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 main()
{ TRISB=0x00;
TRISA=0x00;
TRISDbits.TRISD7=0; // chan dieu khien coi bao
a=0;
index=0x03;
Init_UART();
Init_Tran_UART();
Init_Rec_UART();
Osc();
Pwm_init();
VITRI=VITRI_3;
//putrsUSART ((const far rom char*)"\r\nNguy hiem muc 3\r\n");
while(1)
{
LATAbits.LATA0= (index );// lay 4 bit chua gia tri cua index truyen sang 7447, tranh chan ngat int0
LATBbits.LATB1= (index >>1);
LATBbits.LATB2= (index >>2);
LATBbits.LATB3= (index >>3);
LATDbits.LATD7= a;
SetDCPWM2(VITRI);
}
while(1);
}
void stopMotors() {
SetDCPWM1(0);
MOTOR1_1 = 0;
SetDCPWM2(0);
MOTOR2_1 = 0;
}
void setSpeedMotor2(short speed) {
static BYTE prev_dir;
BYTE dir;
dir = (speed > 0);
// check if motor has changed direction
if (dir != prev_dir) {
// stop motor
SetDCPWM2(0);
// wait a short time
delay_ms(TRANSIENT_DELAY);
// update direction
prev_dir = dir;
}
if (dir == FORWARD) {
SetDCPWM2(speed);
MOTOR2_1 = 0;
}
else { // speed is negative
SetDCPWM2(1023+speed);
MOTOR2_1 = 1;
}
}
void main()
{
OSCCONbits.IRCF = 0b011;//1 MHz
TRISB = 0x00;
TRISA = 0x00;
TRISDbits.TRISD7 = 0; // chan dieu khien coi bao
alarm = 0;
Led7 = 0x03;
Init_UART();
// Init_Tran_UART();
// Init_Rec_UART();
//initialize UART module
// OpenUSART(USART_TX_INT_OFF &
// USART_RX_INT_ON &
// USART_ASYNCH_MODE &
// USART_EIGHT_BIT &
// USART_BRGH_HIGH &
// BAUD_16_BIT_RATE,
// 12);
INTCONbits.PEIE = 1;//Peripheral interrupt enable
INTCONbits.GIE = 1; // Golbal interrupt enable
Pwm_init();
VITRI = VITRI_3;
while(1)
{
LATAbits.LATA0 = Led7;// lay 4 bit chua gia tri cua Led7 truyen sang 7447, tranh chan ngat int0
LATBbits.LATB1 = (Led7 >>1);
LATBbits.LATB2 = (Led7 >>2);
LATBbits.LATB3 = (Led7 >>3);
LATDbits.LATD7 = alarm;
SetDCPWM2(VITRI);
if(EnableProcess)
{
Processing();
EnableProcess = 0;
}
}
//while(1);
}
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;
}
void main(void)
{
float pmax;
uint16_t pmax_ton;
// Configure the oscillator for the device
ConfigureOscillator();
// Initialize I/O and Peripherals for application
InitApp();
// User application
SetDCPWM2(33);
/*
T0CON = 0;
T0CONbits.TMR0ON = 1;
INTCONbits.TMR0IE = 1;
INTCONbits.GIE = 1;
*/
while (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);
}
}
PROCESS_STATE TrainMotorAway( int speed, int AcDeceleration )
{
static int Current_Backward_Speed = 0;
int Steps = 0;
PROCESS_STATE ReturnStatus = In_Progress;
switch ( AcDeceleration )
{
case 1:
Steps = 100;
break;
case 2:
Steps = 200;
break;
case 3:
Steps = 300;
break;
case 4:
Steps = 400;
break;
case 5:
Steps = 500;
break;
}
if ( Check_Timer( TRAIN_MOVEMENT ) == MATURED ) // Matured
{
if ( speed == Current_Backward_Speed )
{
// putrsUSART( "Forward: Train at requested speed...\r\n" );
ReturnStatus = Command_Complete;
}
else if ( speed > Current_Backward_Speed )
{
Current_Backward_Speed = Current_Backward_Speed + Steps;
// putrsUSART( "Forward: +400\r\n" );
if ( Current_Backward_Speed > 1023)
{
// putrsUSART( "Forward: More than 1023 setting to 'speed'...\r\n" );
Current_Backward_Speed = speed;
}
SetDCPWM2( Current_Backward_Speed );
}
else if ( speed < Current_Backward_Speed )
{
Current_Backward_Speed = Current_Backward_Speed - Steps;
// putrsUSART( "Forward: +400\r\n" );
if ( Current_Backward_Speed < speed )
{
// putrsUSART( "Forward: less than 'speed' so setting to 'speed'...\r\n" );
Current_Backward_Speed = speed;
}
SetDCPWM2( Current_Backward_Speed );
}
Set_Timer(TRAIN_MOVEMENT, 0, 1, 0 );
}
return ReturnStatus;
}
