diff --git a/ToyRep/firmware/LICENSE b/ToyRep/firmware/LICENSE
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+ GNU GENERAL PUBLIC LICENSE
+ Version 3, 29 June 2007
+
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+ 17. Interpretation of Sections 15 and 16.
+
+ If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+ END OF TERMS AND CONDITIONS
+
+ How to Apply These Terms to Your New Programs
+
+ If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+ To do so, attach the following notices to the program. It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+ <one line to give the program's name and a brief idea of what it does.>
+ Copyright (C) <year> <name of author>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program 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 General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <https://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+ If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+ <program> Copyright (C) <year> <name of author>
+ This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+ This is free software, and you are welcome to redistribute it
+ under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License. Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+ You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<https://www.gnu.org/licenses/>.
+
+ The GNU General Public License does not permit incorporating your program
+into proprietary programs. If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library. If this is what you want to do, use the GNU Lesser General
+Public License instead of this License. But first, please read
+<https://www.gnu.org/licenses/why-not-lgpl.html>.
diff --git a/ToyRep/firmware/hello.c b/ToyRep/firmware/hello.c
index c94998a2cad17cbddc6ec066425d54d2d2af4946..521471ae7869fd985ac05ae52bea68115614e78e 100644
--- a/ToyRep/firmware/hello.c
+++ b/ToyRep/firmware/hello.c
@@ -103,13 +103,9 @@ static cyg_uint32 serial_isr_handler(cyg_vector_t vector, cyg_addrword_t data);
#define TEMP_KI_LIMIT 5000
#define TEMP_KD 800.0
-/* ISR data */
-#define CAMERA_BUFFER_AMOUNT 1
#define CAMERA_IMAGE_WIDTH 176
#define CAMERA_IMAGE_HEIGHT 144
-static volatile uint16_t cameraBuffer[CAMERA_BUFFER_AMOUNT];
-static volatile uint8_t cameraBufferPos;
-static volatile uint8_t cameraImage[CAMERA_IMAGE_HEIGHT][CAMERA_IMAGE_WIDTH*2];
+/*static volatile uint8_t cameraImage[CAMERA_IMAGE_HEIGHT][CAMERA_IMAGE_WIDTH*2];
static volatile uint16_t cameraImagePosX = 0;
static volatile uint16_t cameraImagePosY = 0;
static volatile bool cameraImageStarted = true;
@@ -117,9 +113,8 @@ static volatile bool cameraImageLineStarted = true;
static volatile bool cameraImageFinished = false;
static cyg_handle_t pclk_handle;
static cyg_interrupt pclk_interrupt;
-/* ISR functions */
static cyg_uint32 pclk_isr(cyg_vector_t vector, cyg_addrword_t);
-static void pclk_dsr(cyg_vector_t vector, cyg_ucount32 count, cyg_addrword_t data);
+static void pclk_dsr(cyg_vector_t vector, cyg_ucount32 count, cyg_addrword_t data);*/
#define CAMERA_XCLK_TIMER TIM3
#define CAMERA_XCLK_TIMCHANNEL TIM_OC4
@@ -324,15 +319,10 @@ void thread_hotend(cyg_addrword_t arg)
ezs_printf("// Temperature Control ready.\n");
- // this is for testing which pins are GPIO pins lol
