void init_hardware()
{
pinMode(LASER_PIN, OUTPUT);
laser_off();
}
int main(void)
{
laser_off();
bootloaderSwitcher();
init_serial_number();
USB_Start();
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOA, ENABLE);
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOB, ENABLE);
setupJP5();
setupJP6();
setupLeds();
init_watchdog();
setup_interlock();
//debug: flas the light on boot, to watch for watchdog resets
setCoilLed(1);
initialize_led_override();
if (LED_OVERRIDES_EN){
play_long_spin(); //Spin the led's while we load the rest of this stuff
}
initialize_pwm();
initialize_dripper();
setCornerLed(0);
setInLed(0);
setCoilLed(0);
setUSBLed(0);
SysTick_Config(SystemCoreClock / 2000); //48MHz/2000 gives us 2000 ticks per second (2KHz)
int last_drip_count = g_dripcount;
while(1) {
serialio_feed();
updateADC();
if (move_count!=0){
g_twig_coils=0;
g_key_coil_gate=0;
}
if (g_dripcount != last_drip_count) {
last_drip_count = g_dripcount;
send_updated_drip_count();
}
if ((tick % 500) == 0) {
send_printer_status();
}
}
}
void processController(){
if(data_received){
switch(received_command){
case 0x01:
write_line_enable = 1;
break;
// home y axis
case 0x02:
home_y_axis();
acknowledge();
break;
// home z axis
case 0x03:
home_z_axis();
acknowledge();
break;
// turn laser on
case 0x04:
laser_on();
acknowledge();
break;
// turn laser off
case 0x05:
laser_off();
acknowledge();
break;
// next layer
case 0x06:
// moveToNextLayer here!
moveToNextLayer();
toggle_y_Direction();
acknowledge();
break;
case 0x07:
moveToNextLayer();
acknowledge();
break;
case 0x08:
move_z_to_end_position();
acknowledge();
break;
case 0x09:
set_exposing_cycles();
acknowledge();
break;
case 0x0a:
move_z_relative();
acknowledge();
break;
}
}
if (exposing_done){
moveToNextLine();
data_table[0] = 0;
write_line_enable = 0;
exposing_done = 0;
acknowledge();
}
}
int main(void)
{
// init i/o
DEBUG_PORT = 0x00;
DEBUG_DDR = 0xFF;
init_ports();
uint8_t i;
uint8_t output_mask = 1 << OUTPUT_FIRST;
for(i=0; i<N_LASERS; i++)
{
output_mask |= output_mask << 1;
output_mask <<= 1;
}
/* uart_init(0,0,0,0,0);
uart_transmit_byte_block('\n');
uart_transmit_byte_block('\r'); */
int state = ON;
for(;;)
{
// if module is disabled, turn off all outputs
while(!is_enabled())
{
OUTPUT_PORT &= ~output_mask;
led_off();
_delay_ms(10);
}
// indicator led
led_on();
// turn all lasers to state X
for(i=0; i<N_LASERS; i++)
{
if(state == ON)
laser_on(i);
else
laser_off(i);
}
// wait T ms
_delay_ms(10);
// is input at state X?
uint8_t inputs = 0;
// read and parse photodetector inputs
inputs = DETECTOR_PINS & DETECTOR_MASK;
for(i=0; i<N_LASERS; i++)
{
if(pin_value(inputs, i+5) == state)
{
laser[i] += 1;
if(laser[i] > THRESH)
{
laser[i] = THRESH;
set_output(i, ON);
}
else
{
set_output(i, OFF);
}
}
else
{
if(laser[i] > 0)
/*
* TODO : should maybe consider setting it to zero directly
*/
laser[i] -= 1;
// No hysteresis implemented yet.
if(laser[i] < THRESH)
set_output(i, OFF);
}
}
// change state
state ^= 1;
}
// main
return 0;
}
/**
* Read the input buffer and find any recognized commands. One G or M command per line.
*/
void processCommand() {
// blank lines
if(buffer[0]==';') return;
long cmd;
// is there a line number?
cmd=parsenumber('N',-1);
if(cmd!=-1 && buffer[0]=='N') { // line number must appear first on the line
if( cmd != line_number ) {
// wrong line number error
Serial.print(F("BADLINENUM "));
Serial.println(line_number);
return;
}
// is there a checksum?
if(strchr(buffer,'*')!=0) {
// yes. is it valid?
char checksum=0;
int c=0;
while(buffer[c]!='*') checksum ^= buffer[c++];
c++; // skip *
int against = strtod(buffer+c,NULL);
if( checksum != against ) {
Serial.print(F("BADCHECKSUM "));
Serial.println(line_number);
return;
}
} else {
Serial.print(F("NOCHECKSUM "));
Serial.println(line_number);
return;
}
line_number++;
}
cmd = parsenumber('G',-1);
switch(cmd) {
case 0: // move linear
case 1: // move linear
// Move Linear here
do_move(parsenumber('Y',0), parsenumber('Z',0), parsenumber('F',30000));
break;
case 3:
delay(parsenumber('D',0));
break;
case 4:
set_exposing_cycles(parsenumber('E',0));
break; // dwell
case 5:
fill_laser_buffer(parsedistance('D',0));
break;
case 6:
delay(20);
expose_line(parsenumber('E',1000));
break;
case 7:
create_test_pattern();
expose_line(parsenumber('E',50000));
break;
case 29:
//home z- axis
home_z_axis();
break;
case 30:
home_y_axis();
break;
case 28:
// home all axis
break;
case 90: mode_abs=1; break; // absolute mode
case 91: mode_abs=0; break; // relative mode
case 92: // set logical position
// set position to 0 here
break;
default: break;
}
// M Code section
cmd = parsenumber('M',-1);
switch(cmd) {
case 18: // disable motors
motors_release();
break;
case 19:
laser_on();
break;
case 20:
laser_off();
break;
case 21:
vat_down();
break;
case 22:
vat_up();
break;
case 100: help(); break;
case 110: line_number = parsenumber('N',line_number); break;
case 114:
// print position here
break;
default: break;
}
}
