void main(void)
{
char period = 249;
//----------------------open TMR2 before Open PWM2--------------------------------------------
OpenTimer2(TIMER_INT_OFF&T2_PS_1_16&T2_POST_1_1);
//-------------------------Configure pwm -----------------------------------------------------
OpenPWM2(period); //Configure PWM module and initialize PWM period
//---------------------set duty cycle---------------------------------------------------------
SetDCPWM2(duty_cycle[k]); //set the duty cycle
//-----------------------use TMR0 to change position of servo----------------------------------
OpenTimer0( TIMER_INT_OFF & T0_16BIT & T0_SOURCE_INT & T0_PS_1_4 );
while(1)
{
while(!INTCONbits.TMR0IF);//waiting for the flag is set
INTCONbits.TMR0IF = 0;//clear flag for next times overflow
SetDCPWM2( duty_cycle[k]);//new duty cycle
k=k+1;
if(k==13) k=-1;
}
}
void Pwm_init()
{ RCONbits.IPEN = 1; // Enable priority levels on interrupts
IPR1bits.RCIP = 1;
INTCONbits.GIEH = 1;
OpenTimer2(0x06); // chon gia tri 16 prescale cho timer2
OpenPWM2(0xff); // set gia tri thanh ghi PR2 la 0xff
}
void main()
{
unsigned char periode = 0x4D; // PWM Period = [(PR2) + 1] * 4 * TOSC *(TMR2 Prescale Value)
unsigned int Duty_cycle_1 = 50; // 1/4000 = [PR2 + 1] * 4*[1 / 20000000] * 16
unsigned int Duty_cycle_2 = 170;
CCP2_DIR = OUT;
CCP1_DIR = OUT;
OpenPWM1( periode );
OpenPWM2( periode );
while(1)
{
PwmCycle(Duty_cycle_1, Duty_cycle_2); // period and Duty cycle required for the PWM
}
}
void initMotor() {
// Set the motor outputs as digital output
MOTOR1_0_DIR = 0;
MOTOR1_1_DIR = 0;
MOTOR2_0_DIR = 0;
MOTOR2_1_DIR = 0;
// Maximal PWM freq: 5000Hz (using L293DNE motor driver)
// PWM period = (0xFF + 1)*4*Tosc*T2Prescaler
OpenPWM1(0xFF); // configuring PWM module 1
OpenPWM2(0xFF); // configuring PWM module 2
// Configuring timer 2 which provides timing for PWM
// TIMER_INT_OFF: disable timer interrupt
// T2_PS_1_4: Timer2 prescaling set to 4
// T2_POST_1_1: Timer2 postscaling set to 1
OpenTimer2(TIMER_INT_OFF & T2_PS_1_4 & T2_POST_1_1);
setSpeedMotor1(0);
setSpeedMotor2(0);
}
void Init(){
// Activation des interruptions
INTCONbits.GIEH = 1; // Activation interruptions hautes
INTCONbits.GIEL = 1; // Activation interruptions basses
RCONbits.IPEN=1; // Activation des niveau d'interruptions
// Initialisation du Timer 0 pour la base de temps
OpenTimer0( TIMER_INT_ON & // interruption ON
T0_16BIT & // Timer 0 en 16 bits
T0_SOURCE_INT & // Source interne (Quartz + PLL)
T0_PS_1_32); // 128 cycle, 1 incrémentation
WriteTimer0(0xffff - 2074);
timer_emi = 0;
timer_led = 0;
// Initialisation de l'UART
TXSTAbits.TX9 = 0; // Mode 8 bits
TXSTAbits.TXEN = 1; // Activation du module UART de transmission
TXSTAbits.BRGH = 0; // Gestion de la base de temps
BAUDCONbits.BRG16 = 1; // Gestion de la base de temps
BAUDCONbits.TXCKP = 1; // Inversion de la sortie série
SPBRGH = 3; // Gestion de la base de temps => 0x0361 = 829
SPBRG = 61; // Gestion de la base de temps
RCSTAbits.SPEN=1;
TRISCbits.TRISC6 = 1;
TRISCbits.TRISC7 = 1;
// Configuration de la MLI
OpenTimer2( TIMER_INT_OFF & T2_PS_1_4 & T2_POST_1_1 );
TRISBbits.TRISB3=0;
OpenPWM2(82);
SetDCPWM2((unsigned int)164);
// On allume la LED
TRIS_LED = 0;
LED = 1;
}
// Process USB commands
void processUsbCommands(void)
{
// Check if we are in the configured state; otherwise just return
if((USBDeviceState < CONFIGURED_STATE) || (USBSuspendControl == 1))
{
// We are not configured
return;
}
// Check if data was received from the host.
