void Laser::Init() {
// Initialize timers for laser intensity control
#if LASER_CONTROL == 1
#if IS_TIMER_3_PWR
timer3_init(LASER_PWR_PIN);
#elif IS_TIMER_4_PWR
timer4_init(LASER_PWR_PIN);
#endif
#elif LASER_CONTROL == 2
#if IS_TIMER_3_PWM
timer3_init(LASER_PWM_PIN);
#elif IS_TIMER_4_PWM
timer4_init(LASER_PWM_PIN);
#endif
#endif
#if ENABLED(LASER_PERIPHERALS)
OUT_WRITE(LASER_PERIPHERALS_PIN, HIGH); // Laser peripherals are active LOW, so preset the pin
OUT_WRITE(LASER_PERIPHERALS_STATUS_PIN, HIGH); // Set the peripherals status pin to pull-up.
#endif
#if LASER_CONTROL == 2
OUT_WRITE(LASER_PWR_PIN, LASER_UNARM); // Laser FIRING is active LOW, so preset the pin
#endif
// initialize state to some sane defaults
laser.intensity = 100.0;
laser.ppm = 0.0;
laser.duration = 0;
laser.status = LASER_OFF;
laser.firing = LASER_ON;
laser.mode = CONTINUOUS;
laser.last_firing = 0;
laser.diagnostics = false;
laser.time = 0;
#if ENABLED(LASER_RASTER)
laser.raster_aspect_ratio = LASER_RASTER_ASPECT_RATIO;
laser.raster_mm_per_pulse = LASER_RASTER_MM_PER_PULSE;
laser.raster_direction = 1;
#endif // LASER_RASTER
laser.extinguish();
}
void stepperInit_4pin(stepper_struct* current_stepper)
{
// set default values in current_stepper struct
current_stepper->step_number = 0; // which step the motor is on
current_stepper->direction = DIRECTION_CW; // motor direction
setSpeed(current_stepper, DEFAULT_PPS); // set default pulsesPerSecond
current_stepper->current_step_number = 0; // set default home position to current position = 0;
current_stepper->target_step_number = 0; // set default target position to be the same as home position = 0;
current_stepper->correction_pulses = 0; // number of correction pulses - number of steps before output shaft actually moves
// setup the pins on the microcontroller:
gpio_pinSetup(current_stepper->motor_pin_1_bank, current_stepper->motor_pin_1, GPIO_Mode_OUT, GPIO_OType_PP, GPIO_PuPd_DOWN, GPIO_Speed_40MHz);
gpio_pinSetup(current_stepper->motor_pin_2_bank, current_stepper->motor_pin_2, GPIO_Mode_OUT, GPIO_OType_PP, GPIO_PuPd_DOWN, GPIO_Speed_40MHz);
gpio_pinSetup(current_stepper->motor_pin_3_bank, current_stepper->motor_pin_3, GPIO_Mode_OUT, GPIO_OType_PP, GPIO_PuPd_DOWN, GPIO_Speed_40MHz);
gpio_pinSetup(current_stepper->motor_pin_4_bank, current_stepper->motor_pin_4, GPIO_Mode_OUT, GPIO_OType_PP, GPIO_PuPd_DOWN, GPIO_Speed_40MHz);
// set default GPIO values
GPIO_ResetBits(current_stepper->motor_pin_1_bank, current_stepper->motor_pin_1);
GPIO_ResetBits(current_stepper->motor_pin_2_bank, current_stepper->motor_pin_2);
GPIO_ResetBits(current_stepper->motor_pin_3_bank, current_stepper->motor_pin_3);
GPIO_ResetBits(current_stepper->motor_pin_4_bank, current_stepper->motor_pin_4);
// pin_count is used by the stepMotor():
current_stepper->pin_count = 4;
if(current_stepper->use_half_step == USE_HALF_STEP)
{
current_stepper->number_of_steps = 8;
}
else{
current_stepper->number_of_steps = 4;
}
timer3_init();
}
int main() {
//initialize all necessary sensors and utilities
lcd_init();
timer1_init();
timer3_init();
move_servo(90);
ADC_init();
USART_Init(MYUBRR);
init_push_buttons();
oi_t *sensor_data = oi_alloc();
oi_init(sensor_data);
audioInit(sensor_data);
//oi_play_song(1);
while(1) {
//empty currentObjects before proceeding by setting all stored objects to "invalid" - ignored by later checks
for (int i = 0; i < 20; i++) {
currentObjects[i].isValid = 0;
}
char received = serial_getc(); //take keyboard input from putty
takeDirectionInput(received, currentObjects); //translate keyboard input into functionality
}
return 0;
}
void ADC1_Init(void)
{
INIT_ADC_GPIO();
ADC_DMA_Init();
ConfigADC();
timer3_init(500,(72-1));//500
memset(&adc_param,0,sizeof(adc_param));
ADC1_DMA_Start();
}
void laser_init()
{
#if LASER_CONTROL == 1
timer3_init();
#endif // LASER_CONTROL ==1
#if LASER_CONTROL == 2
timer3_init();
timer4_init();
#endif // LASER_CONTROL == 2
// Engage the pullup resistor for TTL laser controllers which don't turn off entirely without it.
