Code : Tout sélectionner

void sendMotorCmd(byte cmd)
{
  PORTD = (PORTD & 0x0F) | (cmd & 0xf0); // Directions first!
  PORTB = (PORTB & 0xF0) | (cmd & 0x0f); // and step
   delayMicroseconds(1500); // eventually wait a little bit   <---this worked 
   // and falling edge of step pulse
  PORTB = (PORTB & 0xF0);
}

Code : Tout sélectionner

/*
The jedicut communication configuration for Clock and Direction must be fixed set to the below values, 
only the wires to the specific board may be different -- wire to -->

Function-----------Number in jedicut configuration-----Arduino Pin ------No Wires       
                       (fixed !!)
EngineX1 Clock----------------------2-----------------------D2     
EngineX2 Clock----------------------3-----------------------D4
EngineY1 Clock----------------------4-----------------------D3
EngineY2 Clock----------------------5-----------------------D12
EngineX1 Direction------------------6-----------------------D5
EngineX2 Direction------------------7-----------------------D7
EngineY1 Direction------------------8-----------------------D6
EngineY2 Direction------------------9-----------------------D13

All Engines On/Off------------------------------------------D8 
Heating On/off----------------------------------------------D9
Heating PWM-------------------------------------------------D10
*/ 


#include <avr/interrupt.h>
#include <avr/io.h>

// Ringbuffer for the commands
#define CMD_BUFFER_SIZE 600  // must be even !
volatile byte cmdArray[CMD_BUFFER_SIZE];
volatile int arrayIdxRead  = 0;
volatile int arrayIdxWrite = 0;
volatile int cmdCounter = 0;
volatile boolean ovf = false;

volatile bool isrActive = false;

/**********************************************************************************/
void setup() 
{

  Serial.begin(115200);    // opens serial port, sets data rate to 115200 bps
  
 // pinMode(13,OUTPUT);      // Led Pin used for signaling an underflow condition
  
  pinMode(8,OUTPUT);      // All axis on/off
  
  pinMode(9,OUTPUT);       // PD2, Heat Relay on/off low active for letmathe mdlcnc
  digitalWrite(9, HIGH);   // Off
  
  pinMode(10,OUTPUT);       // PWM for wire heating
  analogWrite(10, 0);       // Off
  
  // Motor Pins  
  pinMode(2,OUTPUT);   // PB0, X1 Clock
  pinMode(4,OUTPUT);   // PB1, X2 Clock
  pinMode(3,OUTPUT);  // PB2, Y1 Clock
  pinMode(12,OUTPUT);  // PB3, Y2 Clock
  
  pinMode(5,OUTPUT);   // PD4, X1 Direction
  pinMode(7,OUTPUT);   // PD5, X2 Direction
  pinMode(6,OUTPUT);   // PD6, Y1 Direction
  pinMode(13,OUTPUT);   // PD7, Y2 Direction
  
  // using timer1 (because timer2 is used for pwm on pin3 and timer0 is used for delay functions)
  // using Fast PWM (Mode 15)
  TCCR1A = 0x03;          // wgm11=1 wgm0=10
  TCCR1B = 0x1C;          // wgm13=1 wgm12=1    cs12=1 cs11=0 cs10=0 /256 prescaler
  OCR1A  = 255;           // Timer compare register. 255 = 250Hz, 127 = 500Hz, 63 = 1 KHz
  TIMSK1 = (1 << OCIE1A); // Timer interrupt enable for match to OCR1A
  TIFR1  = 0;             // Clear flags.
  TCNT1  = 0;
  sei();
  
}

/**********************************************************************************/
void sendMotorCmd(byte cmd)
{
  PORTD = (PORTD & 0x0F) | (cmd & 0xf0); // Directions first!
  PORTB = (PORTB & 0xF0) | (cmd & 0x0f); // and step
   delayMicroseconds(1500); // eventually wait a little bit
   // and falling edge of step pulse
  PORTB = (PORTB & 0xF0);
}



/**********************************************************************************/
void handleCommand()
{

 byte val = cmdArray[arrayIdxRead+1]; // The command parameter value
  switch(cmdArray[arrayIdxRead])

  {
    case 'A':   // All Motors on/off
      if(val == '1')  {digitalWrite(8, LOW);}
      else          {digitalWrite(8, HIGH);}          
    break;
    case 'H':   // Wire Heat ON/OFF (may be programmed as PWM (analog out))
      if(val > 0)   {digitalWrite(9, LOW);}
      else          {digitalWrite(9, HIGH);}
      analogWrite(10,val*2.55); // PWM for wire heating (stretch 0-100% to a range of 0-255)
    break;
    case 'M':   // Motor step Command
      sendMotorCmd(val);
    break;
    case 'F':   // Change the timer frequency, the time between two steps
    // OCR1A values 255 = 250Hz 190 = 328Hz 127 = 500hz 63 = 1 Khz
       if(val>127) val =127;  // restrict from 0 to 127 corresponds to 1kHz to 0.5kHz
       OCR1A = 63 + val;  
    break;
  }

}

/**********************************************************************************/
ISR(TIMER1_COMPA_vect) {
  
  if (isrActive) return;
  isrActive = true;  
  sei(); // reenable interrupts, to not miss serial data
  
do {
      // check if the buffer is empty
      if((arrayIdxRead != arrayIdxWrite) || ovf)
      {
        
        handleCommand();
        arrayIdxRead += 2;
        if(arrayIdxRead==CMD_BUFFER_SIZE) arrayIdxRead=0;
    
        noInterrupts();
        cmdCounter--;
        interrupts();
    
        if (ovf && (cmdCounter<CMD_BUFFER_SIZE/2-25))
        {
          Serial.write('C');
          ovf = false;
        } 
//        digitalWrite(13, LOW); // underflow led off
      }
      else
      {
        // underflow !!
//        digitalWrite(13, HIGH); // underflow led on
        break;
      }
    } while(cmdArray[arrayIdxRead] != 'M'); // only motor commands will wait for next sync, all others can be handled immediately
    
  cli();
  
  isrActive = false;    
}

/**********************************************************************************/
/**** The main loop                                                           *****/
/**********************************************************************************/
void loop() 
{ 
  if (Serial.available() > 0)
  {    
    // Each command consists of 2 bytes
    Serial.readBytes((char*)&cmdArray[arrayIdxWrite],2);

    // korrekt the write index
    arrayIdxWrite+=2;
    if(arrayIdxWrite==CMD_BUFFER_SIZE) arrayIdxWrite=0;
    
    noInterrupts();
    cmdCounter++;
    interrupts();

    
    // check for oncoming overflow    
    if(cmdCounter >= CMD_BUFFER_SIZE/2-20)
    {
      ovf = true;
      Serial.write('S'); // Stop transmission, Buffer full
    }
  
  }
}