hackaton2019

//appmain.cpp - arduino-like app start

#include "app.h"
#include "dbg.h"
#include "cmsis_os.h"
#include "config.h"
#include "dbg.h"
#include "adc.h"
#include "jogwheel.h"
#include "hwio_a3ides.h"
#include "sys.h"

#ifdef SIM_HEATER
#include "sim_heater.h"
#endif //SIM_HEATER

#ifdef SIM_MOTION
#include "sim_motion.h"
#endif //SIM_MOTION

#include "uartslave.h"
#include "marlin_server.h"
#include "bsod.h"
#include "eeprom.h"
#include "diag.h"
#include "TMCStepper.h"

#include <Arduino.h>

#define DBG _dbg0 //debug level 0
//#define DBG(...)  //disable debug

extern void USBSerial_put_rx_data(uint8_t* buffer, uint32_t length);

extern "C" {

extern void init_tmc(void);
extern unsigned int get_tmc_stall_extruder(void);

extern uartrxbuff_t uart6rxbuff; // PUT rx buffer
extern uartslave_t uart6slave; // PUT slave

#ifdef ETHERNET
extern osThreadId webServerTaskHandle; // Webserver thread(used for fast boot mode)
#endif //ETHERNET

#ifndef _DEBUG
extern IWDG_HandleTypeDef hiwdg; //watchdog handle
#endif //_DEBUG

void app_setup(void)
{
    setup();

    init_tmc();
    DBG("after init_tmc (%ld ms)", HAL_GetTick());
}

void app_idle(void)
{
    osDelay(0); // switch to other threads - without this is UI slow during printing
}

bool canSampleStall = false;
unsigned int stall = 0;
unsigned int prevStall = 0;

int counter = 0;

void app_run(void)
{
    DBG("app_run");

#ifdef ETHERNET
    if (diag_fastboot)
        osThreadResume(webServerTaskHandle);
#endif //ETHERNET

    eeprom_init();

    marlin_server_init();
    marlin_server_idle_cb = app_idle;

    adc_init();

#ifdef SIM_HEATER
    sim_heater_init();
#endif //SIM_HEATER

    DBG("before setup (%ld ms)", HAL_GetTick());
    //if (diag_fastboot || (!sys_fw_is_valid()))
    //	marlin_server_stop_processing();
    //else
    app_setup();
    DBG("after setup (%ld ms)", HAL_GetTick());

    canSampleStall = true;
    while (1) {
        if (marlin_server_processing()) {
            loop();
        }
        uartslave_cycle(&uart6slave);
        marlin_server_loop();
        osDelay(0); // switch to other threads - without this is UI slow
#ifdef JOGWHEEL_TRACE
        static int signals = jogwheel_signals;
        if (signals != jogwheel_signals) {
            signals = jogwheel_signals;
            DBG("%d %d", signals, jogwheel_encoder);
        }
#endif //JOGWHEEL_TRACE
#ifdef SIM_MOTION_TRACE_X
        static int32_t x = sim_motion_pos[0];
        if (x != sim_motion_pos[0]) {
            x = sim_motion_pos[0];
            DBG("X:%li", x);
        }
#endif //SIM_MOTION_TRACE_X
#ifdef SIM_MOTION_TRACE_Y
        static int32_t y = sim_motion_pos[1];
        if (y != sim_motion_pos[1]) {
            y = sim_motion_pos[1];
            DBG("Y:%li", y);
        }
#endif //SIM_MOTION_TRACE_Y
#ifdef SIM_MOTION_TRACE_Z
        static int32_t z = sim_motion_pos[2];
        if (z != sim_motion_pos[2]) {
            z = sim_motion_pos[2];
            DBG("Z:%li", z);
        }
#endif //SIM_MOTION_TRACE_Z
        stall = get_tmc_stall_extruder();
        
        //if (++counter % 100 == 0) {

        if (stall != prevStall && stall >= 4) {

            DBG("STALL: %d", stall);

            prevStall = stall;
        }
        //}
    }
}

void app_error(void)
{
    bsod("app_error");
}

void app_assert(uint8_t* file, uint32_t line)
{
    bsod("app_assert");
}

void app_cdc_rx(uint8_t* buffer, uint32_t length)
{
    USBSerial_put_rx_data(buffer, length);
}

void app_tim6_tick(void)
{
    adc_cycle();
#ifdef SIM_HEATER
    static uint8_t cnt_sim_heater = 0;
    if (++cnt_sim_heater >= 50) // sim_heater freq = 20Hz
    {
        sim_heater_cycle();
        cnt_sim_heater = 0;
    }
#endif //SIM_HEATER
#ifdef SIM_MOTION
    sim_motion_cycle();
#endif //SIM_MOTION
}

extern TMC2209Stepper stepperE0;

void app_tim14_tick(void)
{
    jogwheel_update_1ms();
    hwio_update_1ms();

    //if (canSampleStall && ++counter % 10 == 0) {

    //    //stall = get_tmc_stall_extruder();
    //    stall++;
    //}
}

} // extern "C"

//cpp code