__task void serial_process()
{
UART_Configuration config;
int32_t len_data = 0;
void *msg;
while (1) {
// Check our mailbox to see if we need to set anything up with the UART
// before we do any sending or receiving
if (os_mbx_wait(&serial_mailbox, &msg, 0) == OS_R_OK) {
switch((SERIAL_MSG)(unsigned)msg) {
case SERIAL_INITIALIZE:
uart_initialize();
break;
case SERIAL_UNINITIALIZE:
uart_uninitialize();
break;
case SERIAL_RESET:
uart_reset();
break;
case SERIAL_SET_CONFIGURATION:
serial_get_configuration(&config);
uart_set_configuration(&config);
break;
default:
break;
}
}
len_data = USBD_CDC_ACM_DataFree();
if (len_data > SIZE_DATA) {
len_data = SIZE_DATA;
}
if (len_data) {
len_data = uart_read_data(data, len_data);
}
if (len_data) {
if(USBD_CDC_ACM_DataSend(data , len_data)) {
main_blink_cdc_led(MAIN_LED_OFF);
}
}
len_data = uart_write_free();
if (len_data > SIZE_DATA) {
len_data = SIZE_DATA;
}
if (len_data) {
len_data = USBD_CDC_ACM_DataRead(data, len_data);
}
if (len_data) {
if (uart_write_data(data, len_data)) {
main_blink_cdc_led(MAIN_LED_OFF);
}
}
}
}
int main(void)
{
const char * hello_string = "Hello world\n\r";
uart_initialize(&uart0, (volatile void *) PLATFORM_UART0_BASE);
uart_set_divisor(&uart0, uart_baud2divisor(115200, PLATFORM_SYSCLK_FREQ));
for(int i = 0; hello_string[i] != 0; ++i)
{
while(uart_tx_fifo_full(&uart0));
uart_tx(&uart0, hello_string[i]);
}
return 0;
}
//console thread.
void console() {
char* r;
//basic initialization of needed hw components.
uart_initialize();
mmc_initialize();
utfs_open(¤t_directory, "/");
writeString("Hello!\r\n");
for (;;) {
writeString("> ");
r = readString();
writeString("\r\n");
runcmd(r);
}
}
int main(void)
{
// Stop watchdog timer for now
WDTCTL = WDTPW | WDTHOLD;
// Enable JTAG (keep this line here)
SYSCTL |= SYSJTAGPIN;
// Initialize state variables
//floatswitch_active = 0;
floatswitches = 0;
battery_charge = 0;
solarpanel_voltage = 0;
pump_active = 0;
tryagain_timeelapsed = 0;
last_sent_warningtext = 0;
// Read in the saved phone number from memory, if it is there
memset(phone_number, '\0', MAX_PHONE_LENGTH);
if(strncmp(PHONE_ADDRESS, "+1", 2) == 0) // Phone numbers start with +1
strncpy(phone_number, PHONE_ADDRESS, MAX_PHONE_LENGTH); // copy from flash into ram
// Set up float switches
FLOAT_PORT_DIR &= ~(FLOATSWITCH_0 | FLOATSWITCH_1 | FLOATSWITCH_2 | FLOATSWITCH_3 | FLOATSWITCH_4);
FLOAT_PORT_REN |= FLOATSWITCH_0 | FLOATSWITCH_1 | FLOATSWITCH_2 | FLOATSWITCH_3 | FLOATSWITCH_4;
FLOAT_PORT_OUT |= FLOATSWITCH_0 | FLOATSWITCH_1 | FLOATSWITCH_2 | FLOATSWITCH_3 | FLOATSWITCH_4;
// Set up water pump and solarpanel on/off
PUMPSOLAR_PORT_DIR |= PUMP_CONTROL | SOLARPANEL_CONTROL;
PUMPSOLAR_PORT_OUT &= ~(PUMP_CONTROL | SOLARPANEL_CONTROL);
// Set up msp430 LEDs
LED_PORT_DIR |= (LED_MSP | LED_MSP_2);
LED_PORT_OUT &= ~(LED_MSP | LED_MSP_2);
// P1DIR |= LED_MSP;
// P4DIR |= LED_MSP_2;
// P1OUT &= ~LED_MSP;
// P4OUT &= ~LED_MSP_2;
// Set up gsm 'power button' (not used now)
// P1DIR &= ~POWER_BUTTON;
