/*
void sendCoefThroughUART(void) {
signed int AC1, AC2, AC3, AC4, AC5, AC6, B1, B2, MB, MC, MD;
AC1 = coefficients(BMP085_CAL_AC1);
IntToStr(AC1, data_);
UART1_Write_Text(data_);
UART1_Write(' ');
AC2 = coefficients(BMP085_CAL_AC2);
IntToStr(AC2, data_);
UART1_Write_Text(data_);
UART1_Write(' ');
return;
}
*/
void main() {
genericInit();
I2C1_Init(100000); // Initiate I2C @ 100 kHz
initMPU6050();
//CallibrateMPU6050raw(); // Measures the offset values of both accelerometer and gyroscope
initHMC5883L();
/*
initTimer0();
startTimer0();
Delay_ms(1000); // Maximum allowable time
stopTimer0();
*/
Delay_ms(100); // Wait for UART module to stabilize
while(1) {
do {} while(UART1_Read() != 's'); // Wait until start signal is received
do {
readAccMPU6050();
readGyrMPU6050();
readTmpMPU6050();
readUTBMP085();
readUPBMP085();
readHMC5883Lraw();
sendThroughUARTtoMSVS();
//Delay_ms(1000);
} while(UART1_Read() != 'e'); // Do until end signal is received
}//while
return;
}
void EmptySerialBuffer(void)
{
char recieveChar;
while (UART1_Data_Ready() == 1) {
recieveChar = UART1_Read();
}
}
void main()
{
int i;
trisb=0;
portb=0;
Lcd_Init(); // Initialize LCD
UART1_Init(9600); // Initialize UART module at 9600 bps
Delay_ms(100); // Wait for UART module to stabilize
while (1) // Endless loop
{
if (UART1_Data_Ready()) // If data is received,
{
for(i=0;i<100;i++)
{
uart_rd[i]= UART1_Read();
}
for(i=0;i<100;i++)
{
Lcd_Cmd(_LCD_CLEAR); // Clear display
Lcd_Cmd(_LCD_CURSOR_OFF); // Cursor off
Lcd_Out(1,1,uart_rd[i]);
delay_ms(10000);
}
}
}
}
void Proceso(void){
// Lectura del Voutput del sensor LM35
// Mostrando Voutput y su conversion a °C
char val[15];
float volts;
float grados;
char centigrados[15];
adc_value = ADC1_Get_Sample(10);
grados = adc_value/cuentas;
FloatToStr(grados,centigrados);
UART1_Write_Text(centigrados);
UART1_Write(13);
UART1_Write(10);
Lcd_Out(1, 1, centigrados);
Lcd_Out(1, 8, "\xDFc");
volts = adc_value;
FloatToStr(volts,val);
Lcd_Out(2, 15, "V");
Lcd_Out(2, 1, val);
delay(0xFFFFF);
Lcd_Cmd(_LCD_CLEAR);
if (UART1_Data_Ready()) { // If data is received
uart_rd = UART1_Read(); // read the received data
if (uart_rd == '1'){
LAMPARA = ~LAMPARA;
}
else if (uart_rd == '2')
{
VENTILADOR = ~VENTILADOR;
}
}
}
static void ProcessInput(void)
{
for( ; ; )
{ uint8_t Byte; int Err=UART1_Read(Byte); if(Err<=0) break; // get byte from console, if none: exit the loop
if(Byte==0x03) ProcessCtrlC(); // if Ctrl-C received
NMEA.ProcessByte(Byte); // pass the byte through the NMEA processor
if(NMEA.isComplete()) // if complete NMEA:
{ /* if(NMEA.isChecked()) */ ProcessNMEA(); // and if CRC is good: interpret the NMEA
NMEA.Clear(); } // clear the NMEA processor for the next sentence
}
}
void WaitForRecieveChar(char delimiterChar)
{
char recieveChar = 0;
while (1)
{
if (UART1_Data_Ready() > 0) {
recieveChar = UART1_Read();
//UART1_Write(recieveChar);
}
if (recieveChar == delimiterChar) break;
}
}
/*
Nombre: qtama
Descripcion: establece el tamaño de la porcion de comida servida.
