void ZeroPi::slotSetup(int slot, int fun){
if(fun==SLOT_STEPPER){
stepperInit(slot);
}else if(fun==SLOT_MOTOR){
motorInit(slot);
}
}
void SYSTEM_Initialize(void) {
OSCILLATOR_Initialize();
PIN_MANAGER_Initialize();
INTERRUPT_Initialize();
EUSART1_Initialize();
TMR3_Initialize();
TMR5_Initialize();
ADC_Initialize();
I2C2_Initialize();
stepperInit();
}
int main(void)
{
PORTA.DIRSET = PIN0_bm;
PORTA.OUTSET = PIN0_bm;
if (!systemSetClk32Mhz())
badInitAlarm();
if (!uartInit(19200, 1, 1))
badInitAlarm();
stepperInit(800, 255, 0, 255);
//attach all servos:
/*
for (uint8_t i = 0; i < SERVO_AMNT; ++i)
servoAttach(i, 45);*/
systemInterruptEnable(INT_LOW);
sei();
char str[CMD_LENGTH];
while (1)
{
if (uartLinesReceived() > 0)
{
uartGetLine(str, CMD_LENGTH);
switch (executeCmd(str))
{
case BAD_FORMAT:
uartWrite("Err - cmd is NaN\r\n");
break;
case BAD_ARG:
uartWrite("Err - not enough args or NaN\r\n");
break;
case BAD_CMD:
uartWrite("Err - invalid cmd\r\b");
break;
}
}
}
}
void setup ()
{
Serial.begin(57600);
Serial.println("Init Start");
PORTC |= _BV(PC_OPTOINT); // tie opt int sensor line hight
analogWrite(PIN_MOTOR, MOTOR_OFF);
PORTC |= _BV(PC_SHUTTER) | _BV(PC_TENSIONSENSOR);
PORTD |= _BV(PD_CAMERAPOWER);
DDRD |= _BV(PD_CAMERAPOWER);
DDRB |= _BV(PB_LAMP);
DDRC |= _BV(PC_SHUTTER);
CAMERA_OFF;
lampOff();
#ifndef USESTEPPER
cli();
TCCR2B |= _BV(CS20); // no prescaler
TIFR2 &= ~_BV(TOV2); // clear overflow interrupt flag
TIMSK2 |= _BV(TOIE2); // enable counter2 overflow interrupt
OCR2A = SERVO_STOP;
servoPulse = SERVO_STOP;
TCNT2 = 0x00;
DDRB |= _BV(PB_SERVO);
sei();
#else // USESTEPPER
stepperInit();
#endif // USESTEPPER
shutterState = 0xaa;
#ifdef USEFRAM
//Serial.println("Init FRAM");
if (fram.begin())
{
Serial.println("FRAM ok");
}
framIndex = 0;
iqTail = 0;
iqHead = 0;
#endif // USEFRAM
Serial.println("{State:Ready}");
}
void reset()
{
Serial.println("Reset");
#ifndef USESTEPPER
setServo(SERVO_STOP);
#else
stepperInit();
#endif // USESTEPPER
lampOff();
//SHUTTERINT_OFF;
CAMERA_OFF;
SHUTTER_CLOSE;
setMotor(MOTOR_OFF);
//motorRewind = MOTOR_OFF;
parameter = 0;
waitingFor = NONE;
verbose = 0;
frameCount = 0;
//optoIntTimeout = 0;
shutterState = 0;
#ifdef USEFRAM
framIndex = 0;
#endif // USEFRAM
}
void stepper1Stop(void)
{
stepperInit();
}
void main(void) {
OSCCON = 0x70;
initIO();
stepperInit(MOTOR_X);
stepperInit(MOTOR_Y);
stepperInit(MOTOR_Z);
stepperInit(MOTOR_4);
TRISCbits.TRISC6 = 0;
// Timer 0 interrupt rate = ((48 000 000 MHz / 4) / 4) / 256 = 11 718.7 Hz
// rxtimeout = 255/11718.75 = 21.7 msec
// Note Timer 2 would allow faster rates if the interrupt processing can be optimized
T0CONbits.T0CS = 0; // Internal instruction clock as source for timer 0
T0CONbits.PSA = 0; // Assign prescaler to Timer 0. PSA=1 would be equivalent prescaler 1:1
T0CONbits.T08BIT = 1; // 8 bit
T0CONbits.T0PS2 = 0; // Set up prescaler to 1:4 = 001
T0CONbits.T0PS1 = 0;
T0CONbits.T0PS0 = 1; // se above
T0CONbits.TMR0ON = 1;
T0CONbits.T0SE = 1; // high to low (no effect when timer clock coming from instruction clock...)
usbcdc_init();
INTCON2bits.TMR0IP = 1; // Make Timer0 high priority
INTCON = 0; // Clear interrupt flag bits.
INTCONbits.TMR0IE = 1; // Enable Timer 0 interrupts
TMR0L = 0;
TMR0H = 0;
stepperSetMode(MOTOR_X, 0xF, 0, 0, 0, 0);
stepperSetMode(MOTOR_Y, 0xF, 0, 0, 0, 0);
stepperSetMode(MOTOR_Z, 0xF, 0, 0, 0, 0);
stepperSetMode(MOTOR_4, 0xF, 0, 0, 0, 0);
INTCONbits.PEIE = 1;
INTCONbits.GIE = 1;
LED_PIN = 0;
while (1) {
if (usbcdc_device_state != CONFIGURED) {
if (!rx_timeout) {
rx_timeout = 255;
if (!blink--) {
blink = 23;
LED_PIN = !LED_PIN;
}
}
} else {
if (getMessage()) {
LED_PIN=0;
processMessage();
//LED_PIN = 1;
blink = 12;
} else {
if (!blink--) {
blink = 12;
LED_PIN = !LED_PIN;
while (UIRbits.TRNIF == 1)
UIRbits.TRNIF = 0;
usbcdc_read();
}
}
}
}
}
Stepper_2BYJ48::Stepper_2BYJ48(int motorPin1, int motorPin2, int motorPin3, int motorPin4) {
stepperInit(motorPin1, motorPin2, motorPin3, motorPin4, 5);
}
Stepper_2BYJ48::Stepper_2BYJ48(int motorPin1, int motorPin2, int motorPin3, int motorPin4, int revolutionsPerMinute) {
stepperInit(motorPin1, motorPin2, motorPin3, motorPin4, revolutionsPerMinute);
}