/* There are three possibilities for the step rate calculation that keep the
step rate error to under 0.2% of the desired value, from within 0.5 to 2KHz:
from 78 to 20Khz, Prescale is 1:8, Rollover = (F_PB/8-1)/PPS
from 10 to 77Hz, Prescale is 1:64, Rollover = (F_PB/64-1)/PPS
from 0.5 to 10Hz, Set rollover for a constant 1Khz, and increment to reach
the desired time, Prescale is 1:8, Rollover = (F_PB/8-1)/1000 and the number
of times to repeat is (1000-1)/PPS + 1 */
char Stepper_Init(unsigned short int rate)
{
unsigned short int overflowPeriod;
if (rate > TWENTY_KILOHERTZ) return ERROR;
dbprintf("\nInitializing Stepper Module");
stepCount = 0;
stepperMode = full;
stepperSpeed = rate;
overflowReps = 0;
// Initialize hardware (no current flow)
COIL_A_DIRECTION = 1;
COIL_B_DIRECTION = 1;
ShutDownDrive();
TRIS_COIL_A_DIRECTION = 0;
TRIS_COIL_A_ENABLE = 0;
TRIS_COIL_B_DIRECTION = 0;
TRIS_COIL_B_ENABLE = 0;
// Calculate overflow time and prescalar
overflowPeriod = CalculateOverflowPeriod(rate);
dbprintf("\nOverflow Period: %u",overflowPeriod);
dbprintf("\nNumber of Reps: %u",overflowReps);
// Setup timer and interrupt
OpenTimer3(T3_ON | T3_SOURCE_INT | T3_PS_1_8, overflowPeriod);
// OpenTimer5(T5_ON | T5_IDLE_STOP | T5_GATE_OFF | T5_PS_1_8 | T5_SOURCE_INT,overflowPeriod);
// OpenTimer5(T5_ON | T5_PS_1_8 | T5_SOURCE_INT, overflowPeriod);
ConfigIntTimer3(T3_INT_ON | T3_INT_PRIOR_3 );
mT3IntEnable(1);
stepperState = inited;
return SUCCESS;
}
//determines the amount of time before the timer interrupts
void Timer3Init(int Time)
{
int frequency = 0;
//the frequency is calculated as follows : 10000000 / Prescaler / Hertz
//Hertz is calculates as follows : 1 / (((msec per div) / 40) * 10^-3))
if (Time == 0)
{
frequency = 50; // 10000000/1/200000 = 50
}
else if (Time == 1)
{
frequency = 125; // 10000000/1/80000 = 125
}
else if (Time == 2)
{
frequency = 250; // 10000000/1/40000 = 250
}
else if (Time == 3)
{
frequency = 500; // 10000000/1/20000 = 500
}
else if (Time == 4)
{
frequency = 1250; // 10000000/1/8000 = 1250
}
OpenTimer3(T3_ON | T3_IDLE_CON | T3_SOURCE_INT | T3_PS_1_1 | T3_GATE_OFF, frequency);
mT3SetIntPriority(1);
mT3IntEnable(1);
}
// setup timers and initialize motors to off
void MotorInit(void)
{
int i;
M1_FORWARD_TRIS = OUTPUT_PIN;
M1_FORWARD_IO = 0;
M1_BACKWARD_TRIS = OUTPUT_PIN;
M1_BACKWARD_IO = 0;
M2_FORWARD_TRIS = OUTPUT_PIN;
M2_FORWARD_IO = 0;
M2_BACKWARD_TRIS = OUTPUT_PIN;
M2_BACKWARD_IO = 0;
M3_FORWARD_TRIS = OUTPUT_PIN;
M3_FORWARD_IO = 0;
M3_BACKWARD_TRIS = OUTPUT_PIN;
M3_BACKWARD_IO = 0;
M4_FORWARD_TRIS = OUTPUT_PIN;
M4_FORWARD_IO = 0;
M4_BACKWARD_TRIS = OUTPUT_PIN;
M4_BACKWARD_IO = 0;
OpenOC1(OC_ON | OC_TIMER3_SRC | OC_PWM_FAULT_PIN_DISABLE,2560,2560);
OpenOC2(OC_ON | OC_TIMER3_SRC | OC_PWM_FAULT_PIN_DISABLE,2560,2560);
OpenOC3(OC_ON | OC_TIMER3_SRC | OC_PWM_FAULT_PIN_DISABLE,2560,2560);
//OpenOC4(OC_ON | OC_TIMER3_SRC | OC_PWM_FAULT_PIN_DISABLE,2560,2560);
OpenTimer3(T3_ON | T3_PS_1_1, MOTOR_TIMER_PERIOD);
}
/*********************************************************************
* Function: void TouchInit(void)
*
* PreCondition: none
*
* Input: none
*
* Output: none
*
* Side Effects: none
*
* Overview: sets ADC
*
* Note: none
*
********************************************************************/
void TouchInit(void){
#define TIME_BASE (GetPeripheralClock()*SAMPLE_PERIOD)/4000000
// Initialize ADC
AD1CON1 = 0x080E0; // Turn on, auto-convert
AD1CON2 = 0; // AVdd, AVss, int every conversion, MUXA only
AD1CON3 = 0x1FFF; // 31 Tad auto-sample, Tad = 256*Tcy
#if defined(__dsPIC33F__) || defined(__PIC24H__)
AD1CHS0 = ADC_POT;
AD1PCFGL = 0; // All inputs are analog
AD1PCFGLbits.PCFG11 = AD1PCFGLbits.PCFG12 = 1;
#else
AD1CHS = ADC_POT;
AD1PCFG = 0; // All inputs are analog
#endif
AD1CSSL = 0; // No scanned inputs
#ifdef __PIC32MX__
OpenTimer3(T3_ON | T3_PS_1_8, TIME_BASE);
ConfigIntTimer3(T3_INT_ON | T3_INT_PRIOR_4);
#else
// Initialize Timer3
TMR3 = 0;
PR3 = TIME_BASE;
T3CONbits.TCKPS = 1; // Set prescale to 1:8
IFS0bits.T3IF = 0; // Clear flag
IEC0bits.T3IE = 1; // Enable interrupt
T3CONbits.TON = 1; // Run timer
#endif
}
extern void timerStart(timer * pTimer, const timerCalc * pTimerCalc)
{
pTimer->m_TimerCalc = *pTimerCalc;
const uint16_t PrescalerBits = pTimer->m_TimerCalc.PrescalerBits;
const uint16_t PriorityBits = pTimer->m_TimerCalc.PriorityBits;
const uint16_t Ticks = pTimer->m_TimerCalc.Ticks;
const timer_tCallback pCallback = pTimer->m_pCallback;
pTimer->m_OverflowCount = pTimer->m_TimerCalc.OverflowCount;
switch (pTimer->m_TimerNumber) {
case 1:
OpenTimer1(T1_ON | T1_SOURCE_INT | PrescalerBits, Ticks);
ConfigIntTimer1((pCallback == NULL ? T1_INT_OFF : T1_INT_ON) | PriorityBits);
break;
case 2:
OpenTimer2(T2_ON | T2_SOURCE_INT | PrescalerBits, Ticks);
ConfigIntTimer2((pCallback == NULL ? T2_INT_OFF : T2_INT_ON) | PriorityBits);
break;
case 3:
OpenTimer3(T3_ON | T3_SOURCE_INT | PrescalerBits, Ticks);
ConfigIntTimer3((pCallback == NULL ? T3_INT_OFF : T3_INT_ON) | PriorityBits);
break;
case 4:
OpenTimer4(T4_ON | T4_SOURCE_INT | PrescalerBits, Ticks);
ConfigIntTimer4((pCallback == NULL ? T4_INT_OFF : T4_INT_ON) | PriorityBits);
break;
case 5:
OpenTimer5(T5_ON | T5_SOURCE_INT | PrescalerBits, Ticks);
