void picinit(void)
{ int mode, delay;
int interactive;
consumewhitechars();
mode=getint();
consumewhitechars();
delay=getint();
interactive=0;
if(!((mode>0)&&(mode<=2)))
{ interactive=1;
}
if((delay>0)&&(delay<=2))
{ piccmddelay=delay;
}
else
{ interactive=1;
}
if(interactive)
{ cmderror=0;
//bpWline("Commandmode");
//bpWline("1. 6b/14b");
//bpWline("2. 4b/16b");
BPMSG1072;
mode=getnumber(1,1,2,0);
//bpWline("Delay");
BPMSG1073;
delay=getnumber(1,1,2,0);
}
switch(mode)
{ case 1: picmode=PICMODE6;
break;
case 2: picmode=PICMODE4;
break;
default: break;
}
piccmddelay=delay;
if(!interactive)
{ //bpWstring("PIC(mod dly)=(");
BPMSG1074;
bpWdec(picmode); bpSP;
bpWdec(piccmddelay);
bpWline(")");
}
modeConfig.HiZ=1; // to allow different Vcc
modeConfig.int16=1;
bbL(MOSI|CLK, PICSPEED); // pull both pins to 0 before applying Vcc and Vpp
}
//setup the Servo PWM
void bpServo(void)
{
unsigned int PWM_period, PWM_dutycycle;
unsigned char entryloop=0;
float PWM_pd;
// Clear timers
T2CON = 0; // clear settings
T4CON = 0;
OC5CON = 0;
if(AUXmode == AUX_PWM){ //PWM is on, stop it
if(cmdbuf[((cmdstart + 1)& CMDLENMSK)] == 0x00){//no extra data, stop servo
AUXPIN_RPOUT = 0; //remove output from AUX pin
BPMSG1028;
AUXmode = AUX_IO;
return; // return if no arguments to function
}
}
cmdstart=(cmdstart+1)&CMDLENMSK;
// Get servo position from command line or prompt for value
consumewhitechars();
PWM_pd = getint();
if (cmderror || (PWM_pd > 180)) {
cmderror = 0;
BPMSG1254;
PWM_pd = getnumber(90, 0, 180, 0);
entryloop=1;
}
// Setup multiplier for 50 Hz
servoset: T2CONbits.TCKPS1 = 1;
T2CONbits.TCKPS0 = 1;
PWM_period = 1250;;
PWM_pd /= 3500;
PWM_dutycycle = (PWM_period * PWM_pd) + 62;
//assign pin with PPS
AUXPIN_RPOUT = OC5_IO;
OC5R = PWM_dutycycle;
OC5RS = PWM_dutycycle;
OC5CON = 0x6;
PR2 = PWM_period;
T2CONbits.TON = 1;
BPMSG1255;
AUXmode=AUX_PWM;
if(entryloop==1){
PWM_pd = getnumber(-1, 0, 180, 1);
if(PWM_pd<0){
bpWBR;
return;
}
goto servoset;
}
}
//setup the PWM/frequency generator
void bpPWM(void){
unsigned int PWM_period, PWM_dutycycle, PWM_freq, PWM_div;
int done;
float PWM_pd;
//cleanup timers
T2CON=0; // clear settings
T4CON=0;
OC5CON =0;
if(AUXmode==AUX_PWM){ //PWM is on, stop it
AUXPIN_RPOUT = 0; //remove output from AUX pin
//bpWline(OUMSG_AUX_PWM_OFF);
BPMSG1028;
AUXmode=AUX_IO;
if(cmdbuf[((cmdstart+1)&CMDLENMSK)]==0x00) return; // return if no arguments to function
}
done=0;
cmdstart=(cmdstart+1)&CMDLENMSK;
//cmdstart&=CMDLENMSK;
//get any compound commandline variables
consumewhitechars();
PWM_freq=getint();
consumewhitechars();
PWM_pd=getint();
//sanity check values
if((PWM_freq>0)&&(PWM_freq<4000)) done++;
if((PWM_pd>0)&&(PWM_pd<100)) done++;
//calculate frequency:
if(done!=2)//no command line variables, prompt for PWM frequency
{ cmderror=0;
//bpWline(OUMSG_AUX_PWM_NOTE);
BPMSG1029;
//bpWstring(OUMSG_AUX_PWM_FREQ);
BPMSG1030;
PWM_freq=getnumber(50,1, 4000, 0);
}
//choose proper multiplier for whole range
//bpWstring(OUMSG_AUX_PWM_PRESCALE);
//BPMSG1031;
if(PWM_freq<4){//use 256 //actual max is 62500hz
//bpWline("256");
PWM_div=62;//actually 62500
T2CONbits.TCKPS1=1;
T2CONbits.TCKPS0=1;
}else if(PWM_freq<31){//use 64
//bpWline("64");
PWM_div=250;
T2CONbits.TCKPS1=1;
T2CONbits.TCKPS0=0;
}else if(PWM_freq<245){//use 8
//bpWline("8");
PWM_div=2000;
T2CONbits.TCKPS1=0;
T2CONbits.TCKPS0=1;
}else{//use 1
//bpWline("1");
PWM_div=16000;
T2CONbits.TCKPS1=0;
T2CONbits.TCKPS0=0;
}
PWM_period=(PWM_div/PWM_freq)-1;
//bpWstring("PR2:");
//BPMSG1032;
//bpWintdec(PWM_period); //echo the calculated value
//bpBR;
if(done!=2)//if no commandline vairable, prompt for duty cycle
{ //bpWstring(OUMSG_AUX_PWM_DUTY);
BPMSG1033;
// PWM_pd=bpUserNumberPrompt(2, 99, 50);
PWM_pd=getnumber(50,0,99,0);
}
PWM_pd/=100;
PWM_dutycycle=PWM_period * PWM_pd;
//bpWdec(PWM_dutycycle);
//assign pin with PPS
AUXPIN_RPOUT = OC5_IO;
// should be fine on bpv4
OC5R = PWM_dutycycle;
OC5RS = PWM_dutycycle;
OC5CON = 0x6;
PR2 = PWM_period;
T2CONbits.TON = 1;
//bpWline(OUMSG_AUX_PWM_ON);
BPMSG1034;
AUXmode=AUX_PWM;
}
void uart_setup_prepare(void) {
int speed, dbp, sb, rxp, output, brg = 0;
// autobaud detection; multi uses
unsigned long abd = 0;
#ifdef BUSPIRATEV4
uart_settings.autobaud = OFF;
#endif /* BUSPIRATEV4 */
consumewhitechars();
speed = getint();
if (speed == 10) // weird this is totaly ignored later as the Speed == 0 check
// later skips the calculation I added it below..
