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/*
* 5D GCode Interpreter
* Arduino code to load into the extruder controller
*
* Adrian Bowyer 3 July 2009
*/
#ifndef __AVR_ATmega168__
#error Oops! Make sure you have 'Arduino Diecimila' selected from the boards menu.
#endif
#include <ctype.h>
#include <HardwareSerial.h>
#include "WProgram.h"
#include "configuration.h"
#include "temperature.h"
#include "extruder.h"
#include "intercom.h"
extruder ex;
intercom talker(&ex);
static PIDcontrol ePID(HEATER_OUTPUT, TEMP_PIN, false);
static PIDcontrol bPID(BED_OUTPUT, BED_TEMP_PIN, true);
byte blk;
void setup()
{
pinMode(DEBUG_PIN, OUTPUT);
rs485Interface.begin(RS485_BAUD);
blk = 0;
// Change the frequency of Timer 0 so that PWM on pins H1E and H2E goes at
// a very high frequency (64kHz see:
// http://tzechienchu.typepad.com/tc_chus_point/2009/05/changing-pwm-frequency-on-the-arduino-diecimila.html)
#ifdef FAST_PWM
TCCR0B &= ~(0x07);
TCCR0B |= 1;
#endif
}
void loop()
{
// Handle RS585
talker.tick();
// Keep me at the right temp etc.
ex.manage();
}
// Blink the LED
void blink(bool on)
{
if(on)
{
blk = 1 - blk;
digitalWrite(DEBUG_PIN, blk);
} else
digitalWrite(DEBUG_PIN, 0);
}
void delayMicrosecondsInterruptible(unsigned int us)
{
// for a one-microsecond delay, simply return. the overhead
// of the function call yields a delay of approximately 1 1/8 us.
if (--us == 0)
return;
// the following loop takes a quarter of a microsecond (4 cycles)
// per iteration, so execute it four times for each microsecond of
// delay requested.
us <<= 2;
// account for the time taken in the preceeding commands.
us -= 2;
// busy wait
__asm__ __volatile__ ("1: sbiw %0,1" "\n\t" // 2 cycles
"brne 1b" :
"=w" (us) :
"0" (us) // 2 cycles
);
}
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