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/*
*
* RepRap, The Replicating Rapid Prototyper Project
*
* http://reprap.org/
*
* RepRap is copyright (C) 2005-6 University of Bath, the RepRap
* researchers (see the project's People webpage), and other contributors.
*
* RepRap is free; you can redistribute it and/or modify it under the
* terms of the GNU Library General Public Licence as published by the
* Free Software Foundation; either version 2 of the Licence, or (at your
* option) any later version.
*
* RepRap is distributed in the hope that it will be useful, but WITHOUT
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Library General Public
* Licence for more details.
*
* For this purpose the words "software" and "library" in the GNU Library
* General Public Licence are taken to mean any and all computer programs
* computer files data results documents and other copyright information
* available from the RepRap project.
*
* You should have received a copy of the GNU Library General Public
* Licence along with RepRap (in reports, it will be one of the
* appendices, for example); if not, write to the Free Software
* Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA, or see
*
* http://www.gnu.org/
*
*/
#include "extruder.h"
#include "serial.h"
#define PC1 100
#define PC2 20
byte PWMPeriod = 255;
volatile static byte currentDirection = 0;
// Non-zero indicates seeking is in progress (and its speed)
volatile static byte seekSpeed = 0;
volatile static byte seekNotify = 255;
volatile static byte lastPortB = 0;
volatile static byte lastPortA = 0;
volatile static byte extrude_click = 0;
volatile static byte material_click = 0;
static byte requestedHeat0 = 0;
static byte requestedHeat1 = 0;
volatile static byte heatCounter = 0;
volatile static byte pulseCounter1 = PC1;
volatile static byte pulseCounter2 = PC2;
volatile static byte solenoid_on = 0;
static byte temperatureLimit0 = 0;
static byte temperatureLimit1 = 0;
volatile static byte delay_counter;
static byte lastTemperature = 0;
static byte lastTemperatureRef = 0;
static byte temperatureVRef = 3;
static byte portaval = 0;
// Note: when reversing motor direction, the speed should be set to 0
// and then delayed long enough for the motor to come to rest.
// Failing to do this could result in miscalculated motor position
// because the code bases the calculation on expected direction, not
// actual direction (and the motor may take a little while to actually
// reverse direction).
typedef union {
int ival;
byte bytes[2];
} addressableInt;
volatile static addressableInt currentPosition, seekPosition;
#define CMD_VERSION 0
#define CMD_FORWARD 1
#define CMD_REVERSE 2
#define CMD_SETPOS 3
#define CMD_GETPOS 4
#define CMD_SEEK 5
#define CMD_FREE 6
#define CMD_NOTIFY 7
#define CMD_ISEMPTY 8
#define CMD_SETHEAT 9
#define CMD_GETTEMP 10
#define CMD_SETCOOLER 11
#define CMD_PWMPERIOD 50
#define CMD_PRESCALER 51
#define CMD_SETVREF 52
#define CMD_SETTEMPSCALER 53
#define HEATER_PWM_PERIOD 255
#ifdef UNIVERSAL_PCB
void extruder_stop()
{
PORTB4 = 0;
PORTB5 = 0;
}
void extruder_forward()
{
PORTB5 = 0;
PORTB4 = 1;
}
void extruder_reverse()
{
PORTB4 = 0;
PORTB5 = 1;
}
void heater_off()
{
portaval &= BIN(11110111);
PORTA = portaval;
}
void heater_on()
{
portaval |= BIN(00001000);
PORTA = portaval;
}
#pragma save
#pragma nooverlay
void change_log()
{
char changes, current;
extrude_click = 0;
material_click = 0;
current = PORTB1; // Store so it doesn't change half way through processing
changes = lastPortB ^ current;
if (changes) {
// Our opto-marker changed
if (current) {
extrude_click = 1;
}
}
lastPortB = current;
current = PORTA5; // Store so it doesn't change half way through processing
changes = lastPortA ^ current;
if (changes) {
// Material detector changed
if (!current && seekNotify != 255) {
material_click = 1;
}
}
lastPortA = current;
}
void set_cooler(byte b)
{
if (b)
portaval |= BIN(00000001);
else
portaval &= BIN(11111110);
PORTA = portaval;
}
#pragma restore
#else
void extruder_stop()
{
PORTB4 = 0;
PORTB5 = 0;
}
void extruder_forward()
{
PORTB5 = 0;
PORTB4 = 1;
}
void extruder_reverse()
{
PORTB4 = 0;
PORTB5 = 1;
}
void heater_off()
{
PORTB0 = 0;
}
void heater_on()
{
PORTB0 = 1;
}
#pragma save
#pragma nooverlay
void change_log()
{
char changes, current;
extrude_click = 0;
material_click = 0;
current = PORTB; // Store so it doesn't change half way through processing
PORTB = current; // properly reset change ??
