void MyCyclone_Init(void)
{
// Configure Reset Pin = GPIO_2[10] = RD7
mPORTDClearBits(RST_FPGA);
mPORTDSetPinsDigitalOut(RST_FPGA);
// Do a Reset
mPORTDSetBits(RST_FPGA);
mPORTDClearBits(RST_FPGA);
// Do Interrupts Initialization
// Set RD8/INT1 and RD9/INT2 as inputs
mPORTDSetPinsDigitalIn(BIT_8 | BIT_9);
// Clear corresponding bits in INTCON for falling edge trigger
INTCONCLR = _INTCON_INT1EP_MASK | _INTCON_INT2EP_MASK;
// Set up interrupt prioirty and sub-priority
INTSetVectorPriority(INT_EXTERNAL_1_VECTOR, My_INT_EXTERNAL_1_PRIORITY);
INTSetVectorSubPriority(INT_EXTERNAL_1_VECTOR, My_INT_EXTERNAL_1_SUB_PRIORITY);
INTSetVectorPriority(INT_EXTERNAL_2_VECTOR, My_INT_EXTERNAL_2_PRIORITY);
INTSetVectorSubPriority(INT_EXTERNAL_2_VECTOR, My_INT_EXTERNAL_2_SUB_PRIORITY);
// Clear the interrupt flags
INTClearFlag(INT_INT1);
INTClearFlag(INT_INT2);
// Enable INT1 & INT2
INTEnable(INT_INT1, INT_ENABLED);
INTEnable(INT_INT2, INT_ENABLED);
// Enable KEY0 and KEY1 interrupts and IOs of the MyExpansionBoard_IO_v2
MyCyclone_Write(CYCLONE_CONFIG,CYCLONE_ENABLE_INT_KEY0 | CYCLONE_ENABLE_INT_KEY1 | CYCLONE_ENABLE_IO_AB | CYCLONE_ENABLE_IO_CD);
}
void vLCDTFTWriteData(UINT16 Data){
mPORTGSetBits(LCD_PIN_RS);
mPORTDClearBits(LCD_PIN_CS);
mPORTDClearBits(LCD_PIN_WR);
PMPMasterWrite(Data);
mPORTDSetBits(LCD_PIN_WR);
mPORTDSetBits(LCD_PIN_CS);
}
void lcdcmnd(unsigned char value)
{
PORTE=value;
delay(100);
mPORTDClearBits(BIT_5); // RS=0 write
mPORTDSetBits(BIT_4);
delay(100);
mPORTDClearBits(BIT_4);
return;
}
UINT16 uiLCDTFTGetPointCurrent(void){
UINT16 result;
mPORTGSetBits(LCD_PIN_RS); // RS = 1 .. Data
mPORTDClearBits(LCD_PIN_CS); // CS = 0
mPORTDClearBits(LCD_PIN_RD);
Nop();Nop();Nop();Nop();Nop();Nop();Nop();Nop();Nop();Nop();
Nop();Nop();Nop();Nop();Nop();Nop();Nop();Nop();Nop();Nop();
result=PMDIN;
mPORTDSetBits(LCD_PIN_RD);
mPORTDSetBits(LCD_PIN_CS); // CS = 1
return (result);
}
int main(void)
{
long i;
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// Configure the device for maximum performance but do not change the PBDIV
// Given the options, this function will change the flash wait states, RAM
// wait state and enable prefetch cache but will not change the PBDIV.
// The PBDIV value is already set via the pragma FPBDIV option above..
SYSTEMConfig(SYS_FREQ, SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE);
// Explorer16 LEDs are on lower 8-bits of PORTA and to use all LEDs, JTAG port must be disabled.
mJTAGPortEnable(DEBUG_JTAGPORT_OFF);
// Make all lower 8-bits of PORTA as output. Turn them off before changing
// direction so that we don't have unexpected flashes
mPORTDClearBits(BIT_2 | BIT_1 | BIT_0 );
mPORTDSetPinsDigitalOut(BIT_2 | BIT_1 | BIT_0 );
while (1)
{
BlinkLeds();
i = 1024*1024*30;
while(i--);
// i = 1024*1024*1024;
// while(i--);
}
}
void initLEDs()
{
mPORTDClearBits(BIT_1); //yellow
mPORTGClearBits(BIT_6); //green
notifyOnCommandProcessed();
notifyOffCommandProcessed();
}
void SSD1351::writeData(uint8_t c) {
while(mIsPMPBusy()); // Wait for PMP to be free
// digitalWrite(SSD1351_DC, 1); // High -- data mode
mPORTCSetBits(OLED_DC); // Hight -- command mode
// PMPMasterWrite( c ); // write character
mPORTEWrite( (uint16_t)c ); // Setup data
mPORTDClearBits(OLED_RW); // RW# 0 (write mode)
mPORTDSetBits(OLED_EN); // EN 1 (enable)
mPORTDClearBits(OLED_CS); // CS active
// delay(1);
mPORTDSetBits(OLED_CS); // CS inactive
mPORTDClearBits(OLED_EN); // EN 0 (disable)
}
int main(void){
mPORTBSetPinsAnalogIn(0xFFFF); //Enable all analog
mPORTDClearBits(BIT_0 |BIT_1 | BIT_8);
mPORTDSetPinsDigitalOut(BIT_0 | BIT_1 | BIT_8);
SYSTEMConfig(SYS_FREQ, SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE);
CloseADC10();
SetChanADC10(INITCH);
OpenADC10(CONFIG1, CONFIG2, CONFIG3, CFGPORT, CFGSCAN);
ConfigIntADC10(CFGINT);
EnableADC10();
mPMPOpen(PMP_CONTROL, PMP_MODE, PMP_PORT, PMP_INT);
mPMPEnable();
//mPORTDClearBits(BIT_0 |BIT_1 | BIT_8);
INTEnableSystemMultiVectoredInt();
OpenTimer2(T2_ON | T2_PS_1_64, 256);
ConfigIntTimer2(T2_INT_ON | T2_INT_PRIOR_5 | T2_INT_SUB_PRIOR_2);
EnableIntT2;
mPORTDToggleBits(BIT_0);
while(1){
//Blink so we know we're still running
noteOn(67, 100);
//delayMs(1000);
mPORTDToggleBits(BIT_0);
//noteOff(67);
DelayMs(1000);
//mPORTDToggleBits(BIT_0);
}
return 0;
}
void __ISR(_TIMER_2_VECTOR, ipl2) interruptForCheckingIRSignals(void)
{
if (IFS0bits.T2IF)
{
if (!processIRCommand)
{
//IFS0bits.T2IF = 0;
//printf("i\r\n");
irDurationCounter10us++;
BOOL status = IR_INPUT_READ;
if (portD != status)
{
handlePortStatus(status);
if (status)
{
//mPORTBClearBits(BIT_12);
mPORTDClearBits(BIT_1);
}
else
{
//mPORTBSetBits(BIT_12);
mPORTDSetBits(BIT_1);
}
portD = status;
}
}
mT2ClearIntFlag();
}
}
void InitLEDs(void)
{
// Config PORTD pins RD0, RD1 and RD2 as outputs, and clear
// (MMc: These macros from "ports.h" are kinda useless, imho)
//
mPORTDSetPinsDigitalOut(BIT_0 | BIT_1 | BIT_2); // Same as TRISDCLR = 0x0007
mPORTDClearBits(BIT_0 | BIT_1 | BIT_2); // Same as LATDCLR = 0x0007
}
void InitializeIO(void)
{
//Initializing CSN and CE pins as output
mPORTFSetPinsDigitalOut(BIT_0 | BIT_1);
mPORTFClearBits(BIT_0 | BIT_1);
//Initializing IRQ pin as input
mPORTDSetPinsDigitalIn(BIT_13);
mPORTDClearBits(BIT_13);
//Setting CSN bit active
LATFbits.LATF1 = 1;
//Initializing LEDs
mPORTDSetPinsDigitalOut(BIT_1 | BIT_2);
mPORTDClearBits(BIT_1 | BIT_2);
//Initializing MOSI/SDO1 and SCK as output
