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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 "stepmotor.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;
static void isr() interrupt 0 {
serialInterruptHandler();
if (TMR1IF) {
timerTick();
TMR1IF = 0;
}
}
void init1()
{
OPTION_REG = BIN(01011111); // Disable TMR0 on RA4, 1:128 WDT, pullups on
CMCON = 0xff; // Comparator module defaults
#ifdef UNIVERSAL_PCB
TRISA = BIN(00101010); // Port A outputs except 1,3 (sync) and 5 (Max)
// RA0 is L298 4
// RA1 is Sync
// RA2 is L298 3
// RA3 is Sync
// RA4 is the indicator LED
// RA5 is Max sensor
// RA6 is not used for the stepper
// RA7 is not used for the stepper
TRISB = BIN(00000011); // Port B 0,1 input, 2-7 outputs
// RB0 is Min sensor
// RB1 is Rx
// RB2 is Tx
// RB3 is PWM output to L298
// RB4 is L298 2
// RB5 is L298 1
// RB6 is not used
// RB7 is not used
#else
TRISA = BIN(00101100); // Port A outputs except 2,3 (sync)
// RA3 is input for max limit sensor
// RA4 is the indicator LED
// RA5 can only be used as an input
TRISB = BIN(00000111); // Port B 0-2 input, 3-7 outputs
// Port B3 is PWM output
#endif
PIE1 = BIN(00000000); // All peripheral interrupts initially disabled
INTCON = BIN(00000000); // Interrupts disabled
PIR1 = 0; // Clear peripheral interrupt flags
SPBRG = 12; // 12 = 19200 (actually 19230) baud @ 4MHz
TXSTA = BIN(00000100); // 8 bit high speed
RCSTA = BIN(10000000); // Enable port for 8 bit receive
PORTB = PULLUPS; // Turn on pullups for B0,3
RCIE = 1; // Enable receive interrupts
CREN = 1; // Start reception
TXEN = 1; // Enable transmit
PEIE = 1; // Peripheral interrupts on
GIE = 1; // Now turn on interrupts
PORTB = 0;
PORTA = 0;
TMR1IE = 0;
TMR2 = 0;
CCPR1L = 4; // Default power-up current limiting (25%)
PR2 = 16;
CCP1CON = BIN(00001100); // PWM mode
T2CON = BIN(00000100); // Start timer 1:1 prescale, 1:1 postscale
T1CON = BIN(00000000); // Timer 1 in clock mode with 1:1 scale
TMR1IE = 1; // Enable timer interrupt
}
void main() {
byte syncEnabled = 0;
init1();
init2();
serial_init();
// Clear up any boot noise from the TSR
GIE=0;
uartTransmit(0);
GIE=1;
if (SYNCA) // Only enable if SYNCA is by default high
syncEnabled = 1;
for(;;) {
if (packetReady()) {
processCommand();
releaseLock();
}
if (syncEnabled && !SYNCA) {
// Sync line has dropped
// Spin until it goes high again (we trigger on the rising edge)
while(!SYNCA)
;
syncStrobe();
}
clearwdt();
}
}
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