ConfigIntTimer5((pCallback == NULL ? T5_INT_OFF : T5_INT_ON) | PriorityBits);
break;
}
}
// 20Hz ISR
void initTimer3Interrupt(void)
{
OpenTimer3(T3_ON | T3_PS_1_256, 15625);
mT3SetIntPriority(1);
mT3ClearIntFlag();
mT3IntEnable(1);
}
/* Function:
void SYSTEM_TickInit(void)
Initialize Timer3 timer for 500usec system timer
*****************************************************************************/
void SYSTEM_TickInit(void)
{
OpenTimer3(T3_ON | T3_PS_1_256, TICK_PERIOD);
ConfigIntTimer3(T3_INT_ON | T3_INT_PRIOR_1);
/* OpenTimer4(T4_ON | T4_PS_1_256, TICK4_PERIOD);
ConfigIntTimer4(T4_INT_ON | T4_INT_PRIOR_1);*/
}
void PWM_Init(void)
{
#ifdef _TARGET_440H
#else
// Tmr1 Init
// STEP 1. configure the Timer1
OpenTimer3(T3_ON | T3_SOURCE_INT | T3_IDLE_CON | T3_PS_1_1, TMR3_RELOAD);
// Enable OC | 16 bit Mode | Timer1 is selected | Continuous O/P | OC Pin High , S Compare value, Compare value
OpenOC1( OC_ON | OC_TIMER_MODE16 | OC_TIMER3_SRC | OC_PWM_FAULT_PIN_DISABLE , 0, 0 );
OpenOC2( OC_ON | OC_TIMER_MODE16 | OC_TIMER3_SRC | OC_PWM_FAULT_PIN_DISABLE , 0, 0 );
#endif
}
// Exported functions
void buzzer_setup()
{
pinMode(BUZZER_PIN, OUTPUT);
pin_write(BUZZER_PIN, LOW);
buzzing = false;
is_buzzer_on = false;
alarm = 1;
// There are two timers capable of PWM, 2 and 3. We are using 2 for the modem,
// so use 3 for the buzzer.
OpenTimer3(T3_ON | T3_PS_1_8, PWM_PERIOD);
ConfigIntTimer3(T3_INT_ON | T3_INT_PRIOR_5);
}
//Timer 3 setup function
int sysServiceConfigT3(unsigned int T3conval, unsigned int T3perval,
unsigned int T3intconval){
//Todo: is there any way to have a compile time semaphore here?
if(T3_already_confgured){
return -1;
}
else{
T3_already_confgured = 1;
OpenTimer3(T3conval, T3perval);
ConfigIntTimer3(T3intconval);
return 0;
}
}
void TMR3_init(unsigned int reload , void (*func)())
{
// Enagle TMR1 interrrupt,16 bit counter, with internal clock, No prescalar
OpenTimer3(TIMER_INT_ON & T3_16BIT_RW & T3_SOURCE_INT & T3_PS_1_1 & T3_SYNC_EXT_OFF );
// Reload value for 1ms overflow
WriteTimer3(reload);
// Make timer1 interrupt high priority
//IPR2bits.TMR3IP = 1;
tmr[2].reload = reload;
tmr[2].func = func;
}
/**
* Backlight is open drain on pin D2, controlled by OC4, using Timer 3
* Contrast uses normal CMOS with OC3, also driven by Timer 3
*/
void lcd_init(void) {
//Set backlight to open drain
mPORTDOpenDrainOpen( BIT_2 );
//Start the timer for contrast/brightness PWM
OpenTimer3(T3_ON, LCD_PWMPERIOD);
//Enable contrast control
OpenOC3( OC_ON | OC_TIMER_MODE16 | OC_TIMER3_SRC | OC_CONTINUE_PULSE | OC_LOW_HIGH , LCD_PWMPERIOD, 0x500 );
//Enable brightness control
OpenOC4( OC_ON | OC_TIMER_MODE16 | OC_TIMER3_SRC | OC_CONTINUE_PULSE | OC_LOW_HIGH , LCD_PWMPERIOD, 0x500 );
}
void HCSR04_Init(){
OpenTimer2(T2_ON | T2_PS_1_64 | T2_32BIT_MODE_ON, 0xFFFF);
OpenTimer3(T3_ON | T3_PS_1_64, 0xFFFF);
OpenCapture5(IC_ON | IC_IDLE_CON | IC_CAP_32BIT | IC_INT_1CAPTURE | IC_EVERY_EDGE | IC_FEDGE_RISE);
SetPriorityIntIC5(IC_INT_PRIOR_4 | IC_INT_SUB_PRIOR_3);
EnableIntIC5;
lastDistance = 0.0;
reading = 0;
scale = (SOUND_SPEED*3200.0)/GetPeripheralClock(); // 6400 = 64 * 100 = prescale * cm/m. 3200 = Ida e volta
}
void setupPWMForIR()
{
// init OC3 module
OpenOC3(OC_OFF | OC_TIMER3_SRC | OC_PWM_FAULT_PIN_DISABLE, 0, 0);
// init Timer3 mode and period (PR2) 40 kHz freq: 1 / 40 kHz = (X + 1) / 80MHz * 1
//80 000 / 20 = X + 1 = 3999
//80 000 / 38 = X + 1 = 2104
//80 000 / 36 = X + 1 = 2221
//80 000 / 40 = X + 1 = 2001
OpenTimer3(T3_ON | T3_PS_1_1 | T3_SOURCE_INT, MAX_DUTY);
SetDCOC3PWM(PR3 / 2);
}
// h/w clock ASK emulator - initialise data pointers for ISR and start timer 2
// args: clock pulsewidth (NOT period!), data as array of 0/1, repeat
void write_ASK_HW_clock(unsigned int pulse, BYTE *data, unsigned int tpb, unsigned int repeat)
{
// convert to ticks
pulse= CONVERT_TO_TICKS(pulse);
// we only need to tick once per bit
pulse *= (unsigned long) tpb;
// point globals at data for ISR
EMU_ThisBit= *data;
EMU_Data= data + 1;
EMU_Reset_Data= data;
EMU_DataBitRate= 1;
EMU_SubCarrier_T0= 1;
EMU_Repeat= repeat;
// if we're manchester or bi-phase encoding, we want to clock twice as fast so we can toggle on half-bit
if(RFIDlerConfig.Manchester || RFIDlerConfig.BiPhase)
{
pulse /= 2;
EMU_SubCarrier_T0 *= 2;
EMU_DataBitRate *= 2;
}
// make sure no clock is running
stop_HW_clock();
// set mode
EmulationMode= MOD_MODE_ASK_OOK;
// make sure nobody's using our timer
CloseTimer3();
// tri-state on, clock low
READER_CLOCK_ENABLE_ON();
CLOCK_COIL= LOW;
// emulator mode
COIL_MODE_EMULATOR();
// this is also a semaphore so the rest of the code knows we're running
mLED_Emulate_On();
// start timer - ISR will send data
OpenTimer3( T3_ON | T3_PS_1_1 | T3_SOURCE_INT, pulse - 1L);
mT3SetIntPriority(6);
mT3ClearIntFlag();
mT3IntEnable(TRUE);
}
void TickInit(void)
{
// Initialize Timer4
#ifdef __PIC32MX__
OpenTimer3(T3_ON | T3_PS_1_8, TICK_PERIOD);
ConfigIntTimer3(T3_INT_ON | T3_INT_PRIOR_4);
#else
TMR3 = 0;
PR3 = TICK_PERIOD;
IFS0bits.T3IF = 0; //Clear flag
IEC0bits.T3IE = 1; //Enable interrupt
T3CONbits.TON = 1; //Run timer
#endif
}
inline void Timer3_Setup(void)
{
OpenTimer3(
T3_OFF &
T3_IDLE_CON &
T3_GATE_OFF &
T3_PS_1_256 &
T3_SOURCE_INT,
39063); //for 250 ms.