mPORTDSetPinsDigitalOut(BIT_10);
mPORTDSetPinsDigitalOut(BIT_0);
//Initializing MISO/SDI1 as input
mPORTCSetPinsDigitalIn(BIT_4);
}
void SendNotes(int note){
mPORTDSetBits(BIT_8);
if((txFlag & (1<<note))>>note){
while(!mIsPMPSlaveBufferEmpty());
mPMPSlaveWrite(note);
while(!mIsPMPSlaveBufferEmpty());
mPMPSlaveWrite(txBuff[note]);
txFlag -= (1 << note);
}
mPORTDClearBits(BIT_8);
}
void lcddata(unsigned char value)
{
PORTE=value;
delay(250);
//mPORTBSetBits(BIT_15);
mPORTDSetBits(BIT_5);//RS=1 write
mPORTDSetBits(BIT_4);
delay(100);
mPORTDClearBits(BIT_4);
return;
}
/**
* @fn void gpioInit( void );
* @brief Configuration des GPIO
*/
void gpioInit( void ) {
// Désactivation du JTAG pour accéder aux LEDs
mJTAGPortEnable( DEBUG_JTAGPORT_OFF );
// RD1 en sortie
PORTSetPinsDigitalOut( IOPORT_D, BIT_1 );
// Initialisation de RD1 au niveau bas
mPORTDClearBits( BIT_1 );
}
/*-----------------------------------------------------------*/
static void prvSetupHardware(void)
{
/* Setup the CPU clocks, and configure the interrupt controller. */
SYSTEMConfigPerformance(configCPU_CLOCK_HZ);
mOSCSetPBDIV(OSC_PB_DIV_2);
INTEnableSystemMultiVectoredInt();
/* LEDs off. */
mPORTDClearBits(BIT_0 | BIT_1 | BIT_2);
/* LEDs are outputs. */
mPORTDSetPinsDigitalOut(BIT_0 | BIT_1 | BIT_2);
}
void InitializeSystem()
{
SYSTEMConfigWaitStatesAndPB(CLOCK_FREQ);
mOSCSetPBDIV(OSC_PB_DIV_4); // Set to get 20MHz PB clock
//mOSCSetPBDIV(OSC_PB_DIV_2);
CheKseg0CacheOn();
mJTAGPortEnable(0);
// Initialize the pins to all digital output and driven to ground.
// Exception is RE7 and RE6 which are switch inputs
PORTSetPinsDigitalIn(IOPORT_E, BIT_6);
PORTSetPinsDigitalIn(IOPORT_E, BIT_7);
mPORTASetPinsDigitalOut(0xFFFF);
mPORTBSetPinsDigitalOut(0xFFFF);
mPORTCSetPinsDigitalOut(0xFFFF);
mPORTDSetPinsDigitalOut(0xFFFF);
mPORTESetPinsDigitalOut(0xFF3F);
mPORTFSetPinsDigitalOut(0xFFFF);
mPORTGSetPinsDigitalOut(0xFFFF);
mPORTAClearBits(0xFFFF);
mPORTBClearBits(0xFFFF);
mPORTCClearBits(0xFFFF);
mPORTDClearBits(0xFFFF);
mPORTEClearBits(0xFF3F);
mPORTESetBits(0x000F); // LED latches need to be set high for off
mPORTFClearBits(0xFFFF);
mPORTGClearBits(0xFFFF);
INTEnableSystemMultiVectoredInt();
#ifdef SANITY_CHECK
mLED_Green_On();
#endif
//LCD_Initialize();
//WIFI_Initialize();
//SPRINKLER_Initialize();
//RTCC_Initialize();
//SERIALUSB_Initialize();
SDCARD_Initialize();
TCPIP_Initialize();
}
/*****************************************************************************
* CONFIG_3909()
*
* This function configures the MCP3909 to transmit data from its two
* A/D converters to the PIC32 via the SPI port
*****************************************************************************/
void CONFIG_3909()
{
DBPRINTF("CONFIG_3909...\n");
// SPI mode code
int code = 0xA4;
// set CS high
mPORTDSetBits(BIT_9);
// set MCLR low
mPORTEClearBits(BIT_0);
// delay
DelayMs(5);
// set MCLR high
mPORTESetBits(BIT_0);
// set CS low
mPORTDClearBits(BIT_9);
// feed SPI mode code to MCP3909
SpiChnPutC(1, code);
DelayMs(1000);
SpiChnPutC(1, 0x12345678);
int data;
data = getcSPI1();
char a = (char)data;
char * c;
c = &a;
DBPUTC(c);
data = getcSPI1();
a = (char)data;
c = &a;
DBPUTC(c);
}
void TURN_OFF_LED(short lednumber)
{
switch(lednumber)
{
case 0:
{}
case 1:
{}
case 2:
{
mPORTDClearBits(1 << lednumber);
break;
}
case 3:
{}
case 4:
{
mPORTBClearBits(1 << (lednumber+1));
}
default: {
break;
}
}
}
void switchSTBOff()
{
mPORTDClearBits(BIT_3);
}
int main(void)
{
unsigned int temp;
// Configure the device for maximum performance but do not change the PBDIV
// Given the options, this function will change the flash wait states, RAM
// wait state and enable prefetch cache but will not change the PBDIV.
// The PBDIV value is already set via the pragma FPBDIV option above..
SYSTEMConfig(GetSystemClock(), SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE);
/*PORT CONFIGURATION for UART*/
// Blinky LED for Uart activity
//mPORTAClearBits(BIT_7);
//mPORTASetPinsDigitalOut(BIT_7);
// PINS used for the buttons
PORTSetPinsDigitalIn(IOPORT_B, BIT_2 | BIT_3 | BIT_4);
#define CONFIG (CN_ON | CN_IDLE_CON)
#define INTERRUPT (CHANGE_INT_ON | CHANGE_INT_PRI_2)
mCNOpen(CONFIG, CN4_ENABLE | CN5_ENABLE | CN6_ENABLE,
CN4_PULLUP_ENABLE | CN5_PULLUP_ENABLE | CN6_PULLUP_ENABLE);
temp = mPORTBRead();
//Analog input
CloseADC10();
#define PARAM1 ADC_MODULE_ON | ADC_FORMAT_INTG32 | ADC_CLK_AUTO | ADC_AUTO_SAMPLING_ON
#define PARAM2 ADC_VREF_AVDD_AVSS | ADC_SCAN_ON | ADC_SAMPLES_PER_INT_2 | ADC_BUF_16 | ADC_ALT_INPUT_OFF
#define PARAM3 ADC_CONV_CLK_INTERNAL_RC | ADC_SAMPLE_TIME_5
#define PARAM4 ENABLE_AN0_ANA | ENABLE_AN1_ANA
#define PARAM5 SKIP_SCAN_AN2 | SKIP_SCAN_AN3 | SKIP_SCAN_AN4 | SKIP_SCAN_AN5 | SKIP_SCAN_AN6 | SKIP_SCAN_AN7 | SKIP_SCAN_AN8 | SKIP_SCAN_AN9 | SKIP_SCAN_AN10 | SKIP_SCAN_AN11 | SKIP_SCAN_AN12 | SKIP_SCAN_AN13 | SKIP_SCAN_AN14 | SKIP_SCAN_AN15
SetChanADC10( ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN0);
OpenADC10( PARAM1, PARAM2, PARAM3, PARAM4, PARAM5 );
EnableADC10();
//PORT D for motors
mPORTDClearBits(BIT_0 | BIT_1 | BIT_2 | BIT_3 |
BIT_4 | BIT_5 | BIT_6 | BIT_7 |
BIT_8 | BIT_9 | BIT_10 | BIT_11 |
BIT_12 | BIT_13 | BIT_14 | BIT_15); // Turn off PORTD on startup.
mPORTDSetPinsDigitalOut(BIT_0 | BIT_1 | BIT_2 | BIT_3 |
BIT_4 | BIT_5 | BIT_6 | BIT_7 |
BIT_8 | BIT_9 | BIT_10 | BIT_11 |
BIT_12 | BIT_13 | BIT_14 | BIT_15); // Make PORTD output.