pinMode(LASER_FIRING_PIN, OUTPUT);
#ifdef LASER_PERIPHERALS
digitalWrite(LASER_PERIPHERALS_PIN, HIGH); // Laser peripherals are active LOW, so preset the pin
pinMode(LASER_PERIPHERALS_PIN, OUTPUT);
digitalWrite(LASER_PERIPHERALS_STATUS_PIN, HIGH); // Set the peripherals status pin to pull-up.
pinMode(LASER_PERIPHERALS_STATUS_PIN, INPUT);
#endif // LASER_PERIPHERALS
// initialize state to some sane defaults
laser.intensity = 100.0;
laser.ppm = 0.0;
laser.duration = 0;
laser.status = LASER_OFF;
laser.firing = LASER_OFF;
laser.mode = CONTINUOUS;
laser.last_firing = 0;
laser.diagnostics = false;
laser.time = 0;
#ifdef LASER_RASTER
laser.raster_aspect_ratio = LASER_RASTER_ASPECT_RATIO;
laser.raster_mm_per_pulse = LASER_RASTER_MM_PER_PULSE;
laser.raster_direction = 1;
#endif // LASER_RASTER
#ifdef MUVE_Z_PEEL
laser.peel_distance = 2.0;
laser.peel_speed = 2.0;
laser.peel_pause = 0.0;
#endif // MUVE_Z_PEEL
}
//Function to initialize all the devices
void init_devices()
{
cli(); //Clears the global interrupt
port_init(); //Initializes all the ports
timer5_init();
timer3_init();
timer1_init();
left_position_encoder_interrupt_init();
right_position_encoder_interrupt_init();
ext_position_encoder_interrupt_init ();
sei(); // Enables the global interrupt
}
/**
* Initializes everything on the robot
* @author Group B1
* @param oi The open interface of the robot
* @date 12/4/2012
*/
void init_all(oi_t *oi)
{
oi = oi_alloc();
oi_init(oi);
init_buttons();
init_usart();
lcd_init();
timer3_init();
ADC_init();
init_printf(0,write_one_char);
move_servo(0);
wait_ms(1000);
printf("\n");
printf("\n");
}
void inits( void) {
cli();
USART_init(MYUBRR, TRUE);
can_init();
spi_init_master();
fm_init();
timer0_init();
timer1_init();
//TODO: RUN timer3_init();
timer3_init();
prepare_rx(1, ID_steeringWheel, MASK_FRONT_MODULE, fm_msg_handler);
printf("\r\nFront module initialized");
sei();
set_bit(DDRB, DDB6);
clear_bit(PORTB, PB6);
}
// Public functions
// Initialize peripheral devices
void robockey_init(void)
{
m_clockdivide(0); // 16 MHz
sei(); // Enable global interrupt
timer1_init(0.5); // kHz
timer3_init(50); // Hz
//timer0_init(1); // kHz
adc_init();
mode_init();
m_rf_open(CHANNEL,RXADDRESS,PACKET_LENGTH_RF); // Enable wireless
m_usb_init(); // Enable usb communication
m_bus_init(); // Enable mbus
m_wii_open(); // Enable wii camera
}
void PD0_INT_Handler(void)
{
// serial_puts("enter interrupt.......");
if(trig_num1==0)
{
timer3_init();
trig_num1 ++;
*(RP)(GPIO_PORTD_INTLEL) |= 0x1;//change PA0 to trailing edge下降沿触发
}
else
{
time1 = *(RP)(TIMER_T3CCR);
