void control_init() {
//// laser control
// Setup Timer0 for a 488.28125Hz "phase correct PWM" wave (assuming a 16Mhz clock)
// Timer0 can pwm either PD5 (OC0B) or PD6 (OC0A), we use PD6
// TCCR0A and TCCR0B are the registers to setup Timer0
// see chapter "8-bit Timer/Counter0 with PWM" in Atmga328 specs
// OCR0A sets the duty cycle 0-255 corresponding to 0-100%
// also see: http://arduino.cc/en/Tutorial/SecretsOfArduinoPWM
DDRD |= (1 << DDD6); // set PD6 as an output
OCR0A = 0; // set PWM to a 0% duty cycle
TCCR0A = _BV(COM0A1) | _BV(WGM00); // phase correct PWM mode
// TCCR0A = _BV(COM0A1) | _BV(WGM01) | _BV(WGM00); // fast PWM mode
// prescaler: PWMfreq = 16000/(2*256*prescaler)
// TCCR0B = _BV(CS00); // 1 => 31.3kHz
// TCCR0B = _BV(CS01); // 8 => 3.9kHz
TCCR0B = _BV(CS01) | _BV(CS00); // 64 => 489Hz
// TCCR0B = _BV(CS02); // 256 => 122Hz
// TCCR0B = _BV(CS02) | _BV(CS00); // 1024 => 31Hz
// NOTES:
// PPI = PWMfreq/(feedrate/25.4/60)
//// air and aux assist control
ASSIST_DDR |= (1 << AIR_ASSIST_BIT); // set as output pin
ASSIST_DDR |= (1 << AUX1_ASSIST_BIT); // set as output pin
control_air_assist(false);
control_aux1_assist(false);
#ifdef DRIVEBOARD
ASSIST_DDR |= (1 << AUX2_ASSIST_BIT); // set as output pin
control_aux2_assist(false);
#else
//// limits overwrite control
LIMITS_OVERWRITE_DDR |= 1<<LIMITS_OVERWRITE_BIT; // define as output pin
control_limits_overwrite(true); // do not use hardware logic to stop steppers
#endif
}
void control_init() {
//// laser control
// Setup Timer0 for a 488.28125Hz "phase correct PWM" wave (assuming a 16Mhz clock)
// Timer0 can pwm either PD5 (OC0B) or PD6 (OC0A), we use PD6
// TCCR0A and TCCR0B are the registers to setup Timer0
// see chapter "8-bit Timer/Counter0 with PWM" in Atmga328 specs
// OCR0A sets the duty cycle 0-255 corresponding to 0-100%
// also see: http://arduino.cc/en/Tutorial/SecretsOfArduinoPWM
GPIOPinTypeGPIOOutput(LASER_EN_PORT, LASER_EN_MASK);
GPIOPinWrite(LASER_EN_PORT, LASER_EN_MASK, LASER_EN_INVERT);
// Configure timer
SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0);
TimerConfigure(LASER_TIMER, TIMER_CFG_SPLIT_PAIR|TIMER_CFG_A_PWM|TIMER_CFG_B_ONE_SHOT);
TimerControlLevel(LASER_TIMER, TIMER_A, 1);
// PPI = PWMfreq/(feedrate/MM_PER_INCH/60)
// Set PPI Pulse timer
ppi_cycles = SysCtlClockGet() / 1000 * CONFIG_LASER_PPI_PULSE_MS;
ppi_divider = ppi_cycles >> 16;
ppi_cycles /= (ppi_divider + 1);
TimerPrescaleSet(LASER_TIMER, TIMER_B, ppi_divider);
TimerLoadSet(LASER_TIMER, TIMER_B, ppi_cycles);
// Setup ISR
TimerIntRegister(LASER_TIMER, TIMER_B, laser_isr);
TimerIntEnable(LASER_TIMER, TIMER_TIMB_TIMEOUT);
IntPrioritySet(INT_TIMER0B, CONFIG_LASER_PRIORITY);
// Set PWM refresh rate
laser_cycles = SysCtlClockGet() / CONFIG_LASER_PWM_FREQ; /*Hz*/
laser_divider = laser_cycles >> 16;
laser_cycles /= (laser_divider + 1);
// Setup Laser PWM Timer
TimerPrescaleSet(LASER_TIMER, TIMER_A, laser_divider);
TimerLoadSet(LASER_TIMER, TIMER_A, laser_cycles);
TimerPrescaleMatchSet(LASER_TIMER, TIMER_A, laser_divider);
laser_intensity = 0;
// Set default value
control_laser_intensity(0);
control_laser(0, 0);
TimerEnable(LASER_TIMER, TIMER_A);
// ToDo: Map the timer ccp pin sensibly
GPIOPinConfigure(GPIO_PB6_T0CCP0);
GPIOPinTypeTimer(LASER_PORT, (1 << LASER_BIT));
//// air and aux assist control
GPIOPinTypeGPIOOutput(ASSIST_PORT, ASSIST_MASK);
control_air_assist(false);
control_aux1_assist(false);
}