ConfigIntTimer3(
T3_INT_PRIOR_3 &
T3_INT_ON
);
return;
}
/**
* \brief The PIC18 init function.
*
* \todo Initialize the USART and timer/ccp.
*/
void pic18_init(void)
{
/*
* Setup the interrupts, all interrupts are by default low prio and
* global low priority interrupts should be disabled.
*/
IPR1 = IPR2 = INTCON = 0;
RCONbits.IPEN = 1;
INTCONbits.GIEH = 1;
/*
* Open the usart for 9600 baud and eight bit transmission,
* no interrupts. For more info about this call see the C18
* library manual.
*/
OpenUSART(
USART_TX_INT_OFF & USART_RX_INT_OFF &
USART_ASYNCH_MODE & USART_EIGHT_BIT &
USART_CONT_RX & USART_BRGH_HIGH,
127
);
/* Set the pins for the USART. */
TRISCbits.TRISC6 = 0;
TRISCbits.TRISC7 = 1;
/*
* Let's use CCP2 and Timer3, this is mainly due to CCP1
* being an enhanced CCP that we don't really need.
*/
OpenTimer3(
TIMER_INT_ON & T3_16BIT_RW &
T3_SOURCE_INT & T1_CCP1_T3_CCP2 &
T3_PS_1_8
);
/* Make sure the timer is OFF. */
T3CONbits.TMR3ON = 0;
TMR3L = TMR3H = 0;
/* Reset the CCP2 module. */
CCP2OFF();
}
void initPIC() {
SYSTEMConfig(SYS_FREQ, SYS_CFG_ALL);
initLEDs();
initSerialNU32v2();
// Setup and turn off electromagnets
EMAG1 = 0;
EMAG2 = 0;
TRISEbits.TRISE7 = 0;
TRISCbits.TRISC1 = 0;
// Direction Output
DIR = 1;
TRISAbits.TRISA9 = 0;
setup_counters();
CloseADC10();
#define PARAM1 ADC_MODULE_ON | ADC_FORMAT_INTG | ADC_CLK_AUTO | ADC_AUTO_SAMPLING_ON
#define PARAM2 ADC_VREF_AVDD_AVSS | ADC_OFFSET_CAL_DISABLE | ADC_SCAN_ON | ADC_SAMPLES_PER_INT_16 | ADC_ALT_BUF_OFF | ADC_ALT_INPUT_OFF
#define PARAM3 ADC_CONV_CLK_INTERNAL_RC | ADC_SAMPLE_TIME_31
#define PARAM4 ENABLE_AN0_ANA | ENABLE_AN1_ANA | ENABLE_AN2_ANA | ENABLE_AN3_ANA | ENABLE_AN5_ANA | ENABLE_AN15_ANA
OpenADC10(PARAM1, PARAM2, PARAM3, PARAM4, 0);
EnableADC10();
// 20kHz PWM signal, duty from 0-1000, pin D3
OpenTimer2(T2_ON | T2_PS_1_4, MAX_DUTY);
OpenOC4(OC_ON | OC_TIMER2_SRC | OC_PWM_FAULT_PIN_DISABLE, 0, 0);
SetDCOC4PWM(0);
// 200 Hz ISR
OpenTimer3(T3_ON | T3_PS_1_256, (6250/4 - 1));
//OpenTimer3(T3_ON | T3_PS_1_256, (62500 - 1));
mT3SetIntPriority(1);
mT3ClearIntFlag();
mT3IntEnable(1);
INTConfigureSystem(INT_SYSTEM_CONFIG_MULT_VECTOR);
INTEnableSystemMultiVectoredInt();
}
// h/w clock PSK emulator - initialise data pointers for ISR and start timer 2
// args: clock period, data as array of 0/1, fc per bit, sub-carrier ticks, repeat
void write_PSK1_HW_clock(unsigned int period, BYTE *data, unsigned int fcpb, unsigned int c0, unsigned int repeat)
{
// convert to ticks
period= CONVERT_TO_TICKS(period);
// for psk we want a full clock cycle, not a tick
period *= 2;
// point globals at data for ISR
EMU_ThisBit= *data;
EMU_Data= data + 1;
EMU_Reset_Data= data;
EMU_DataBitRate= fcpb;
EMU_SubCarrier_T0= c0;
EMU_Repeat= repeat;
// set mode
EmulationMode= MOD_MODE_PSK1;
// make sure no clock is running
stop_HW_clock();
// make sure nobody's using our timers
CloseTimer3();
// tri-state on, clock low
READER_CLOCK_ENABLE_ON();
CLOCK_COIL= LOW;
// emulator mode
COIL_MODE_EMULATOR();
// this is also a semaphore so the rest of the code knows we're running
mLED_Emulate_On();
// start timer - ISR will send data
OpenTimer3( T3_ON | T3_PS_1_1 | T3_SOURCE_INT, period / 2L - 1L);
mT3SetIntPriority(6);
mT3ClearIntFlag();
mT3IntEnable(TRUE);
}
// h/w clock FSK emulator - initialise data pointers for ISR and start timer 2
// args: clock pulsewidth (NOT period!), data as array of 0/1, T0 sub-carrier ticks, T1 sub-carrier ticks, repeat
void write_FSK_HW_clock(unsigned long pulse, BYTE *data, unsigned int tpb, unsigned int t0, unsigned int t1, unsigned int repeat)
{
// convert to ticks
pulse= CONVERT_TO_TICKS(pulse);
// point globals at data for ISR
EMU_ThisBit= *data;
EMU_Data= data + 1;
EMU_Reset_Data= data;
EMU_Repeat= repeat;
EMU_DataBitRate= tpb;
EMU_SubCarrier_T0= t0;
EMU_SubCarrier_T1= t1;
// set mode
EmulationMode= MOD_MODE_FSK;
// make sure no clock is running
stop_HW_clock();
// make sure nobody's using our timer
CloseTimer3();
// emulator mode
COIL_MODE_EMULATOR();
// tri-state on, clock low
READER_CLOCK_ENABLE_ON();
CLOCK_COIL= LOW;
// this is also a semaphore so the rest of the code knows we're running
mLED_Emulate_On();
// start timer - ISR will send data
OpenTimer3( T3_ON | T3_PS_1_1 | T3_SOURCE_INT, pulse - 1L);
mT3SetIntPriority(6);
mT3ClearIntFlag();
mT3IntEnable(TRUE);
}
void initIR(void) {
TRISCbits.TRISC2 = 1; //Set pin 2 of PORTC to input as it used for capturing
INTCON = 0; //Disable all interrupts
// Configure timer 1 - It is used for demodulating the NEC command and address.