// *(RP)(GPIO_PORTD_INTLEL) &= ~(0x1<<0);//change PA1 to trailing edge下降沿触发
}
*(RP)(GPIO_PORTD_INTCLR) |= 0x1;//clear PA0 interrupt
}
/**
*
* Function to initialize the timers, registers, etc. for the ir, ping, servo, lcd
*/
void initialize()
{
// Initialize Serial Communication
serial_init(57600);
// initialize timers for use by ping sensor and servo
timer3_init();
timer_init();
// initialize ADC for use by IR sensor
ADC_init();
// Initialize Open Interface and sensor data
sensor_data = oi_alloc();
oi_init(sensor_data);
// initialize LCD
lcd_init();
load_songs();
}
int main()
{
gps_init();
log_init();
radio_init();
sms_init();
statusled_init();
timer1_init();
timer3_init();
watchdog_init();
/* Interrupts on - go go go! */
sei();
/* Now sleep - the whole program is interrupt driven */
for (;;) sleep_mode();
}
void main_init(void) {
OSC_init();
TRISA = 0b11100111; // SWB,SWG,SWR,Vcap,x,ADCB,ADCG,ADCR
TRISB = 0b00000000; // PGD,PGC,x,PWMW,x,PWMB,PWMG,PWMR
TRISC = 0b10111010; // RX,TX,D+,D-,Vusb,x,T1OSI,T1OSO
ANCON0 = 0b11111000; // AN2,AN1,AN0 is analog
ANCON1 = 0b00011111; // all digital
INTCON2bits.RBPU = 0; // PORTB Pull-Up Enable
timer0_init(8); // ?
timer1_init(0, T1OSC); // ?
timer3_init(2); // button?
RTCC_init();
PWM_init(PR_VALUE); //250 is 3kHz
USB_CDC_init();
}
void main_init(void) {
OSC_init();
TRISA = 0b00010000; // x,x,x,Vcap,x,x,x,x
TRISB = 0b00110001; // x,x,SDA,SCL,x,x,x,x
TRISC = 0b10111010; // RX,TX,D+,D-,Vusb,LED,T1OSI,T1OSO
ANCON0 = 0b11111111; // xxx,xxx,xxx,RA5,RA3,RA2,RA1,RA0
ANCON1 = 0b00011111; // VBG,xxx,xxx,RB0,RC2,RB1,RB3,RB2
INTCON2bits.RBPU = 0; // Pull-up enable
timer0_init(6);
timer1_init(0, T1OSC);
timer3_init(2); // button
I2C_LCD_init();
RTCC_init();
USB_CDC_init();
UART_init();
}
void laser_init()
{
// Initialize timers for laser intensity control
#if LASER_CONTROL == 1
if (LASER_FIRING_PIN == 2 || LASER_FIRING_PIN == 3 || LASER_FIRING_PIN == 5) timer3_init(LASER_FIRING_PIN);
if (LASER_FIRING_PIN == 6 || LASER_FIRING_PIN == 7 || LASER_FIRING_PIN == 8) timer4_init(LASER_FIRING_PIN);
#endif
#if LASER_CONTROL == 2
if (LASER_INTENSITY_PIN == 2 || LASER_INTENSITY_PIN == 3 || LASER_INTENSITY_PIN == 5) timer3_init(LASER_INTENSITY_PIN);
if (LASER_INTENSITY_PIN == 6 || LASER_INTENSITY_PIN == 7 || LASER_INTENSITY_PIN == 8) timer4_init(LASER_INTENSITY_PIN);
#endif
#ifdef LASER_PERIPHERALS
digitalWrite(LASER_PERIPHERALS_PIN, HIGH); // Laser peripherals are active LOW, so preset the pin
pinMode(LASER_PERIPHERALS_PIN, OUTPUT);
digitalWrite(LASER_PERIPHERALS_STATUS_PIN, HIGH); // Set the peripherals status pin to pull-up.
