1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
|
/*
*
* 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"
typedef unsigned int config;
config at 0x2007 __CONFIG = _CP_OFF &
_WDT_OFF &
_BODEN_OFF &
_PWRTE_ON &
_INTRC_OSC_NOCLKOUT &
_MCLRE_OFF &
_LVP_OFF;
byte deviceAddress = PORT;
volatile byte interruptTemp; //will be set, if an interrupt occures
static void isr() interrupt 0 {
interruptTemp = 1; //set flag, to check if the measurement is finishing during our isr
serialInterruptHandler();
if (RBIF)
motorTick(); //should not occur in UNIVERSAL_PCB
if (TMR1IF) {
timerTick();
TMR1IF = 0;
}
if (C2OUT) {
interruptTemp = 0; //measurement is not finished
}
}
void init1()
{
INTCON = BIN(00000000); // Interrupts disabled
PIR1 = 0; // Clear peripheral interrupt flags
PIE1 = BIN(00000000); // All peripheral interrupts initially disabled
OPTION_REG = BIN(01010111); // Disable TMR0 on RA4, 1:256 Prescaler for TMR0, pullups on
//serial communication
SPBRG = 12; // 12 = ~19200 baud @ 4MHz
TXSTA = BIN(00000100); // 8 bit high speed
RCSTA = BIN(10000000); // Enable port for 8 bit receive
CREN = 1; // Start reception
TXEN = 1; // Enable transmit
RCIE = 1; // Enable receive interrupts
// RB0 is Extrude speed sensor
// RB1 is Rx
// RB2 is Tx
// RB3 is PWM output to L298
// RB4 is L298 2 (Extrude)
// RB5 is L298 1 (Extrude)
// RB6 is not used
// RB7 is not used
RBIE = 1; // Enable RB port change interrupt
//(should not occur in UNIVERSAL_PCB, except if connector 11 is used)
PEIE = 1; // Peripheral interrupts on
#ifdef UNIVERSAL_PCB
TRISA = BIN(11000010) | PORTATRIS; // Turn off A/D lines,
// but set others as required
TRISB = BIN(11000111);
PORTA = 0;
PORTB = BIN(11000001);
#else
TRISA = BIN(11000010) | PORTATRIS; // Turn off A/D lines,
// but set others as required
TRISB = BIN(11000110); // Port B outputs, except 1/2 for serial and
// RB7 for optointerrupter input
// RB6 for material out detector
// RB0 for heater controller output
PORTA = 0;
PORTB = BIN(11000000); // Pullup on RB6,RB7 for opto-inputs
#endif
CMCON = BIN(00000010); // Comparator: compare RA0 to int. ref.
TMR1IE = 0;
T1CON = BIN(00000000); // Timer 1 in clock mode with 1:1 scale
TMR1IE = 1; // Enable timer interrupt
TMR1ON = 1;
PR2 = PWMPeriod; // Initial PWM period
CCP1CON = BIN(00001100); // Enable PWM mode
CCPR1L = 0; // Start turned off
T2CON = BIN(00000100); // Enable timer 2 and set prescale to 1
GIE = 1; // Now turn on interrupts
}
/* for debugging
void waitSec() {
int i;
for (i=30000; i > 0; i--) {
delay_10us();
delay_10us();
delay_10us();
}
}
*/
void main() {
init2(); // Order is important here, otherwise interrupts will occur
// before initialisation. Once sdcc bugs are fixed, this
// will not matter.
init1();
serial_init();
// Clear up any boot noise from the TSR
GIE=0;
uartTransmit(0);
uartTransmit(0);
GIE=1;
for(;;) {
if (packetReady()) {
processCommand();
releaseLock();
}
checkTemperature();
delay_10us();
//not used:
// clearwdt();
}
}
|