// P1REN |= POWER_BUTTON;
// P1OUT |= POWER_BUTTON;
// P1IE |= POWER_BUTTON; // interrupts
// P1IES |= POWER_BUTTON; // high->low transition
// Set up gsm power status input
GSM_PORT_DIR &= ~GSM_POWER_STATUS; // input
// Power on the voltage regulator for the gsm
GSMPOWER_PORT_DIR |= GSMPOWER_ENABLE_PIN; // output mode
GSMPOWER_PORT_OUT |= GSMPOWER_ENABLE_PIN;
// Initialize the uart and ADC, start ADC conversion
uart_initialize();
adc_initialize();
// Wait a bit
__delay_cycles(1048576); // 1 second
// Enable watchdog interrupts and interrupts in general
SFRIE1 |= WDTIE;
_BIS_SR(GIE);
// Start conversion
adc_start_conversion();
// Check if GSM module is on
while(!(GSM_PORT_IN & GSM_POWER_STATUS)) // is off
{
toggle_gsm_power();
__delay_cycles(20000000); // wait
}
// Send an AT first
LED_PORT_OUT |= LED_MSP;
tx_buffer_reset();
strcpy(tx_buffer, "AT\r\n");
uart_send_command();
// Start up Timer A0
TA0CTL = TACLR; // clear first
TA0CTL = TASSEL__ACLK | ID__8 | MC__STOP; // auxiliary clock (32.768 kHz), divide by 8 (4096 Hz), interrupt enable, stop mode
TA0CCTL0 = CCIE; // enable capture/compare interrupt
TA0CCR0 = 4096; // reduces rate to 1 times/sec
TA0CTL |= MC__UP; // start the timer in up mode (counts to TA0CCR0 then resets to 0)
// start the clock
rtc_initialize();
// Turn CPU off
LPM0;
// Main loop
while(1)
{
// Check if a UART command has finished and respond accordingly
if(uart_command_has_completed)
{
switch(uart_command_state)
{
case CommandStateSendingAT:
{
if(uart_command_result == UartResultOK)
{
// Send ATE0 because we do not need a copy of what we send
uart_command_state = CommandStateTurnOffEcho;
tx_buffer_reset();
strcpy(tx_buffer, "ATE0\r\n");
uart_send_command();
}
break;
}
case CommandStateTurnOffEcho: // Got a response after sending AT
{
if(uart_command_result == UartResultOK)
{
// Send cmgf
// This puts the cell module into SMS mode, as opposed to data mode
uart_command_state = CommandStateGoToSMSMode;
tx_buffer_reset();
strcpy(tx_buffer, "AT+CMGF=1\r\n");
uart_send_command();
}
break;
}
case CommandStateGoToSMSMode: // Got a response after sending CMGF
{
if(uart_command_result == UartResultOK)
{
LED_PORT_OUT &= ~(LED_MSP | LED_MSP_2); // leds off
// We are now ready to send a text whenever the system needs to
uart_enter_idle_mode();
}
else
uart_enter_idle_mode();
break;
}
case CommandStatePrepareWarningSMS: // Got a response after sending CMGS
{
if(uart_command_result == UartResultInput)
{
// Send the text now
uart_command_state = CommandStateSendWarningSMS;
tx_buffer_reset();
strcpy(tx_buffer, "Msg from Sol-Mate: Check your boat; water level is getting high.\r\n\x1A");
uart_send_command();
}
break;
}
case CommandStateSendWarningSMS: // Got a response after sending the text
{
if(uart_command_result == UartResultOK)
{
LED_PORT_OUT &= ~LED_MSP; // red LED off
sent_text = 1; // Do not send the text again (this is for testing purposes--to send another text you have to restart the MSP)
// Delete all stored messages.