pinMode(LASER_PERIPHERALS_STATUS_PIN, INPUT);
#endif // LASER_PERIPHERALS
// initialize state to some sane defaults
laser.intensity = 100.0;
laser.ppm = 0.0;
laser.duration = 0;
laser.status = LASER_OFF;
laser.firing = LASER_OFF;
laser.mode = CONTINUOUS;
laser.last_firing = 0;
laser.diagnostics = false;
laser.time = 0;
#ifdef LASER_RASTER
laser.raster_aspect_ratio = LASER_RASTER_ASPECT_RATIO;
laser.raster_mm_per_pulse = LASER_RASTER_MM_PER_PULSE;
laser.raster_direction = 1;
#endif // LASER_RASTER
#ifdef MUVE_Z_PEEL
laser.peel_distance = 2.0;
laser.peel_speed = 2.0;
laser.peel_pause = 0.0;
#endif // MUVE_Z_PEEL
laser_extinguish();
}
void My_System_Init(void)
{
uint8_t flag, i=0;
NVIC_Configuration();
delay_init(72); //延时初始化
for(i=0;i<5;i++)
delay_Ms_Loop(1000); //上电短延时 确保供电稳定
LED_Init();
LEDALL_ON;
timer2_init(); //PWM输出定时器初始化
timer3_init(); //PWM输出定时器初始化
IIC_Init();
uart_init(38400); //调试用串口初始化
My_usart2_init(38400); //蓝牙用串口初始化
printf("欢迎使用启天科技BUTTERFLY四旋翼\r\n");
printf("QQ群：471023785\r\n");
LEDALL_OFF;
MPU6050_Init(); //6050初始化
SPI1_INIT(); //SPI初始化，用于nRF模块
flag = NRF_CHECK(); //检查NRF模块是否正常工作
if(flag != 1)
{
while(1)
{
LEDALL_OFF;
delay_Ms_Loop(200);
LEDALL_ON;
delay_Ms_Loop(200);
}
}
NRF24L01_INIT(); //nRF初始化
SetRX_Mode(); //设置为接收模式
NRF24L01_INIT(); //nRF初始化
NRF_GPIO_Interrupt_Init(); //nRF使用的外部中断的引脚初始化
tim4_init(); //定时中断，作为系统的控制频率
adcInit(); //ADC初始化，测量电池电压
}
void stepperInit_2pin(stepper_struct* current_stepper)
{
// set default values in current_stepper struct
current_stepper->step_number = 0; // which step the motor is on
current_stepper->direction = DIRECTION_CW; // motor direction
current_stepper->use_half_step = 0; // 1 when the stepper motor is to be driven with half steps (only 4-wire)
setSpeed(current_stepper, DEFAULT_PPS); // set default pulsesPerSecond
current_stepper->current_step_number = 0; // set default current position to home position = 0;
current_stepper->target_step_number = 0; // set default target position to be the same as home position = 0;
current_stepper->correction_pulses = 0; // number of correction pulses - number of steps before output shaft actually moves
// setup the pins on the microcontroller:
gpio_pinSetup(current_stepper->motor_pin_1_bank, current_stepper->motor_pin_1, GPIO_Mode_OUT, GPIO_OType_PP, GPIO_PuPd_DOWN, GPIO_Speed_40MHz);
gpio_pinSetup(current_stepper->motor_pin_2_bank, current_stepper->motor_pin_2, GPIO_Mode_OUT, GPIO_OType_PP, GPIO_PuPd_DOWN, GPIO_Speed_40MHz);
// set default GPIO values
GPIO_ResetBits(current_stepper->motor_pin_1_bank, current_stepper->motor_pin_1);
GPIO_ResetBits(current_stepper->motor_pin_2_bank, current_stepper->motor_pin_2);
// pin_count is used by the stepMotor() method:
current_stepper->pin_count = 2;
current_stepper->number_of_steps = 4;
timer3_init();
}
/**
* Used to control the robot.
* Receive and transmit data, measure the distance from object and navigate to the retrieval zone.
