//Main
void main(void) {
initBoard();
backlightOn();
//Configure interrupts
//Interrupt on RB1 = SW_E
OpenRB1INT(PORTB_CHANGE_INT_ON & FALLING_EDGE_INT & PORTB_PULLUPS_OFF & PORTB_INT_PRIO_HIGH);
//Interrupt on RB0 = SW_W
OpenRB0INT(PORTB_CHANGE_INT_ON & FALLING_EDGE_INT & PORTB_PULLUPS_OFF & PORTB_INT_PRIO_LOW);
//Enable button input => not needed, see dwengoBoard.c->initBoard();
TRISB = 0xFF;
//Init motors
initializeMotors();
initializeSensors();
while (TRUE)
{
if(SW_N == 0)
{
mode = 0;
clearLCD();
printStringToLCD("Doing moves brah", 1, 0);
leftMotor(700);
rightMotor(700);
delay_s(4);
leftMotor(1000);
rightMotor(700);
delay_s(4);
leftMotor(700);
rightMotor(1000);
delay_s(4);
leftMotor(-700);
rightMotor(700);
delay_s(4);
}
else if(mode == 1)
{
//Light eating
}
else if(SW_S == 0)
{
//Start light eating
//mode = 1;
clearLCD();
printStringToLCD("Going to send string", 0, 0);
initializeRS232();
sendData();
}
else
{
//printStringToLCD("Cool story bro", 0, 0);
}
}
}
void External_Init(void)
{
INTCON = 0x80;
OpenRB0INT( FALLING_EDGE_INT & PORTB_PULLUPS_OFF & PORTB_INT_PRIO_HIGH );
OpenRB1INT( FALLING_EDGE_INT & PORTB_PULLUPS_OFF & PORTB_INT_PRIO_HIGH );
INTCONbits.INT0IE = 1;
INTCON3bits.INT1IE = 1;
INTCONbits.INT0IF =0;
INTCON3bits.INT1IF =0;
}
void main (void)
{
/* TIMER 1*/
OpenTimer1( TIMER_INT_ON &
T1_16BIT_RW &
T1_SOURCE_EXT &
T1_PS_1_1 &
T1_OSC1EN_ON &
T1_SYNC_EXT_OFF );// tem que estar off para correr na placa, mas on para correr no proteus
ADCON1 = 0x0E; // Port A: A0 - analog; A1-A7 - digital
OpenADC (ADC_FOSC_RC & ADC_RIGHT_JUST & ADC_1ANA_0REF, ADC_CH0 & ADC_INT_OFF);
/* BUTTON S3 */
OpenRB0INT ( PORTB_CHANGE_INT_ON & /* enable the RB0/INT0 interrupt */
PORTB_PULLUPS_ON & /* configure the RB0 pin for input */
FALLING_EDGE_INT); /* trigger interrupt upon S3 button depression */
OpenXLCD( FOUR_BIT & LINES_5X7 ); // 4-bit data interface; 2 x 16 characters
OpenI2C(MASTER, SLEW_ON);// Initialize I2C module
SSPADD = 9; //400kHz Baud clock(9) @16MHz
//100kHz Baud clock(39) @16MHz
InitializeBuzzer();
init_LVD();
EnableHighInterrupts();
alarmes[0] = 'a';
alarmes[1] = 0;
alarmes_prev[0] = 'a';
alarmes_prev[1] = 0;
checksumIsRight = verificar_checksum();
if(checksumIsRight == 1){
ler_EEPROM_interna_parametros();
ler_EEPROM_interna_relogio();
ler_EEPROM_interna_relogio_alarme(); // carregar da EEPROM interna o valor do alarme do relogio
ler_EEPROM_interna_temp_alarme(); // carregar da EEPROM interna o valor do alarme da temperatura
ler_EEPROM_interna_lum_alarme(); // carregar da EEPROM interna o valor do alarme da luminosidade
}
ler_EEPROM_interna_relogio_seconds();
update_EEPROM_interna_parametros();
update_EEPROM_interna_relogio_alarme();
update_EEPROM_interna_temp_alarme();
