int main(int argc, char** argv) {
//DDPCONbits.JTAGEN = 0; // Disable JTAG
mPORTGSetPinsDigitalIn(0x00FF);
mPORTBSetPinsAnalogIn(0x00FF); //Enable all analog
SYSTEMConfig(SYS_FREQ, SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE);
CloseADC10();
SetChanADC10(INITCH);
OpenADC10(CONFIG1, CONFIG2, CONFIG3, CFGPORT, CFGSCAN);
ConfigIntADC10(CFGINT);
EnableADC10();
//Initialize the DB_UTILS IO channel
DBINIT();
// Display the introduction
DBPRINTF("Welcome to the Analog Input Test.\n");
DBPRINTF("The build date and time is (" __DATE__ "," __TIME__ ")\n");
while (1){
//Get damper value from PIC analog input
int i = 0;
for(i;i<1;i++){
int analog = ReadADC10(i);
DBPRINTF("Hammer %d = %d", i, analog);
DBPRINTF("\n");
}
int digital = mPORTGReadBits(BIT_0);
DBPRINTF("digital: %X \n \n", digital );
}
return 0;
}
// Perform homing cycle to locate and set machine zero. Only '$H' executes this command.
// NOTE: There should be no motions in the buffer and Grbl must be in an idle state before
// executing the homing cycle. This prevents incorrect buffered plans after homing.
void MotionGoHome(void)
{
plan_init();
uint16_t limitStatus;
uint16_t stepCount;
sys.state = STATE_HOMING; // Set system state variable
// LIMIT_PCMSK &= ~LIMIT_MASK; // Disable hard limits pin change register for cycle duration
xLimitDetected = FALSE;
yLimitDetected = FALSE;
BSP_SetStepSize(X_AXIS, QUARTER);
BSP_SetStepSize(Y_AXIS, QUARTER);
BSP_SetStepSize(Z_AXIS, QUARTER);
settings.steps_per_mm[X_AXIS] = X_STEPS_MM(QUARTER_STEP);
settings.steps_per_mm[Y_AXIS] = Y_STEPS_MM(QUARTER_STEP);
settings.steps_per_mm[Z_AXIS] = Z_STEPS_MM(QUARTER_STEP);
// Find out if X or Y axis are at limit
limitStatus = mPORTCReadBits(xLimitInput.pin||yLimitInput.pin);
if(limitStatus)
{
if(limitStatus & xLimitInput.pin) // If Xat Limit
{
stepCount = 0;
BSP_Timer3Start(100);
OpenOC2(XS_PWM_ENA, (ReadPeriod3()>>1), ReadPeriod3()>>1);
BSP_AxisEnable(X_AXIS, NEGATIVE);
while((mPORTCReadBits(xLimitInput.pin)))
{
stepCount++;
steps_X = 0x1;
if(stepCount >= 20)
mPORTGToggleBits(xAxis.directionPin.pin);
}
BSP_AxisDisable(X_AXIS);
if(mPORTGReadBits(xAxis.directionPin.pin) == POSITIVE)
gcode.position[X_AXIS] = 215.000;
else
gcode.position[X_AXIS] =0;
}
if(limitStatus & yLimitInput.pin) // If Xat Limit
{
stepCount = 0;
BSP_Timer2Start(100);
OpenOC1(XS_PWM_ENA, (ReadPeriod2()>>1), ReadPeriod2()>>1);
BSP_AxisEnable(Y_AXIS, NEGATIVE);
while((mPORTCReadBits(yLimitInput.pin)))
{
stepCount++;
steps_Y = 0x1;
if(stepCount >= 20)
mPORTEToggleBits(yAxis.directionPin.pin);
}
if(mPORTEReadBits(xAxis.directionPin.pin) == POSITIVE)
gcode.position[Y_AXIS] = 215.000;
else
gcode.position[Y_AXIS] =0;
}
void sampleButtons()
{
//BTN1
samples[0] <<= 1;
if(mPORTGReadBits(BIT_6))
samples[0] |= 0x01;
//BTN2
samples[1] <<= 1;
if(mPORTGReadBits(BIT_7))
samples[1] |= 0x01;
//BTN3
samples[2] <<= 1;
if(mPORTDReadBits(BIT_13))
samples[2] |= 0x01;
//BTN_ROTARY bit 4
samples[3] <<= 1;
if(mPORTFReadBits(BIT_4))
samples[3] |= 0x01;
}
void __ISR(_TIMER_3_VECTOR, ipl2) _InterruptHandler_TMR3(void)
{
// if(current_block->direction_bits[Y_AXIS])
// PORTSetBits(xAxis.directionPin.port, xAxis.directionPin.pin);
// else
// PORTClearBits(yAxis.directionPin.port, yAxis.directionPin.pin);
if(steps_X)
{
if(!(mPORTGReadBits(xAxis.enablePin.pin)))
steps_X--;
}
else if (current_block != Null)
{
if(current_block->steps_x)
{
if(!(mPORTGReadBits(xAxis.enablePin.pin)))
current_block->steps_x--;
}
else
{
//CloseOC2();
BSP_AxisDisable(X_AXIS);
BSP_Timer3Stop();
}
}
else
{
//CloseOC2();
BSP_AxisDisable(X_AXIS);
BSP_Timer3Stop();
}
// clear the interrupt flag
mT3ClearIntFlag();
}