// Explorer-16 uses UART2 to connect to the PC.
// This initialization assumes 36MHz Fpb clock. If it changes,
// you will have to modify baud rate initializer.
UARTConfigure(UART2, UART_ENABLE_PINS_TX_RX_ONLY);
UARTSetFifoMode(UART2, UART_INTERRUPT_ON_TX_NOT_FULL | UART_INTERRUPT_ON_RX_NOT_EMPTY);
UARTSetLineControl(UART2, UART_DATA_SIZE_8_BITS | UART_PARITY_NONE | UART_STOP_BITS_1);
UARTSetDataRate(UART2, GetPeripheralClock(), DESIRED_BAUDRATE);
UARTEnable(UART2, UART_ENABLE_FLAGS(UART_PERIPHERAL | UART_RX | UART_TX));
// Configure UART2 RX Interrupt
INTEnable(INT_SOURCE_UART_RX(UART2), INT_ENABLED);
INTSetVectorPriority(INT_VECTOR_UART(UART2), INT_PRIORITY_LEVEL_2);
INTSetVectorSubPriority(INT_VECTOR_UART(UART2), INT_SUB_PRIORITY_LEVEL_0);
// Congifure Change/Notice Interrupt Flag
ConfigIntCN(INTERRUPT);
// configure for multi-vectored mode
INTConfigureSystem(INT_SYSTEM_CONFIG_MULT_VECTOR);
// enable interrupts
INTEnableInterrupts();
WriteString("*** UART Interrupt-driven Example ***\r\n");
unsigned int channel1, channel2;
unsigned int motor1Time, motor2Time;
// Let interrupt handler do the work
while (1) {
while ( ! mAD1GetIntFlag() );
channel1 = ReadADC10(0);
channel2 = ReadADC10(1);
motor1Time = (channel1*(60000)/(1023) + 80000);
motor2Time = (channel2*(60000)/(1023) + 80000);
//maximo valor de motorTime = 140000
//use motor time for stepping delay
if (MotorsON) {
if (M1forward) {
adelante(1, motor1Time, 1);
} else {
atras(1, motor1Time, 1);
}
if (M2forward) {
adelante(1, motor2Time, 3);
} else {
atras(1, motor2Time, 3);
}
}
mAD1ClearIntFlag();
}
return 0;
}
void notifyOnCommandProcessed()
{
stbActivationInProgress = FALSE;
mPORTDClearBits(BIT_6);
}
int main(void)
{
//LOCALS
unsigned int temp;
unsigned int channel1, channel2;
M1_stepPeriod = M2_stepPeriod = M3_stepPeriod = M4_stepPeriod = 50; // in tens of u-seconds
unsigned char M1_state = 0, M2_state = 0, M3_state = 0, M4_state = 0;
SYSTEMConfig(GetSystemClock(), SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE);
/* TIMER1 - now configured to interrupt at 10 khz (every 100us) */
OpenTimer1(T1_ON | T1_SOURCE_INT | T1_PS_1_1, T1_TICK);
ConfigIntTimer1(T1_INT_ON | T1_INT_PRIOR_2);
/* TIMER2 - 100 khz interrupt for distance measure*/
OpenTimer2(T2_ON | T2_SOURCE_INT | T2_PS_1_1, T2_TICK);
ConfigIntTimer2(T2_INT_ON | T2_INT_PRIOR_3); //It is off until trigger
/* PORTA b2 and b3 for servo-PWM */
mPORTAClearBits(BIT_2 | BIT_3);
mPORTASetPinsDigitalOut(BIT_2 | BIT_3);
/* ULTRASONICS: some bits of PORTB for ultrasonic sensors */
PORTResetPins(IOPORT_B, BIT_8 | BIT_9| BIT_10 | BIT_11 );
PORTSetPinsDigitalOut(IOPORT_B, BIT_8 | BIT_9| BIT_10 | BIT_11); //trigger
/* Input Capture pins for echo signals */
//interrupt on every risging/falling edge starting with a rising edge
PORTSetPinsDigitalIn(IOPORT_D, BIT_8| BIT_9| BIT_10| BIT_11); //INC1, INC2, INC3, INC4 Pin
mIC1ClearIntFlag();
OpenCapture1( IC_EVERY_EDGE | IC_INT_1CAPTURE | IC_TIMER2_SRC | IC_ON );//front
ConfigIntCapture1(IC_INT_ON | IC_INT_PRIOR_4 | IC_INT_SUB_PRIOR_3);
OpenCapture2( IC_EVERY_EDGE | IC_INT_1CAPTURE | IC_TIMER2_SRC | IC_ON );//back
ConfigIntCapture2(IC_INT_ON | IC_INT_PRIOR_4 | IC_INT_SUB_PRIOR_3);
OpenCapture3( IC_EVERY_EDGE | IC_INT_1CAPTURE | IC_TIMER2_SRC | IC_ON );//left
ConfigIntCapture3(IC_INT_ON | IC_INT_PRIOR_4 | IC_INT_SUB_PRIOR_3);
OpenCapture4( IC_EVERY_EDGE | IC_INT_1CAPTURE | IC_TIMER2_SRC | IC_ON );//right
ConfigIntCapture4(IC_INT_ON | IC_INT_PRIOR_4 | IC_INT_SUB_PRIOR_3);
/* PINS used for the START (RD13) BUTTON */
PORTSetPinsDigitalIn(IOPORT_D, BIT_13);
#define CONFIG (CN_ON | CN_IDLE_CON)
#define INTERRUPT (CHANGE_INT_ON | CHANGE_INT_PRI_2)
mCNOpen(CONFIG, CN19_ENABLE, CN19_PULLUP_ENABLE);
temp = mPORTDRead();
/* PORT D and E for motors */
//motor 1
mPORTDSetBits(BIT_4 | BIT_5 | BIT_6 | BIT_7); // Turn on PORTD on startup.
mPORTDSetPinsDigitalOut(BIT_4 | BIT_5 | BIT_6 | BIT_7); // Make PORTD output.
//motor 2
mPORTCSetBits(BIT_1 | BIT_2 | BIT_3 | BIT_4); // Turn on PORTC on startup.
mPORTCSetPinsDigitalOut(BIT_1 | BIT_2 | BIT_3 | BIT_4); // Make PORTC output.
//motor 3 and 4
mPORTESetBits(BIT_0 | BIT_1 | BIT_2 | BIT_3 |
BIT_4 | BIT_5 | BIT_6 | BIT_7); // Turn on PORTE on startup.
mPORTESetPinsDigitalOut(BIT_0 | BIT_1 | BIT_2 | BIT_3 |
BIT_4 | BIT_5 | BIT_6 | BIT_7); // Make PORTE output.
// UART2 to connect to the PC.
// This initialization assumes 36MHz Fpb clock. If it changes,
// you will have to modify baud rate initializer.