update_EEPROM_interna_lum_alarme();
update_EEPROM_interna_relogio_hours();
update_EEPROM_interna_relogio_minutes();
init_EEPROM_externa();
WriteTimer1( 0x8000 ); // load timer: 1 second
///////////////////////////////////////////////////////////////////////////////
//*************************** Ciclo Principal *******************************//
///////////////////////////////////////////////////////////////////////////////
while (1){
if(modo_sleep == 1 && cursor_pos == 8){
WriteCmdXLCD( DOFF ); // Turn display off
}
else{
while( BusyXLCD() );
WriteCmdXLCD( DOFF ); // Turn display off
while( BusyXLCD() );
WriteCmdXLCD( CURSOR_OFF );// Enable display with no cursor
while( BusyXLCD() );
}
sd = seconds/10;
su = seconds%10;
md = minutes/10;
mu = minutes%10;
hd = hours/10;
hu = hours%10;
SetDDRamAddr(0x0D);
putsXLCD(alarmes);
rotina_verificacao_alarmes();
rotina_modo_modificacao();
rotina_sai_modificacao();
avisa_alarmes();
rotina_sensores_PMON();
if(CCP1CON == 0x00 && modo_modificacao == 0){
modo_sleep = 1;
Sleep();
}
}
}
void low_isr(void)
{
// Réception CAN.
if(PIE3bits.RXB0IE && PIR3bits.RXB0IF)
{
unsigned long id;
char num;
short cmd;
BYTE data[8];
BYTE len;
enum CAN_RX_MSG_FLAGS flags;
while(CANIsRxReady()) {
CANReceiveMessage(&id, data, &len, &flags);
}
PIR3bits.RXB0IF = 0;
led = led ^ 1;
num = id & 0x07;
cmd = id & 0xFFF8;
if(cmd == 320) { // rangerReq
id = 352 | (rangers[num].value < rangers[num].threshold) << 4 | num;
while(!CANSendMessage(id, (BYTE*)rangers[num].value, 2,
CAN_TX_PRIORITY_0 & CAN_TX_STD_FRAME & CAN_TX_NO_RTR_FRAME )) {
}
}
else if(cmd == 328) { // rangerThres
rangers[num].threshold = ((unsigned int*) data)[0];
}
else if(cmd == 336) { // rangerMute
rangers[num].unmuted = 0;
}
else if(cmd == 344) { // rangerUnmute
rangers[num].unmuted = 1;
}
else {
led = led ^ 1; // On annule la commutation précédente de la LED.
}
}
// Génération des pulses sonars et polling des bumpers.
if(INTCONbits.TMR0IE && INTCONbits.TMR0IF) // Vingt fois par secondes, non stop.
{
INTCONbits.TMR0IF = 0;
check_button(0, PORTCbits.RC2);
check_button(1, PORTCbits.RC3);
check_button(2, PORTCbits.RC4);
check_button(3, PORTCbits.RC5);
// On alterne les triggers pulse, et pas besoin
// d'attendre plus car ils restent allumés la moitié du temps (50ms).
if(PORTCbits.RC7) {
CloseRB1INT();
OpenRB0INT(PORTB_CHANGE_INT_ON & RISING_EDGE_INT & PORTB_PULLUPS_OFF);
PORTCbits.RC6 = 1;
PORTCbits.RC7 = 0; // Fin du pulse => déclenchement.
}
else {
CloseRB0INT();
OpenRB1INT(PORTB_CHANGE_INT_ON & RISING_EDGE_INT & PORTB_PULLUPS_OFF);
PORTCbits.RC6 = 0;
PORTCbits.RC7 = 1; // Fin du pulse => déclenchement.
}
// Début de l'attente des echos.
// Lecture de l'ADC pour les sharps et passage à la mesure suivante.