OpenTimer1(TIMER_INT_ON & T1_16BIT_RW & T1_SOURCE_INT & T1_PS_1_1 & T1_SOURCE_CCP);
// Configure timer 3
OpenTimer3(TIMER_INT_ON & T3_16BIT_RW & T3_SOURCE_INT & T3_PS_1_8);
// Disable all timers
T1CONbits.TMR1ON = 0;
T3CONbits.TMR3ON = 0;
// Configure interrupts
PIE1bits.TMR1IE = 1;
PIE2bits.TMR3IE = 1;
INTCONbits.PEIE = 1;
INTCONbits.GIE = 1; //Enable global interrupts
resetIR();
disableIR();
}
void timersInit()
{
//T4 is input from encoder. Read from TMR4 to see number of ticks counted.
T4CON = 0x0; //T4 disabled
T4CONSET = 0x0002; //T4 External Clock Source, 1:1 prescaler
TMR4 = 0x0; //Reset T4 counter
PR4 = 0xffff; //Set T4 period to max
//mT4ClearIntFlag(); //clear interrupt flag
//mT4SetIntPriority(7); //set Timer4 Interrupt Priority
//mT4IntEnable(1); //enable timer4 interrupts
T4CONSET = 0x8000; //T4 enable
//T5 is input from encoder. Read from TMR5 to see number of ticks counted.
T5CON = 0x0; //T5 disabled
T5CONSET = 0x0002; //T5 External Clock Source, 1:1 prescaler
TMR5 = 0x0; //Reset T5
PR5 = 0xffff; //Set T5 period to max
//mT5ClearIntFlag(); //clear T5 interrupt flag
//mT5SetIntPriority(2); //set Timer5 Interrupt Priority
//mT5IntEnable(1); //enable timer5 interrupts
T5CONSET = 0x8000; //T5 enable
//The following code snippet opens and uses Timer1,2,3 as an interrupt.
//Open Timer1 with 1:8 prescaler (80MHz -> 10MHz), with period of 1250, therefore tick = 8kHz.
OpenTimer1(T1_ON | T1_PS_1_8 | T1_SOURCE_INT, 1000);
ConfigIntTimer1(T1_INT_ON | T1_INT_PRIOR_2);
OpenTimer2(T2_ON | T2_PS_1_8 | T2_SOURCE_INT, 1000);
ConfigIntTimer2(T2_INT_ON | T2_INT_PRIOR_2);
OpenTimer3(T3_ON | T3_PS_1_8 | T3_SOURCE_INT, 1000);
ConfigIntTimer1(T3_INT_ON | T3_INT_PRIOR_2);
INTEnableSystemMultiVectoredInt();
}
char Stepper_ChangeStepRate(unsigned short int rate)
{
unsigned short int overflowPeriod;
if ((rate > TWENTY_KILOHERTZ)||(stepperState == off)) return ERROR;
dbprintf("\nChanging step rate");
//T5CONbits.ON = 0; // halt timer5
//overflowPeriod = CalculateOverflowPeriod(rate);
//WritePeriod5(overflowPeriod);
//if (stepperState != halted) {
// T3CONbits.ON = 1; // restart timer3
//}
// Calculate overflow time and prescalar
overflowPeriod = CalculateOverflowPeriod(rate);
dbprintf("\nOverflow Period: %u",overflowPeriod);
dbprintf("\nNumber of Reps: %u",overflowReps);
// Setup timer and interrupt
OpenTimer3(T3_ON | T3_SOURCE_INT | T3_PS_1_8, overflowPeriod);
// OpenTimer5(T5_ON | T5_IDLE_STOP | T5_GATE_OFF | T5_PS_1_8 | T5_SOURCE_INT,overflowPeriod);
// OpenTimer5(T5_ON | T5_PS_1_8 | T5_SOURCE_INT, overflowPeriod);
ConfigIntTimer3(T3_INT_ON | T3_INT_PRIOR_3 );
mT3IntEnable(1);
stepperSpeed = rate;
return SUCCESS;
}
int setupTimer(int timer, int frequency, int priority)
{
int tX_on;
int tX_source_int;
int tX_int_on;
int tX_ps_1_X;
long countTo = SYS_FREQ / frequency;
switch (timer)
{
case 1:
tX_on = T1_ON;
tX_source_int = T1_SOURCE_INT;
tX_int_on = T1_INT_ON;
while (1)
{
if (countTo >= 65536)
{
countTo = countTo / 8;
if (countTo >= 65536)
{
countTo = countTo / 8;
if (countTo >= 65536)
{
countTo = countTo / 8;
if (countTo >= 65536)
{
return 0;
}
tX_ps_1_X = T1_PS_1_256;
break;
}
tX_ps_1_X = T1_PS_1_64;
break;
}
tX_ps_1_X = T1_PS_1_8;
break;
}
else
{
tX_ps_1_X = T1_PS_1_1;
break;
}
}
OpenTimer1(tX_on | tX_source_int | tX_ps_1_X, countTo);
ConfigIntTimer1(tX_int_on | priority);
break;
case 2:
tX_on = T2_ON;
tX_source_int = T2_SOURCE_INT;
tX_int_on = T2_INT_ON;
while (1)
{
if (countTo >= 65536)
{
countTo = countTo / 2;
if (countTo >= 65536)
{
countTo = countTo / 2;
if (countTo >= 65536)
{
countTo = countTo / 2;
if (countTo >= 65536)
{
countTo = countTo / 2;
if (countTo >= 65536)
{
countTo = countTo / 2;
if (countTo >= 65536)
{
countTo = countTo / 2;
if (countTo >= 65536)
{
countTo = countTo / 2;
if (countTo >= 65536)
{
return 0;
}
tX_ps_1_X = T2_PS_1_256;
break;
}
tX_ps_1_X = T2_PS_1_64;
break;
}
tX_ps_1_X = T2_PS_1_32;
break;
}
tX_ps_1_X = T2_PS_1_16;
break;
}
tX_ps_1_X = T2_PS_1_8;
break;
}
tX_ps_1_X = T2_PS_1_4;
break;
}
tX_ps_1_X = T2_PS_1_2;
break;
}
else
{
tX_ps_1_X = T2_PS_1_1;
break;
}
}
OpenTimer2(tX_on | tX_source_int | tX_ps_1_X, countTo);
ConfigIntTimer2(tX_int_on | priority);
break;
case 3:
tX_on = T3_ON;
tX_source_int = T3_SOURCE_INT;
tX_int_on = T3_INT_ON;
while (1)
{
if (countTo >= 65536)
{
countTo = countTo / 2;
if (countTo >= 65536)
{
countTo = countTo / 2;
if (countTo >= 65536)
{
countTo = countTo / 2;
if (countTo >= 65536)
{
countTo = countTo / 2;
if (countTo >= 65536)
{
countTo = countTo / 2;
if (countTo >= 65536)
{
countTo = countTo / 2;
if (countTo >= 65536)
{
countTo = countTo / 2;
if (countTo >= 65536)
{
return 0;
}
tX_ps_1_X = T3_PS_1_256;
break;
}
tX_ps_1_X = T3_PS_1_64;
break;
}
tX_ps_1_X = T3_PS_1_32;
break;
}
tX_ps_1_X = T3_PS_1_16;
break;
}
tX_ps_1_X = T3_PS_1_8;
break;
}
tX_ps_1_X = T3_PS_1_4;
break;
}