**/
int main(void)
{
lcd_init();
timer3_init();
timer_init();
ADC_init();
USART_Init();
oi_t *sensor_data = oi_alloc();
oi_init(sensor_data);//should turn the iRobot Create's power LED yellow
lcd_init();
serial_puts("Start");
//USART_Transmit(13);
//USART_Transmit(10);
int TempAngle[4] = {0,0,0,0};
int TempIR[4] = {0,0,0,0};
int pos[4] = {0,0,0,0};
int AddIR[4] = {0,0,0,0};
int count[4] = {0,0,0,0};
int found = 0;
int x1 = 0;
int x2 = 0;
int x3 = 0;
int x4 = 0;
unsigned angle = 0;
unsigned char IR = 0;
volatile int i=0;
volatile int x = 0;
char command;
char display[100];
char display1[20];
char display2[20];
char display3[20];
char display4[20];
char display5[100];
char display6[100];
while (1)
{
command = USART_Recieve();
USART_Transmit(command);
//USART_Transmit(13);
//USART_Transmit(10);
if (command == '1')
{
found = 0;
angle = 0;
int t;
int TempAngle[6] = {0, 0,0,0,0,0};
int TempIR[6] = {0, 0,0,0,0,0};
int pos[6] = {0, 0,0,0,0,0};
int AddIR[6] = {0, 0, 0,0,0,0};
int count[6] = {0, 0, 0,0,0,0};
for (angle = 0;angle < 181;angle++)
{
move_servo(angle);
wait_ms(20);
IR = 0;
IR = 42800*pow(ADC_read(2),-1.23);
sprintf(display6, "Angle: %5d IR: %5d",angle,IR);
serial_puts(display6);
if (IR < 80)
{
TempAngle[found]++;
count[found]++;
AddIR[found]+=IR;
TempIR[found]=AddIR[found]/count[found];
}
else
{
if(TempAngle[found] < 5)
{
TempAngle[found] = 0;
}
else
{
pos[found] = angle- TempAngle[found]/2;
if (TempIR[found]*TempAngle[found]< 460)
{
USART_Transmit(13);
USART_Transmit(10);
for (int i = 0;i<strlen(s8);i++)
{
USART_Transmit(s8[i]);
}
sprintf(display5, "object position: %5d",pos[found]);
serial_puts(display5);
}
sprintf(display, "object position: %5d IR: %5d object size: %5d",pos[found],TempIR[found],TempAngle[found]);
serial_puts(display);
USART_Transmit(13);
USART_Transmit(10);
found++;
}
}
}
OCR3B = 1000-1; //return to 0 degree
}
if (command == 'w')
{
move_forward(sensor_data,20);
}
if (command == 's')
{
move_backforward(sensor_data,20);
}
if (command == 'a')
{
turn_clockwise(sensor_data,82);
}
if (command == 'd')
{
turn_counterclockwise(sensor_data,82);
}
if (command == 'q')
{
turn_clockwise(sensor_data,38);
}
if (command == 'e')
{
turn_counterclockwise(sensor_data, 38);
}
if (command == '8')
{
move_forward(sensor_data,5);
}
if (command == '5')
{
move_backforward(sensor_data,5);
}
if (command == 'p')
{
oi_t* sensor = oi_alloc();
oi_init(sensor);
load_songs();
oi_play_song(songings);
}
if(command == 'k')
{
oi_update(sensor_data);
x1 = sensor_data->cliff_left_signal;
x2 = sensor_data->cliff_right_signal;
x3 = sensor_data->cliff_frontleft_signal;
x4 = sensor_data->cliff_frontright_signal;
sprintf (display1, "left = %d",x1);
sprintf (display2, "right = %d",x2);
sprintf (display3, "front left = %d",x3);
sprintf (display4, "front right = %d",x4);
USART_Transmit(13);
USART_Transmit(10);
serial_puts(display1);
serial_puts(display3);
serial_puts(display4);
serial_puts(display2);
if (x1>500||x2>500||x3>500||x4>500)
{
USART_Transmit(13);
USART_Transmit(10);
for (int i=0;i<strlen(s6);i++)
{
USART_Transmit(s6[i]);
}
}
}
}
}
void pwm_init(void) {
timer1_init();
timer3_init();
}
/************************************************************
Main Loop
************************************************************/
int main(void)
{
/* Confirm Power */
m_red(ON);
/* Initializations */