Parametros: ninguno
Retorna: entero sin signo
*/
unsigned short qtama () {
unsigned short kp;
qtama:
do {
kp = Keypad_Key_Click(); // Store key code in kp variable
if (UART1_Data_Ready()){
kp = UART1_Read();
goto bluetooth1;
}
}while (!kp);
kp = teclado(kp);
bluetooth1:
if(kp == 'A' ||kp== 'B' ||kp== 'C'||kp== 'D'){
Lcd_chr(2, 5, kp);
do {
kp = Keypad_Key_Click(); // Store key code in kp variable
if (UART1_Data_Ready()){
kp = UART1_Read();
goto bluetooth2;
}
}while (!kp);
kp = teclado(kp);
bluetooth2:
if(kp == '#'){
goto qtama;
}
}
else {
goto qtama;
}
return (kp);
}
unsigned short qtama () {
unsigned short kp;
qtama:
do {
kp = Keypad_Key_Click();
if (UART1_Data_Ready()){
kp = UART1_Read();
goto bluetooth1;
}
}while (!kp);
kp = teclado(kp);
bluetooth1:
if(kp == 'A' ||kp== 'B' ||kp== 'C'||kp== 'D'){
Lcd_chr(2, 4, kp);
do {
kp = Keypad_Key_Click(); // Store key code in kp variable
if (UART1_Data_Ready()){
kp = UART1_Read();
goto bluetooth2;
}
}while (!kp);
kp = teclado(kp);
bluetooth2:
if(kp == '#'){
goto qtama;
}
if(kp == '*'){
Lcd_Chr (2,6,'G'); Lcd_Chr (2,7,'u'); Lcd_Chr (2,8,'a'); Lcd_Chr (2,9,'r');Lcd_Chr (2,10,'d');Lcd_Chr (2,11,'a'); Lcd_Chr (2,12,'d'); Lcd_Chr (2,13,'o');
}
}else {
goto qtama;
}
return (kp);
}
void main() {
configure();
UART1_Write_Text(ConnectionEstablished);
setPID();
//testPIC();
debugText = " Starting.. ";
UART1_Write_Text(debugText);
delay_ms(1000);
debugText = "Test Sensors ";
UART1_Write_Text(debugText);
for(count=0; count<1; count++){
receiveCommand = UART1_Read();
sendSensorStatus();
delay_ms(1000);
} //while( receiveCommand != 'A' && receiveCommand != 'a' );
debugText = "Start Line follow.. ";
UART1_Write_Text(debugText);
//lineFollowNormal();
//lineFollow();
lineFollowPID();
testPIC();
while(1){
debugText = " Rotate Clockwise ";
UART1_Write_Text(debugText);
rotateClockwise(255);
delay_ms(220);
stop();
delay_ms(2000);
debugText = " Rotate Anti Clockwise ";
UART1_Write_Text(debugText);
rotateAntiClockwise(255);
delay_ms(220);
stop();
delay_ms(2000);
}
}
void interrupt(){
if(PIR1.RCIF) {
PORTD.F6 = 0;
while(UART1_Data_Ready() == 1){
str[count] = UART1_Read();
count++;
if(count == 13){
PORTD.F6 = 0;
flag = 1;
}else{
PORTD.F6 = 1;
}
}
}
}
void UART1_Read_Line (char *Output, unsigned int length)
{
for ( int j = 0; j < length; j++ ) {
Output[j] = 0;
}
int i=0;
for ( ; i < length; i++ ) {
char c = UART1_Read();
if ( c == '\r' ) break;
Output[i] = c;
}
if ( i == length ) { // at end of output, filled with characters
Output[i-1] = 0; // zero terminate.