changes = lastPortB ^ current;
if (changes & 0x80) {
// Our opto-marker changed
if (current & 0x80) {
extrude_click = 1;
}
}
if (changes & 0x40) {
// Material detector changed
if (!PORTB6 && seekNotify != 255) { //***AB Shouldn't this be (!(current & 0x40) && seekNotify != 255)
material_click = 1;
}
}
lastPortB = current;
}
void set_cooler(byte b)
{
if (b)
portaval |= BIN(00000100);
else
portaval &= BIN(11111011);
PORTA = portaval;
}
#pragma restore
#endif
void init2()
{
PWMPeriod = 255;
currentDirection = 0;
seekSpeed = 0;
seekNotify = 255;
lastPortB = 0;
lastPortA = 0;
currentPosition.bytes[0] = 0;
currentPosition.bytes[1] = 0;
seekPosition.bytes[0] = 0;
seekPosition.bytes[1] = 0;
requestedHeat0 = 0;
requestedHeat1 = 0;
heatCounter = 0;
lastTemperature = 0;
lastTemperatureRef = 0;
temperatureVRef = 3;
portaval = 0;
solenoid_on = 0;
PORTA = portaval;
TMR1H = HEATER_PWM_PERIOD;
TMR1L = 0;
}
#pragma save
#pragma nooverlay
void pwmSet()
{
CCP1CON = BIN(00111100);
// CCPR1L = seekSpeed;
CCPR1L = 255;
// if (seekSpeed == 255)
PR2 = 0;
// else
// PR2 = PWMPeriod;
}
#pragma restore
//#pragma save
//#pragma nooverlay
//void pwmOff()
//{
// CCP1CON = BIN(00000000);
// PR2 = 255;
// PORTB3 = 0;
// CCPR1L = 0;
//}
//#pragma restore
#pragma save
#pragma nooverlay
void solenoid_delay()
{
pwmSet();
pulseCounter1 = PC1;
pulseCounter2 = PC2;
solenoid_on = 1;
}
#pragma restore
#pragma save
#pragma nooverlay
void solenoid(byte on)
{
if(on)
extruder_forward();
else
extruder_reverse();
solenoid_delay();
}
/*void setSpeed(byte direction)
{
if (seekSpeed == 0)
{
extruder_reverse();
//extruder_stop();
//return;
} else
{
// if (direction == 0)
extruder_forward();
// else
// extruder_reverse();
}
pwmSet();
pulseCounter1 = PC1;
pulseCounter2 = PC2;
currentDirection = direction;
_asm /// @todo Remove when sdcc bug fixed
BANKSEL _currentPosition
_endasm;
}*/
#pragma restore
#pragma save
#pragma nooverlay
void timerTick()
{
/*
// There are two temperatures temperatureLimit0 and temperatureLimit1.