init();
usb_enable();
timer3_init();
int gy_previous_reading = 0;
/* Confirm successful initialization(s) */
m_green(ON);
/* Run */
while (1){
if (m_imu_raw(data))
{
m_green(ON);
m_red(OFF);
ax = lowpass(0.85,ax,data[0])+AX_OFFSET;
az = lowpass(0.85,az,data[2])+AZ_OFFSET;
gy = lowpass(ALPHA_LOW,gy,data[4])+GY_OFFSET;
gy = highpass(ALPHA_HIGH,gy,gy_previous_reading,data[4]);
gy_previous_reading = data[4];
/*
m_usb_tx_string("ax= ");
m_usb_tx_int(ax);
m_usb_tx_string(" az=");
m_usb_tx_int(az);
m_usb_tx_string(" gy=");
m_usb_tx_long(gy);
m_usb_tx_string("\n");
*/
int angle = ((float)ax*RAD2DEG)/sqrt(((float)ax*ax+(float)az*az));
if (check(TIFR3,OCF3A)){ //check if timestep has completed
angle += gy*TIMESTEP; //add thetadot*timestep to angle
set(TIFR3,OCF3A); //reset flag
}
m_usb_tx_int(angle);
m_usb_tx_string("\n");
/*
m_usb_tx_string("ax= ");
m_usb_tx_int(data[0]);
m_usb_tx_string(" ay= ");
m_usb_tx_int(data[1]);
m_usb_tx_string(" az= ");
m_usb_tx_int(data[2]);
m_usb_tx_string(" gx= ");
m_usb_tx_int(data[3]);
m_usb_tx_string(" gy= ");
m_usb_tx_int(data[4]);
m_usb_tx_string(" gz= ");
m_usb_tx_int(data[5]);
m_usb_tx_string("\n");
*/
}
else
{
m_green(OFF);
m_red(ON);
}
}
}
//--------------------------------------------------------------------
// Main Init function
//--------------------------------------------------------------------
void init(void)
{
uint16_t dummy = 0;
int16_t ret;
LED_ERROR_ON;
//enable AD converter
adc_init();
ResetImu();
//enable communication to PC over USB
HostInit();
//enable communication to the bus
BusInit();
//enable communications with gps
GpsInit();
InitLeds();
XbeeInit();
//timer for sending out estop status
timer3_init();
//timer3_set_overflow_callback(SendEstopStatus);
timer3_set_overflow_callback(globalTimerOverflow);
timer4_init();
timer4_set_compa_callback(Rs485ResponseTimeout);
timer4_disable_compa_callback();
timer1_init();
timer1_set_compa_callback(EncodersRequestFcn);
//generate the request packets:
encoderRequestRawPacketSize = DynamixelPacketWrapData(MMC_MOTOR_CONTROLLER_DEVICE_ID,
MMC_MOTOR_CONTROLLER_ENCODERS_REQUEST,
&dummy,sizeof(dummy),
encoderRequestRawPacket,
encoderRequestRawPacketMaxSize);
Servo1Init(GlobalTimerGetTime());
//buzzer port
BUZZER_DDR |= _BV(BUZZER_PIN);
//enable global interrupts
sei();
DDRL |= _BV(PL3) | _BV(PL5) | _BV(PL4);
PORTL |= _BV(PL3) | _BV(PL5) | _BV(PL4);
//PORTL |= _BV(PL3);
/*
TCCR5A |= _BV(WGM51) | _BV(WGM50);
TCCR5B |= _BV(WGM52) | _BV(WGM53);
OCR5A = 2000;
TCCR5A |= _BV(COM5A0);
TCCR5A |= _BV(COM5B0);
TCCR5A |= _BV(COM5C0);
*/
LED_ERROR_OFF;
}
int main(int argc, char *argv[])
{
int i=0;
int h=0;
int bupi=0;
cli();
memset(command,'$',58);
init();
timer0_init();
timer1_init();
timer3_init();
timer4_init();
timer5_init();
//lcd_init();
//lcd_string("Welcome");
//lcd_move(0,1);
//lcdconfig();
//lcd_string("Give me a code:");
//lcd_move(0,2);
UART_init();
//adc_init();
//lcdsenddata('F');
//lcd_num(123456);
_delay_ms(1500);
sei();
while(1)
{
//-------------------------------------------------scan for input
while(mode==0)
{
while(1)//scan line
{
if(command[comm]=USART_Receive())
{
if((command[comm]==13||command[comm]=='\n'||command[comm]==59)&&(comm<59))
{
break;
}
if(echo==1)
{
//USART_Transmit('[');
// USART_Transmit(comm+48);
// USART_Transmit(']');
USART_Transmit(command[comm]);
}
comm++;
}