}
}
unsigned int UART1_ReadBuffer( uint8_t *buffer, const unsigned int bufLen)
{
unsigned int numBytesRead = 0 ;
while ( numBytesRead < ( bufLen ))
{
if( uart1_obj.rxStatus.s.empty)
{
break;
}
else
{
buffer[numBytesRead++] = UART1_Read () ;
}
}
return numBytesRead ;
}
void WaitForRecieveCharAndBlink(char delimiterChar)
{
char recieveChar = 0;
while (1)
{
LED_Blink(1);
if (UART1_Data_Ready() > 0) {
recieveChar = UART1_Read();
//UART1_Write(recieveChar);
}
if (recieveChar == delimiterChar)
{
LED_Off();
break;
}
}
}
interrupt()
{
rr = UART1_Read();
switch(rr)
{
case '$':
{
v=1;
i=0;
break;
}
case 'G':
{
if(v<6)
{
v++;
break;
}
}
case 'P':
{
if(v==2)
v=3;
break;
}
case 'A':
{
if(v==5)
v=6;
break;
}
case 150:
{
mode=1;
break;
}
}
if (v==6){
i++;
rec[i] = rr;
}
}
unsigned short obtenerNumero (unsigned short numMax) {
unsigned short dig, numero, kp;
volverObtenerNumero:
dig = 0;
numero=0;
leerNum:
do {
kp = Keypad_Key_Click();
if (UART1_Data_Ready()){
kp = UART1_Read();
goto bluetoothRead;
}
}while (!kp);
kp = teclado(kp);
bluetoothRead:
if(kp == 'A' || kp== 'B' || kp == 'C' ||kp == 'D'){
goto leerNum;
}else if (kp != '#' && kp != '*'){
dig++;
numero = numero*10 + kp -48;
//Lcd_Chr(2, 7+dig, kp);
}
//}while (numero > numMax && kp != '*' && kp != '#');
if(kp == '#'){ //si presiona numeral se borra el numero
goto volverObtenerNumero;
}else if (kp == '*' && numero > 0){
//Lcd_Chr(2, 7, (numero+48));
Lcd_Out(2, 1, "Valor guardado");
delay();
}else if (numero > numMax){
Lcd_Cmd(_LCD_CLEAR);
Lcd_Out(2, 1, "Se paso de valor maximo");
delay();
goto volverObtenerNumero;
} else{
goto leerNum;
}
return (numero);
}
unsigned short obtenerNumero (unsigned short numeroMax) {
unsigned short dig,numero,kp;
volverObtenerNumero:
dig = 0;
numero=0;
Lcd_chr(2, 5, ' '); Lcd_chr(2, 4, ' '); Lcd_chr(2, 3, ' '); Lcd_chr(2, 2, ' '); Lcd_chr(2, 1, ' ');
leerNumero:
do {
kp = Keypad_Key_Click(); // Store key code in kp variable
if (UART1_Data_Ready()){
kp = UART1_Read();
goto bluetooth4;
}
}while (!kp);
kp = teclado(kp);
bluetooth4:
if(kp == 'A' || kp== 'B' || kp == 'C' ||kp == 'D'){
goto leerNumero;
}else if (kp>=48 && kp<=57) {
dig++;
Lcd_chr_Cp(kp);
numero = (kp-48)+(10*numero);
}
if(kp == '#'){
goto volverObtenerNumero;
}else if (kp == '*' ){
Lcd_Chr (2,6,'G'); Lcd_Chr (2,7,'u'); Lcd_Chr (2,8,'a'); Lcd_Chr (2,9,'r');Lcd_Chr (2,10,'d');Lcd_Chr (2,11,'a'); Lcd_Chr (2,12,'d'); Lcd_Chr (2,13,'o');
delay();
}else if (numero >= numeroMax){
//Lcd_Cmd(_LCD_CLEAR);
Lcd_chr(2, 1,'M'); Lcd_chr(2, 2,'a'); Lcd_chr(2, 3,'x'); Lcd_chr(2, 5,'t');
delay();
delay();
goto volverObtenerNumero;
}else{
goto leerNumero;
}
return (numero);
}
void main() {
TRISA = 0b00000000; // set PORTA -> salidas
TRISB = 0b01000000; // set PORTB -> salida menos el pin 6.
ANSEL = 0; // Configure AN2 pin as analog
ANSELH = 0;
C1ON_bit = 0; // Disable comparators
C2ON_bit = 0;
INTCON = 0b10100000; // INTERRUPCION POR TIMER0 Y GIE ACTIVADOS.