{
consumewhitechars();
brg = getint();
}
consumewhitechars();
dbp = getint();
consumewhitechars();
sb = getint();
consumewhitechars();
rxp = getint();
consumewhitechars();
output = getint();
if ((speed > 0) && (speed <= 10)) {
mode_configuration.speed = speed - 1;
} else {
speed = 0; // when speed is 0 we ask the user
}
if ((dbp > 0) && (dbp <= 4)) {
uart_settings.databits_parity = dbp - 1;
} else {
speed = 0; // when speed is 0 we ask the user
}
if ((sb > 0) && (sb <= 2)) {
uart_settings.stop_bits = sb - 1;
} else {
speed = 0; // when speed is 0 we ask the user
}
if ((rxp > 0) && (rxp <= 2)) {
uart_settings.receive_polarity = rxp - 1;
} else {
speed = 0; // when speed is 0 we ask the user
}
if ((output > 0) && (output <= 2)) {
mode_configuration.high_impedance = ~(output - 1);
} else {
speed = 0; // when speed is 0 we ask the user
}
if (speed == 0) {
mode_configuration.command_error = NO;
MSG_UART_SET_PORT_SPEED;
#if defined(BUSPIRATEV4)
// BPv4 Mode; has custom BAUD entry and auto-baud detection
mode_configuration.speed = getnumber(1, 1, 11, 0) - 1; // get user reply
if (mode_configuration.speed == 10) {
mode_configuration.speed = 8; // Set to 115200 for now
abd = 1; // trigger to run baud detection
uart_settings.autobaud = ON;
MSG_BAUD_DETECTION_SELECTED;
}
if (mode_configuration.speed == 9) {
MSG_UART_CUSTOM_BAUD_RATE_PROMPT;
abd = getlong(115200, 1, 999999, 0); // get the baud rate from user
abd = (((32000000 / abd) / 8) - 1); // calculate BRG
brg = abd; // set BRG
abd = 0; // set abd to 0; so 'Auto Baud Detection' routine isnt ran below
// hack hack hakc
U2BRG = brg; // passing the brg variable to U2BRG so the UARTsetup_exc can
// use it to start UART2setup..
}
#else
// Normal mode; input BRG and no autobaud detection
mode_configuration.speed = getnumber(1, 1, 10, 0) - 1; // get user reply
if (mode_configuration.speed == 9) {
MSG_UART_RAW_BRG_PROMPT;
brg = getnumber(34, 1, 32767, 0);
// hack hack hack
U2BRG = brg; // passing the brg variable to U2BRG so the UARTsetup_exc can
// use it to start UART2setup..
}
#endif /* BUSPIRATEV4 */
MSG_UART_BITS_PARITY_PROMPT;
uart_settings.databits_parity = getnumber(1, 1, 4, 0) - 1;
MSG_UART_BITS_STOP_PROMPT;
uart_settings.stop_bits = getnumber(1, 1, 2, 0) - 1;
MSG_UART_POLARITY_PROMPT;
uart_settings.receive_polarity = getnumber(1, 1, 2, 0) - 1;
MSG_PIN_OUTPUT_TYPE_PROMPT;
mode_configuration.high_impedance = ~(getnumber(1, 1, 2, 0) - 1);
} else {
if (mode_configuration.speed == 9) {
abd = brg;
abd = (((32000000 / abd) / 8) - 1); // calculate BRG
brg = abd; // set BRG
abd = 0; // set abd to 0; so 'Auto Baud Detection' routine isnt ran below
// hack hack hakc
U2BRG = brg; // passing the brg variable to U2BRG so the UARTsetup_exc can
// use it to start UART2setup..
}
UARTsettings();
}
}