else
{
}
}
mode=1;
if(echo==1)
{
USART_String_Transmit("\nTransition to parsing.");
}
}
//-------------------------------------------------parse commands
while(mode==1)//parse commands
{
for(i=0;i<comm;i++)//cycling i till \n-1
{
if(command[i]=='N'&&command[i+1]>47&&command[i+1]<58)//GET LINE NUMBER
{
if(echo)
{
USART_String_Transmit("\n Getting line number.");
}
temp_line_number=fetchlong(command,i,'N');
}
if(command[i]=='M'&&command[i+1]=='1'&&command[i+2]=='0'&&command[i+3]=='5')//GET EXTRUDER TEMP
{
}
if(command[i]=='M'&&command[i+1]=='1'&&command[i+2]=='0'&&command[i+3]=='4')//SET EXTRUDER TEMP FAST SXXX
{
}
if(command[i]=='M'&&command[i+1]=='1'&&command[i+2]=='0'&&command[i+3]=='9')//SET EXTRUDER TEMP AND WAIT RXXX
{
}
if(command[i]=='M'&&command[i+1]=='1'&&command[i+2]=='4'&&command[i+3]=='0')//SET BED TEMP FAST SXXX
{
}
if(command[i]=='M'&&command[i+1]=='1'&&command[i+2]=='9'&&command[i+3]=='0')//WAIT FOR BED TEMP TO HIT RXXX
{
}
if(command[i]=='M'&&command[i+1]=='1'&&command[i+2]=='0'&&command[i+3]=='7')//FAN OFF
{
}
if(command[i]=='M'&&command[i+1]=='1'&&command[i+2]=='0'&&command[i+3]=='6')//FAN ON WITH FAN SPEED S255MAX
{
}
if(command[i]=='M'&&command[i+1]=='8'&&command[i+2]=='2'&&command[i+3]==' ')//EXTRUDER TO ABSOLUTE MODE
{
}
if(command[i]=='G'&&command[i+1]=='2'&&command[i+2]=='1'&&command[i+3]==' ')//METRIC VALUES
{
}
if(command[i]=='G'&&command[i+1]=='9'&&command[i+2]=='0'&&command[i+3]==' ')//ABSOLUTE POSITIONING
{
}
if(command[i]=='G'&&command[i+1]=='9'&&command[i+2]=='2'&&command[i+3]==' ')//ZERO EXTRUDED LENGTH WITH E0 otherwise set origin?
{
}
if(command[i]=='G'&&command[i+1]=='0'&&command[i+2]==' ')//MOVE WITHOUT EXTUSION
{
if(echo)
{
USART_String_Transmit("\nG0 command.");
}
line_engine(double_scan_x,double_scan_y,double_scan_z,double_scan_e,i);
if((echo==1)&&(xroll==1)&&(yroll=1))
{
USART_String_Transmit("\n Xroll=1");
USART_String_Transmit("\n Yroll=1");
}
mode==2;
}
if(command[i]=='G'&&command[i+1]=='1'&&command[i+2]==' ')//MOVE WITH EXTRUSION
{
}
if(command[i]=='Q'&&command[i+1]=='1')//MOTOR TEST {
{
if(echo)
{
USART_String_Transmit("\n Motor test on.");
//xroll=1;
yroll=1;
//testval=(threefetchdouble(command,i,'E')/0.01)*16;
}
}
if(command[i]=='Q'&&command[i+1]=='0')//MOTOR TEST
{
if(echo)
{
USART_String_Transmit("\n Motor test off.");
}
//xroll=0;
yroll=0;
}
}
mode=2;
if(echo)
{
USART_String_Transmit("\nTransition to set outputs.");
}
}
//-------------------------------------------------setting outputs
while(mode==2)
{
while(zroll==1||eroll==1||xroll==1||yroll==1)
{
if(USART_Receive()=='.')
{
zroll=0;
eroll=0;
xroll=0;
yroll=0;
USART_String_Transmit("\nSW Emergency stopped, please reset!");
// PINK|=0b00000001;
// PINA|=0b00000100;
// PINF|=0b00000100;
// PIND|=0b10000000;
}
}
if(zroll==0&&eroll==0&&xroll==0&&yroll==0)
{
if(echo)
{
USART_String_Transmit("\nTransition to mode 3, reseting parameters.");
}
mode=3;
}
}
//-------------------------------------------------clear things
while(mode==3)
{
cli();
memset(command,'$',58);
comm=0;
i=0;
double_scan_x=-1.0;
double_scan_y=-1.0;
double_scan_z=-1.0;
double_scan_e=-1.0;
if(echo)
{
USART_String_Transmit("\nParameters reseted returning to scanning mode");
}
USART_String_Transmit("\n\rok");
sei();
mode=0;
}
//-------------------------------------------------
while(mode==4)
{
}
}
return 0;
}