/* INTCON.T0IE = 1; /\* Activado interrupcion por timer0 *\/ */
OPTION_REG = 0b10000111; // TMR0 temporizado: RBPU, TOCS= INTERNAL INSTRUCTION CLOCK= 0 PSA =0 1:256
TRISC = 0b10000000; // PUERTOC COMO SALIDA exepto pin 7
PORTC = 0; // LIMPIAR PUERTOC
setupTimer1();
Delay_us(10); /* wait for acquisition time*/
Lcd_Init(); // Initialize LCD
/* Programa principal */
Lcd_Out(2,0,txtDefault); // Write text in second row
UART1_Init(9600); // initialize UART1 module
Delay_ms(100); // Wait for UART module to stabilize
moverEnAutomatico();
while (1) {
waitSignal();
if (UART1_Data_Ready()) { // If data is received,
uart_rd = UART1_Read(); // leer el dato recibido del celular
waitSignal();
switch (uart_rd) {
case 'A': { /* Modo automático */
Lcd_Out(2,6,txtAutomatic);
moverEnAutomatico();
break;
}
case 'M': {
moverManual();
break;
}
default:
break;
}
}
}
}
interrupt()
{
rr = UART1_Read();
switch(rr)
{
case 'k':
{
for(i=0;i<20;i++)
{
s1=1;s2=1;s3=1;br1=1;
delay_us(1500);
s1=0;s2=0;s3=0;br1=0;
delay_us(18500);
}
break;
}
case 'x':
{
for(i=0;i<20;i++)
{
s1=1;s2=1;s3=1;br1=1;
delay_us(2350);
s1=0;s2=0;s3=0;br1=0;
delay_us(17650);
}
break;
}
case 'o':
{
for(i=0;i<20;i++)
{
s1=1;s2=1;s3=1;br1=1;
delay_us(650);
s1=0;s2=0;s3=0;br1=0;
delay_us(19350);
}
break;
} }
x=1;
}
/**
* Relays data from USB to Radio
*/
void relayFromUSB()
{
/* UART1 - FTDI USB
* UART2 - Bluetooth
* UART3 - Radio */
if(!UART1_ReceiveBufferIsEmpty())
{
unsigned char rx = UART1_Read(); //Reads data from UART1 and
InjectLoop(rx); //sends to injector
//check for BTB_LAND packet from Mission Planner
CheckLandingDirection(rx);
}
//Lets see if there is some data available to send to radio
if(!CircularBufferIsEmpty(&(inject.outBuff)))
UART3_Write(CircularBufferDeque(&(inject.outBuff)));
}
void lerProtocolo(void) { //função que lê o protocolo e chama sua execução
if(UART1_Data_Ready()) {
lido = UART1_Read(); // lê o byte de inicio do protocolo
if(lido == '[') { // se for '[' indica que o protocolo eh de identificação do módulo
UART1_Read_Text(ID, "]", 4);
executarProtocolo();
}
else if(lido == '{') { // se for '{' indica que o protocolo eh de envio ao ME
UART1_Read_Text(ME, "}", 11);
executarProtocolo();
}
else if(lido == '+') { // ser for '+' indica que o protocolo eh de resposta
UART1_Read_Text(RE, "+", 4);
executarProtocolo();
}
}
}
void cargarDato(){
if (UART1_Data_Ready()) // If data is received,
uart_rd_temp = UART1_Read(); // leer el dato recibido del celular
}
//FIN CONVERSION
void main() {
char receive;
ANSEL=ANSELH=0;///CONFIGURAMOS PINES COMO DIGITALTES
PORTA=0;
TRISA=0B1111;
TRISD=0;
PORTD=0;
UART1_Init(115200);
Delay_ms(100);
ANSEL = 0;
ANSELH = 0;
i= 0;
TRISD = 0x00;
