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);
}
}
}
}
}
int main () {
uart_init(38400);
// initialisation of the buttons and leds //
DDRE &= ~(0xF0); // buttons as input
PORTE |= 0xF0; // activate internal pull-ups
DDRA |= 0xFF; // leds as output
/** CAN TESTING HERE **/
can_init(BITRATE_1_MBPS);
sei();
// motor 1
can_filter_t filter0;
filter0.id = 9;
//filter0.mask = 0x7FF;
filter0.mask = 0;
filter0.flags.rtr = 0;
can_set_filter(0, &filter0);
PORTA ^= 0x02;
/*while(true) {
if (can_check_message()) {
can_t msg;
can_get_message(&msg);
PORTA ^= 0x01;
}
}*/
PORTA = 0x01;
_delay_ms(1000);
PORTA = 0x02;
int j = 0;
while(true) {
can_t frame;
frame.id = 0x42;
frame.flags.rtr = 0;
frame.length = 8;
for(int i = 0; i < 8; i++) {
frame.data[i] = 42;//j + i;
}
j++;
for (int k = 0; k < 8; k++) {
if (can_send_message(&frame)) {
PORTA &= ~0x0F;
PORTA ^= 0xF0;
}
else {
PORTA |= 0x0F;
}
}
//_delay_ms(1);
_delay_ms(1);
}
while(true) {
if (can_check_message()) {
PORTA ^= 0x03;
/*can_t msg;
can_get_message(&msg);*/
can_t message;
can_get_message(&message);
for (int i = 0; i < 8; i++) {
uart_debug("%d: %d\n\r", i, message.data[i]);
_delay_ms(5);
}
uart_debug("##########################\n\n\r");
}
if (PINE < 0xF0) {
can_t frame;
frame.id = 0x09;
frame.flags.rtr = 0;
frame.length = 2;
frame.data[0] = 0x2A;
frame.data[1] = 0x06;
if (can_send_message(&frame)) {
PORTA &= ~0xE0;
PORTA ^= 0x10;
}
else PORTA = 0xE0;
uart_debug(".\n\r");
_delay_ms(500);
}
}
/** ** ++++++++++ ** **/
return 0;
}