- //setup_input_gpio(GPIOB, GPIO12, false);
-
while (!axisReady) {}
ezs_printf("// All systems ready.\nstart\n");
- while (1) {
- //ezs_printf("THIS MOTHERFUCKER IS: %d\n", diy_gpio_read_pin(GPIOB, GPIO12));
-
+ while (1) {
uint16_t destination[1];
diy_adc_read(ADC1, channels, destination, 1);
@@ -362,7 +352,6 @@ void thread_hotend(cyg_addrword_t arg)
}
pidLastError = e;
- //ezs_printf("// PWM: %d\n", pwm);
diy_tim_channel_set_compare_value((uint32_t) TIM2, TIM_OC2, pwm);
// If absolute temperature error has been <= TEMP_TOLERANCE for 10s, it's stable
@@ -395,8 +384,6 @@ void thread_gcodereader(cyg_addrword_t arg)
gcode gc;
uint8_t result = readGcode(&gc, s_serial_buffer[serial_read_next]);
serial_read_next = (serial_read_next + 1) % SERIAL_BUFFER_AMOUNT;
-
- ezs_printf("// Reading Gcode %c%d (CS %d)\n", gc.operationCategory, gc.operationId, gc.checksumActual);
if (result == ERR_GCODE_NO_N) {
ezs_printf("!! Missing line number\n");
@@ -448,7 +435,6 @@ void thread_gcodeexecutor(cyg_addrword_t arg)
{
while (1) {
gcode* gc = readFromBuffer(&buffer);
- ezs_printf("// Executing Gcode %c%d\n", gc->operationCategory, gc->operationId);
if (gc->operationCategory == 'G') {
if (gc->operationId == 0 || gc->operationId == 1) {
@@ -534,8 +520,6 @@ void thread_gcodeexecutor(cyg_addrword_t arg)
if (yRel != 0.0) setAxisTarget(&axis_y, yTarget, ySpeed * lowestFactor);
if (zRel != 0.0) setAxisTarget(&axis_z, zTarget, zSpeed * lowestFactor);
if (eRel != 0.0) setAxisTarget(&axis_e, eRel, eSpeed * lowestFactor);
-
- ezs_printf("MOVE: %f, %f, %f, %f, Speed %f, %f, %f, %f", xRel, yRel, zRel, eRel, xSpeed * lowestFactor, ySpeed * lowestFactor, zSpeed * lowestFactor, eSpeed * lowestFactor);
allAxesFinished = false;
while (!allAxesFinished) {}
@@ -661,7 +645,7 @@ bool gCodeIsSupported(gcode* gc)
else return false;
}
-static cyg_uint8 stack_camerareader[STACKSIZE];
+/*static cyg_uint8 stack_camerareader[STACKSIZE];
static cyg_handle_t handle_camerareader;
static cyg_thread threaddata_camerareader;
void thread_camerareader(cyg_addrword_t arg)
@@ -673,11 +657,11 @@ void thread_camerareader(cyg_addrword_t arg)
uint16_t xP = 0, yP = 0, printed = 0;
while (yP < CAMERA_IMAGE_HEIGHT) {
while (xP < CAMERA_IMAGE_WIDTH*2) {
- ezs_printf("%d x %d\n", xP, yP);
- ezs_serial_putc(cameraImage[yP][xP]);
+ ezs_serial_putc(cameraImage[yP][xP]);
printed++;
xP++;
}
+ xP = 0;
yP++;
}
ezs_serial_putc('E');ezs_serial_putc('N');ezs_serial_putc('D');ezs_serial_putc('\n');
@@ -685,7 +669,7 @@ void thread_camerareader(cyg_addrword_t arg)
}
ezs_delay_us(1e4);
}
-}
+}*/
void cyg_user_start(void)
{
@@ -714,7 +698,7 @@ void cyg_user_start(void)
cyg_thread_create(11, &thread_hotend, 0, "hotend", stack_hotend, STACKSIZE, &handle_hotend, &threaddata_hotend);
cyg_thread_create(11, &thread_gcodereader, 0, "gcode read", stack_gcodereader, STACKSIZE, &handle_gcodereader, &threaddata_gcodereader);
cyg_thread_create(11, &thread_gcodeexecutor, 0, "gcode exec", stack_gcodeexecutor, STACKSIZE, &handle_gcodeexecutor, &threaddata_gcodeexecutor);
- cyg_thread_create(11, &thread_camerareader, 0, "camera", stack_camerareader, STACKSIZE, &handle_camerareader, &threaddata_camerareader);
+ //cyg_thread_create(11, &thread_camerareader, 0, "camera", stack_camerareader, STACKSIZE, &handle_camerareader, &threaddata_camerareader);