UARTConfigure(UART2, UART_ENABLE_PINS_TX_RX_ONLY);
UARTSetFifoMode(UART2, UART_INTERRUPT_ON_TX_NOT_FULL | UART_INTERRUPT_ON_RX_NOT_EMPTY);
UARTSetLineControl(UART2, UART_DATA_SIZE_8_BITS | UART_PARITY_NONE | UART_STOP_BITS_1);
UARTSetDataRate(UART2, GetPeripheralClock(), BAUD);
UARTEnable(UART2, UART_ENABLE_FLAGS(UART_PERIPHERAL | UART_RX | UART_TX));
// Configure UART2 RX Interrupt
INTEnable(INT_SOURCE_UART_RX(UART2), INT_ENABLED);
INTSetVectorPriority(INT_VECTOR_UART(UART2), INT_PRIORITY_LEVEL_2);
INTSetVectorSubPriority(INT_VECTOR_UART(UART2), INT_SUB_PRIORITY_LEVEL_0);
/* PORTD for LEDs - DEBUGGING */
mPORTDClearBits(BIT_0 | BIT_1 | BIT_2);
mPORTDSetPinsDigitalOut(BIT_0 | BIT_1 | BIT_2);
// Congifure Change/Notice Interrupt Flag
ConfigIntCN(INTERRUPT);
// configure for multi-vectored mode
INTConfigureSystem(INT_SYSTEM_CONFIG_MULT_VECTOR);
// enable interrupts
INTEnableInterrupts();
counterDistanceMeasure=600; //measure ULTRASONICS distance each 60 ms
while (1) {
/***************** Robot MAIN state machine *****************/
unsigned char ret = 0;
switch (Robo_State) {
case 0:
MotorsON = 0;
Robo_State = 0;
InvInitialOrientation(RESET);
TestDog(RESET);
GoToRoom4short(RESET);
BackToStart(RESET);
InitialOrientation(RESET);
GoToCenter(RESET);
GoToRoom4long(RESET);
break;
case 1:
ret = InvInitialOrientation(GO);
if (ret == 1) {
Robo_State = 2;
}
break;
case 2:
ret = TestDog(GO);
if (ret == 1) {
Robo_State = 3; //DOG not found
} else if (ret == 2) {
Robo_State = 4; //DOG found
}
break;
case 3:
ret = GoToRoom4short(GO);
if (ret == 1) {
Robo_State = 0;
}
break;
case 4:
ret = BackToStart(GO);
if (ret == 1) {
Robo_State = 5;
}
break;
case 5:
ret = GoToCenter(GO);
if (ret == 1) {
Robo_State = 6;
}
break;
case 6:
ret = GoToRoom4long(GO);
if (ret == 1) {
Robo_State = 0;
}
break;
}
if (frontDistance < 30 || backDistance < 30 || leftDistance < 30 || rightDistance < 30)
mPORTDSetBits(BIT_0);
else
mPORTDClearBits(BIT_0);
/***************************************************************/
/***************** Motors State Machine ************************/
if (MotorsON) {
/****************************
MOTOR MAP
M1 O-------------O M2 ON EVEN MOTORS, STEPS MUST BE INVERTED
| /\ | i.e. FORWARD IS BACKWARD
| / \ |
| || |
| || |
M3 O-------------O M4
*****************************/
if (M1_counter == 0) {
switch (M1_state) {
case 0: // set 0011
step (0x3 , 1);
if (M1forward)
M1_state = 1;
else
M1_state = 3;
break;
case 1: // set 1001
step (0x9 , 1);
if (M1forward)
M1_state = 2;
else
M1_state = 0;
break;
case 2: // set 1100
step (0xC , 1);
if (M1forward)
M1_state = 3;
else
M1_state = 1;
break;
case 3: // set 0110
default:
step (0x6 , 1);
if (M1forward)
M1_state = 0;
else
M1_state = 2;
break;
}
M1_counter = M1_stepPeriod;
step_counter[0]--;
if (directionNow == countingDirection)
step_counter[1]--;
}
if (M2_counter == 0) {
switch (M2_state) {
case 0: // set 0011
step (0x3 , 2);
if (M2forward)
M2_state = 1;
else
M2_state = 3;
break;
case 1: // set 0110
step (0x6 , 2);
if (M2forward)
M2_state = 2;
else
M2_state = 0;
break;
case 2: // set 1100
step (0xC , 2);
if (M2forward)
M2_state = 3;
else
M2_state = 1;
break;
case 3: // set 1001
default:
step (0x9 , 2);
if (M2forward)
M2_state = 0;
else
M2_state = 2;
break;
}
M2_counter = M2_stepPeriod;
}
if (M3_counter == 0) {
switch (M3_state) {
case 0: // set 0011
step (0x3 , 3);
if (M3forward)
M3_state = 1;
else
M3_state = 3;
break;
case 1: // set 1001
step (0x9 , 3);
if (M3forward)
M3_state = 2;
else
M3_state = 0;
break;
case 2: // set 1100
step (0xC , 3);
if (M3forward)
M3_state = 3;
else
M3_state = 1;
break;
case 3: // set 0110
default:
step (0x6 , 3);
if (M3forward)
M3_state = 0;
else
M3_state = 2;
break;
}
M3_counter = M3_stepPeriod;
}
if (M4_counter == 0) {
switch (M4_state) {
case 0: // set 0011
step (0x3 , 4);
if (M4forward)
M4_state = 1;
else
M4_state = 3;
break;
case 1: // set 0110
step (0x6 , 4);
if (M4forward)
M4_state = 2;
else
M4_state = 0;
break;
case 2: // set 1100
step (0xC , 4);
if (M4forward)
M4_state = 3;
else
M4_state = 1;
break;
case 3: // set 1001
default:
step (0x9 , 4);
if (M4forward)
M4_state = 0;
else
M4_state = 2;
break;
}
M4_counter = M4_stepPeriod;
}
} else {
//motors off
mPORTDSetBits(BIT_4 | BIT_5 | BIT_6 | BIT_7);
mPORTCSetBits(BIT_1 | BIT_2 | BIT_3 | BIT_4);
mPORTESetBits(BIT_0 | BIT_1 | BIT_2 | BIT_3 |
BIT_4 | BIT_5 | BIT_6 | BIT_7);
}
/************************************************************/
/******* TEST CODE, toggles the servos (from 90 deg. to -90 deg.) every 1 s. ********/
/* if (auxcounter == 0) {
servo1_angle = 0;
if (servo2_angle == 90)
servo2_angle = -90;
else
servo2_angle = 90;
auxcounter = 20000; // toggle angle every 2 s.
}
*/
servo1_angle = 0;
servo2_angle = -90;
/*
if (frontDistance > 13 && frontDistance < 17) {
servo2_angle = 90;
}
else
servo2_angle = -90;
*/
/*******************************************************************/
/****************** SERVO CONTROL ******************/
/*
Changing the global servoX_angle at any point in the code will
move the servo to the desired angle.
*/
servo1_counter = (servo1_angle + 90)*(18)/180 + 6; // between 600 and 2400 us
if (servo1_period == 0) {
mPORTASetBits(BIT_2);
servo1_period = SERVOMAXPERIOD; /* 200 * 100us = 20000us period */
}
servo2_counter = (servo2_angle + 90)*(18)/180 + 6; // between 600 and 2400 us
if (servo2_period == 0) {
mPORTASetBits(BIT_3);
servo2_period = SERVOMAXPERIOD; /* 200 * 100us = 20000us period */
}
/*****************************************************/
} /* end of while(1) */
return 0;
}
void notifyOffCommandProcessed()
{
mPORTDClearBits(BIT_5);
}
int main() {
// Initialize Sockets and IP address containers
//
SOCKET serverSock, clientSock = INVALID_SOCKET;
IP_ADDR curr_ip, ip;
// Initialize buffer length variables
//
int rlen, sent, bytesSent;
// Initialize the Send/Recv buffers
//
char rbfr[10];
// Socket struct descriptor
//
struct sockaddr_in addr;
int addrlen = sizeof(struct sockaddr_in);
// System clock containers
//
unsigned int sys_clk, pb_clk;
// Initialize LED Variables:
// Setup the LEDs on the PIC32 board
// RD0, RD1 and RD2 as outputs
//
mPORTDSetPinsDigitalOut(BIT_0 | BIT_1 | BIT_2 );
mPORTDClearBits(BIT_0 | BIT_1 | BIT_2); // Clear previous LED status.