uart_command_state = CommandStateDeleteSMS;
tx_buffer_reset();
strcpy(tx_buffer, "AT+CMGD=1,4\r\n");
uart_send_command();
}
else if(uart_command_result == UartResultError) // sms failed to send
{
LED_PORT_OUT |= LED_MSP;
// Set up timer to try again
TA2CTL = TACLR;
TA2CTL = TASSEL__ACLK | ID__8 | MC__STOP;
TA2CCTL0 = CCIE;
TA2CCR0 = TIMEOUT_SMS;
// Prepare again
uart_command_state = CommandStatePrepareWarningSMS;
tx_buffer_reset();
strcpy(tx_buffer, "AT+CMGS=\"");
strcat(tx_buffer, phone_number);
strcat(tx_buffer, "\"\r\n");
// Enable timer, go to sleep (uart will be disabled too because LPM2)
TA2CTL |= MC__UP;
LPM2;
}
else
uart_enter_idle_mode();
break;
}
case CommandStateUnsolicitedMsg: // Received a message from the cell module
{
LED_PORT_OUT |= LED_MSP; // red LED on
// Check what kind of code this is..
// --SMS--
// +CMTI: "SM",3\r\n
if(strstr(rx_buffer, "+CMTI")) // strstr returns null/0 if not found
{
// Find the comma
char *begin_ptr = strchr(rx_buffer, ',');
if(!begin_ptr) {
uart_enter_idle_mode();
break;
}
begin_ptr++; // should point to the beginning of the SMS index we need
// Find the '\r' which is directly following the last character of the SMS index
char *end_ptr = strchr(begin_ptr, '\r');
if(!end_ptr) {
uart_enter_idle_mode();
break;
}
// Create the command to read the sms
tx_buffer_reset();
strcat(tx_buffer, "AT+CMGR=");
strncat(tx_buffer, begin_ptr, end_ptr - begin_ptr); // SMS index
strcat(tx_buffer, "\r\n");
// Send the command
LED_PORT_OUT &= ~LED_MSP; // red LED on
uart_command_state = CommandStateReadSMS;
uart_send_command();
}
else // unrecognized
{
LED_PORT_OUT &= ~LED_MSP;
uart_enter_idle_mode();
}
break;
}
case CommandStateReadSMS:
{
LED_PORT_OUT |= LED_MSP; // red LED on
if(uart_command_result == UartResultOK)
{
// +CMGR: "<status>","<origin number>","<??>","<timestamp>"\r\n
// text contents here\r\n
// \r\n
// OK\r\n
// find the 1st comma
char *begin_ptr_phone = strchr(rx_buffer, ',');
if(!begin_ptr_phone || *(begin_ptr_phone+1) != '"') {
uart_enter_idle_mode();
break;
}
begin_ptr_phone += 2; // Move to the beginning of the number
// find the ending quotation mark
char *end_ptr_phone = strchr(begin_ptr_phone, '"');
if(!end_ptr_phone) {
uart_enter_idle_mode();
break;
}
// Check if it's too long
if(end_ptr_phone - begin_ptr_phone > MAX_PHONE_LENGTH) {
uart_enter_idle_mode();
break;
}
// Look at the contents of the text - it starts right after the first \r\n
char *begin_ptr_sms = strchr(rx_buffer, '\n');
if(!begin_ptr_sms) {
uart_enter_idle_mode();
break;
}
begin_ptr_sms++; // Move to the beginning of the text
// The text ends right before the next \r\n
char *end_ptr_sms = strchr(begin_ptr_sms, '\r');
if(!end_ptr_sms) {
uart_enter_idle_mode();
break;
}
// Check for the "password"
if(strstr(begin_ptr_sms, "978SolMate"))
{
// copy the phone number into ram
memset(phone_number, '\0', MAX_PHONE_LENGTH);
strncpy(phone_number, begin_ptr_phone, end_ptr_phone - begin_ptr_phone);
// Now copy it into flash memory
flash_erase(PHONE_ADDRESS);
flash_write_phone_number(phone_number, MAX_PHONE_LENGTH);
// Send the user an acknowledgement
LED_PORT_OUT &= ~LED_MSP; // red LED off
uart_command_state = CommandStatePreparePhoneSMS;
tx_buffer_reset();
strcpy(tx_buffer, "AT+CMGS=\"");
strncat(tx_buffer, phone_number, MAX_PHONE_LENGTH);
strcat(tx_buffer, "\"\r\n");
uart_send_command();
}
// Status report?
