int ReadPort(int port)
{
static int count=0;
int data = pin_get(BTDO);
if (data) data = 0xFF; // assert all bit, to allow recipient to pick favorite.
return ~data; // reader seem to want things inverted ?
}
Debounce *debounce_init(Pin *pin){
Debounce *debounce = (Stepper * ) malloc( sizeof( Stepper ) );
debounce->pin = pin;
debounce->state = pin_get(pin);
debounce->last_state = !debounce->state;
debounce->time = 0;
return debounce;
}
static int sff_8431_poll_present(struct nfp_phymod *phy)
{
struct nfp_phymod_priv *priv = phy->priv;
struct sff_8431 *sff = phy->sff.priv;
int err;
err = pin_get(priv->nfp, &sff->in.present);
if (err < 0)
return err;
return err ? 0 : 1;
}
// Called when channel B has changed
static void __encChB(const IOPin* io,boolean val, volatile void* data){
QUADRATURE* encoder = (QUADRATURE*)data;
boolean chA = pin_get(encoder->channelA);
if(val ^ chA){
encoder->encoder.counter--;
}else{
encoder->encoder.counter++;
}
if(encoder->encoder.interpolate){
_encoder_tick(&encoder->encoder);
}
}
static int sff_8431_status_fault(struct nfp_phymod *phy,
u32 *tx_status, u32 *rx_status)
{
struct sff_8431 *sff = phy->sff.priv;
int err;
err = pin_get(phy->priv->nfp, &sff->in.tx_fault);
if (err < 0)
return err;
if (tx_status)
*tx_status = err;
if (rx_status)
*rx_status = 0;
return 0;
}
int main(void) {
pin_config_out(g_led);
pin_config_out(r_led);
pin_config_out(e_heat);
pin_config_out(b_heat);
pin_config_out(buzzer);
pin_low(buzzer);
Stepper *stepper_x = stepper_init(x_step,x_dir,motor_enb);
Stepper *stepper_y = stepper_init(y_step,y_dir,motor_enb);
Stepper *stepper_z = stepper_init(z_step,z_dir,motor_enb);
// stepper_start_frame();
Uart *uart = uart_init();
console_init();
thermistor_init();
// console_prompt();
pin_config_in(x_stop);
pin_high(r_led);
char dir = 1;
int count = 0;
unsigned int hit = 0;
while(1) {
// dir = pin_get(EXP2);
stepper_dir(stepper_x,dir);
stepper_dir(stepper_y,dir);
stepper_dir(stepper_z,dir);
if(dir == 1) {
if(pin_get(x_stop)==0 ) {
if(hit < 2) {
stepper_step(stepper_x);
stepper_step(stepper_y);
stepper_step(stepper_z);
count++;
}
} else {
hit++;
if(hit < 2) {
printf("%i\n",count);
printf("HIT!\n");
dir = 0;
hit = 0;
}
}
}
if(dir == 0) {
stepper_step(stepper_x);
stepper_step(stepper_y);
stepper_step(stepper_z);
count--;
if(count == 0) {
dir = 1;
}
}
_delay_us(50);
/*
count++;
if(count == 1000){
pin_toggle(g_led);
count = 0;
// pin_toggle(stepper_x->direction);
// pin_toggle(stepper_y->direction);
// pin_toggle(stepper_z->direction);
}
*/
}
}
byte btn_get(Btn *btn){
if(btn->mode)
return pin_get(btn->pin);
else
return !pin_get(btn->pin);
}
unsigned char ds_pin_get(){
pin_configure_as_input(PORT, PIN);
return pin_get( PORT, PIN );
}
