main.c

/*
  main.c - Firmware for 3D Scanners using g-codes
  Part of Horus Firmware

  Copyright (c) 2014-2015 Mundo Reader S.L.

  Horus 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.

  Horus 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 Horus Firmware.  If not, see <http://www.gnu.org/licenses/>.
*/
/* 
  This file is based on work from Grbl v0.9, distributed under the 
  terms of the GPLv3. See COPYING for more details.
    Copyright (c) 2009-2011 Simen Svale Skogsrud
    Copyright (c) 2011-2014 Sungeun K. Jeon
*/

#include "system.h"
#include "serial.h"
#include "settings.h"
#include "protocol.h"
#include "gcode.h"
#include "planner.h"
#include "stepper.h"
#include "motion_control.h"
#include "probe.h"
#include "report.h"
#include "ldr.h"
#include "limits.h"

// ----------- WAVGAT boards support ---------
/* For WAVGAT boards the manufacturer/seller provide the URL to download board specific files
 *  after installing this files you can select the right board in Arduino IDE (WAVGAT UNO R3) and use it normally
 *  
 *  But to compile Horus-FW you should edit 
 *  hardware\wavgat\WAV8F\cores\lgt8f\wiring.c 
 *  and comment out (disable) following functions:
 *  ISR(TIMER0_OVF_vect)
 *  unsigned long millis()
 *  unsigned long micros()
 *  void delay(unsigned long ms)
 */
 
#if defined(ARDUINO_AVR_LARDU_328E)

#include "lgtx8p.h"
#define NO_TIM0

#define  INT_OSC 0
#define EXT_OSC 1



void sysClock(uint8_t mode)
{
	if(mode == EXT_OSC) {
		// enable external crystal
		GPIOR0 = PMCR | 0x04;
		PMCR = 0x80;
		PMCR = GPIOR0;
		
		// waiting for crystal stable
		delay(20);

		// switch to external crystal
		GPIOR0 = (PMCR & 0x9f) | 0x20;
		PMCR = 0x80;
		PMCR = GPIOR0;

		// set to right prescale
		CLKPR = 0x80;
		CLKPR = 0x00;	
	} else if(mode == INT_OSC) {
		// prescaler settings
		CLKPR = 0x80;
		CLKPR = 0x01;	

		// switch to internal crystal
		GPIOR0 = PMCR & 0x9f;
		PMCR = 0x80;
		PMCR = GPIOR0;

		// disable external crystal
		GPIOR0 = PMCR & 0xfb;
		PMCR = 0x80;
		PMCR = GPIOR0;
	}
}	

void lgt8fx8x_init()
{
#if defined(__LGT8FX8E__)
// store ivref calibration 
	GPIOR1 = VCAL1;
	GPIOR2 = VCAL2;

#if defined(__LGT8F_SSOP20__)
	GPIOR0 = PMXCR | 0x07;
	PMXCR = 0x80;
	PMXCR = GPIOR0;
#endif

// enable 1KB E2PROM 
	ECCR = 0x80;
	ECCR = 0x40;

// clock source settings
	if((VDTCR & 0x0C) == 0x0C) {
		// switch to external crystal
		sysClock(EXT_OSC);
	} else {
		CLKPR = 0x80;
		CLKPR = 0x01;
	}
#else
	// enable 32KRC for WDT
	GPIOR0 = PMCR | 0x10;
	PMCR = 0x80;
	PMCR = GPIOR0;

	// clock scalar to 16MHz
	CLKPR = 0x80;
	CLKPR = 0x01;
#endif
}

#endif

// Declare system global variable structure
system_t sys; 


int main(void)
{
#if defined(ARDUINO_AVR_LARDU_328E)
    lgt8fx8x_init();
#endif

  // Initialize system upon power-up.
  serial_init();   // Setup serial baud rate and interrupts
  settings_init(); // Load grbl settings from EEPROM
  stepper_init();  // Configure stepper pins and interrupt timers
  system_init();   // Configure pinout pins and pin-change interrupt
  ldr_init();        //Setup the ADC

  memset(&sys, 0, sizeof(sys));  // Clear all system variables
  sys.abort = true;   // Set abort to complete initialization
  sei(); // Enable interrupts

  // Check for power-up and set system alarm if homing is enabled to force homing cycle
  // by setting Grbl's alarm state. Alarm locks out all g-code commands, including the
  // startup scripts, but allows access to settings and internal commands. Only a homing
  // cycle '$H' or kill alarm locks '$X' will disable the alarm.
  // NOTE: The startup script will run after successful completion of the homing cycle, but
  // not after disabling the alarm locks. Prevents motion startup blocks from crashing into
  // things uncontrollably. Very bad.
  #ifdef HOMING_INIT_LOCK
    if (bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) { sys.state = STATE_ALARM; }
  #endif
  
  // Grbl initialization loop upon power-up or a system abort. For the latter, all processes
  // will return to this loop to be cleanly re-initialized.
  for(;;) {

    // TODO: Separate configure task that require interrupts to be disabled, especially upon
    // a system abort and ensuring any active interrupts are cleanly reset.
  
    // Reset Grbl primary systems.
    serial_reset_read_buffer(); // Clear serial read buffer
    gc_init(); // Set g-code parser to default state
    laser_init();
    limits_init();
    probe_init();
    plan_reset(); // Clear block buffer and planner variables
    st_reset(); // Clear stepper subsystem variables.

    // Sync cleared gcode and planner positions to current system position.
    plan_sync_position();
    gc_sync_position();

    // Reset system variables.
    sys.abort = false;
    sys.execute = 0;
    if (bit_istrue(settings.flags,BITFLAG_AUTO_START)) { sys.auto_start = true; }
    else { sys.auto_start = false; }
//    sys.soft_limit = false;
          
    // Start Grbl main loop. Processes program inputs and executes them.
    protocol_main_loop();
    
  }
  return 0;   /* Never reached */
}