void Manual_Mode(char ShowPos)
{
//ShowPos show position on OLED = 1 or not = 0
unsigned char AsciiString[9];
float Xmm=0,Ymm=0,Zmm=0;
while (SBR!=SBW); //wait for step buffer to empty
mT4IntEnable(!TRUE); //Disable T4 step buffer interrput
Feed_Rate = VERY_SLOW_MOVE; //Set speed to slow
moveX = !TRUE; //Turn off all steppers
moveY = !TRUE;
moveZ = !TRUE;
Axis_Stepper_Motors(On);
OLED_Manual_Screen();
while(!XPlusRight_Btn); //Wait for menu selection key to be released
while(Manual_Select == NOT_PRESSED){
Manual_Mode_Set = TRUE;
if(Feed_Rate>1000)Feed_Rate -=75; //Ramping of the move speed
if(Feed_Rate>100)Feed_Rate -=5; //the longer the button is
if(Feed_Rate<400) Feed_Rate = 400; //pressed
//Set direction & move
if (!XPlusRight_Btn) { Set_X_Dir = X_RIGHT; moveX =TRUE;}
if (!XMinusLeft_Btn) { Set_X_Dir = X_LEFT; moveX =TRUE;}
if (XPlusRight_Btn && XMinusLeft_Btn) moveX = !TRUE;
if (!YPlusTop_Btn) { Set_Y_Dir = Y_BACK; moveY =TRUE;}
if (!YMinusBot_Btn) { Set_Y_Dir = Y_FORWARD; moveY =TRUE;}
if (YPlusTop_Btn && YMinusBot_Btn) moveY = !TRUE;
if (!ZPlus_up_Btn) { Set_Z_Dir = Z_UP; moveZ =TRUE;}
if (!ZMinus_down_Btn){ Set_Z_Dir = Z_DOWN; moveZ =TRUE;}
if (ZPlus_up_Btn && ZMinus_down_Btn) moveZ = !TRUE;
if (!moveX && !moveY && !moveZ) Feed_Rate = VERY_SLOW_MOVE; //Re-set move speed
//Report current position to OLED.
if(ShowPos){
Xmm = (float)lSaveSteps_X / StepsPer_mm;
sprintf(AsciiString, "%6.2f",Xmm); // Converts number to text
OLED_FastText57(4, 64, AsciiString,0); // Write the new number
Ymm = (float)lSaveSteps_Y / StepsPer_mm;
sprintf(AsciiString, "%6.2f",Ymm); // Converts number to text
OLED_FastText57(5, 64, AsciiString,0); // Write the new number
Zmm = (float)lSaveSteps_Z / ZStepsPer_mm;
sprintf(AsciiString, "%6.2f",Zmm); // Converts number to text
OLED_FastText57(6, 64, AsciiString,0); // Write the new number
}
}
Manual_Mode_Set = !TRUE;
mT4IntEnable(!TRUE); //Disable T4 step buffer interrput
}//ManualMode
void Axis_Stepper_Motors(int on_off)
{
if(on_off == On){
X_Disable = !TRUE; //to enable X axis
Y_Disable = !TRUE; //to enable Y axis
Z_Disable = !TRUE; //to enable Z axis
mT4IntEnable(TRUE); //Turn on interrupts
}
else{
X_Disable = TRUE; //to disable X axis
Y_Disable = TRUE; //to disable Y axis
Z_Disable = TRUE; //to disable Z axis
mT4IntEnable(!TRUE); //Turn off interrupts
}
}
//******************************************************************
void GoToRest(void)
{
//Variables required for Run3DLine
//Values set from last move: lSaveSteps_X,lSaveSteps_Y,lSaveSteps_Z
//Values set here: lX_Steps,lY_Steps,lZ_Steps
extern float X_Rest_mm,Y_Rest_mm,Z_Rest_mm;
GX_On=1; //Enable axis for move
GY_On=1;
GZ_On=0; //To stop any Z move
Feed_Rate = GO_TO_REST_RATE; //set speed
X_Steps = X_Rest_mm * StepsPer_mm;//Convert mm coordinate to steps
Y_Steps = Y_Rest_mm * StepsPer_mm;
//Z_Steps = Z_Rest_mm * ZStepsPer_mm;//Uncomment for Z move
lX_Steps= f_to_sl(X_Steps); //Convert to integer steps
lY_Steps= f_to_sl(Y_Steps); //float to signed long.
