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Diffstat (limited to 'fsm/main.c')
| -rw-r--r-- | fsm/main.c | 211 |
1 files changed, 211 insertions, 0 deletions
diff --git a/fsm/main.c b/fsm/main.c new file mode 100644 index 0000000..066188c --- /dev/null +++ b/fsm/main.c @@ -0,0 +1,211 @@ +// fsm-main.c: main() function for SpaghettiMonster. +// Copyright (C) 2017-2023 Selene ToyKeeper +// SPDX-License-Identifier: GPL-3.0-or-later + +#pragma once + +#include "fsm-main.h" + +#if PWM_CHANNELS == 4 +#ifdef AVRXMEGA3 // ATTINY816, 817, etc +#error 4-channel PWM not currently set up for the AVR 1-Series +#endif +// 4th PWM channel requires manually turning the pin on/off via interrupt :( +ISR(TIMER1_OVF_vect) { + //bitClear(PORTB, 3); + PORTB &= 0b11110111; + //PORTB |= 0b00001000; +} +ISR(TIMER1_COMPA_vect) { + //if (!bitRead(TIFR,TOV1)) bitSet(PORTB, 3); + if (! (TIFR & (1<<TOV1))) PORTB |= 0b00001000; + //if (! (TIFR & (1<<TOV1))) PORTB &= 0b11110111; +} +#endif + +// FIXME: hw_setup() shouldn't be here ... move it entirely to hwdef files +#if (ATTINY == 25) || (ATTINY == 45) || (ATTINY == 85) +static inline void hw_setup() { + #if !defined(USE_GENERIC_HWDEF_SETUP) + hwdef_setup(); + #else + // configure PWM channels + #if PWM_CHANNELS >= 1 + DDRB |= (1 << PWM1_PIN); + TCCR0B = 0x01; // pre-scaler for timer (1 => 1, 2 => 8, 3 => 64...) + TCCR0A = PHASE; + #if (PWM1_PIN == PB4) // Second PWM counter is ... weird + TCCR1 = _BV (CS10); + GTCCR = _BV (COM1B1) | _BV (PWM1B); + OCR1C = 255; // Set ceiling value to maximum + #endif + #endif + // tint ramping needs second channel enabled, + // despite PWM_CHANNELS being only 1 + #if (PWM_CHANNELS >= 2) || defined(USE_TINT_RAMPING) + DDRB |= (1 << PWM2_PIN); + #if (PWM2_PIN == PB4) // Second PWM counter is ... weird + TCCR1 = _BV (CS10); + GTCCR = _BV (COM1B1) | _BV (PWM1B); + OCR1C = 255; // Set ceiling value to maximum + #endif + #endif + #if PWM_CHANNELS >= 3 + DDRB |= (1 << PWM3_PIN); + #if (PWM3_PIN == PB4) // Second PWM counter is ... weird + TCCR1 = _BV (CS10); + GTCCR = _BV (COM1B1) | _BV (PWM1B); + OCR1C = 255; // Set ceiling value to maximum + #endif + #endif + #if PWM_CHANNELS >= 4 + // 4th PWM channel is ... not actually supported in hardware :( + DDRB |= (1 << PWM4_PIN); + //OCR1C = 255; // Set ceiling value to maximum + TCCR1 = 1<<CTC1 | 1<<PWM1A | 3<<COM1A0 | 2<<CS10; + GTCCR = (2<<COM1B0) | (1<<PWM1B); + // set up an interrupt to control PWM4 pin + TIMSK |= (1<<OCIE1A) | (1<<TOIE1); + #endif + + // configure e-switch + PORTB = (1 << SWITCH_PIN); // e-switch is the only input + PCMSK = (1 << SWITCH_PIN); // pin change interrupt uses this pin + #endif // ifdef USE_GENERIC_HWDEF_SETUP +} +#elif (ATTINY == 1634) || defined(AVRXMEGA3) // ATTINY816, 817, etc +static inline void hw_setup() { + // this gets tricky with so many pins... + // ... so punt it to the hwdef file + hwdef_setup(); +} +#else + #error Unrecognized MCU type +#endif + + +//#ifdef USE_REBOOT +static inline void prevent_reboot_loop() { + // prevent WDT from rebooting MCU again + #ifdef AVRXMEGA3 // ATTINY816, 817, etc + RSTCTRL.RSTFR &= ~(RSTCTRL_WDRF_bm); // reset status flag + #else + MCUSR &= ~(1<<WDRF); // reset status flag + #endif + wdt_disable(); +} +//#endif + + +int main() { + // Don't allow interrupts while booting + cli(); + + //#ifdef USE_REBOOT + // prevents cycling after a crash, + // whether intentional (like factory reset) or not (bugs) + prevent_reboot_loop(); + //#endif + + hw_setup(); + + #if 0 + #ifdef HALFSPEED + // run at half speed + // FIXME: not portable (also not needed) + CLKPR = 1<<CLKPCE; + CLKPR = 1; + #endif + #endif + + #ifdef USE_DEBUG_BLINK + //debug_blink(1); + #endif + + // all booted -- turn interrupts back on + PCINT_on(); + WDT_on(); + ADC_on(); + sei(); + + // in case any spurious button presses were detected at boot + #ifdef USE_DELAY_MS + delay_ms(1); + #else + delay_4ms(1); + #endif + + // fallback for handling a few things + #ifndef DONT_USE_DEFAULT_STATE + push_state(default_state, 0); + nice_delay_interrupt = 0; + #endif + + // call recipe's setup + setup(); + + // main loop + while (1) { + // if event queue not empty, empty it + process_emissions(); + + // if loop() tried to change state, process that now + StatePtr df = deferred_state; + if (df) { + set_state(df, deferred_state_arg); + deferred_state = NULL; + //deferred_state_arg = 0; // unnecessary + } + + // enter standby mode if requested + // (works better if deferred like this) + if (go_to_standby) { + #ifdef USE_RAMPING + set_level(0); + #else + #if PWM_CHANNELS >= 1 + PWM1_LVL = 0; + #endif + #if PWM_CHANNELS >= 2 + PWM2_LVL = 0; + #endif + #if PWM_CHANNELS >= 3 + PWM3_LVL = 0; + #endif + #if PWM_CHANNELS >= 4 + PWM4_LVL = 255; // inverted :( + #endif + #endif + standby_mode(); + } + + // catch up on interrupts + handle_deferred_interrupts(); + + // turn delays back on, if they were off + nice_delay_interrupt = 0; + + // give the recipe some time slices + loop(); + + } +} + + +void handle_deferred_interrupts() { + /* + if (irq_pcint) { // button pressed or released + // nothing to do here + // (PCINT only matters during standby) + } + */ + if (irq_adc) { // ADC done measuring + adc_deferred(); + // irq_adc = 0; // takes care of itself + } + if (irq_wdt) { // the clock ticked + WDT_inner(); + // irq_wdt = 0; // takes care of itself + } +} + |