status_code_t nvm_read_char(mem_type_t mem, uint32_t address, uint8_t *data)
{
switch (mem) {
case INT_FLASH:
*data = nvm_flash_read_byte((flash_addr_t)address);
break;
case INT_USERPAGE:
nvm_user_sig_read_buffer((flash_addr_t)address, (void *)data,
1);
break;
case INT_EEPROM:
*data = nvm_eeprom_read_byte((eeprom_addr_t)address);
break;
#if defined(USE_EXTMEM) && defined(CONF_BOARD_AT45DBX)
case AT45DBX:
if (!at45dbx_read_byte_open(address)) {
return ERR_BAD_ADDRESS;
}
*data = at45dbx_read_byte();
at45dbx_read_close();
break;
#endif
default:
return ERR_INVALID_ARG;
}
return STATUS_OK;
}
/**
* Check if an EEPROM page is equal to a memory buffer
*/
static bool is_eeprom_page_equal_to_buffer(uint8_t page_addr, uint8_t *buffer)
{
uint8_t i;
for (i = 0; i < EEPROM_PAGE_SIZE; i++) {
if (nvm_eeprom_read_byte(page_addr * EEPROM_PAGE_SIZE + i) != buffer[i]) {
return false;
}
}
return true;
}
int main(void)
{
board_init();
sysclk_init();
adc_init();
//Offset is stored in EEPROM
int adc_offset = 0;
if (nvm_eeprom_read_byte(EEPROM_ADDR_ID) == EEPROM_ID){
adc_offset = nvm_eeprom_read_byte(EEPROM_ADDR_OFFSET_POS) - nvm_eeprom_read_byte(EEPROM_ADDR_OFFSET_NEG);
}
PORTE_DIRSET = MASK_DIGIT012;
PORTD_DIRSET = 0xFF;
int32_t i = 0;
uint8_t disp = 0;
uint8_t adccnt = 0;
unsigned int adc_readings[AVG_READINGS];
//Setup ADC hardware
adc_init();
//Main loop...measure VCC-INT
while(1){
// Vref = 2.048V
// 4096 count ADC (12-bit)
// 2.048V / 4096count = 0.0005 V/Count
// We want i to be result in mV
// = 0.5 mV/count
//So divide count by 2 to get mV reading
if (adccnt < AVG_READINGS){
adc_readings[adccnt] = adc_get_unsigned_result(&MY_ADC, MY_ADC_CH);
if (adc_readings[adccnt] < 0){
adc_readings[adccnt] = 0;
}
adccnt++;
} else {
int32_t adctemp = 0;
for (adccnt = 0; adccnt < AVG_READINGS; adccnt++){
adctemp += (int32_t)(adc_readings[adccnt] + adc_offset);
}
i = adctemp / AVG_READINGS;
//Limit negative values to 0
//i = i - 2048;
if (i < 0) i = 0;
i = i / 2;
adccnt = 0;
}
//Switch between mV and V ranges
if (i > 999){
if (disp == 0){
display((i / 10)%10, 0, 2);
_delay_ms(2);
} else if (disp == 1){
display((i / 100) % 10, 0, 1);
_delay_ms(2);
} else {
display(i / 1000, 1, 0);
_delay_ms(2);
}
} else {
if (disp == 0){
display(i % 10, 0, 2);
_delay_ms(2);
} else if (disp == 1){
display((i / 10) % 10, 0, 1);
_delay_ms(2);
} else {
display(i / 100, 0, 0);
_delay_ms(2);
}
}
disp++;
if (disp > 2){
disp = 0;
}
adc_start_conversion(&MY_ADC, MY_ADC_CH);
}
}
void menu_init(void) {
verbose = nvm_eeprom_read_byte(EE_verbose);
}
// Supporting function implementation
Motors::Motors() {
// Set mode
mode = ABSOLUTE;
// Set current values
currentX = NAN;
currentY = NAN;
currentZ = NAN;
currentE = NAN;
currentF = NAN;
// Check if last Z value was recorded
if(nvm_eeprom_read_byte(EEPROM_SAVED_Z_STATE_OFFSET))
