/*
* Setup timer 1 compare match A to generate a tick interrupt.
*/
static void prvSetupTimerInterrupt(void) {
//Use TCC0 as a tick counter. If this is to be changed, change ISR as well
TC0_t * tickTimer = &TCC0;
//select the clock source and pre-scale by 64
TC0_ConfigClockSource(tickTimer, TC_CLKSEL_DIV64_gc);
//set period of counter
tickTimer->PER = configCPU_CLOCK_HZ / configTICK_RATE_HZ / 64 - 1;
//enable interrupt and set low level
TC0_SetOverflowIntLevel(tickTimer, TC_OVFINTLVL_LO_gc);
//enable low level interrupts
PMIC_EnableLowLevel();
}
void tg_application_reset(void)
{
cli(); // disable global interrupts
st_reset(); // reset stepper subsystem
mp_init(); // motion planning subsystem
cm_init(); // canonical machine
gc_init(); // gcode-parser
PMIC_SetVectorLocationToApplication(); // as opposed to boot ROM
PMIC_EnableHighLevel(); // all levels are used, so don't bother to abstract them
PMIC_EnableMediumLevel();
PMIC_EnableLowLevel();
sei(); // enable global interrupts
tg_ready(); // (LAST) announce app is online
}
int main(void)
{
// There are a lot of dependencies in the order of these inits.
// Don't change the ordering unless you understand this.
// Inits can assume that all memory has been zeroed by either
// a hardware reset or a watchdog timer reset.
cli();
// system and drivers
sys_init(); // system hardware setup - must be first
rtc_init(); // real time counter
xio_init(); // xmega io subsystem
sig_init(); // signal flags
st_init(); // stepper subsystem - must precede gpio_init()
gpio_init(); // switches and parallel IO
pwm_init(); // pulse width modulation drivers - must follow gpio_init()
// application structures
tg_init(STD_INPUT); // tinyg controller (controller.c) - must be first app init; reqs xio_init()
cfg_init(); // config records from eeprom - must be next app init
mp_init(); // motion planning subsystem
cm_init(); // canonical machine - must follow cfg_init()
sp_init(); // spindle PWM and variables
// now bring up the interupts and get started
PMIC_SetVectorLocationToApplication(); // as opposed to boot ROM
PMIC_EnableHighLevel(); // all levels are used, so don't bother to abstract them
PMIC_EnableMediumLevel();
PMIC_EnableLowLevel();
sei(); // enable global interrupts
rpt_print_system_ready_message();// (LAST) announce system is ready
_unit_tests(); // run any unit tests that are enabled
tg_canned_startup(); // run any pre-loaded commands
while (true) {
// if (tg.network == NET_MASTER) {
// tg_repeater();
// } else if (tg.network == NET_SLAVE) {
// tg_receiver();
// } else {
tg_controller(); // NET_STANDALONE
// }
}
}