PORTD = 0; //VALOR INICIAL
TRISC.B7 = 0x01; //RX
PORTC.B7 = 0; //VALOR INICIAL 0
TRISC.B0 = 0x00;
TRISC.B1 = 0x00; //PINC.B0,B1 COMO SALIDAS DIGITALTES
PORTC.B0 = 0x00;
PORTC.B1 = 0x00;
while(1){
PORTC.B0 = CS1_DAC;
PORTC.B1 = WR_DAC;
if (UART1_Data_Ready() == 1) {
receive = UART1_Read();
//dessincriptacion
switch(receive){
case 'G' :{
if (UART1_Data_Ready() == 1) {
receive = UART1_Read();
//nible bajo
switch(receive){
case '0' :{
p1=0;
break;
}
case '1' :{
p1=1;
break;
}
case '2' :{
p1=2;
break;
}
case '3' :{
p1=3;
break;
}
case '4' :{
p1=4;
break;
}
case '5' :{
p1=5;
break;
}
case '6' :{
p1=6;
break;
}
case '7' :{
p1=7;
break;
}
case '8' :{
p1=8;
break;
}
case '9' :{
p1=9;
break;
}
case 'A' :{
p1=10;
break;
}
case 'B' :{
p1=11;
break;
}
case 'C' :{
p1=12;
break;
}
case 'D' :{
p1=13;
break;
}
case 'E' :{
p1=14;
break;
}
case 'F' :{
p1=15;
break;
}
}
if (UART1_Data_Ready() == 1) {
receive = UART1_Read();
//suma nible alto
switch(receive){
case '0' :{
p1=p1+0*16;
break;
}
case '1' :{
p1=p1+1*16;
break;
}
case '2' :{
p1=p1+2*16;
break;
}
case '3' :{
p1=p1+3*16;
break;
}
case '4' :{
p1=p1+4*16;
break;
}
case '5' :{
p1=p1+5*16;
break;
}
case '6' :{
p1=p1+6*16;
break;
}
case '7' :{
p1=p1+7*16;
break;
}
case '8' :{
p1=p1+8*16;
break;
}
case '9' :{
p1=p1+9*16;
break;
}
case 'A' :{
p1=p1+10*16;
break;
}
case 'B' :{
p1=p1+11*16;
break;
}
case 'C' :{
p1=p1+12*16;
break;
}
case 'D' :{
p1=p1+13*16;
break;
}
case 'E' :{
p1=p1+14*16;
break;
}
case 'F' :{
p1=p1+15*16;
break;
}
}
}
}
break;
}//FIN CANAL 1
case 'H' :{//CANAL 2
if (UART1_Data_Ready() == 1) {
receive = UART1_Read();
//nible bajo
switch(receive){
case '0' :{
p2=0;
break;
}
case '1' :{
p2=1;
break;
}
case '2' :{
p2=2;
break;
}
case '3' :{
p2=3;
break;
}
case '4' :{
p2=4;
break;
}
case '5' :{
p2=5;
break;
}
case '6' :{
p2=6;
break;
}
case '7' :{
p2=7;
break;
}
case '8' :{
p2=8;
break;
}
case '9' :{
p2=9;
break;
}
case 'A' :{
p2=10;
break;
}
case 'B' :{
p2=11;
break;
}
case 'C' :{
p2=12;
break;
}
case 'D' :{
p2=13;
break;
}
case 'E' :{
p2=14;
break;
}
case 'F' :{
p2=15;
break;
}
}
if (UART1_Data_Ready() == 1) {
receive = UART1_Read();
//suma nible alto
switch(receive){
case '0' :{
p2=p2+0*16;
break;
}
case '1' :{
p2=p2+1*16;
break;
}
case '2' :{
p2=p2+2*16;
break;
}
case '3' :{
p2=p2+3*16;
break;
}
case '4' :{
p2=p2+4*16;
break;
}
case '5' :{
p2=p2+5*16;
break;
}
case '6' :{
p2=p2+6*16;
break;
}
case '7' :{
p2=p2+7*16;
break;
}
case '8' :{
p2=p2+8*16;
break;
}
case '9' :{
p2=p2+9*16;
break;
}
case 'A' :{
p2=p2+10*16;
break;
}
case 'B' :{
p2=p2+11*16;
break;
}
case 'C' :{
p2=p2+12*16;
break;
}
case 'D' :{
p2=p2+13*16;
break;
}
case 'E' :{
p2=p2+14*16;
break;
}
case 'F' :{
