int camera_off(){
go(0,OFFSET,OFFSET);
stepper_off(sphere->st_rho);
stepper_off(sphere->st_theta);
stepper_off(sphere->st_phi);
w_close();
}
void reset_initialization() {
command_time = 0;
i_command_time = 0;
spindle_direction(false); //includes spindle_off()
stepper_off();
//Tool Changer
digitalWrite(PIN_TOOL_CHANGER_CHANGE, LOW);
#ifdef BOARDVERSION_1_25
digitalWrite(PIN_TOOL_CHANGER_HOLD, HIGH);
#endif
//Input Compare Match Interrupt Disable
TIMSK1 &= ~(_BV(ICIE1)); //set 0
//Stepper
//reset steps
x_steps = 0;
z_steps = 0;
X0 = STATE_X;
Z0 = STATE_Z;
//STATE_X = 0; //reset X-position
//STATE_Z = 0; //reset Z-position
//STATE_T = 0; //reset tool-position
STATE_F = 0; //reset feed
STATE_H = 0; //reset H
STATE_N = 0; //reset N
STATE1 &= ~(_BV(STATE1_INIT_BIT)); //delete STATE1_bit1 = STATE_INIT
initialized=0;
programm_stop();
STATE1 &= ~(_BV(STATE1_INCH_BIT)); //set STATE1_bit4 = 0
//command_completed = 1;
//Anymore vars needed to be resetted?
}
static int control_request(usbd_device *usbd_dev, struct usb_setup_data *req, u8 **buf,
u16 *len, void (**complete)(usbd_device *usbd_dev, struct usb_setup_data *req))
{
(void)complete;
(void)buf;
(void)usbd_dev;
(void)len;
PCBUSBLOG("Got request type: bmRequestType: 0x%x bRequest: 0x%x len: 0x%x\n", req->bmRequestType, req->bRequest, *len);
if((req->bmRequestType & 0x60) == 0x40) { // Vendor request
if(req->bRequest == REQ_SET_SPEED) {
if(!IS_HOST_TO_DEVICE(req->bmRequestType) || *len != 2)
return USBD_REQ_NOTSUPP;
int des_speed = (*buf)[0] + ((*buf)[1] << 8);
PCBUSBLOG("Set speed: %d\n", des_speed);
set_speed(des_speed);
return USBD_REQ_HANDLED;
} else if(req->bRequest == REQ_ENABLE_DEBUG_OUT) {
if(!IS_HOST_TO_DEVICE(req->bmRequestType) || *len != 1)
return USBD_REQ_NOTSUPP;
if((*buf)[0])
enable_debug_out(1);
else
enable_debug_out(0);
PCBUSBLOG("Set debug: %d\n", (*buf)[0]);
return USBD_REQ_HANDLED;
} else if(req->bRequest == REQ_SET_PERSISTENT_FLASH) {
if (!IS_HOST_TO_DEVICE(req->bmRequestType) || *len != 0) {
return USBD_REQ_NOTSUPP;
}
if (req->wIndex > 4096) {
return USBD_REQ_NOTSUPP;
}
PCBUSBLOG("Store to flash: 0x%x at index: 0x%x\n", req->wValue, req->wIndex);
pcb_flash_store(req->wIndex, req->wValue);
return USBD_REQ_HANDLED;
} else if(req->bRequest == REQ_GET_PERSISTENT_FLASH) {
if (!IS_DEVICE_TO_HOST(req->bmRequestType) || *len <= 0) {
return USBD_REQ_NOTSUPP;
}
int index = req->wIndex;
int length = req->wValue;
PCBUSBLOG("Get from flash: index: 0x%x len: 0x%x\n", index, length);
if (length > DATA_LEN) {
return USBD_REQ_NOTSUPP;
}
for (int i = 0; i < length; i++) {
data[i] = pcb_flash_restore(index + i);
}
*buf = data;
*len = length;
return USBD_REQ_HANDLED;
} else if(req->bRequest == REQ_GET_STEPPER_STATUS) {
if(!IS_DEVICE_TO_HOST(req->bmRequestType)) {
return USBD_REQ_NOTSUPP;
}
/* Sanity check */
if(DATA_LEN < 4)
return USBD_REQ_NOTSUPP;
data[0] = 0;
if(!stepper_idle()) data[0] |= 0x01;
if(stepper_is_homed) data[0] |= 0x02;
data[1] = 0;
data[2] = (stepper_current_pos & 0x00FF);
data[3] = (stepper_current_pos & 0xFF00) >> 8;
*buf = data;
*len = 4;
return USBD_REQ_HANDLED;
} else if(req->bRequest == REQ_HOME_STEPPER) {
stepper_home();
return USBD_REQ_HANDLED;
} else if(req->bRequest == REQ_MOVE_STEPPER) {
int16_t delta_pos = (int16_t) req->wValue;
if(req->wIndex)
stepper_move(delta_pos);
else
stepper_move_to(delta_pos);
return USBD_REQ_HANDLED;
} else if(req->bRequest == REQ_STEPPER_OFF) {
stepper_off();
return USBD_REQ_HANDLED;
} else if(req->bRequest == REQ_SET_N_SCANS) {
max_n_scans = req->wValue;
return USBD_REQ_HANDLED;
} else if(req->bRequest == REQ_SET_AUTOSTEP) {
if(req->wValue)
autostep = 1;
else
autostep = 0;
return USBD_REQ_HANDLED;
} else if(req->bRequest == REQ_CAN_SEND) {
/* Primitive flow control (FIXME) */
if(!IS_DEVICE_TO_HOST(req->bmRequestType)) {
return USBD_REQ_NOTSUPP;
}
data[0] = (dma_write_idx < K_IMAGE_WIDTH);
*buf = data;
*len = 4;
return USBD_REQ_HANDLED;
}
}