ezs_printf("// Creating serial interrupt...\n");
@@ -733,7 +717,7 @@ void cyg_user_start(void)
cyg_interrupt_attach(serial_isr_handle);
cyg_interrupt_unmask(SERIAL_IRQ);
- ezs_printf("// Initializing Camera Pins...\n");
+ /*ezs_printf("// Initializing Camera Pins...\n");
setup_input_gpio(CAMERA_DATA_PORT, CAMERA_DATA_PIN1
| CAMERA_DATA_PIN2
@@ -771,16 +755,6 @@ void cyg_user_start(void)
tmp = 0b00011111;
writeSCCB(&sccb, 0x11, tmp);
- /*tmp = readSCCB(&sccb, 0x3E);
- tmp &= 0b11100000;
- tmp |= 0b00010100;
- writeSCCB(&sccb, 0x3E, tmp);
-
- tmp = readSCCB(&sccb, 0x73);
- tmp &= 0b11110000;
- tmp |= 0b00000100;
- writeSCCB(&sccb, 0x73, tmp);*/
-
tmp = readSCCB(&sccb, 0x0C);
tmp |= 0b00001000;
writeSCCB(&sccb, 0x0C, tmp);
@@ -811,7 +785,7 @@ void cyg_user_start(void)
nvic_enable_irq(NVIC_EXTI15_10_IRQ);
exti_select_source(EXTI15, GPIOA);
- exti_set_trigger(EXTI15, EXTI_TRIGGER_RISING);
+ exti_set_trigger(EXTI15, EXTI_TRIGGER_RISING);*/
ezs_printf("// Starting threads...\n");
@@ -819,13 +793,13 @@ void cyg_user_start(void)
cyg_thread_resume(handle_hotend);
cyg_thread_resume(handle_gcodereader);
cyg_thread_resume(handle_gcodeexecutor);
- cyg_thread_resume(handle_camerareader);
+ //cyg_thread_resume(handle_camerareader);
// hotend ready thread is also responsible for sending "start" when all systems are ready
- tmp = readSCCB(&sccb, 0x09);
+ /*tmp = readSCCB(&sccb, 0x09);
tmp &= 0b11101111;
- writeSCCB(&sccb, 0x09, tmp);
+ writeSCCB(&sccb, 0x09, tmp);*/
}
// ISR for reading from serial port
@@ -856,7 +830,7 @@ static void serial_dsr_handler(cyg_vector_t vector, cyg_ucount32 count, cyg_addr
}
-static cyg_uint32 pclk_isr(cyg_vector_t vector, cyg_addrword_t data){
+/*static cyg_uint32 pclk_isr(cyg_vector_t vector, cyg_addrword_t data){
cyg_interrupt_acknowledge(vector);
if (diy_gpio_read_pin(GPIOB, GPIO15) == 1) { // VSync Pin (B15)
@@ -876,34 +850,4 @@ static cyg_uint32 pclk_isr(cyg_vector_t vector, cyg_addrword_t data){
return CYG_ISR_HANDLED;
}
-static void pclk_dsr(cyg_vector_t vector, cyg_ucount32 count, cyg_addrword_t data) {}
-
-/*static cyg_uint32 pclk_isr(cyg_vector_t vector, cyg_addrword_t data){
- cyg_interrupt_acknowledge(vector);
-
- uint16_t signal = (GPIOB_IDR >> 14) & 0x00000003; // pins B14 and B15
- if (signal != 0) {
- signal |= (GPIOD_IDR & 0x0000FF00); // pins D8 to D15
- cameraBuffer[cameraBufferPos++] = signal;
- return CYG_ISR_CALL_DSR | CYG_ISR_HANDLED;
- } else {
- return CYG_ISR_HANDLED;
- }
-}
-
-static void pclk_dsr(cyg_vector_t vector, cyg_ucount32 count, cyg_addrword_t data){
- uint8_t i = 0;
- while (i < cameraBufferPos) {
- //ezs_printf("Buf: %#04x\n", cameraBuffer[i]);
- uint16_t buf = cameraBuffer[i];
- if ((buf & 0x02) != 0) { // VSync Pin (B15)
- ezs_serial_putc('V');
- ezs_serial_putc('S');
- ezs_serial_putc('C');
- } else if ((buf & 0x01) != 0) { // HRef Pin (B14)
- ezs_serial_putc((buf >> 8) & 0x00FF);
- }
- i++;
- }
- cameraBufferPos = 0;
-}*/
+static void pclk_dsr(cyg_vector_t vector, cyg_ucount32 count, cyg_addrword_t data) {}*/
diff --git a/ToyRep/firmware/system.pdf b/ToyRep/firmware/system.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..1dc016ab3706b12b8c70fa2e944f5dc234d93266
Binary files /dev/null and b/ToyRep/firmware/system.pdf differ