// When colder than temperatureLimit0, the heater runs at
// the power specified by requestedHeat1. If it is between
// temperatureLimit0 and temperatureLimit1 then it runs at the
// lower power setting requestedHeat0. If it is hotter than
// temperatureLimit1, the power shuts down completely.
if (lastTemperature <= temperatureLimit1) {
// Reached critical limit, so power off
heater_off();
} else if (lastTemperature <= temperatureLimit0 &&
heatCounter >= requestedHeat0 && requestedHeat0 != 255) {
// In medium zone, heater off period (based on low heat)
heater_off();
} else if (lastTemperature > temperatureLimit0 &&
heatCounter >= requestedHeat1 && requestedHeat1 != 255) {
// In low zone, heater off period (based on high heat)
heater_off();
} else {
// Heater on
heater_on();
}
*/
if(solenoid_on)
{
if(pulseCounter2 == 0)
{
if(pulseCounter1 == 0)
{
extruder_stop();
solenoid_on = 0;
} else
{
pulseCounter1--;
pulseCounter2 = PC2;
}
} else
pulseCounter2--;
}
heatCounter++;
TMR1H = HEATER_PWM_PERIOD;
TMR1L = 0;
_asm /// @todo Remove when sdcc bug fixed
BANKSEL _currentPosition
_endasm;
}
#pragma restore
#pragma save
#pragma nooverlay
void motorTick()
{
// Clear interrupt flag
RBIF = 0;
change_log();
if (extrude_click) {
// Adjust counter appropriately based on last known direction
if (currentDirection)
currentPosition.ival--;
else
currentPosition.ival++;
if (seekSpeed != 0 && currentPosition.ival == seekPosition.ival) {
// Turn off motor
extruder_stop();
}
}
if (material_click) {
sendMessage(seekNotify);
sendDataByte(CMD_ISEMPTY);
sendDataByte(1);
endMessage();
}
_asm /// @todo Remove when sdcc bug fixed
BANKSEL _currentPosition
_endasm;
}
#pragma restore
void delay_10us()
{
_asm
NOP
NOP
NOP
NOP
NOP
NOP
NOP
NOP
NOP
NOP
_endasm;
}
void checkTemperature()
{
/*
// Assumes:
// A6 is a reference resistor
// A7 is thermistor
// A1 is comparator
// Remember what PORTA should be
byte val = portaval;
// Assume capacitor is discharged from previous round or powerup
// Set Timer0 to timer mode and use watchdog prescaler
T0CS = 0;
PSA = 0;
// Set vref to test level and give it time to stabilise
VRCON = BIN(10000000) | temperatureVRef;
CMCON = BIN(00000010);
delay_10us();
T0IF = 0;
// Set A6 to high, float others
// Don't allow interrupts to mess with these
GIE = 0;
TRISA = BIN(10000010) | PORTATRIS;
portaval = val | BIN(01000000);
PORTA = portaval;
GIE = 1;
// Wait for cap to reach vref
TMR0 = 0;
while (C2OUT)
;
if (T0IF)
lastTemperatureRef = 255;
else
lastTemperatureRef = TMR0;
// Discharge cap
// Set A1 to low, float others
GIE = 0;
portaval = val;
PORTA = portaval;
TRISA = BIN(11000000) | PORTATRIS;
GIE = 1;
// Set vref to low
VRCON = BIN(10100001); // should be 1010xxxx to not output value
delay_10us();
// Wait for voltage to go low
while (!C2OUT)
;
// Extra delay for full discharge
delay_10us();
// Set vref to test level and give it time to stabilise
VRCON = BIN(10000000) | temperatureVRef;
delay_10us();
T0IF = 0;
// Set A7 to high, float others
GIE = 0;
portaval = val | BIN(10000000);