//lZ_Steps= f_to_sl(Z_Steps);//Uncomment for Z move
mT4IntEnable(TRUE);
Stepper_Run3DLine();//Run line and reset all values
GX_On=0;
GY_On=0;
//GZ_On=0;//Uncomment for Z move
Delayms(250);
}//GoToRest
void rk86_video_init_cursor_timer(void) {
// Setup timer 4.
PR4 = 1 * ((BUSFREQ/2)/1000) - 1;
T4CON = 0x8010;
mT4SetIntPriority(1);
mT4ClearIntFlag();
mT4IntEnable(1);
}
/***************************************************************************************************
InitTimers
Initialise the 1 mSec timer used for internal timekeeping.
****************************************************************************************************/
void initTimers(void) {
// setup timer 4
PR4 = 1 * ((BUSFREQ/2)/1000) - 1; // 1 mSec
T4CON = 0x8010; // T4 on, prescaler 1:2
mT4SetIntPriority(1); // lower priority
mT4ClearIntFlag(); // clear interrupt flag
mT4IntEnable(1); // enable interrupt
P_SD_ACTIVITY_TRIS = 0; P_SD_LED_SET_LO; // initialise the SD card activity led (maintained by timers.c)
}
extern void timerEnableInterrupt(timer * pTimer, const int PreviousSetting)
{
switch(pTimer->m_TimerNumber) {
case 1: mT1IntEnable(PreviousSetting); break;
case 2: mT2IntEnable(PreviousSetting); break;
case 3: mT3IntEnable(PreviousSetting); break;
case 4: mT4IntEnable(PreviousSetting); break;
case 5: mT5IntEnable(PreviousSetting); break;
default: while (true);
}
}
//******************************************************************
void Stepper_InitIO (void)
{
// Setup timers
//Timer 1
T1CON = 0x8030; //Set up timer 1 Fosc/2, prescaled 1:256
DDPCONbits.JTAGEN = 0; //To release port A pins from use by JTAG port
//Set Tris for Stepper
//X
AD1PCFGbits.PCFG8 = 1; //AtoD port cfg AN8/B8
TRISBbits.TRISB8 = OUTPUT; //Step
AD1PCFGbits.PCFG9 = 1; //AtoD port cfg AN9/B9
TRISBbits.TRISB9 = OUTPUT; //Dir
AD1PCFGbits.PCFG13 = 1; //AtoD port cfg AN13/B13
TRISBbits.TRISB13 = OUTPUT; //Enable
TRISDbits.TRISD4 = INPUT; //X_HomeSwitch
//Y
TRISDbits.TRISD8 = OUTPUT; //Step
TRISDbits.TRISD9 = OUTPUT; //Dir
TRISDbits.TRISD10 = OUTPUT; //Enable
TRISCbits.TRISC13 = INPUT; //Y_HomeSwitch
//Z
TRISDbits.TRISD2 = OUTPUT; //Step
TRISDbits.TRISD7 = OUTPUT; //Dir
TRISDbits.TRISD3 = OUTPUT; //Enable
TRISCbits.TRISC14 = INPUT; //Z_HomeSwitch
X_Disable = TRUE;
Y_Disable = TRUE;
Z_Disable = TRUE;
//Timer 4 is used to time the stepper motor steps
//PB clk = 8MHz Post scaler = 2 to 1 tick every 25nS
T4CON = 0x0; //Clear timer setting register
T4CONSET = 0x0010; //Set PS to 2
TMR4 = 0; //Reset clock
PR4 = 500; //Initialise PR4 value (when T4 matches PR4 it interrupts)
mT4SetIntPriority(7); //Set T4 interrupt to top priority
INTEnableSystemMultiVectoredInt();//Set T4 to vectored i.e. Fast
mT4ClearIntFlag(); //Clear interrupt flag
T4CONSET = 0x8000; //Turn on T4
mT4IntEnable(!TRUE); //Disable T4 interrputs
// init the circular buffer pointers
SBR = 0;
SBW = 0;
// Init Rapid moves
G_CodeRapidXYMove=0;
G_CodeRapidZMove=0;
}//InitStepper
extern int timerDisableInterrupt(timer * pTimer)
{
int PreviousSetting;
switch(pTimer->m_TimerNumber) {
