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#define __16f628a
#include"pic/pic16f628a.h"
/* Vertical stepper code. Drives the RepRap vertical stepper
* down a few turns, pauses, then raises the platform up
* until it whacks the limit switch.
* NOTE: Uses stepper2 so I can recycle an old, buggered PIC.*/
typedef unsigned int word;
//__CONFIG = 0x3f72;
//word at 0x2007 __CONFIG = 0x3D18;
typedef unsigned int config;
config at 0x2007 __CONFIG = _CP_OFF &
_WDT_OFF &
_BODEN_OFF &
_PWRTE_ON &
_INTRC_OSC_CLKOUT &
_MCLRE_OFF &
_LVP_OFF;
unsigned char count; // Step shift for stepper 1
unsigned char count2; // Step shift for stepper 2
unsigned char inport;
unsigned char portFinal;
unsigned char portFinal2;
unsigned int cdelay;
unsigned int goneForward;
unsigned int yStepCount=0;
unsigned char direction;
unsigned char direction2;
unsigned char yState;
unsigned char tmp;
#define YSTATE_INITIALISE 0
#define YSTATE_SYNC_BACKWARDS 1
#define YSTATE_SEEK_ENDSTOP 2
#define YSTATE_SEEK_CENTRE 3
#define YSTATE_AWAIT_BRS 4
#define YSTATE_START_GOING_ROUND 5
#define YSTATE_GOING_FORWARD 6
#define YSTATE_GOING_BACKWARD 7
#define YSTATE_GOING_ROUND 8
#define YSTATE_BRIEF_DROP 9
#define YSTATE_WAIT_FOR_NO_MAGNET 10
#define YSTATE_AWAIT_SECOND_CLEAR 11
#define DIRECTION_NONE 0
#define DIRECTION_FORWARD 1
#define DIRECTION_BACKWARD 2
#define FORWARD_ENDSTOP_SENSOR 1
#define MANUAL_UP_SENSOR 2
#define MANUAL_DOWN_SENSOR 4
#define MAGNETIC_SENSOR 8
void main(void) {
// Set PORTA pins to input
CMCON=7;
// Set the I/O Direction magick
TRISB = 0;
TRISA = 15;
count = 1;
count2 = 1;
yStepCount=0;
direction = DIRECTION_NONE;
direction2 = DIRECTION_NONE;
yState=YSTATE_INITIALISE;
while(1) {
switch (yState) {
case YSTATE_INITIALISE:
// First, set counters etc. so we traverse 100 steps back.
yState=YSTATE_SYNC_BACKWARDS;
direction2 = DIRECTION_BACKWARD;
direction = DIRECTION_NONE;
yStepCount=200;
break;
case YSTATE_SYNC_BACKWARDS:
// Until our step count is zero, we keep going.
if (yStepCount>0) {
yStepCount-=1;
} else {
// We hit zero. Seek the endstop
yState=YSTATE_SEEK_ENDSTOP;
direction2 = DIRECTION_FORWARD;
}
break;
case YSTATE_SEEK_ENDSTOP:
// If we bump into it, wind back a little
inport=PORTA;
inport=inport&FORWARD_ENDSTOP_SENSOR;
if (inport==FORWARD_ENDSTOP_SENSOR) {
yState=YSTATE_SEEK_CENTRE;
direction2 = DIRECTION_BACKWARD;
yStepCount=240;
}
break;
case YSTATE_SEEK_CENTRE:
// When our long march is done, stop dead.
if (yStepCount>0) {
yStepCount--;
} else {
// We hit zero. Now we can draw ovals etc.
direction2 = DIRECTION_NONE;
yState=YSTATE_AWAIT_BRS;
}
break;
case YSTATE_AWAIT_BRS:
// And so we wait. Tum te tum.
// Oh, all right. Look for the manual override.
inport=PORTA;
direction2 = DIRECTION_NONE;
if ((inport&MANUAL_DOWN_SENSOR)==MANUAL_DOWN_SENSOR) {
direction2=DIRECTION_BACKWARD;
} else if ((inport&MANUAL_UP_SENSOR)==MANUAL_UP_SENSOR) {
direction2=DIRECTION_FORWARD;
}
// Make sure we're not whacking the limiting switch.
tmp=inport & FORWARD_ENDSTOP_SENSOR;
if (tmp==FORWARD_ENDSTOP_SENSOR) {
if (direction2==DIRECTION_FORWARD)
direction2=DIRECTION_NONE;
}
// Look for excuse to drop down.
tmp=inport&MAGNETIC_SENSOR;
if (tmp==MAGNETIC_SENSOR) {
yState=YSTATE_BRIEF_DROP;
yStepCount=26; // Drop 0.25mm approx.
}
break;
case YSTATE_BRIEF_DROP:
// We drop down a few turns.
if (yStepCount>0) {
direction2=DIRECTION_BACKWARD;
yStepCount--;
} else {
// We hit zero. Now we debounce the magnet.
direction2 = DIRECTION_NONE;
yState=YSTATE_WAIT_FOR_NO_MAGNET;
yStepCount=5;
}
break;
case YSTATE_WAIT_FOR_NO_MAGNET:
// Wait for the magnet to go away for a bit.
inport=PORTA;
if ((inport&MAGNETIC_SENSOR)==MAGNETIC_SENSOR) {
yStepCount=5;
} else {
if (yStepCount>0) {
yStepCount--;
} else {
yState=YSTATE_AWAIT_BRS;
}
}
break;
}
// Shift back or forth, depending on direction.
portFinal=0;
switch (direction) {
case DIRECTION_BACKWARD:
portFinal = count;
count<<=1;
break;
case DIRECTION_FORWARD:
portFinal = count;
count>>=1;
break;
case DIRECTION_NONE:
portFinal=0;
break;
}
switch (direction2) {
case DIRECTION_BACKWARD:
portFinal2 = count2;
count2<<=1;
break;
case DIRECTION_FORWARD:
portFinal2 = count2;
count2>>=1;
break;
case DIRECTION_NONE:
portFinal2=0;
break;
}
// Only change the first 4 bits of steppers 1 & 2.
if (count>8) {
count=1;
} else if (count==0) {
count=8;
}
if (count2>8) {
count2=1;
} else if (count2==0) {
count2=8;
}
// Put 2 stepper outputs on separate halves of port
PORTB=portFinal+(portFinal2<<4);
cdelay=800;
while ((--cdelay)>0);
}
}
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