int main(){
uint32_t Old_timer = 0;
// RCC clocking: 8MHz oscillator -> 72MHz system
rcc_clock_setup_in_hse_8mhz_out_72mhz();
GPIO_init();
usb_disconnect(); // turn off USB while initializing all
steppers_init();
// USB
usbd_dev = USB_init();
// SysTick is a system timer with 1ms period
SysTick_init();
// wait a little and then turn on USB pullup
// for (i = 0; i < 0x800000; i++)
// __asm__("nop");
usb_connect(); // turn on USB
while(1){
usbd_poll(usbd_dev);
if(usbdatalen){ // there's something in USB buffer
usbdatalen = parce_incoming_buf(usbdatabuf, usbdatalen);
}
//check_and_parce_UART(USART1); // also check data in UART buffers
if(Timer - Old_timer > 999){ // one-second cycle
Old_timer += 1000;
}else if(Timer < Old_timer){ // Timer overflow
Old_timer = 0;
}
}
}
int main(){
//int i;
uint32_t Shtr_blink_timer = 0, Old_timer = 0, lastTRDread = 0, lastTmon = 0, OW_timer = 0;
int oldusbdatalen = 0;
//SPI_read_status SPI_stat;
// RCC clocking: 8MHz oscillator -> 72MHz system
rcc_clock_setup_in_hse_8mhz_out_72mhz();
// turn off SWJ/JTAG
AFIO_MAPR = AFIO_MAPR_SWJ_CFG_JTAG_OFF_SW_OFF;
// GPIO
GPIO_init();
usb_disconnect(); // turn off USB while initializing all
// init USART3 (master) & USART1 (slave)
UART_init(USART3);
UART_init(USART1);
// USB
usbd_dev = USB_init();
// SysTick is a system timer with 1mc period
SysTick_init();
// instead of SPI1 we use those pins to control shutter and system state
// SPI2 used for working with external ADC
switch_SPI(SPI2); // init SPI2
SPI_init();
// wait a little and then turn on USB pullup
// for (i = 0; i < 0x800000; i++)
// __asm__("nop");
// init ADC
ADC_init();
ADC_calibrate_and_start();
steppers_init();
usb_connect(); // turn on USB
shutter_init();
read_stored_data(); // copy stored data into RAM
init_ow_dmatimer();
//OW_send_read_seq();
LED_STATUS_OK(); // All initialized - light up LED
while(1){
init_on_poweron_proc();
usbd_poll(usbd_dev);
if(oldusbdatalen != usbdatalen){ // there's something in USB buffer
usbdatalen = parce_incoming_buf(usbdatabuf, usbdatalen, usb_send);
oldusbdatalen = usbdatalen;
}
check_and_parce_UART(USART3); // check data in master UART buffers
check_and_parce_UART(USART1); // also check data in slave UART buffers
if(ad7794_on){
if(Timer != lastTRDread){ // run this not more than once in 1ms
lastTRDread = Timer;
read_next_TRD();
}
}
OW_process(); // process 1-wire commands
// scan 1-wire each 1 second
if(OW_scan && (Timer - OW_timer > 999 || Timer < OW_timer)){
OW_timer = Timer;
scan_onewire();
}
process_stepper_motors(); // check flags of motors' timers
process_shutter(); // shutter state machine
if(Timer - Shtr_blink_timer > 500 || Timer < Shtr_blink_timer){
Shtr_blink_timer = Timer;
// shutter LED will be blinking until init occurs
if(Shutter_State == SHUTTER_NOTREADY)
gpio_toggle(LED_SHUTTER_PORT, LED_SHUTTER_PIN);
}
if(Timer - Old_timer > 999){ // one-second cycle
Old_timer += 1000;
// init shutter if error occurs
if(Shutter_State == SHUTTER_NOTREADY){
shutter_init();
}
}else if(Timer < Old_timer){ // Timer overflow
Old_timer = 0;
tOVRFL++; // this is an overflow counter - for workinkg in long-long time interval
}
if((Timer - lastTmon > 9999) || (Timer < lastTmon)){ // run constant monitoring of ADC values each 10 seconds
lastTmon += 10000;
if(ADC_monitoring){
print_time(lastsendfun);
print_int_ad_vals(lastsendfun);
print_ad_vals(lastsendfun);
}
}
}
}
int main(void) {
uart_init();
servos_init();
steppers_init();
pumps_init();
*idle_ddr &= ~idle_mask;
*idle_port |= idle_mask;
*setup_ddr &= ~setup_mask;
*setup_port |= setup_mask;
*ready_ddr |= ready_mask;
*ready_port &= ~(ready_mask);
sei();
uart_puts("PumpControl 0.1 ready\n\r");
uint8_t active_pump = 0;
while(1) {
pumps_run();
// Setup is active low
if(!(*setup_pin & setup_mask)) {
for(uint8_t i = 0; i < PumpCount; i++) {
if(pump_states[i] != PUMP_SETUP) {
pump_enter_setup(i);
}
}
}
// We only activate extruders if we are idle
if(*idle_pin & idle_mask) {
/*
* Check if we need a new active pump
* if full -> nice we've got a fresh one
* if dispense -> still some stuff left in this one
*/
if(pump_states[active_pump] != PUMP_FULL &&
pump_states[active_pump] != PUMP_DISPENSE) {
for(uint8_t i = 0; i < PumpCount; i++) {
if(pump_states[i] == PUMP_FULL) {
active_pump = i;
break;
}
}
}
// We've selected a new active pump, now we need to start it
if(pump_states[active_pump] == PUMP_FULL) {
uart_debug_pump(active_pump, "is new acitve pump");
pump_enter_dispense(active_pump);
}
}
/*
* We are ready if we picked a new active pump and set it to dispense,
* or if the old one still has stuff left in it and is in dispense.
*/
if(pump_states[active_pump] == PUMP_DISPENSE) {
*ready_port |= ready_mask;
}
else {
*ready_port &= ~(ready_mask);
}
/*
* If we are idle, try to fill all pumps
* If the active pump is also refilled, a other full one will be chosen
* in the next iteration.
*/
if(!(*idle_pin & idle_mask)) {
for(uint8_t i = 0; i < PumpCount; i++) {
if(pump_states[i] == PUMP_DISPENSE) {
uart_debug("Idle state detected, refilling");
pump_enter_fill(i);
}
}
}
}
}