p2=p2+15*16;
break;
}
}
}
}
break;
}//FIN CANAL 2
case 'I' :{//EMPIEZA CANAL 3
if (UART1_Data_Ready() == 1) {
receive = UART1_Read();
//nible bajo
switch(receive){
case '0' :{
p3=0;
break;
}
case '1' :{
p3=1;
break;
}
case '2' :{
p3=2;
break;
}
case '3' :{
p3=3;
break;
}
case '4' :{
p3=4;
break;
}
case '5' :{
p3=5;
break;
}
case '6' :{
p3=6;
break;
}
case '7' :{
p3=7;
break;
}
case '8' :{
p3=8;
break;
}
case '9' :{
p3=9;
break;
}
case 'A' :{
p3=10;
break;
}
case 'B' :{
p3=11;
break;
}
case 'C' :{
p3=12;
break;
}
case 'D' :{
p3=13;
break;
}
case 'E' :{
p3=14;
break;
}
case 'F' :{
p3=15;
break;
}
}
if (UART1_Data_Ready() == 1) {
receive = UART1_Read();
//suma nible alto
switch(receive){
case '0' :{
p3=p3+0*16;
break;
}
case '1' :{
p3=p3+1*16;
break;
}
case '2' :{
p3=p3+2*16;
break;
}
case '3' :{
p3=p3+3*16;
break;
}
case '4' :{
p3=p3+4*16;
break;
}
case '5' :{
p3=p3+5*16;
break;
}
case '6' :{
p3=p3+6*16;
break;
}
case '7' :{
p3=p3+7*16;
break;
}
case '8' :{
p3=p3+8*16;
break;
}
case '9' :{
p3=p3+9*16;
break;
}
case 'A' :{
p3=p3+10*16;
break;
}
case 'B' :{
p3=p3+11*16;
break;
}
case 'C' :{
p3=p3+12*16;
break;
}
case 'D' :{
p3=p3+13*16;
break;
}
case 'E' :{
p3=p3+14*16;
break;
}
case 'F' :{
p3=p3+15*16;
break;
}
}
}
}
break;
}//FIN CANAL 3
case 'G' :{
if (UART1_Data_Ready() == 1) {
receive = UART1_Read();
//nible bajo
switch(receive){
case '0' :{
p4=0;
break;
}
case '1' :{
p4=1;
break;
}
case '2' :{
p4=2;
break;
}
case '3' :{
p4=3;
break;
}
case '4' :{
p4=4;
break;
}
case '5' :{
p4=5;
break;
}
case '6' :{
p4=6;
break;
}
case '7' :{
p4=7;
break;
}
case '8' :{
p4=8;
break;
}
case '9' :{
p4=9;
break;
}
case 'A' :{
p4=10;
break;
}
case 'B' :{
p4=11;
break;
}
case 'C' :{
p4=12;
break;
}
case 'D' :{
p4=13;
break;
}
case 'E' :{
p4=14;
break;
}
case 'F' :{
p4=15;
break;
}
}
if (UART1_Data_Ready() == 1) {
receive = UART1_Read();
//suma nible alto
switch(receive){
case '0' :{
p4=p4+0*16;
break;
}
case '1' :{
p4=p4+1*16;
break;
}
case '2' :{
p4=p4+2*16;
break;
}
case '3' :{
p4=p4+3*16;
break;
}
case '4' :{
p4=p4+4*16;
break;
}
case '5' :{
p4=p4+5*16;
break;
}
case '6' :{
p4=p4+6*16;
break;
}
case '7' :{
p4=p4+7*16;
break;
}
case '8' :{
p4=p4+8*16;
break;
}
case '9' :{
p4=p4+9*16;
break;
}
case 'A' :{
p4=p4+10*16;
break;
}
case 'B' :{
p4=p4+11*16;
break;
}
case 'C' :{
p4=p4+12*16;
break;
}
case 'D' :{
p4=p4+13*16;
break;
}
case 'E' :{
p4=p4+14*16;
break;
}
case 'F' :{
p4=p4+15*16;
break;
}
}
}
}
break;
}//FIN CANAL 4
}
}//FIN DE RECUPERACION DE DATOS =)
// SELECCION DE CANAL A MOSTRAR
if(porta.b0==1){
portd=p1;
}
if(porta.b1==1){
portd=p2;
}
if(porta.b2==1){
portd=p3;
}
if(porta.b3==1){
portd=p4;
}
//fin del programon juju =)
}
}
main(){