// Setup the switches on the PIC32 board as inputs
//
mPORTDSetPinsDigitalIn(BIT_6 | BIT_7 | BIT_13); // RD6, RD7, RD13 as inputs
// Setup the system clock to use CPU frequency
//
sys_clk = GetSystemClock();
pb_clk = SYSTEMConfigWaitStatesAndPB(sys_clk);
// interrupts enabled
INTEnableSystemMultiVectoredInt();
// system clock enabled
SystemTickInit(sys_clk, TICKS_PER_SECOND);
// Initialize TCP/IP
//
TCPIPSetDefaultAddr(DEFAULT_IP_ADDR, DEFAULT_IP_MASK, DEFAULT_IP_GATEWAY,
DEFAULT_MAC_ADDR);
if (!TCPIPInit(sys_clk)) return -1;
DHCPInit();
// Port to bind socket to
//
addr.sin_port = 6653;
addr.sin_addr.S_un.S_addr = IP_ADDR_ANY;
// Initialize TCP server socket
//
if((serverSock = socket(AF_INET, SOCK_STREAM, IPPROTO_TCP)) ==
SOCKET_ERROR) return -1;
// Ensure we bound to the socket. End Program if bind fails
//
if(bind(serverSock, (struct sockaddr*) &addr, addrlen ) ==
SOCKET_ERROR)
return -1;
// Listen to up to five clients on server socket
//
listen(serverSock, 5);
// We store our desired transfer paragraph
//
char myStr[] = "TCP/IP (Transmission Control Protocol/Internet Protocol) is "
"the basic communication language or protocol of the Internet. "
"It can also be used as a communications protocol in a private "
"network (either an intranet or an extranet). When you are set up "
"with direct access to the Internet, your computer is provided "
"with a copy of the TCP/IP program just as every other computer "
"that you may send messages to or get information from also has "
"a copy of TCP/IP. TCP/IP is a two-layer program. The higher "
"layer, Transmission Control Protocol, manages the assembling "
"of a message or file into smaller packets that are transmitted "
"over the Internet and received by a TCP layer that reassembles "
"the packets into the original message. The lower layer, "
"Internet Protocol, handles the address part of each packet so "
"that it gets to the right destination. Each gateway computer on "
"the network checks this address to see where to forward the "
"message. Even though some packets from the same message are "
"routed differently than others, they'll be reassembled at the "
"destination.\0";
// Chunk up our data
//
// Copy our string into our buffer
//
int tlen = strlen(myStr);
char tbfr1[tlen1+1];
// Loop forever
//
while(1) {
// Refresh TCIP and DHCP
//
TCPIPProcess();
DHCPTask();
// Get the machines IP address and save to variable
//
ip.Val = TCPIPGetIPAddr();
// DHCP server change IP address?
//
if(curr_ip.Val != ip.Val) curr_ip.Val = ip.Val;
// TCP Server Code
//
if(clientSock == INVALID_SOCKET) {
// Start listening for incoming connections
//
clientSock = accept(serverSock, (struct sockaddr*) &addr, &addrlen);
// Upon connection to a client blink LEDS.
//
if(clientSock != INVALID_SOCKET) {
setsockopt(clientSock, SOL_SOCKET, TCP_NODELAY,
(char*)&tlen, sizeof(int));
mPORTDSetBits(BIT_0); // LED1=1
DelayMsec(50);
mPORTDClearBits(BIT_0); // LED1=0
mPORTDSetBits(BIT_1); // LED2=1
DelayMsec(50);
mPORTDClearBits(BIT_1); // LED2=0
mPORTDSetBits(BIT_2); // LED3=1
DelayMsec(50);
mPORTDClearBits(BIT_2); // LED3=0
}
}
else {
// We are connected to a client already. We start
// by receiving the message being sent by the client
//
rlen = recvfrom(clientSock, rbfr, sizeof(rbfr), 0, NULL,
NULL);
// Check to see if socket is still alive
//
if(rlen > 0) {
// If the received message first byte is '02' it signifies
// a start of message
//
if (rbfr[0]==2) {
//mPORTDSetBits(BIT_0); // LED1=1
// Check to see if message begins with
// '0271' to see if the message is a a global reset
//
if(rbfr[1]==71) {
mPORTDSetBits(BIT_0); // LED1=1
DelayMsec(50);
mPORTDClearBits(BIT_0); // LED1=0
}
}
// If the received message starts with a second byte is
// '84' it signifies a initiate transfer
//
if(rbfr[1]==84){
mPORTDSetBits(BIT_2); // LED3=1
bytesSent = 0;
//sent = 0;
while (bytesSent < tlen){
memcpy(tbfr1, myStr+bytesSent, tlen1);
if (bytesSent > 1049){
tbfr1[tlen-bytesSent+1] = '\0';
send(clientSock, tbfr1, tlen-bytesSent+1, 0);
}
else{
tbfr1[tlen1] = '\0';
// Loop until we send the full message
//
send(clientSock, tbfr1, tlen1+1, 0);
}
bytesSent += tlen1;
DelayMsec(50);
}
mPORTDClearBits(BIT_2); // LED3=0
}
mPORTDClearBits(BIT_0); // LED1=0
}
// The client has closed the socket so we close as well
//
else if(rlen < 0) {
closesocket(clientSock);
clientSock = SOCKET_ERROR;
}
}
}
}
int main(void)
{
DBINIT();
DBPRINTF("MAIN.... \n");
unsigned int temp;
int POWER;
//bool RELAY;
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//STEP 1. Configure cache, wait states and peripheral bus clock
SYSTEMConfig(SYS_FREQ, SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE);
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// STEP 2. configure the port registers
mPORTDSetPinsDigitalOut(BIT_0 | BIT_1 | BIT_2 | BIT_9);
mPORTESetPinsDigitalOut(BIT_0 | BIT_1 | BIT_2);
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// STEP 3. initialize the port pin states = outputs low
mPORTDClearBits(BIT_0 | BIT_1 | BIT_2);
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// STEP 4. enable change notice, enable discrete pins and weak pullups
mCNOpen(CONFIG, PINS, PULLUPS);
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// STEP 5. read port(s) to clear mismatch on change notice pins
temp = mPORTDRead();
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// STEP 6. clear change notice interrupt flag
ConfigIntCN(INTERRUPT);
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// STEP 7. enable multi-vector interrupts
INTEnableSystemMultiVectoredInt();
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// STEP 8. configure SPI port and MCP3909