else if(strstr(begin_ptr_sms, "What's up"))
{
// Send user the status report
LED_PORT_OUT &= ~LED_MSP;
uart_command_state = CommandStatePrepareStatusSMS;
tx_buffer_reset();
strcpy(tx_buffer, "AT+CMGS=\"");
strncat(tx_buffer, phone_number, MAX_PHONE_LENGTH);
strcat(tx_buffer, "\"\r\n");
uart_send_command();
}
else // Unrecognized text
{
LED_PORT_OUT &= ~LED_MSP;
// Delete all stored messages.
uart_command_state = CommandStateDeleteSMS;
tx_buffer_reset();
strcpy(tx_buffer, "AT+CMGD=1,4\r\n");
uart_send_command();
}
}
else
uart_enter_idle_mode();
break;
}
case CommandStatePreparePhoneSMS:
{
LED_PORT_OUT |= LED_MSP; // red LED on
if(uart_command_result == UartResultInput)
{
// Send the text now
uart_command_state = CommandStateSendPhoneSMS;
tx_buffer_reset();
strcpy(tx_buffer, "Msg from Sol-Mate: Your phone number has been successfully changed.\r\n\x1A");
uart_send_command();
}
break;
}
case CommandStatePrepareStatusSMS:
{
LED_PORT_OUT |= LED_MSP; // red led
if(uart_command_result == UartResultInput)
{
// Put together the status text
uart_command_state = CommandStateSendStatusSMS;
tx_buffer_reset();
strcpy(tx_buffer, "Msg from Sol-Mate: Here's your status report.\r\n");
// Battery status
if(battery_charge > 228) // 12.9V
strcat(tx_buffer, "Battery level: Full\r\n");
else if(battery_charge > 210) // About 50% - 12.55V
strcat(tx_buffer, "Battery level: Medium\r\n");
else if(battery_charge > 190) // 12.2V
strcat(tx_buffer, "Battery level: Low\r\n");
else
strcat(tx_buffer, "Battery level: Very Low\r\n");
// Solar panel charge
if(solarpanel_voltage > 186)
strcat(tx_buffer, "Charge rate: High\r\n");
else if(solarpanel_voltage > 113)
strcat(tx_buffer, "Charge rate: Medium\r\n");
else if(solarpanel_voltage > 39)
strcat(tx_buffer, "Charge rate: Low\r\n");
else
strcat(tx_buffer, "Charge rate: None\r\n");
// Water depth
int water_level = get_water_level(floatswitches, 5);
switch(water_level)
{
case 0: // No floatswitches are active.
strcat(tx_buffer, "Water level: None\r\n");
break;
case 1: // Lowest floatswitch is active.
strcat(tx_buffer, "Water level: Very low\r\n");
break;
case 2: // Two lowest floatswitches are active.
strcat(tx_buffer, "Water level: Low\r\n");
break;
case 3: // All three floatswitches are active.
strcat(tx_buffer, "Water level: Medium\r\n");
break;
case 4:
strcat(tx_buffer, "Water level: High\r\n");
break;
case 5:
strcat(tx_buffer, "Water level: Very high\r\n");
break;
default: // Any other combination.