int i;
trisb=0;
portb=0;
UART1_Init(9600); // Initialize UART module at 9600 bps
Delay_ms(100); // Wait for UART module to stabilize
while (1) { // Endless loop
if (UART1_Data_Ready()) // If data is received,
{
for(i=0;i<100;i++)
uart_rd[i]= UART1_Read();
UART1_Write(uart_rd);
}
/*if (uart_rd == ‘a’){
i=21;
PWM1_Set_Duty(i);
PWM1_Start();
}
if (uart_rd == ‘b’){
i=42;
PWM1_Set_Duty(i);
PWM1_Start();
}
if (uart_rd == ‘c’){
i=63;
PWM1_Set_Duty(i);
PWM1_Start();
}
if (uart_rd == ‘d’){
portb=0b00000010;
}if (uart_rd == ‘e’){
i=165;
PWM1_Set_Duty(i);
PWM1_Start();
}
if (uart_rd == ‘f’){
i=187;
PWM1_Set_Duty(i);
PWM1_Start();
}
if (uart_rd == ‘g’){
i=207;
PWM1_Set_Duty(i);
PWM1_Start();
}
if (uart_rd == ‘h’){
portb=0b00000000;}
if (uart_rd == ‘R’){
i=255;
PWM1_Set_Duty(i);
PWM1_Start();
}
if (uart_rd == ‘L’){
i=0;
PWM1_Set_Duty(i);
PWM1_Start();
}
if (uart_rd == ‘C’){
portb=0b00000001;
delay_ms(10);
portb=0b00000000;
PWM1_Start();
} */
}
}
// Interrupciones
void interrupt() {
// UART
if(PIR1.RCIF) {
uart_rx = UART1_Read();
if(uart_rx == STX)
indice = 1;
else switch(indice) {
case 0:
break;
case 1:
if(uart_rx == id || uart_rx == network_broadcast_id)
indice = 2;
else
indice = 0;
break;
case 2:
uart_valvula = uart_rx.B0;
indice = 3;
break;
case 3:
uart_rojo = uart_rx;
indice = 4;
break;
case 4:
uart_verde = uart_rx;
indice = 5;
break;
case 5:
uart_azul = uart_rx;
indice = 6;
break;
default:
indice = 0;
if(uart_rx == ETX) {
valvula = uart_valvula;
transicion = 0b111;
INTCON.TMR0IE = 1;
}
}
}
// TIMER0
if(INTCON.TMR0IF) {
INTCON.TMR0IF = 0;
if(transicion) {
if(color_rojo == uart_rojo)
transicion.B0 = 0;
else if(color_rojo < uart_rojo)
color_rojo++;
else
color_rojo--;
if(color_verde == uart_verde)
transicion.B1 = 0;
else if(color_verde < uart_verde)
color_verde++;
else
color_verde--;
if(color_azul == uart_azul)
transicion.B2 = 0;
else if(color_azul < uart_azul)
color_azul++;
else
color_azul--;
} else INTCON.TMR0IE = 0;
}
}
//MAIN
void main()
{
char currentByte, previousByte;
char header, payload[NUMDATABYTES], checksum;
char i; //Keeps track of data index
unsigned int rxChecksumErrorCnt, rxInvalidHeaderCnt;
enum state currentState;
int direction;
char openFlag;
int closeCounter;
// Initialize
Initialize();
// Initialize Serial Comm
currentByte = previousByte = 0;
currentState = waitForStartBytes;
rxChecksumErrorCnt = 0;
rxInvalidHeaderCnt = 0;
openFlag = 0;
closeCounter = 0;
while (1)
{
if (UART1_Data_Ready())
{
previousByte = currentByte;
currentByte = UART1_Read();
if ((previousByte == STARTBYTE1) && (currentByte == STARTBYTE2))
{
currentState = getHeader;
checksum = previousByte + currentByte;
}
else
{
switch (currentState)
{