OpenSPI1(FRAME_ENABLE_ON | ENABLE_SDO_PIN | SPI_MODE32_ON | SPI_CKE_ON | SLAVE_ENABLE_OFF | CLK_POL_ACTIVE_LOW | MASTER_ENABLE_ON , SPI_ENABLE | SPI_FRZ_CONTINUE | SPI_IDLE_STOP | SPI_RX_OVFLOW_CLR);
CONFIG_3909();
DBPRINTF("CONFIGURED.... \n");
while(1)
{
// Toggle LED's to signify code is looping
mPORTDToggleBits(BIT_0); // toggle LED1 (same as LATDINV = 0x0002)
SAMPLE();
POWER = MEASURE_POWER();
DBPRINTF("power measured! \n");
DelayMs(1000);
/************************
*ETHERNET COMMUNICATIONS*
************************/
};
}
void Terminal(void)
{
const char str1[] = {'k',0x00,'e',0x00,'y',0x00,'.',0x00,'b',0x00,'m',0x00,'p',0x00,'\0',0x00};
const char str2[] = {'\\',0x00,'s',0x00,'y',0x00,'s',0x00,'\0',0x00};
char KeyBuffer[31]={'Q','W','E','R','T','Y','U','I','O','P','A','S','D','F','G','H','J','K','L','Z','X','C','V','B','N','M',',',' ',' ',' ','.'};
char SpecialKeyBuffer[31]={'1','2','3','4','5','6','7','8','9','0','!','@','#','$','%','&','*','?','/','Z','"',' ','(',')','-','+',';',' ',' ',' ',':'};
const unsigned short int LetterPosX[4]={93,62,32,1};
const unsigned short int SpecialCharPosY[6]={1,284,1,39,245,284};
const unsigned short int LetterPosY[31]={1,33,65,97,129,161,193,225,257,289,
17,49,81,113,145,177,209,241,273,
49,81,113,145,177,209,241,
81,113,145,177,209};
_Bool NumSp=0,UppLow=0,ReadCmd=0,ErrorSyntax=0,HighApp=0,LowApp=0,SyntaxError=0,ExitApp=0,InitRfApp=0,SendApp=0,StatusRfApp=0,ReadApp=0,SetTime=0,SetDate=0;
char c[2]={'A',0x00};
char TextBuffer[10],i=0,b=0,Parametri=0,StringBuffer[50],Nchar=0,Param3[10],Param2[10],Param1[10],Param4[10],Param5[10];
unsigned short int clu=0, dat=0,DelCount=0,a=0x0000;
TRFData rfData;
char Minuti[3]={0x30,0x30,0x00};///minuti
char Ore[3]={0x30,0x31,0x00};///Ore
SSD1289_writeResgiter( 0x0049, 0x000A );///fine della finestra a 10 px
LCD_CLS(AZZURRO);
sprintf(TextBuffer,"Loading..");
LCD_Text57(2,1,TextBuffer,1,BLACK,NONE);
Xcursor=238;
Ycursor=2;
wFSchdir ((unsigned short int *)&str2[0]);
DrawBmp(0,319,(unsigned short int * )&str1[0],0);
SSD1289_writeResgiter( 0x0049, 0x013F );
while(TRUE)
{
if(PORTDbits.RD14==0)
{
read();
clu=getX();
dat=getY();
clu=(unsigned short int)((((float)6.01/(float)233.01)*(float)clu)+(float)clu);
dat=(unsigned short int)((((float)10.01/(float)313.01)*(float)dat)+(float)dat);
b=0;
for(i=0; i<31; i++)
{
///lettere
if((LetterPosX[b]<=clu)&&(clu<=(LetterPosX[b]+29))&&((LetterPosY[i]<=dat)&&(dat<=(LetterPosY[i]+29))))//la Q
{
///se attivo caratteri speciali
if(NumSp) c[0]=SpecialKeyBuffer[i];
else c[0]=KeyBuffer[i];
if((UppLow==1)&&(NumSp==0))
{
switch(c[0])
{
case ',':
break;
case' ':
break;
case'.':
break;
default:
c[0]+=0x20;
break;
}
}
LCD_FastRect(Xcursor-6,Ycursor,Xcursor,Ycursor+5,WHITE);
strcpy(TextBuffer,c);
StringBuffer[Nchar]=c[0];
LCD_Text57Land(Xcursor,Ycursor,TextBuffer,1,BLACK,NONE);
Nchar++;
//Ycursor+=6;
if(Ycursor>=319)
{
Ycursor=2;
Xcursor-=8;
Nchar=0;
}
DelayMs(50);
}
if(i==9) b++;
if(i==18) b++;
if(i==25) b++;
}
///comandi speciali
b=2;
for(i=0; i<6; i++)
{
if((LetterPosX[b]<=clu)&&(clu<=(LetterPosX[b]+29))&&((SpecialCharPosY[i]<=dat)&&(dat<=(SpecialCharPosY[i]+34))))//la Q
{
switch(i)
{
case 0:
///da implementare Upper/lower letter
if(UppLow==0)
{
UppLow=1;
LCD_Cercle(53,29,3,1,GRAY);
}
else
{
UppLow=0;
LCD_Cercle(53,29,3,1,BLUE);
}
break;
case 1:
LCD_FastRect(Xcursor-6,Ycursor,Xcursor,Ycursor+5,AZZURRO);
Ycursor-=6;
Nchar--;
if(Ycursor>350)
{
Ycursor=314;
Xcursor+=8;
Nchar=0;
if(Xcursor>241) Xcursor=238;
}
break;
case 2:
///da implementare
break;
case 3:
///da implementare
break;
case 4:
///da implementare attiva/disattiva numeri+caratteri speciali
if(NumSp==0)
{
NumSp=1;
LCD_Cercle(22,274,3,1,BLUE);
}
else
{
NumSp=0;
LCD_Cercle(22,274,3,1,GRAY);
}
break;
case 5:
///torna a capo riga (invio)
LCD_FastRect(Xcursor-6,Ycursor,Xcursor,Ycursor+5,AZZURRO);
NumSp=0;
LCD_Cercle(22,274,3,1,GRAY);
UppLow=0;
LCD_Cercle(53,29,3,1,BLUE);
Ycursor=2;
Xcursor-=8;
if(Xcursor<=136)
{
LCD_FastRect(121,0,239,319,AZZURRO);
Xcursor=238;
}
ReadCmd=1;
StringBuffer[Nchar]=0x00;
Nchar=0;
break;
}
DelayMs(50);
}
if(i==1) b=3;
}
}
///Lampeggio cursore
DelayMs(1);
DelCount++;
if(DelCount==200)
{
DelCount=0;
if(a==0x00000) a=0xffff;
else a=0x0000;
LCD_FastRect(Xcursor-6,Ycursor,Xcursor,Ycursor+5,a);
}
///Se premuto invio..
if(ReadCmd==1)
{
ReadCmd=0;
ErrorSyntax=0;
Parametri=0;
b=0;
///Ciclo per verificare la stringa passata
///carica in Param1, Param2, Param3, ogni parola separata da uno spazio
for(i=0; i<20; i++)
{
if(StringBuffer[i]==0x20) {Parametri=1; Param1[i]=0x00; break;}
if(StringBuffer[i]==0x00) {Parametri=1; Param1[i]=0x00; break;}
Param1[i]=StringBuffer[i];
}
if(StringBuffer[i]!=0x00)
{
b=0;
for(i<20; i++;)
{
if(StringBuffer[i]==0x20) {Parametri=2; Param2[b]=0x00; break;}
if(StringBuffer[i]==0x00) {Parametri=2; Param2[b]=0x00; break;}
Param2[b]=StringBuffer[i];
b++;
}
}
if(StringBuffer[i]!=0x00)
{
b=0;
for(i<20; i++;)
{
if(StringBuffer[i]==0x20) {Parametri=3; Param3[b]=0x00; break;}
if(StringBuffer[i]==0x00) {Parametri=3; Param3[b]=0x00; break;}
Param3[b]=StringBuffer[i];
b++;
}
}
if(StringBuffer[i]!=0x00)
{
b=0;
for(i<20; i++;)
{
if(StringBuffer[i]==0x20) {Parametri=4; Param4[b]=0x00; break;}
if(StringBuffer[i]==0x00) {Parametri=4; Param4[b]=0x00; break;}
Param4[b]=StringBuffer[i];
b++;
}
}
if(StringBuffer[i]!=0x00)
{
b=0;
for(i<20; i++;)
{
if(StringBuffer[i]==0x20) {Parametri=5; Param5[b]=0x00; break;}
if(StringBuffer[i]==0x00) {Parametri=5; Param5[b]=0x00; break;}
Param5[b]=StringBuffer[i];
b++;
}
}
///Fine ciclo
//Verifica le stringhe
//da completare salta al programma...