// Set current Z to last recorded Z value
nvm_eeprom_read_buffer(EEPROM_LAST_RECORDED_Z_VALUE_OFFSET, ¤tZ, EEPROM_LAST_RECORDED_Z_VALUE_LENGTH);
// Otherwise
else
// Set current Z to not a number
currentZ = NAN;
// Configure motors
ioport_set_pin_dir(MOTORS_ENABLE_PIN, IOPORT_DIR_OUTPUT);
ioport_set_pin_level(MOTORS_ENABLE_PIN, IOPORT_PIN_LEVEL_HIGH);
ioport_set_pin_dir(MOTORS_STEP_CONTROL_PIN, IOPORT_DIR_OUTPUT);
ioport_set_pin_level(MOTORS_STEP_CONTROL_PIN, IOPORT_PIN_LEVEL_LOW);
// Configure motor X Vref, direction, and step
ioport_set_pin_dir(MOTOR_X_VREF_PIN, IOPORT_DIR_OUTPUT);
pwm_init(&motorXVrefPwm, MOTOR_X_VREF_PWM_TIMER, MOTOR_X_VREF_PWM_CHANNEL, 5000);
pwm_start(&motorXVrefPwm, 0);
ioport_set_pin_dir(MOTOR_X_DIRECTION_PIN, IOPORT_DIR_OUTPUT);
ioport_set_pin_level(MOTOR_X_DIRECTION_PIN, IOPORT_PIN_LEVEL_HIGH);
ioport_set_pin_dir(MOTOR_X_STEP_PIN, IOPORT_DIR_OUTPUT);
pwm_config motorXStepPwm;
pwm_init(&motorXStepPwm, MOTOR_X_STEP_PWM_TIMER, MOTOR_X_STEP_PWM_CHANNEL, 5000);
pwm_start(&motorXStepPwm, 50);
// Configure motor Y Vref, direction, and step
ioport_set_pin_dir(MOTOR_Y_VREF_PIN, IOPORT_DIR_OUTPUT);
pwm_init(&motorYVrefPwm, MOTOR_Y_VREF_PWM_TIMER, MOTOR_Y_VREF_PWM_CHANNEL, 5000);
pwm_start(&motorYVrefPwm, 0);
ioport_set_pin_dir(MOTOR_Y_DIRECTION_PIN, IOPORT_DIR_OUTPUT);
ioport_set_pin_level(MOTOR_Y_DIRECTION_PIN, IOPORT_PIN_LEVEL_LOW);
ioport_set_pin_dir(MOTOR_Y_STEP_PIN, IOPORT_DIR_OUTPUT);
pwm_config motorYStepPwm;
pwm_init(&motorYStepPwm, MOTOR_Y_STEP_PWM_TIMER, MOTOR_Y_STEP_PWM_CHANNEL, 5000);
pwm_start(&motorYStepPwm, 50);
// Configure motor Z VREF, direction, and step
ioport_set_pin_dir(MOTOR_Z_VREF_PIN, IOPORT_DIR_OUTPUT);
pwm_init(&motorZVrefPwm, MOTOR_Z_VREF_PWM_TIMER, MOTOR_Z_VREF_PWM_CHANNEL, 5000);
pwm_start(&motorZVrefPwm, 0);
ioport_set_pin_dir(MOTOR_Z_DIRECTION_PIN, IOPORT_DIR_OUTPUT);
ioport_set_pin_level(MOTOR_Z_DIRECTION_PIN, IOPORT_PIN_LEVEL_LOW);
ioport_set_pin_dir(MOTOR_Z_STEP_PIN, IOPORT_DIR_OUTPUT);
pwm_config motorZStepPwm;
pwm_init(&motorZStepPwm, MOTOR_Z_STEP_PWM_TIMER, MOTOR_Z_STEP_PWM_CHANNEL, 5000);
pwm_start(&motorZStepPwm, 50);
// Configure motor E VREF, direction, step, and AISEN
ioport_set_pin_dir(MOTOR_E_VREF_PIN, IOPORT_DIR_OUTPUT);
pwm_init(&motorEVrefPwm, MOTOR_E_VREF_PWM_TIMER, MOTOR_E_VREF_PWM_CHANNEL, 5000);
pwm_start(&motorEVrefPwm, 0);
ioport_set_pin_dir(MOTOR_E_DIRECTION_PIN, IOPORT_DIR_OUTPUT);
ioport_set_pin_level(MOTOR_E_DIRECTION_PIN, IOPORT_PIN_LEVEL_LOW);
ioport_set_pin_dir(MOTOR_E_STEP_PIN, IOPORT_DIR_OUTPUT);
pwm_config motorEStepPwm;
pwm_init(&motorEStepPwm, MOTOR_E_STEP_PWM_TIMER, MOTOR_E_STEP_PWM_CHANNEL, 5000);
pwm_start(&motorEStepPwm, 50);
ioport_set_pin_dir(MOTOR_E_AISEN_PIN, IOPORT_DIR_INPUT);
ioport_set_pin_mode(MOTOR_E_AISEN_PIN, IOPORT_MODE_PULLDOWN);
}
