/** Realtime callback function.
*
* This event simulates an elapsed 1ms.
*/
void realtime_tick (void)
{
#define FIRQ_FREQ 8
#define PERIODIC_FREQ 16
static unsigned long next_firq_time = FIRQ_FREQ;
static unsigned long next_periodic_time = PERIODIC_FREQ;
#ifdef CONFIG_SIM
/* Update all of the simulator modules that need periodic processing */
sim_time_step ();
#endif
/* Simulate an IRQ every 1ms */
if (linux_irq_enable)
{
#ifdef CONFIG_GEN_RTT
exec_rtt ();
#else
tick_driver ();
#endif
}
#ifdef CONFIG_FIRQ
/* Simulate an FIRQ every 8ms */
if (linux_firq_enable)
{
while (realtime_read () >= next_firq_time)
{
do_firq ();
next_firq_time += FIRQ_FREQ;
}
}
#endif
/* Call periodic processes every 16ms */
if (realtime_read () >= next_periodic_time)
{
db_periodic ();
if (likely (periodic_ok))
do_periodic ();
next_periodic_time += PERIODIC_FREQ;
}
}
int main()
{
TRACE_CONFIGURE(DBGU_STANDARD, 115200, BOARD_MCK);
printf("-- USB Device CDC Serial Project %s --\n\r", SOFTPACK_VERSION);
printf("-- %s\n\r", BOARD_NAME);
printf("-- Compiled: %s %s --\n\r", __DATE__, __TIME__);
// If they are present, configure Vbus & Wake-up pins
//PIO_InitializeInterrupts(0);
//-------- Init parameters --------------
printf("INIT Parameters\n\r");
init_parameters();
//-------- Load parameters from Flash --------------
printf("Load parameters from Flash\n\r");
FLASH_LoadSettings();
//-------- Init UART --------------
printf("USB Seriel INIT\n\r");
samserial_init();
//-------- Init ADC without Autostart --------------
printf("Init ADC\n\r");
initadc(0);
//-------- On USB recived byte call this function --------------
printf("Init Callback for USB\n\r");
samserial_setcallback(&usb_characterhandler);
//-------- Init Motor driver --------------
printf("Init Motors\n\r");
motor_setup();
//-------- Init Heater I/O --------------
printf("Init Heaters\n\r");
heaters_setup();
//-------- Start SYSTICK (1ms) --------------
printf("Configuring systick.\n\r");
SysTick_Configure(1, BOARD_MCK/1000, SysTick_Handler);
//-------- Timer 0 for Stepper --------------
printf("Init Stepper IO\n\r");
stepper_setup(); //Timer for Stepper
//-------- Timer 0 for Stepper --------------
printf("Configuring Timer 0 Stepper\n\r");
ConfigureTc0_Stepper(); //Timer for Stepper
//-------- Timer 1 for heater PWM --------------
printf("Configuring Timer 1 PWM.\n\r");
ConfigureTc_1();
//-------- Init Planner Values --------------
printf("Plan Init\n\r");
plan_init();
//-------- Check for SD card presence -------
// sdcard_handle_state();
//motor_enaxis(0,1);
//motor_enaxis(1,1);
while (1)
{
//uncomment to use//sprinter_mainloop();
//main loop events go here
do_periodic();
if(buflen < (BUFSIZE-1))
get_command();
if(buflen > 0)
{
//-------- Check and execute G-CODE --------------
process_commands();
//-------- Increment G-Code FIFO --------------
buflen = (buflen-1);
bufindr++;
if(bufindr == BUFSIZE) bufindr = 0;
}
}
}
