tx_pin = USART_TX,
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.baudrate = 115200,
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};
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hu::usart1.Init(&usart_conf);
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ml::leds.SetMode(3, ml::green, ml::on);
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ml::leds.Step();
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// @@TODO if both shift register and the UART are dead, we are sitting ducks :(
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hal::spi::SPI_InitTypeDef spi_conf = {
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.miso_pin = TMC2130_SPI_MISO_PIN,
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.mosi_pin = TMC2130_SPI_MOSI_PIN,
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.sck_pin = TMC2130_SPI_SCK_PIN,
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.ss_pin = TMC2130_SPI_SS_PIN,
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.prescaler = 2, //4mhz
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.cpha = 1,
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.cpol = 1,
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};
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hal::spi::Init(SPI0, &spi_conf);
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ml::leds.SetMode(2, ml::green, ml::on);
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ml::leds.Step();
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mm::Init();
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ml::leds.SetMode(1, ml::green, ml::on);
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ml::leds.Step();
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ha::Init();
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ml::leds.SetMode(0, ml::green, ml::on);
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ml::leds.Step();
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mu::cdc.Init();
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// waits at least finda debounce period
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// which is abused to let the LEDs shine for ~100ms
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mf::finda.BlockingInit();
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/// Turn off all leds
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for (uint8_t i = 0; i < config::toolCount; i++) {
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ml::leds.SetMode(i, ml::green, ml::off);
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ml::leds.SetMode(i, ml::red, ml::off);
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}
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ml::leds.Step();
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// Idler and Selector decide whether homing is possible/safe
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mi::idler.Init();
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ms::selector.Init();
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// activate the correct LED if filament is present
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if (mg::globals.FilamentLoaded() > mg::FilamentLoadState::AtPulley) {
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ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::on);
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}
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}
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void Panic(ErrorCode ec) {
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idleMode.Panic(ec);
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}
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/// Main loop of the firmware
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/// Proposed architecture
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/// checkMsgs();
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/// if(msg is command){
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/// activate command handling
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/// } else if(msg is query){
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/// format response to query
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/// }
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/// StepCurrentCommand();
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/// StepMotors();
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/// StepLED();
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/// StepWhateverElseNeedsStepping();
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/// The idea behind the Step* routines is to keep each automaton non-blocking allowing for some “concurrency”.
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/// Some FW components will leverage ISR to do their stuff (UART, motor stepping?, etc.)
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void loop() {
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mb::buttons.Step();
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ml::leds.Step();
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mf::finda.Step();
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mfs::fsensor.Step();
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mi::idler.Step();
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ms::selector.Step();
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mpu::pulley.Step();
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mui::userInput.Step();
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hal::cpu::Step();
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mu::cdc.Step();
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idleMode.Step();
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hal::watchdog::Reset();
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}
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int main() {
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setup();
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sei(); ///enable interrupts
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for (;;) {
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loop();
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}
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return 0;
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}
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