tX_ps_1_X = T3_PS_1_2;
break;
}
else
{
tX_ps_1_X = T3_PS_1_1;
break;
}
}
OpenTimer3(tX_on | tX_source_int | tX_ps_1_X, countTo);
ConfigIntTimer3(tX_int_on | priority);
break;
case 4:
tX_on = T4_ON;
tX_source_int = T4_SOURCE_INT;
tX_int_on = T4_INT_ON;
while (1)
{
if (countTo >= 65536)
{
countTo = countTo / 2;
if (countTo >= 65536)
{
countTo = countTo / 2;
if (countTo >= 65536)
{
countTo = countTo / 2;
if (countTo >= 65536)
{
countTo = countTo / 2;
if (countTo >= 65536)
{
countTo = countTo / 2;
if (countTo >= 65536)
{
countTo = countTo / 2;
if (countTo >= 65536)
{
countTo = countTo / 2;
if (countTo >= 65536)
{
return 0;
}
tX_ps_1_X = T4_PS_1_256;
break;
}
tX_ps_1_X = T4_PS_1_64;
break;
}
tX_ps_1_X = T4_PS_1_32;
break;
}
tX_ps_1_X = T4_PS_1_16;
break;
}
tX_ps_1_X = T4_PS_1_8;
break;
}
tX_ps_1_X = T4_PS_1_4;
break;
}
tX_ps_1_X = T4_PS_1_2;
break;
}
else
{
tX_ps_1_X = T4_PS_1_1;
break;
}
}
OpenTimer4(tX_on | tX_source_int | tX_ps_1_X, countTo);
ConfigIntTimer4(tX_int_on | priority);
break;
}
return 1;
}
int main(void) {
timesec=0;
// set PIC32 to max computing power
SYSTEMConfig(SYS_FREQ, SYS_CFG_ALL);
INTConfigureSystem(INT_SYSTEM_CONFIG_MULT_VECTOR);
INTEnableSystemMultiVectoredInt();
initLEDs();
LED0 = 1;
LED1 = 1;
initSerialNU32v2();
setup_counters();
CloseADC10();
#define PARAM1 ADC_MODULE_ON | ADC_FORMAT_INTG | ADC_CLK_AUTO | ADC_AUTO_SAMPLING_ON
#define PARAM2 ADC_VREF_AVDD_AVSS | ADC_OFFSET_CAL_DISABLE | ADC_SCAN_ON | ADC_SAMPLES_PER_INT_16 | ADC_ALT_BUF_OFF | ADC_ALT_INPUT_OFF
#define PARAM3 ADC_CONV_CLK_INTERNAL_RC | ADC_SAMPLE_TIME_31
#define PARAM4 ENABLE_AN0_ANA | ENABLE_AN1_ANA | ENABLE_AN2_ANA | ENABLE_AN3_ANA | ENABLE_AN5_ANA | ENABLE_AN15_ANA
OpenADC10( PARAM1, PARAM2, PARAM3, PARAM4,0);
EnableADC10();
// Setup and turn off electromagnets
EMAG1 = 0; EMAG2 = 0;
TRISEbits.TRISE7 = 0; TRISCbits.TRISC1 = 0;
//Direction Output
DIR = 1;
TRISAbits.TRISA9 = 0;
//g-select Outputs
GSEL1 = 0; GSEL2 = 0;
TRISEbits.TRISE2 = 0; TRISCbits.TRISC13= 0;
//0g Inputs
TRISAbits.TRISA0 = 1;
TRISAbits.TRISA4 = 1;
// 20kHz PWM signal, duty from 0-1000, pin D3
OpenTimer2(T2_ON | T2_PS_1_4, 1000);
OpenOC4(OC_ON | OC_TIMER2_SRC | OC_PWM_FAULT_PIN_DISABLE, 0, 0);
HBridgeDuty = 0;
SetDCOC4PWM(HBridgeDuty);
// 20Hz ISR
OpenTimer3(T3_ON | T3_PS_1_256, 15625);
mT3SetIntPriority(1);
mT3ClearIntFlag();
mT3IntEnable(1);
while(1) {
if(start){
EMAG2=0;
SetDCOC4PWM(100);
delaysec(delay1);
SetDCOC4PWM(1000);
delaysec(delay2);
SetDCOC4PWM(500);
delaysec(delay3);
EMAG2=1;
SetDCOC4PWM(0);
// EMAG1=0;
// SetDCOC4PWM(900);
// DIR = 0;
// delaysec(delay1);
// SetDCOC4PWM(0);
// delaysec(delay2);
// SetDCOC4PWM(700);
// delaysec(delay1);
// SetDCOC4PWM(1000);
// EMAG1=1;
start=0;
}
}
}
/**************************************************************************************************
Initialise the video components
***************************************************************************************************/
void initVideo(void) {
AutoLineWrap = 1;
// test if there is a monitor plugged into the VGA connector
CNPUASET = (1 << 4); // set a pullup on the video output pin
uSec(300); // allow it to settle
//vga = !PORTAbits.RA4; // the pin will be pulled low if the monitor is there
CNPUACLR = (1 << 4);
////////////////////////////
// setup SPI2 which is the video generator. the output of this module is a stream of bits which are the pixels in a horiz scan line
//if(vga)
PPSOutput(3, RPA4, SDO2); // B5 is the video out for VGA [color]]
//else
// PPSOutput(3, RPB2, SDO2); // B2 is the video out for composite
PPSInput(4, SS2, RPB9); // B9 is the framing input [horizontal synch]
#define P_VIDEO_SPI 2 // the SPI peripheral used for video
#define P_SPI_INPUT SPI2BUF // input buffer for the SPI peripheral
#define P_SPI_INTERRUPT _SPI2_TX_IRQ // interrupt used by the SPI peripheral when it needs more data
////////////////////////////
// the horizontal sync uses Timer 3 and Output Compare 3 to generate the pulse and interrupt level 7
PPSOutput(4, RPB14, OC3); // B14 is the horizontal sync output (ie, the output from OC3)
#define P_VID_OC_OPEN OpenOC3 // the function used to open the output compare
#define P_VID_OC_REG OC3R // the output compare register
////////////////////////////
// the vertical sync uses B13
TRISBCLR = (1<<13); // Vert sync output used by VGA
#define P_VERT_SET_HI LATBSET = (1 << 13) // set vert sync hi
#define P_VERT_SET_LO LATBCLR = (1 << 13) // set vert sync lo
// calculate the paramaters for each video mode and setup Timer 3 to generate the horiz synch and interrupt on its leading edge
//if(vga) {
// set up for VGA output
HRes = VGA_HRES; // HRes is the number of horiz pixels to use
HBuf = VGA_HBUFF * 32; // HBuf is the horiz buffer size (in pixels)
ConfigBuffers(Option[O_LINES24]); // setup the buffer pointers and VBuf, VRes