strcat(tx_buffer, "Water level: ERR INVALID READING\r\n");
break;
}
// Bailer
if(pump_active)
strcat(tx_buffer, "Water pump: On");
else
strcat(tx_buffer, "Water pump: Off");
strcat(tx_buffer, "\r\n\x1A");
uart_send_command();
}
break;
}
case CommandStateSendPhoneSMS:
{
if(uart_command_result == UartResultOK)
{
// Delete all stored messages.
uart_command_state = CommandStateDeleteSMS;
tx_buffer_reset();
strcpy(tx_buffer, "AT+CMGD=1,4\r\n");
uart_send_command();
}
else if(uart_command_result == UartResultError) // sms failed to send
{
LED_PORT_OUT |= LED_MSP;
// Set up timer to try again
TA2CTL = TACLR;
TA2CTL = TASSEL__ACLK | ID__8 | MC__STOP;
TA2CCTL0 = CCIE;
TA2CCR0 = TIMEOUT_SMS; // 4096 times 10 -> 10 seconds
// Prepare again
uart_command_state = CommandStatePreparePhoneSMS;
tx_buffer_reset();
strcpy(tx_buffer, "AT+CMGS=\"");
strcat(tx_buffer, phone_number);
strcat(tx_buffer, "\"\r\n");
// Enable timer, go to sleep (uart will be disabled too because LPM2)
TA2CTL |= MC__UP;
LPM2;
}
break;
}
case CommandStateSendStatusSMS:
{
if(uart_command_result == UartResultOK)
{
// Delete all stored messages.
uart_command_state = CommandStateDeleteSMS;
tx_buffer_reset();
strcpy(tx_buffer, "AT+CMGD=1,4\r\n");
uart_send_command();
}
else if(uart_command_result == UartResultError) // sms failed to send
{
LED_PORT_OUT |= LED_MSP;
// Set up timer to try again
TA2CTL = TACLR;
TA2CTL = TASSEL__ACLK | ID__8 | MC__STOP;
TA2CCTL0 = CCIE;
TA2CCR0 = TIMEOUT_SMS; // 4096 times 10 -> 10 seconds
// Prepare again
uart_command_state = CommandStatePrepareStatusSMS;
tx_buffer_reset();
strcpy(tx_buffer, "AT+CMGS=\"");
strcat(tx_buffer, phone_number);
strcat(tx_buffer, "\"\r\n");
// Enable timer, go to sleep (uart will be disabled too because LPM2)
TA2CTL |= MC__UP;
LPM2;
}
break;
}
case CommandStateDeleteSMS:
{
if(uart_command_result == UartResultOK)
LED_PORT_OUT &= ~LED_MSP; // red LED off
uart_enter_idle_mode();
break;
}
}
// Turn CPU off until someone calls LPM0_EXIT (uart interrupt handler will)
LPM0;
}
}
}
bool platform_initialize(void* tcb)
{
OS_ERR osErr;
mainTcb = tcb;
SYS_Init();
GPIO_SetBit(LED_LINK_PORT, LED_LINK_PIN);
GPIO_Open(LED_LINK_PORT, GPIO_PMD_PMD8_OUTPUT, GPIO_PMD_PMD8_MASK);
#if NABTO_ENABLE_LOGGING
uart_initialize(115200);
#endif
// Initialize OS tick system
OS_CPU_SysTickInit(SYS_GetHCLKFreq() / OS_CFG_TICK_RATE_HZ);
OSSemCreate(&loggingSemaphore, NULL, 1, &osErr);
if(osErr != OS_ERR_NONE)
{
NABTO_LOG_FATAL(("Unable to create logging semaphore"));
}
NABTO_LOG_INFO(("Initializing..."));
if (RAK_DriverInit() != RAK_OK)
{
NABTO_LOG_FATAL(("Platform initialize failed!"));
}
{
char mac[6];
if (RAK_GetMacAddr(mac) != RAK_OK)
{
NABTO_LOG_FATAL(("RAK_GetMacAddr() failed!"));
}
NABTO_LOG_INFO(("MAC: %.2x:%.2x:%.2x:%.2x:%.2x:%.2x", mac[0], mac[1], mac[2], mac[3], mac[4], mac[5]));
}
{
RAK_CONNECT param;
param.mode = NET_MODE_STA;
param.sec_mode = PSK_MODE_SEC;
param.ssid = wifiSsid;
param.psk = wifiKey;
param.conn_handle = wifi_callback;
if (RAK_ConnectAP(¶m) != RAK_OK)