if(strcmp(Param1,"HIGH")==FALSE) HighApp=1;
if(strcmp(Param1,"LOW")==FALSE) LowApp=1;
if(strcmp(Param1,"EXIT")==FALSE) ExitApp=1;
if(strcmp(Param1,"REBOOT")==FALSE) SoftReset();
if(strcmp(Param1,"SEND")==FALSE) SendApp=1;
if(strcmp(Param1,"INITRF")==FALSE) InitRfApp=1;
if(strcmp(Param1,"STATUSRF")==FALSE) StatusRfApp=1;
if(strcmp(Param1,"READRF")==FALSE) ReadApp=1;
if(strcmp(Param1,"SETTIME")==FALSE) SetTime=1;
if(strcmp(Param1,"SETDATE")==FALSE) SetDate=1;
if((HighApp==0)&&(LowApp==0)&&(ExitApp==0)&&(SendApp==0)&&(InitRfApp==0)&&(StatusRfApp==0)&&(ReadApp==0)&&(SetTime==0)&&(SetDate==0)) SyntaxError=1;
if(SetTime)
{
SetTime=0;
Ore[0]=Param2[0];
Ore[1]=Param2[1];
Minuti[0]=Param3[0];
Minuti[1]=Param3[1];
if((Ore[0]>=0x32)&&(Ore[1]>=0x34))
{
sprintf(StringBuffer,"Ore invalide!");
LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,RED,NONE);
}
else if(Minuti[0]>=0x36)
{
sprintf(StringBuffer,"Minuti invalidi!");
LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,RED,NONE);
}
else{
lastTime.hour=atobcd(&Ore[0]);
lastTime.min=atobcd(&Minuti[0]);
RtccSetTimeDate(lastTime.l, lastDate.l);
sprintf(StringBuffer,"Time updated!");
LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,BLACK,NONE);
}
}
if(StatusRfApp)
{
StatusRfApp=0;
StatusRead();
sprintf(StringBuffer,"%02x ",TransceiverStatus.bits.RG_FF_IT);
LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,BLACK,NONE);
Ycursor+=16;
sprintf(StringBuffer,"%02x ",TransceiverStatus.bits.POR);
LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,BLACK,NONE);
Ycursor+=16;
sprintf(StringBuffer,"%02x ",TransceiverStatus.bits.RGUR_FFOV);
LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,BLACK,NONE);
Ycursor+=16;
sprintf(StringBuffer,"%02x ",TransceiverStatus.bits.WKUP);
LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,BLACK,NONE);
Ycursor+=16;
sprintf(StringBuffer,"%02x ",TransceiverStatus.bits.EXT);
LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,BLACK,NONE);
Ycursor+=16;
sprintf(StringBuffer,"%02x ",TransceiverStatus.bits.LBD);
LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,BLACK,NONE);
Ycursor+=16;
sprintf(StringBuffer,"%02x ",TransceiverStatus.bits.FFEM);
LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,BLACK,NONE);
Ycursor+=16;
sprintf(StringBuffer,"%02x ",TransceiverStatus.bits.RSSI_ATS);
LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,BLACK,NONE);
Ycursor+=16;
sprintf(StringBuffer,"%02x ",TransceiverStatus.bits.DQD);
LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,BLACK,NONE);
Ycursor+=16;
sprintf(StringBuffer,"%02x ",TransceiverStatus.bits.CRL);
LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,BLACK,NONE);
Ycursor+=16;
sprintf(StringBuffer,"%02x ",TransceiverStatus.bits.ATGL);
LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,BLACK,NONE);
Ycursor=2;
}
if(InitRfApp)
{
InitRfApp=0;
if(strcmp(Param2,"OFF")==FALSE)
{
MRF49XA_Power_Down();
sprintf(StringBuffer,"RF Stopped!");
LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,RED,NONE);
}
else{
initRFPorts();
MRF49XA_Init();
InitRFData(&rfData);
sprintf(StringBuffer,"RF Initialized! %x",RF_IRQ);
LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,BLACK,NONE);
}
}
if(ReadApp)///Test sniff pacchetti
{
WORD GENCREG2 = (0x8000|XTAL_LD_CAP_125);
WORD CFSREG2 ;
WORD DRVSREG2 ;
WORD RXCREG2 ;
WORD PMCREG2 = 0x8201;
WORD TXCREG2 = 0x9850;
volatile BOOL RxPacketValid[BANK_SIZE];
BYTE RxPacket[BANK_SIZE][80];
volatile BYTE RxPacketLen[BANK_SIZE];
WORD totalReceived = 0;
unsigned char FreqBand=0,DataRate=0,Nop=0;
ReadApp=0;
sprintf(StringBuffer,"Reading..");
LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,BLACK,AZZURRO);
//Setta le porte
mPORTFSetPinsDigitalOut(BIT_5);//SDO
mPORTFSetPinsDigitalOut(BIT_13);//SCK
mPORTBSetPinsDigitalOut(BIT_14);//CS
mPORTBSetPinsDigitalOut(BIT_13);//FSEL
mPORTESetPinsDigitalIn(BIT_9);//FINT
mPORTESetPinsDigitalIn(BIT_8);//IRQ
mPORTFSetPinsDigitalIn(BIT_4);//SDI
mPORTFSetPinsDigitalIn(BIT_12);//INT
SPI4CON = 0x0120;
//SPI1BRG = 0x001F; // 64:1 prescale (slow display update)
SPI4BRG = 0x0001; // 4:1 prescale (fast display update) 16Mhz spi clock at 72Mhz sys clock
SPI4CONSET = 0x8000; // enables the spi
RF_RSCLR;
DelayUs(10);
RF_RSSET;
DelayMs(125);
RF_CSSET;
RF_FSELSET;
//RF_SCKCLR;
//RF_SDOCLR;
///Fine init porte
i=Param2[0];
//i=1;
switch(i)
{
case '1':
FreqBand = 1;
break;
case '2':
FreqBand = 2;
break;
case '3':
FreqBand = 3;
break;
}
GENCREG2 |= ((WORD)FreqBand << 4);
i=Param3[0];
//i=1;
switch(i)
{
case '1':
DataRate = 1;
DRVSREG2 = 0xC623;
break;
case '2':
DataRate = 2;
DRVSREG2 = 0xC611;
break;
case '3':
DataRate = 3;
DRVSREG2 = 0xC608;
break;
case '4':
DataRate = 4;
DRVSREG2 = 0xC605;
break;
case '5':
DataRate = 5;
DRVSREG2 = 0xC602;
break;
}
i=Param4[0];
//i=4;
switch(i)
{
case '1':
RXCREG2 = 0x9421;
break;
case '2':
RXCREG2 = 0x9441;
break;
case '3':
RXCREG2 = 0x9461;
break;
case '4':
RXCREG2 = 0x9481;
break;
case '5':
RXCREG2 = 0x94A1;
break;
case '6':
RXCREG2 = 0x94C1;
break;
}
switch(FreqBand)
{
case 1:
CFSREG2 = 0xA640;
break;
case 2:
CFSREG2 = 0xA640;
break;
case 3:
CFSREG2 = 0xA7D0;
break;
default:
break;
}
//Init RF
SPI_Command(FIFORSTREG);
SPI_Command( FIFORSTREG | 0x0002);