VC[0] = VGA_VSYNC_N; // setup the table used to count lines
VC[1] = VGA_POSTEQ_N;
P_VID_OC_OPEN(OC_ON | OC_TIMER3_SRC | OC_CONTINUE_PULSE, 0, VGA_HSYNC_T); // enable the output compare which is used to time the width of the horiz sync pulse
OpenTimer3( T3_ON | T3_PS_1_1 | T3_SOURCE_INT, VGA_LINE_T-1); // enable timer 3 and set to the horizontal scanning frequency
//}
/*else if(Option[O_PAL]) {
// this is for the PAL composite output and is the same as VGA with timing differences
VBuf = VRes = PAL_VRES;
HRes = PAL_HRES;
HBuf = PAL_HBUFF * 32; // HBuf is the horiz buffer size (in pixels)
ConfigBuffers(0);
SvSyncT = PAL_LINE_T - C_HSYNC_T;
VC[0] = C_VSYNC_N;
VC[1] = PAL_POSTEQ_N;
VC[2] = PAL_VRES;
VC[3] = PAL_PREEQ_N;
P_VID_OC_OPEN(OC_ON | OC_TIMER3_SRC | OC_CONTINUE_PULSE, 0, C_HSYNC_T); // enable the output compare which is used to time the width of the horiz sync pulse
OpenTimer3(T3_ON | T3_PS_1_1 | T3_SOURCE_INT, PAL_LINE_T-1); // enable timer 3 and set to the horizontal scanning frequency
}
*/
/*
else {
// this is for the NTSC composite output and is similar again
VBuf = VRes = NTSC_VRES;
HRes = NTSC_HRES;
HBuf = NTSC_HBUFF * 32; // HBuf is the horiz buffer size (in pixels)
ConfigBuffers(0);
SvSyncT = NTSC_LINE_T - C_HSYNC_T;
VC[0] = C_VSYNC_N;
VC[1] = NTSC_POSTEQ_N;
VC[2] = NTSC_VRES;
VC[3] = NTSC_PREEQ_N;
P_VID_OC_OPEN(OC_ON | OC_TIMER3_SRC | OC_CONTINUE_PULSE, 0, C_HSYNC_T); // enable the output compare which is used to time the width of the horiz sync pulse
OpenTimer3(T3_ON | T3_PS_1_1 | T3_SOURCE_INT, NTSC_LINE_T-1); // enable timer 3 and set to the horizontal scanning frequency
}
*/
// set priority level 7 for the timer 3 interrupt (horiz synch) and enable it
mT3SetIntPriority(7);
mT3IntEnable(1);
// initialise the state machine and set the count so that the first interrupt will increment the state
VState = SV_PREEQ;
VCount = 1;
// setup the SPI channel then DMA channel which will copy the memory bitmap buffer to the SPI channel
//if(vga) {
// open the SPI in framing mode. Note that SPI_OPEN_DISSDI will disable the input (which we do not need)
SpiChnOpen(P_VIDEO_SPI, SPICON_ON | SPICON_MSTEN | SPICON_MODE32 | SPICON_FRMEN | SPICON_FRMSYNC | SPICON_FRMPOL | SPI_OPEN_DISSDI, VGA_PIX_T);
SPI2CON2 = (1<<9) | (1<<8); // instruct the SPI module to ignore any errors that might occur
DmaChnOpen(1, 1, DMA_OPEN_DEFAULT); // setup DMA 1 to send data to SPI channel 2
DmaChnSetEventControl(1, DMA_EV_START_IRQ_EN | DMA_EV_START_IRQ(P_SPI_INTERRUPT));
DmaChnSetTxfer(1, (void*)VideoBuf, (void *)&P_SPI_INPUT, HBuf/8, 4, 4);
//}
/*
else {
SpiChnOpen(P_VIDEO_SPI, SPICON_ON | SPICON_MSTEN | SPICON_MODE32 | SPICON_FRMEN | SPICON_FRMSYNC | SPICON_FRMPOL | SPI_OPEN_DISSDI, C_PIX_T);
SPI2CON2 = (1<<9) | (1<<8); // instruct the SPI module to ignore any errors that might occur
DmaChnOpen(1, 1, DMA_OPEN_DEFAULT); // setup DMA 1 is the blank padding at the start of a scan line
DmaChnSetEventControl(1, DMA_EV_START_IRQ_EN | DMA_EV_START_IRQ(P_SPI_INTERRUPT));
DmaChnSetTxfer(1, (void*)zero, (void *)&P_SPI_INPUT, C_BLANKPAD, 4, 4);
DmaChnOpen( 0, 0, DMA_OPEN_DEFAULT); // setup DMA 0 to pump the data from the graphics buffer to the SPI peripheral
DmaChnSetEventControl(0, DMA_EV_START_IRQ_EN | DMA_EV_START_IRQ(P_SPI_INTERRUPT));
DmaChnSetTxfer(0, (void*)VideoBuf, (void *)&P_SPI_INPUT, HBuf/8 + 6, 4, 4);
DmaChnSetControlFlags(0, DMA_CTL_CHAIN_EN | DMA_CTL_CHAIN_DIR); // chain DMA 0 so that it will start on completion of the DMA 1 transfer
}
*/
}
void ADC_TmrInit (void)
{
OpenTimer3(T3_ON | T3_PS_1_8 | T3_SOURCE_INT, 0); /* Timer 3 enabled with 1:8 prescaler */
}
// ************************************************************
// Main application entry point.
// ************************************************************
int main(void)
{
static DWORD t = 0;
static DWORD dwLastIP = 0;
#if defined (EZ_CONFIG_STORE)
static DWORD ButtonPushStart = 0;
#endif
UINT8 channelList[] = MY_DEFAULT_CHANNEL_LIST_PRESCAN; // WF_PRESCAN
tWFScanResult bssDesc;
#if 0
INT8 TxPower; // Needed to change MRF24WG transmit power.
#endif
// Initialize application specific hardware
InitializeBoard();
// Initialize TCP/IP stack timer
TickInit(); // Timer 3 interrupt for refreshing motor status inside here
demo_TickInit();
#if defined(STACK_USE_MPFS2)
// Initialize the MPFS File System
// Generate a WifiGDemoMPFSImg.c file using the MPFS utility (refer to Convert WebPages to MPFS.bat)
// that gets compiled into source code and programmed into the flash of the uP.
MPFSInit();
#endif
// Initialize Stack and application related NV variables into AppConfig.
InitAppConfig();
// Initialize core stack layers (MAC, ARP, TCP, UDP) and
// application modules (HTTP, SNMP, etc.)
StackInit();
Exosite_Init("microchip","dv102412",IF_WIFI, 0);
#if 0
// Below is used to change MRF24WG transmit power.