case waitForStartBytes:
//Do nothing wait for if statement above to succeed
break;
case getHeader:
checksum += header = currentByte;
i = 0;
currentState = getData;
break;
case getData:
checksum += payload[i] = currentByte;
i++;
if (i >= NUMDATABYTES) // was >=
{
currentState = processChecksum;
}
break;
case processChecksum:
if (checksum == currentByte) //Valid message received
{
switch (header) //Switch on header to supported messages
{
case ping:
FPing();
break;
case setMotorAddress:
FSetMotorAddress(payload);
break;
case setServoOutputs:
FSetServoOutputs(payload);
break;
case reportMotorStatus:
FReportMotorStatus(payload);
break;
case reportMCUId:
FReportMCUId();
break;
default:
rxInvalidHeaderCnt++;
//Do something if count exceeds some value
break;
}
}
else //Checksum failed, throw out message
{
rxChecksumErrorCnt++;
//Do something if error count exceeds some value
}
currentState = waitForStartBytes;
break;
default:
currentState = waitForStartBytes;
break;
}
}
}
else
{
// Nothing
}
}
}
void UART1_Read_Text (char *Output, unsigned int length)
{
for(int i=0; i<length;i++)
Output[i] = UART1_Read(); //Reads a desired length of text continuously
}
/**
uint8_t DRV_UART1_Read ( void )
*/
uint8_t DRV_UART1_Read (void)
{
return(UART1_Read());
}
void main() {
unsigned char i,tmp;
unsigned int tout;
CMCON=0x07;
TRISA=0x30;
TRISB=0xE7;
PORTA=0;
PORTB=0;
lcd_init();
UART1_Init(9600);
//teste serial
lcd_cmd(L_CLR);
lcd_cmd(L_L1);
lcd_str(codetxt_to_ramtxt("Teste Serial TX"));
lcd_cmd(L_L2+2);
lcd_str(codetxt_to_ramtxt("9600 8N1"));
UART1_Write_Text(codetxt_to_ramtxt("\r\n Picsimlab\r\n Teste Serial TX\r\n"));
for(i=0;i<4;i++)
{
UART1_Write(i+0x30);
UART1_Write_Text(codetxt_to_ramtxt(" PicsimLab\r\n"));
}
delay_ms(1000);
lcd_cmd(L_CLR);
lcd_cmd(L_L1);
lcd_str(codetxt_to_ramtxt("Teste Serial RX"));
UART1_Write_Text(codetxt_to_ramtxt(" Digite!\r\n"));
for(i=0;i<32;i++)
{
if(!(i%16))
{
lcd_cmd(L_L2);
UART1_Write_Text(codetxt_to_ramtxt("\r\n"));
}
tout=0;
while(!UART1_Data_Ready() && (tout < 2000))
{
tout++;
delay_ms(1);
}
if (UART1_Data_Ready() == 1) {
tmp = UART1_Read();
}
else
{
tmp='-';
}
lcd_dat(tmp);
UART1_Write(tmp);
}
delay_ms(100);
lcd_cmd(L_CLR);
lcd_cmd(L_L1);
lcd_str(codetxt_to_ramtxt("Teste Teclado TX"));
UART1_Write_Text(codetxt_to_ramtxt("\r\n Aguarde!\r\n"));
for(i=0;i<32;i++)
{
if(!(i%16))
{
lcd_cmd(L_L2);
UART1_Write_Text(codetxt_to_ramtxt("\r\n"));
}
tmp=tc_tecla(2000)+0x30;
lcd_dat(tmp);
UART1_Write(tmp);
}
delay_ms(100);
//fim teste
lcd_cmd(L_CLR);
lcd_cmd(L_L1+4);
lcd_str(codetxt_to_ramtxt("Fim"));
lcd_cmd(L_L2+1);
lcd_str(codetxt_to_ramtxt("Pressione RST"));
UART1_Write_Text(codetxt_to_ramtxt("\r\n FIM!\r\n"));
while(1);
}