SPI_Command(GENCREG2);
SPI_Command(0xC4F7);
SPI_Command(CFSREG2);
SPI_Command(DRVSREG2);
SPI_Command(PMCREG2);
SPI_Command(RXCREG2);
SPI_Command(TXCREG2);
SPI_Command(PMCREG2 | 0x0020);
DelayMs(5);
SPI_Command(PMCREG2 | 0x0080);
SPI_Command(GENCREG2 | 0x0040);
SPI_Command(FIFORSTREG);
SPI_Command( FIFORSTREG | 0x0002);
SPI_Command(0x0000);
//InitRFData(&rfData);
sprintf(StringBuffer,"%x, %x, %x",Param2[0],Param3[0],Param4[0]);
LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,BLACK,AZZURRO);
sprintf(StringBuffer,"%x,%x",RF_IRQ,RF_INT);
LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,BLACK,AZZURRO);
while(TRUE)
{
if((RF_IRQ==0)||(RF_INT==1))
{
//nCS = 0;
RF_CSCLR;
Nop++;
if( SPI_SDI == 1 )
{
BYTE RxPacketPtr;
BYTE tmpPacketLen;
BYTE bIndex;
WORD counter;
// There is data in RX FIFO
//nCS = 1;
//nFSEL = 0; // FIFO selected
RF_CSSET;
RF_FSELCLR;
tmpPacketLen = SPI_Read();
for(bIndex = 0; bIndex < BANK_SIZE; bIndex++)
{
if( RxPacketValid[bIndex] == FALSE )
{
break;
}
}
if( tmpPacketLen >= 80 || tmpPacketLen == 0 || bIndex >= BANK_SIZE )
{
IGNORE_HERE:
//nFSEL = 1; // bad packet len received
RF_FSELSET;
SPI_Command(PMCREG2); // turn off the transmitter and receiver
SPI_Command(FIFORSTREG); // reset FIFO
SPI_Command(GENCREG2); // disable FIFO, TX_latch
SPI_Command(GENCREG2 | 0x0040); // enable FIFO
SPI_Command(PMCREG2 | 0x0080); // turn on receiver
SPI_Command(FIFORSTREG | 0x0002); // FIFO synchron latch re-enabled
goto RETURN_HERE;
}
RxPacketLen[bIndex] = tmpPacketLen;
//RLED = 1;
//nFSEL = 1;
mPORTDSetBits(BIT_2);
RF_FSELSET;
RxPacketPtr = 0;
counter = 0;
while(1)
{
if( counter++ == 0xFFFF )
{
goto IGNORE_HERE;
}
else if( RF_FINT == 1)
{
//nFSEL = 0;
RF_FSELCLR;
counter = 0;
RxPacket[bIndex][RxPacketPtr++] = SPI_Read();
if( RxPacketPtr >= RxPacketLen[bIndex] )
{
BYTE i;
//nFSEL = 1;
//nCS = 0;
RF_FSELSET;
RF_CSCLR;
//SPI_SDO = 0;
RF_SDOCLR;
Nop++;
for(i = 0; i < 8; i++)
{
//SPI_SCK = 1;
//SPI_SCK = 0;
RF_SCKSET;
Nop++;
RF_SCKCLR;
Nop++;
}
if( SPI_SDI == 0 )
{
goto IGNORE_HERE;
}
//nCS = 1;
RF_CSSET;
SPI_Command(FIFORSTREG);
//RLED = 0;
mPORTDClearBits(BIT_2);
RxPacketValid[bIndex] = TRUE;
SPI_Command(FIFORSTREG | 0x0002); // FIFO synchron latch re-enable
goto RETURN_HERE;
}
//nFSEL = 1;
RF_FSELSET;
}
}
}
else // read the rest of the interrupts
{
SPI_Read();
//nCS = 1;
RF_CSSET;
}
RETURN_HERE:
Nop++;
}
for(i = 0; i < BANK_SIZE; i++)
{
if( RxPacketValid[i] == TRUE )
{
BYTE j;
WORD received_crc;
WORD calculated_crc;
totalReceived++;
//Printf("\r\n");
Xcursor-=8;
Ycursor=2;
sprintf(StringBuffer,"%04x | %04x |",totalReceived,RxPacketLen[i]);
LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,BLACK,NONE);
//PrintChar(totalReceived>>8);
//PrintChar(totalReceived);
//Printf(" | ");
//PrintChar(RxPacketLen[i]);
//Printf(" | ");
for(j = 0; j < RxPacketLen[i]; j++)
{
sprintf(StringBuffer,"%02x ",RxPacket[i][j]);
LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,BLACK,NONE);
Ycursor+=12;
//PrintChar(RxPacket[i][j]);
//Printf(" ");
}
received_crc = ((WORD)RxPacket[i][RxPacketLen[i]-1]) + (((WORD)RxPacket[i][RxPacketLen[i]-2]) << 8);
calculated_crc = CRC16(RxPacket[i], RxPacketLen[i]-2);
if( received_crc != calculated_crc )
{
//Printf(" * CRC");
sprintf(StringBuffer," * CRC");
LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,BLACK,NONE);
}
RxPacketValid[i] = FALSE;
}
}
//i=MRF49XA_Receive_Packet(&rfData);
//DelayUs(50);
//if(i==3) break;
//if(i==2) break;
//if(i==1) break;
//sprintf(StringBuffer,"%x,%x,%x",RF_IRQ,RF_FINT,SPI_SDI);
//LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,BLACK,AZZURRO);
if(PORTDbits.RD14==0) break;
}
Xcursor-=8;
sprintf(StringBuffer,"Ricevuto! %d, 0x%02x, 0x%02x, 0x%02x, 0x%02x",i,rfData.buffer[0],rfData.buffer[1],rfData.buffer[2],rfData.buffer[3]);
LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,BLACK,NONE);
}
if(SendApp)
{
SendApp=0;
//LCD_FastRect(121,0,239,319,AZZURRO);
AddRFData(&rfData,Param2[0]);
MRF49XA_Send_Packet(&rfData);
InitRFData(&rfData);
sprintf(StringBuffer,"Dato inviato..");
LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,BLACK,NONE);
}
if(HighApp)
{
HighApp=0;
if(strcmp(Param2,"D2")==FALSE)
{
sprintf(StringBuffer,"D2 Actived! 1");
LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,GREEN,NONE);
mPORTDSetPinsDigitalOut(BIT_2);
mPORTDSetBits(BIT_2);
}
else
{
sprintf(StringBuffer,"Port Not Found!");
LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,RED,NONE);
}
}
if(LowApp)
{
LowApp=0;
if(strcmp(Param2,"D2")==FALSE)
{
sprintf(StringBuffer,"D2 Deactived! 0");
LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,GREEN,NONE);
mPORTDSetPinsDigitalOut(BIT_2);
mPORTDClearBits(BIT_2);
}
else
{
sprintf(StringBuffer,"Port Not Found!");
LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,RED,NONE);
}
}
if(SyntaxError)
{
SyntaxError=0;
sprintf(StringBuffer,"Syntax Error!");
LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,RED,NONE);
}
if(ExitApp==1) break;
Xcursor-=8;
Ycursor=2;
for(i=0; i<10; i++)
{
StringBuffer[i]=0x00;
Param1[i]=0x00;
Param2[i]=0x00;
Param3[i]=0x00;
}
}
if(PORTDbits.RD3==0) break;
}
}
void ENABLE_CS(void)
{
mPORTDClearBits(BIT_12);
Delay(50000); //50ns
}