{
NABTO_LOG_FATAL(("Wifi connect error!"));
}
}
while(linkIsUp == false); // wait for callback to set connection status
{
RAK_IPCONFIG dhcp;
if (RAK_IPConfigDHCP(&dhcp) != RAK_OK)
{
NABTO_LOG_FATAL(("DHCP error!"));
}
localAddress = dhcp.addr;
localMask = dhcp.mask;
gateway = dhcp.gw;
dnsServer = dhcp.dnsrv1;
NABTO_LOG_TRACE(("DHCP: Address=" PRI_IP " mask=" PRI_IP " gateway=" PRI_IP " DNS=" PRI_IP, PRI_IP_FORMAT(localAddress), PRI_IP_FORMAT(localMask), PRI_IP_FORMAT(gateway), PRI_IP_FORMAT(dnsServer)));
}
memset(sockets, 0, sizeof(sockets));
sendBuffer = RAK_SendMalloc(SEND_BUFFER_SIZE);
return true;
}
/** @brief Vitual COM Port initialization
*
* The function inititalizes the hardware resources of the port used as
* the Virtual COM Port.
*
* @return 0 Function failed.
* @return 1 Function succeeded.
*/
int32_t USBD_CDC_ACM_PortInitialize(void)
{
uart_initialize();
main_cdc_send_event();
return 1;
}
void task_main(int argc, char *argv[])
{
_is_running = true;
if (uart_initialize(_device) < 0) {
PX4_ERR("Failed to initialize UART.");
return;
}
// Subscribe for orb topics
_controls_sub = orb_subscribe(ORB_ID(actuator_controls_0));
_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
// Start disarmed
_armed.armed = false;
_armed.prearmed = false;
// Set up poll topic
px4_pollfd_struct_t fds[1];
fds[0].fd = _controls_sub;
fds[0].events = POLLIN;
/* Don't limit poll intervall for now, 250 Hz should be fine. */
//orb_set_interval(_controls_sub, 10);
// Set up mixer
if (initialize_mixer(MIXER_FILENAME) < 0) {
PX4_ERR("Mixer initialization failed.");
return;
}
pwm_limit_init(&_pwm_limit);
// TODO XXX: this is needed otherwise we crash in the callback context.
_rc_pub = orb_advertise(ORB_ID(input_rc), &_rc);
// Main loop
while (!_task_should_exit) {
int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 10);
/* Timed out, do a periodic check for _task_should_exit. */
if (pret == 0) {
continue;
}
/* This is undesirable but not much we can do. */
if (pret < 0) {
PX4_WARN("poll error %d, %d", pret, errno);
/* sleep a bit before next try */
usleep(100000);
continue;
}
if (fds[0].revents & POLLIN) {
orb_copy(ORB_ID(actuator_controls_0), _controls_sub, &_controls);
_outputs.timestamp = _controls.timestamp;
/* do mixing */
_outputs.noutputs = _mixer->mix(_outputs.output, 0 /* not used */, NULL);
/* disable unused ports by setting their output to NaN */
for (size_t i = _outputs.noutputs; i < sizeof(_outputs.output) / sizeof(_outputs.output[0]); i++) {
_outputs.output[i] = NAN;
}
const uint16_t reverse_mask = 0;
// TODO FIXME: these should probably be params
const uint16_t disarmed_pwm[4] = {900, 900, 900, 900};
const uint16_t min_pwm[4] = {1230, 1230, 1230, 1230};
const uint16_t max_pwm[4] = {1900, 1900, 1900, 1900};
uint16_t pwm[4];
// TODO FIXME: pre-armed seems broken
pwm_limit_calc(_armed.armed, false/*_armed.prearmed*/, _outputs.noutputs, reverse_mask,
disarmed_pwm, min_pwm, max_pwm, _outputs.output, pwm, &_pwm_limit);