if (!HIDRxHandleBusy(USBOutHandle)) {
// Command mode
switch (ReceivedDataBuffer[0]) {
case 0x01: // System Commands
switch (ReceivedDataBuffer[1]) {
case 0x01: // System Commands
// Copy any waiting debug text to the send data buffer
ToSendDataBuffer[0] = 0xFF;
// Transmit the response to the host
if (!HIDTxHandleBusy(USBInHandle)) {
USBInHandle = HIDTxPacket(HID_EP, (BYTE*) & ToSendDataBuffer[0], 64);
}
break;
default: // Unknown command received
break;
}
break;
case 0x02: // Feeder Commands
switch (ReceivedDataBuffer[1]) {
case 0x02: // Feeder Status
if (atmegaFeederRunning){
ToSendDataBuffer[0] = 0x01;
}
else{
ToSendDataBuffer[0] = 0x00;
}
// Transmit the response to the host
if (!HIDTxHandleBusy(USBInHandle)) {
USBInHandle = HIDTxPacket(HID_EP, (BYTE*) & ToSendDataBuffer[0], 64);
}
break;
case 0x03: // Go to feeder
StartI2C();
WriteI2C(0x28); // sends address to the device
IdleI2C();
WriteI2C(ReceivedDataBuffer[2]); // sends a control byte to the device
IdleI2C();
StopI2C();
break;
case 0x04: // Reset Feeder Z
StartI2C();
WriteI2C(0x28); // sends address to the device
IdleI2C();
WriteI2C(80); // sends a control byte to the device
IdleI2C();
StopI2C();
break;
case 0x05: // Full feeder reset
StartI2C();
WriteI2C(0x28); // sends address to the device
IdleI2C();
WriteI2C(70); // sends a control byte to the device
IdleI2C();
StopI2C();
break;
case 0x06: // Reset ATMEGA IC
atmegaResetPin = 0;
Delay1KTCYx(10);
atmegaResetPin = 1;
break;
default: // Unknown command received
break;
}
break;
case 0x03: // Vacuum and Vibration Commands
switch (ReceivedDataBuffer[1]) {
case 0x01: // Vacuum 1 set
if (ReceivedDataBuffer[2] == 0x01){
setVac1on;
}
else{
setVac1off;
}
break;
case 0x02: // Vacuum 2 set
if (ReceivedDataBuffer[2] == 0x01){
setVac2on;
}
else{
setVac2off;
}
break;
case 0x03: // Vibration Motor set
if (ReceivedDataBuffer[2] == 0x01){
setVibrationon;
StartI2C();
WriteI2C(0x16); // sends address to the device
IdleI2C();
WriteI2C(0x01); // sends a control byte to the device
IdleI2C();
StopI2C();
}
else{
setVibrationoff;
StartI2C();
WriteI2C(0x16); // sends address to the device
IdleI2C();
WriteI2C(0x02); // sends a control byte to the device
IdleI2C();
StopI2C();
}
break;
case 0x04: // Vacuum 1 status
if (vac1running == 1){
ToSendDataBuffer[0] = 0x01;
}
else{
ToSendDataBuffer[0] = 0x00;
}
// Transmit the response to the host
if (!HIDTxHandleBusy(USBInHandle)) {
USBInHandle = HIDTxPacket(HID_EP, (BYTE*) & ToSendDataBuffer[0], 64);
}
break;
case 0x05: // Vacuum 2 status
if (vac2running == 1){
ToSendDataBuffer[0] = 0x01;
}
else{
ToSendDataBuffer[0] = 0x00;