PORTA = portaval;
TRISA = BIN(01000010) | PORTATRIS;
GIE = 1;
// Use 8 bit Timer0 to measure time
// Wait for cap to reach vref
TMR0 = 0;
while (C2OUT)
;
if (T0IF)
lastTemperature = 255;
else
lastTemperature = TMR0;
// Discharge cap
// Set A1 to low, float others
// Restore PORTA to its original value
GIE = 0;
portaval = val;
PORTA = portaval;
TRISA = BIN(11000000) | PORTATRIS;
GIE = 1;
// Set vref to low
VRCON = BIN(10100001); // should be 1010xxxx to not output value
delay_10us();
// Wait for voltage to reach 0
while (!C2OUT)
;
// Extra delay for full discharge
delay_10us();
TRISA = BIN(11000010) | PORTATRIS;
VRCON = 0; // Turn off vref
*/
_asm /// @todo Remove when sdcc bug fixed
BANKSEL _currentPosition
_endasm;
}
void processCommand()
{
switch(buffer[0]) {
case CMD_VERSION:
sendReply();
sendDataByte(CMD_VERSION); // Response type 0
sendDataByte(0); // These don't really mean much right now
sendDataByte(2);
endMessage();
break;
// Extrude speed takes precedence over fan speed
case CMD_FORWARD:
solenoid(buffer[1]);
// seekSpeed = buffer[1];
// setSpeed(0);
break;
case CMD_REVERSE:
// seekSpeed = buffer[1];
// setSpeed(1);
solenoid(0);
break;
case CMD_SETPOS:
// Set (reset) position counter
currentPosition.bytes[0] = buffer[1];
currentPosition.bytes[1] = buffer[2];
break;
case CMD_GETPOS:
// Get position counter
sendReply();
sendDataByte(CMD_GETPOS);
sendDataByte(currentPosition.bytes[0]);
sendDataByte(currentPosition.bytes[1]);
endMessage();
break;
case CMD_SEEK:
// Goto position
seekPosition.bytes[0] = buffer[2];
seekPosition.bytes[1] = buffer[3];
// if (seekPosition.ival != currentPosition.ival) {
// seekSpeed = buffer[1];
// if (currentPosition.ival > seekPosition.ival)
// setSpeed(1);
// else
// setSpeed(0);
// }
break;
case CMD_FREE:
// Free motor. There is no torque hold for a DC motor,
// so all we do is switch off
// extruder_stop();
solenoid(0);
break;
case CMD_NOTIFY:
// Set seek completion (and calibration) notification
seekNotify = buffer[1];
break;
case CMD_ISEMPTY:
sendReply();
sendDataByte(CMD_ISEMPTY);
#ifdef UNIVERSAL_PCB
sendDataByte(!PORTA5);
#else
sendDataByte(!PORTB6);
#endif
endMessage();
break;
case CMD_SETHEAT:
requestedHeat0 = buffer[1];
requestedHeat1 = buffer[2];
temperatureLimit0 = buffer[3];
temperatureLimit1 = buffer[4];
break;
case CMD_GETTEMP:
sendReply();
sendDataByte(CMD_GETTEMP);
sendDataByte(lastTemperature);
sendDataByte(lastTemperatureRef);
endMessage();
break;
case CMD_SETCOOLER:
set_cooler(buffer[1]);
#ifdef UNIVERSAL_PCB
if(buffer[1] && !seekSpeed)
{
seekSpeed = buffer[1];
pwmSet();
}
#endif
break;
// "Hidden" low level commands
case CMD_PWMPERIOD:
// Set PWM period
PWMPeriod = buffer[1];
PR2 = PWMPeriod;
break;
case CMD_PRESCALER:
// Set timer prescaler (for PWM)
T2CON = BIN(00000100) | (buffer[1] & 3);
break;
case CMD_SETVREF:
temperatureVRef = buffer[1];
break;
case CMD_SETTEMPSCALER:
OPTION_REG = (OPTION_REG & BIN(11111000)) | (buffer[1] & BIN(111));
break;
}
}
// To work around sdcc issue
void dummy()
{
INTCON = 0;
}
|