send_outputs_mavlink(pwm, 4);
if (_outputs_pub != nullptr) {
orb_publish(ORB_ID(actuator_outputs), _outputs_pub, &_outputs);
} else {
_outputs_pub = orb_advertise(ORB_ID(actuator_outputs), &_outputs);
}
}
bool updated;
orb_check(_armed_sub, &updated);
if (updated) {
orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed);
}
}
uart_deinitialize();
orb_unsubscribe(_controls_sub);
orb_unsubscribe(_armed_sub);
_is_running = false;
}
/*******************************************************************************
* MAIN FUNCTION *
*******************************************************************************/
int main(void)
{
unsigned char angle = 0; // declare a variable to store angle
unsigned char i = 0,j = 0;
unsigned char lx = 0, ly = 0, ry = 0;
unsigned int rx = 0;
// ensure all the hardware port in zero initially
PORTA = 0;
PORTB = 0;
PORTC = 0;
PORTD = 0;
PORTE = 0;
// Initialize the I/O port direction, this must be configured according to circuit
// please refer to PTK40A schematic for details
// TRISX control pin direction, output pin must be configure as '0'
// while input must be configure as '1'
TRISA = 0b00010001;
TRISB = 0b00001111;
TRISC = 0b10010011;
TRISD = 0;
TRISE = 0;
// Initialize ADC.
adc_initialize(); //Ensure pin share with analog is being configured to digital correctly
pwm_initialize();
uart_initialize();
beep(2); //buzzer sound for twice
// PTK40A come SKPS PORT TO USE SKPS
// SKPS, control DC motor speed and RC servo motor
// Please connect SKPS at the "Cytron Starter Kit" section
// Select 9600 as the baud rate on SKPS
// servo require the PCM at around 20ms period
// Please move jumper JP9 to SERVO, JP10 to PWM, JP20 & 21 to DC MOTOR
M1 = 1;
M2 = 0; // drive motor in a direction
while(1) // create an infinite loop
{
lx = uc_skps(p_joy_lx); //obtain left joystick x axis value
ly = uc_skps(p_joy_ly); //obtain left joystick y axis value
rx = uc_skps(p_joy_rx); //obtain right joystick x axis value
ry = uc_skps(p_joy_ry); //obtain right joystick y axis value
//control dc motor using joyleft
if(lx==128 && ly==128)
{
pwm_set_duty_cycle(0);
}
//if(lx!=128 && ly!=128)
else if(ly==0)
{
pwm_set_duty_cycle(1000); //set dc motor speed in differect coordinate
}
else if(lx==0)
{
pwm_set_duty_cycle(350);
}
else if(ly==255)
{
pwm_set_duty_cycle(500);
}
else if(lx==255)
{
pwm_set_duty_cycle(750);
}
//control servo motor using joyright
if(ry==0)
{
SERVO = 1; // Servo pin HIGH
delay_10us(100);
SERVO = 0; // Servo pin LOW
delay_ms(18); // delay for around 18ms
}
else if(rx==0)
{
SERVO = 1; // Servo pin HIGH
delay_10us(130);
SERVO = 0; // Servo pin LOW
delay_ms(18); // delay for around 18ms
}
else if(ry==255)
{
SERVO = 1; // Servo pin HIGH
delay_10us(160);
SERVO = 0; // Servo pin LOW
delay_ms(18); // delay for around 18ms
}
else if(rx==255)
{
SERVO = 1; // Servo pin HIGH
delay_10us(200);
SERVO = 0; // Servo pin LOW
delay_ms(18); // delay for around 18ms
}
}
while(1) continue; // infinite loop to prevent PIC from reset if there is no more program
}