}
// Transmit the response to the host
if (!HIDTxHandleBusy(USBInHandle)) {
USBInHandle = HIDTxPacket(HID_EP, (BYTE*) & ToSendDataBuffer[0], 64);
}
break;
case 0x06: // Vibration Motor status
if (vibrationrunning == 1){
ToSendDataBuffer[0] = 0x01;
}
else{
ToSendDataBuffer[0] = 0x00;
}
// Transmit the response to the host
if (!HIDTxHandleBusy(USBInHandle)) {
USBInHandle = HIDTxPacket(HID_EP, (BYTE*) & ToSendDataBuffer[0], 64);
}
break;
case 0x07: // Vibration Motor status
vibrationmotor_duty_cycle = ReceivedDataBuffer[2];
StartI2C();
WriteI2C(0x16); // sends address to the device
IdleI2C();
WriteI2C(0x03); // sends a control byte to the device
IdleI2C();
WriteI2C(vibrationmotor_duty_cycle); // sends a control byte to the device
IdleI2C();
StopI2C();
break;
default: // Unknown command received
break;
}
break;
case 0x04: // LED Commands
switch (ReceivedDataBuffer[1]) {
case 0x01: // LED Base Camera on/off
if (ReceivedDataBuffer[2] == 0x01){
OpenPWM1(0xFF);
led1_duty_cycle = led1_duty_cycle * 4;
SetDCPWM1(led1_duty_cycle);
// outBaseLED = 1;
led1running = 1;
}else{
ClosePWM1();
// outBaseLED = 0;
led1running = 0;
}
break;
case 0x02: // LED Base Camera PWM set
led1_duty_cycle = ReceivedDataBuffer[2];
Write_b_eep(baseLED_EEPROM_address, led1_duty_cycle);
led1_duty_cycle = led1_duty_cycle * 4;
SetDCPWM1(led1_duty_cycle);
break;
case 0x03: // LED Head Camera on/off
if (ReceivedDataBuffer[2] == 0x01){
OpenPWM2(0xFF);
led2_duty_cycle = led2_duty_cycle * 4;
SetDCPWM2(led2_duty_cycle);
// outBaseLED = 1;
led2running = 1;
}else{
ClosePWM2();
// outBaseLED = 0;
led2running = 0;
}
break;
case 0x04: // LED Head Camera PWM set
led2_duty_cycle = ReceivedDataBuffer[2];
Write_b_eep(headLED_EEPROM_address, led2_duty_cycle);
led2_duty_cycle = led2_duty_cycle * 4;
SetDCPWM2(led2_duty_cycle);
break;
case 0x05: // LED Base Status
if (led1running == 1){
ToSendDataBuffer[0] = 0x01;
}
else{
ToSendDataBuffer[0] = 0x00;
}
// Transmit the response to the host
if (!HIDTxHandleBusy(USBInHandle)) {
USBInHandle = HIDTxPacket(HID_EP, (BYTE*) & ToSendDataBuffer[0], 64);
}
break;
case 0x06: // LED Head Status
if (led2running == 1){
ToSendDataBuffer[0] = 0x01;
}
else{
ToSendDataBuffer[0] = 0x00;
}
// Transmit the response to the host
if (!HIDTxHandleBusy(USBInHandle)) {
USBInHandle = HIDTxPacket(HID_EP, (BYTE*) & ToSendDataBuffer[0], 64);
}
break;
default: // Unknown command received
break;
}
break;
default: // Unknown command received
break;
}
// Re-arm the OUT endpoint for the next packet
USBOutHandle = HIDRxPacket(HID_EP, (BYTE*) & ReceivedDataBuffer, 64);
}
}