// This has been verified to be functional (Jan 2013)
if (AppConfig.networkType == WF_SOFT_AP)
{
WF_TxPowerGetMax(&TxPower);
WF_TxPowerSetMax(TxPower);
}
#endif
// Run Self Test if SW0 pressed on startup
if(SW0_IO == 1)
SelfTest();
#ifdef STACK_USE_TELNET_SERVER
// Initialize Telnet and
// Put Remote client in Remote Character Echo Mode
TelnetInit();
putc(0xff, stdout); // IAC = Interpret as Command
putc(0xfe, stdout); // Type of Operation = DONT
putc(0x22, stdout); // Option = linemode
putc(0xff, stdout); // IAC = Interpret as Command
putc(0xfb, stdout); // Type of Operation = DO
putc(0x01, stdout); // Option = echo
#endif
#if defined ( EZ_CONFIG_SCAN )
// Initialize WiFi Scan State Machine NV variables
WFInitScan();
#endif
// WF_PRESCAN: Pre-scan before starting up as SoftAP mode
WF_CASetScanType(MY_DEFAULT_SCAN_TYPE);
WF_CASetChannelList(channelList, sizeof(channelList));
if (WFStartScan() == WF_SUCCESS) {
SCAN_SET_DISPLAY(SCANCXT.scanState);
SCANCXT.displayIdx = 0;
}
// Needed to trigger g_scan_done
WFRetrieveScanResult(0, &bssDesc);
#if defined(STACK_USE_ZEROCONF_LINK_LOCAL)
// Initialize Zeroconf Link-Local state-machine, regardless of network type.
ZeroconfLLInitialize();
#endif
#if defined(STACK_USE_ZEROCONF_MDNS_SD)
// Initialize DNS Host-Name from TCPIPConfig.h, regardless of network type.
mDNSInitialize(MY_DEFAULT_HOST_NAME);
mDNSServiceRegister(
// (const char *) AppConfig.NetBIOSName, // base name of the service. Ensure uniformity with CheckHibernate().
(const char *) "DemoWebServer", // base name of the service. Ensure uniformity with CheckHibernate().
"_http._tcp.local", // type of the service
80, // TCP or UDP port, at which this service is available
((const BYTE *)"path=/index.htm"), // TXT info
1, // auto rename the service when if needed
NULL, // no callback function
NULL // no application context
);
mDNSMulticastFilterRegister();
#endif
#if defined(WF_CONSOLE)
// Initialize the WiFi Console App
WFConsoleInit();
#endif
// Now that all items are initialized, begin the co-operative
// multitasking loop. This infinite loop will continuously
// execute all stack-related tasks, as well as your own
// application's functions. Custom functions should be added
// at the end of this loop.
// Note that this is a "co-operative mult-tasking" mechanism
// where every task performs its tasks (whether all in one shot
// or part of it) and returns so that other tasks can do their
// job.
// If a task needs very long time to do its job, it must be broken
// down into smaller pieces so that other tasks can have CPU time.
#ifndef PERIOD
#define PERIOD 3120 // set 3120 for get to timer interrupt every 20ms, 40MHz PBUS, div by 256
#endif
OpenTimer3(T3_ON | T3_SOURCE_INT | T3_PS_1_256, PERIOD);
while(1)
{
if (AppConfig.networkType == WF_SOFT_AP) {
if (g_scan_done) {
if (g_prescan_waiting) {
SCANCXT.displayIdx = 0;
while (IS_SCAN_STATE_DISPLAY(SCANCXT.scanState)) {
WFDisplayScanMgr();
}
#if defined(WF_CS_TRIS)
WF_Connect();
#endif
g_scan_done = 0;
g_prescan_waiting = 0;
}
}
}
#if defined (EZ_CONFIG_STORE)
// Hold SW0 for 4 seconds to reset to defaults.
if (SW0_IO == 1u) { // Button is pressed
button_state = 1;
if (ButtonPushStart == 0) //Just pressed
ButtonPushStart = TickGet();
else
if(TickGet() - ButtonPushStart > 4*TICK_SECOND)
RestoreWifiConfig();
}
else
{
ButtonPushStart = 0; //Button release reset the clock
}
if (AppConfig.saveSecurityInfo)
{
// set true by WF_ProcessEvent after connecting to a new network
// get the security info, and if required, push the PSK to EEPROM
if ((AppConfig.SecurityMode == WF_SECURITY_WPA_WITH_PASS_PHRASE) ||
(AppConfig.SecurityMode == WF_SECURITY_WPA2_WITH_PASS_PHRASE) ||
(AppConfig.SecurityMode == WF_SECURITY_WPA_AUTO_WITH_PASS_PHRASE))
{
// only need to save when doing passphrase
tWFCPElements profile;
UINT8 connState;
UINT8 connID;
WF_CMGetConnectionState(&connState, &connID);
WF_CPGetElements(connID, &profile);
memcpy((char*)AppConfig.SecurityKey, (char*)profile.securityKey, 32);
AppConfig.SecurityMode--; // the calc psk is exactly one below for each passphrase option
AppConfig.SecurityKeyLength = 32;
SaveAppConfig(&AppConfig);
}
AppConfig.saveSecurityInfo = FALSE;
}
#endif // EZ_CONFIG_STORE
// Blink LED0 twice per sec when unconfigured, once per sec after config
if((TickGet() - t >= TICK_SECOND/(4ul - (CFGCXT.isWifiDoneConfigure*3ul))))
{
t = TickGet();
LED0_INV();
}
// This task performs normal stack task including checking
// for incoming packet, type of packet and calling
// appropriate stack entity to process it.
StackTask();
// This task invokes each of the core stack application tasks
if (cloud_mode == 0)
StackApplications();
// Enable WF_USE_POWER_SAVE_FUNCTIONS
WiFiTask();
#if defined(STACK_USE_ZEROCONF_LINK_LOCAL)
ZeroconfLLProcess();
#endif
#if defined(STACK_USE_ZEROCONF_MDNS_SD)
mDNSProcess();
#endif
Exosite_Demo();
// Process application specific tasks here.
// Any custom modules or processing you need to do should
// go here.
#if defined(WF_CONSOLE)
WFConsoleProcess();
WFConsoleProcessEpilogue();
#endif
// If the local IP address has changed (ex: due to DHCP lease change)
// write the new IP address to the LCD display, UART, and Announce
// service
if(dwLastIP != AppConfig.MyIPAddr.Val)
{
dwLastIP = AppConfig.MyIPAddr.Val;
DisplayIPValue(AppConfig.MyIPAddr);
#if defined(STACK_USE_ANNOUNCE)
AnnounceIP();
#endif
#if defined(STACK_USE_ZEROCONF_MDNS_SD)
mDNSFillHostRecord();
#endif
}
}
}
int main(void)
{
int value;
int junk;
millisec = 0;
value = SYSTEMConfigWaitStatesAndPB( GetSystemClock() );
// Enable the cache for the best performance
CheKseg0CacheOn();
//Setupt input for inteface button JF8 (RA01) (0x02)
TRISASET = 0x02;
//RED LED - JF9 (RA04) (0x10)
TRISACLR = 0x10;
ODCACLR = 0x10;
LATASET = 0x10;
//Green LED -JF7 (RE9) (0x200)
TRISECLR = 0x200;
ODCECLR = 0x200;
LATESET = 0x200;
//Setupt Input for DataFlag Button - JF10 - RA5 0x20
TRISASET = 0x20;
//Setup Output for Clutch Hold (Launch) JE1 RD14 0x4000
//This function is active low, driving the FET on the PDU
TRISDCLR = 0x4000;
ODCDCLR = 0x4000;
LATDSET = 0x4000; //Default state is high (off)
CAN1Init();//CAN1 ACCL 500kbs
CAN2Init();//Motec 1mbs
DelayInit();
initUART2(); // GPS UART
prevButton1 = 0;
prevButton2 = 0;
millisec = 0;
// Configure Timer 2 to request a real-time interrupt once per millisecond.