case 1: PreviousSetting = mT1GetIntEnable(); mT1IntEnable(0); break;
case 2: PreviousSetting = mT2GetIntEnable(); mT2IntEnable(0); break;
case 3: PreviousSetting = mT3GetIntEnable(); mT3IntEnable(0); break;
case 4: PreviousSetting = mT4GetIntEnable(); mT4IntEnable(0); break;
case 5: PreviousSetting = mT5GetIntEnable(); mT5IntEnable(0); break;
default: while (true);
}
return PreviousSetting;
}
int RapMan_Home(void)
{
int i;
OLED_Home_Screen();
moveX = !TRUE; //Turn off all steppers
moveY = !TRUE;
moveZ = !TRUE;
Stepper_InitIO();
Axis_Stepper_Motors(On);
Manual_Mode_Set = TRUE;
Feed_Rate = HOME_SPEED_Z; //Move tool down to prevent crash
OLED_FastText57(3, 0, "Z DOWN ",0);
Set_Z_Dir = Z_DOWN;
moveZ = TRUE;
for(i=0;i<200000;i++);
moveZ = !TRUE;
OLED_FastText57(3, 0, "Y FORWARD ",0);
Feed_Rate = HOME_SPEED_X_Y; //Move tool forward to prevent crash
Set_Y_Dir = Y_FORWARD;
moveY = TRUE;
for(i=0;i<60000;i++);
moveY = !TRUE;
OLED_FastText57(3, 0, "HOME X ",0); //Display operation
Feed_Rate = HOME_SPEED_X_Y; //Set homing speed
while(!X_HomeSwitch && Manual_Select){ //Keep homing until the switch is pressed
Set_X_Dir = X_LEFT; //Direction of home
while(!X_HomeSwitch && Manual_Select)moveX = TRUE;
moveX = !TRUE;
for(i=0;i<20000;i++); //Wait to allow de-bounce of switch/ noise
}
moveX=TRUE; //Move a little more to ensure full switch
for(i=0;i<10000;i++);
moveX = !TRUE;
Feed_Rate = HOME_SPEED_X_Y_SET; //At slow speed pull away from switch
while(X_HomeSwitch && Manual_Select){ //to get accurate switch point
Set_X_Dir = X_RIGHT;
while(X_HomeSwitch && Manual_Select)moveX = TRUE;
moveX = !TRUE;
for(i=0;i<2000;i++); //Wait to allow de-bounce of switch/ noise
lSaveSteps_X = X_HOME_MM * StepsPer_mm; //*************HOME X
lHomeStepsX = lSaveSteps_X;
}
OLED_FastText57(3, 0, "HOME Y ",0);
Feed_Rate = HOME_SPEED_X_Y;
while(!Y_HomeSwitch && Manual_Select){
Set_Y_Dir = Y_BACK;
while(!Y_HomeSwitch && Manual_Select)moveY = TRUE;
moveY = !TRUE;
for(i=0;i<20000;i++);
}
moveY=TRUE;
for(i=0;i<10000;i++);
moveY = !TRUE;
Feed_Rate = HOME_SPEED_X_Y_SET;
while(Y_HomeSwitch && Manual_Select){
Set_Y_Dir = Y_FORWARD;
while(Y_HomeSwitch && Manual_Select)moveY = TRUE;
moveY = !TRUE;
for(i=0;i<2000;i++);
lSaveSteps_Y = Y_HOME_MM * StepsPer_mm;//*************HOME Y
lHomeStepsY = lSaveSteps_Y;
}
OLED_FastText57(3, 0, "HOME Z ",0);
Feed_Rate = HOME_SPEED_Z;
while(!Z_HomeSwitch && Manual_Select){
Set_Z_Dir = Z_UP;
while(!Z_HomeSwitch && Manual_Select)moveZ = TRUE;
moveZ = !TRUE;
for(i=0;i<2000;i++);
}
moveZ=TRUE;
for(i=0;i<10000;i++);
moveZ = !TRUE;
Feed_Rate = HOME_SPEED_Z_SET;
while(Z_HomeSwitch && Manual_Select){
Set_Z_Dir = Z_DOWN;
while(Z_HomeSwitch && Manual_Select)moveZ = TRUE;
moveZ = !TRUE;
for(i=0;i<2000;i++);
lSaveSteps_Z = Z_HOME_MM;//*************HOME Z
lHomeStepsZ = lSaveSteps_Z;
}
Manual_Mode_Set = !TRUE;
mT4IntEnable(!TRUE);
if(!Manual_Select)
{
OLED_FastText57(3, 0, "HOME ABORTED",0);
for(i=0;i<2000000;i++);
return !TRUE;
}
else
{
OLED_FastText57(3, 0, "HOME COMPLETE",0);
for(i=0;i<2000000;i++);
return TRUE;
}
}//Home