//count_sharp_value = (count_sharp_value + 1) %3;
//count_sharp_value_tab = count_sharp_value + 3*(cur_sharp - 2); // On se place au bon endroit dans le tableau sharp_value[].
count_sharp_value_tab = count_sharp_value + 3*(cur_sharp - 2);
count_sharp_value_change = (count_sharp_value_change + 1) %3;
if (count_sharp_value_change == 2)
count_sharp_value = (count_sharp_value + 1)%3;
count_sharp_value_change = (count_sharp_value_change + 1) %3;
sharp_value[count_sharp_value_tab] = LectureAnalogique();
rangers[cur_sharp].value = (sharp_value[3*(cur_sharp - 2)] + sharp_value[1 + 3*(cur_sharp - 2)] + sharp_value[2 + 3*(cur_sharp - 2)])/3;
//rangers[cur_sharp].value = LectureAnalogique();
if(rangers[cur_sharp].unmuted) {
while(!CANSendMessage(352 | cur_sharp, (BYTE*)&(rangers[cur_sharp].value), 2,
CAN_TX_PRIORITY_0 & CAN_TX_STD_FRAME & CAN_TX_NO_RTR_FRAME )) {
}
led = led ^ 1;
}
if(++cur_sharp > 4)
cur_sharp = 2;
// Lancement de la conversion suivante.
ADCON0 = 0b00000001 + ((cur_sharp - 2) << 2); // Selectionne le bon AN en lecture analogique
//ADCON2 peut être configuré si on le souhaite
ADCON0bits.GO_DONE=1;
//ADCON0bits.CHS = cur_sharp; // Plus simple que SetChanADC(). //TODO
//ConvertADC(); //TODO
}
}
void init(void)
{
unsigned char msgdata[ 8 ];
vscp18f_init( TRUE );
// Initialize the uP
// PortA
// RA0 - SENS - Input
// RA1 - - Output
// RA2 - - Output
// RA3 - - Output
// RA4 - - Output
// RA5 - - Output
// RA6 - OSC
TRISA = 0b00000001;
PORTA = 0b00000000;
// PortB
// RB0 - RFID_RX- Input
// RB1 - - Output
// RB2 - CAN TX - Output
// RB3 - CAN RX - input
// RB4 - - input
// RB5 - - input
// RB6 - - input
// RB7 - - input
TRISB = 0b11111001;
PORTB = 0b00000000;
// RC0 - - Output
// RC1 - Button - Input
// RC2 - PWM - Output
// RC3 - - Output
// RC4 - - Output
// RC5 - - Output
// RC6 - - Output
// RC7 - - Output
TRISC = 0b00000010;
PORTC = 0b00000000;
// TIMERS
OpenTimer0(TIMER_INT_OFF &
T0_16BIT &
T0_SOURCE_INT &
T0_PS_1_1
);
OpenTimer1(TIMER_INT_ON &
T1_16BIT_RW &
T1_SOURCE_INT &
T1_PS_1_1 &
T1_OSC1EN_OFF
);
OpenTimer2(TIMER_INT_OFF &
T2_PS_1_1 &
T2_POST_1_1
);
// ADC
OpenADC(ADC_FOSC_64 &
ADC_RIGHT_JUST &
ADC_20_TAD ,
ADC_CH0 &
ADC_INT_OFF &
ADC_REF_VDD_VREFMINUS /*ADC_VREFPLUS_VDD*/ &
ADC_REF_VREFPLUS_VSS /*ADC_VREFMINUS_VSS*/ ,
0x0E);
// PWM 125 kHz
PWM_Calibr(&PWM_f,&PWM_adc);
OpenPWM1(PWM_f);// 79
SetDCPWM1((PWM_f*2)-6); // 156
PWM_enable = ON;
RCONbits.IPEN = 1; // enable HI and LOW priorities
// INT priority
IPR1bits.TMR1IP = 0; // Timer1 LOW priority
OpenRB0INT( PORTB_CHANGE_INT_ON & RISING_EDGE_INT & PORTB_PULLUPS_OFF );
// Global INT ebable
INTCONbits.GIEH = 1;
INTCONbits.GIEL = 1;
return;
}