// The period of Timer 2 is (16 * 5000)/(80 MHz) = 1 ms.
OpenTimer2(T2_ON | T2_IDLE_CON | T2_SOURCE_INT | T2_PS_1_16 | T2_GATE_OFF, 5000);
// Configure the CPU to respond to Timer 2's interrupt requests.
INTEnableSystemMultiVectoredInt();
INTSetVectorPriority(INT_TIMER_2_VECTOR, INT_PRIORITY_LEVEL_2);
INTClearFlag(INT_T2);
INTEnable(INT_T2, INT_ENABLED);
//UART GPS Interrupts
INTSetVectorPriority(INT_UART_2_VECTOR ,INT_PRIORITY_LEVEL_1); //Make sure UART interrupt is top priority
INTClearFlag(INT_U2RX);
INTEnable(INT_U2RX, INT_ENABLED);
value = OSCCON;
while (!(value & 0x00000020))
{
value = OSCCON; // Wait for PLL lock to stabilize
}
deviceAttached = FALSE;
//Initialize the stack
USBInitialize(0);
shouldLog = FALSE;
shouldStop = FALSE;
//count = 0;
angularRateInfoRec = FALSE;
accelerationSensorRec = FALSE;
HRaccelerationSensorRec = FALSE;
//init tim er 3 to convert adc at 100hz
OpenTimer3(T3_ON|T3_PS_1_256|T3_SOURCE_INT, 1562);
//initialize i2c for the psoc
initI2CPSoC();
state = wait;
logNum = 0;
initI2CEEPROM();
short addy = 0x0000;
BYTE num = 0x00;
logNum = readEEPROM(addy);
if(logNum >= 0xEF) //Address stored in EEPROM if greater than 0xEF reset to zero, limited to a single byte with current code configuration
{
writeEEPROM(addy, 0x00);
}
char GroupString[550];//Group Names (Line1)
char UnitString[550];//Units (line2)
char ParamString[650];//Paramater Names (line3)
sprintf(GroupString,"Time,Accelerometer,Accelerometer,Accelerometer,Accelerometer,Accelerometer,Accelerometer,Accelerometer,Accelerometer,Accelerometer,Engine,Engine,Engine,Engine,Engine,Engine,Engine,Engine,Engine,Engine,Drivetrain,Drivetrain,Electrical,Drivetrain,Drivetrain,Drivetrain,Drivetrain,Engine,Engine,Engine,Engine,Electrical,Electrical,Electrical,Electrical,Electrical,Electrical,Suspension,Suspension,Suspension,Suspension,Suspension,Drivetrain,Driver\n");
sprintf(UnitString,"ms,deg/s,deg/s,deg/s,m/s^2,m/s^2,m/s^2,m/s^2,m/s^2,m/s^2,rpm,%,kpa,degF,degF,lambda,psi,degF,na,na,psi,psi,V,mph,mph,mph,mph,s,gal,degF,degBTDC,mV,mV,mV,mV,mV,mV,mV,mV,mV,mV,mV,mV,\n");
sprintf(ParamString, "Millisec,pitch(deg/sec),roll(deg/sec),yaw(deg/sec),lat(m/s^2),long(m/s^2),vert(m/s^2),latHR(m/s^2),longHR(m/s^2),vertHR(m/s^2),rpm,tps(percent),MAP(kpa),AT(degF),ect(degF),lambda,fuel pres,egt(degF),launch,neutral,brake pres,brake pres filtered,BattVolt(V),ld speed(mph), lg speed(mph),rd speed(mph),rg speed(mph),run time(s),fuel used,Oil Temp (deg F), Ignition Adv (degBTDC),Overall Consumption(mV),Overall Production(mV),Fuel Pump(mV),Fuel Injector(mV),Ignition(mV),Vref(mV),Back Left(mV),Back Right(mV),Front Left(mV),Front Right(mV),Steering Angle(mV),Brake Temp(mV),Data Flag,GPRMC,Time,Valid,Lat,N/S,Long,E/W,Speed,Course,Date,Variation,E/W\n");
LATACLR = 0x10; //Turn on Red LED
// LATECLR = 0x200;
UARTSendString(UART2,PMTK_HOT_RESTART);
int i = 0;
while(!UARTTransmissionHasCompleted(UART2)){
i++;
}
while(1)
{
GPSDataRead();
GPSSentenceParse();
ClutchHold(); //This function handles the venting direction of the clutch actuator
DataFlagFunc(); //This function handles the updates of the data flag variable
//USB stack process function
USBTasks();
switch(state){
case wait:
USBTasks();
millisec = 0;
if(CheckLogStateChange() == 1){ //start the transition from wait to log
state = startLog;
}
break;
case startLog:
//if thumbdrive is plugged in
if(USBHostMSDSCSIMediaDetect())
{
deviceAttached = TRUE;
//now a device is attached
//See if the device is attached and in the right format
if(FSInit())
{
//Opening a file in mode "w" will create the file if it doesn't
// exist. If the file does exist it will delete the old file
// and create a new one that is blank.
logNum = readEEPROM(addy);
sprintf(nameString, "test%d.csv", logNum);
myFile = FSfopen(nameString,"w");
FSfwrite(GroupString,1,strlen(GroupString),myFile);
FSfwrite(UnitString,1,strlen(UnitString),myFile);
FSfwrite(ParamString,1, strlen(ParamString),myFile);
millisec = 0;
//LATDSET = 0x4000; //Send sync pulse (aeroprobe)
// while(millisec < 1000){} //Wait 1s then move to log, the aeroprobe ADC waits 1s.
state = log;
LATECLR = 0x200; //Turn on Green
LATASET = 0x10; //Turn off Red
}
}
break;
case log:
//This uses MOTEC as the master timer. Data is only written to the USB after all the motec Data is received
if(motec0Read && motec1Read && motec2Read && motec3Read && motec4Read && motec5Read){
WriteToUSB();
}
else{}//Wait for motec data to write the next row
if(CheckLogStateChange() == 2){ //Start the transition from log to wait
state = stopLog;
}
if(millisec > 2000){
LATDCLR = 0x4000; //After 2 seconds pass no need to keep output high
}
//Add a function to check for a flag button and set a variable
break;
case stopLog:
//Always make sure to close the file so that the data gets written to the drive.
FSfwrite("endFile", 1, 7, myFile);
FSfclose(myFile);
state = wait;
logNum++;
writeEEPROM(addy, logNum);
LATACLR = 0x10; //Turn on Red
LATESET = 0x200; //Turn off Green
break;
default:
state = wait;
break;
}
//CAN Handlers
CANRxMessageBuffer* CAN1RxMessage = CAN1RxMsgProcess();
if(CAN1RxMessage){
WriteAccelData(CAN1RxMessage); //Accel is on CAN 1
}
CANRxMessageBuffer* CAN2RxMessage = CAN2RxMsgProcess();
if(CAN2RxMessage){
writeCan2Msg(CAN2RxMessage); //Motec is on CAN 2
}
}
return 0;
}
