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 31.25kH "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%
DDRD |= (1 << DDD6); // set PD6 as an output
OCR0A = 0; // set PWM to a 0% duty cycle
TCCR0A |= (1 << COM0A1); // set non-inverting mode on OC0A, PD6, Arduino pin 6
TCCR0A |= (1 << WGM00); // set phase correct PWM mode, has half the freq of fast PWM
TCCR0B |= (1 << CS00); // prescaler to 1, PWMfreq = 16000/(2*256*1) = 31.25kH
//// air and gas assist control
AIRGAS_DDR |= (1 << AIR_BIT); // set as output pin
AIRGAS_DDR |= (1 << GAS_BIT); // set as output pin
control_air(false);
control_gas(false);
//// 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
}
