/*
* Don't forget to call this function from the right interrupt vector.
*/
void InterruptServo() {
if (INTCONbits.TMR0IE && INTCONbits.TMR0IF) {
if (CurrentServo > 0) {
// Set previous pin (CurrentServo - 1) to 0.
PORTB &= ~(1 << (CurrentServo - 1));
}
if (CurrentServo < CountServo) {
// Set current (CurrentServo) pin to 1.
PORTB |= 1 << CurrentServo;
WriteTimer0(65534 /* Max int */
/* Maximum width of 2.4ms. */
- AngleServo[CurrentServo] * 2 * ((2400 - 544) / 180)
/* Minimum width of 544µs. */
- 544 * 2 /* 2 = 8MHz / 4 (proc. freq) / 1µs */
);
// Between 0.9ms and 2.1ms.
} else {
WriteTimer0(65535 - 20000 * 2); // Minimum of 20ms between pulses.
}
CurrentServo++;
if (CurrentServo > CountServo)
CurrentServo = 0;
// When CurrentServo == CountServo, the next interrupt sets every pin to 0.
INTCONbits.TMR0IF = 0;
}
}
void timer0_int_handler() {
unsigned int val;
int length, msgtype;
LATBbits.LATB6 = !LATBbits.LATB6;
// toggle an LED
// LATBbits.LATB0 = !LATBbits.LATB0;
// reset the timer
#if defined (MOTOR_PIC)
WriteTimer0(TIMER0_START);
ticks_right++;
if ( executingEncode && ticks_right_C > 0)
ticks_right_C--;
if ( executingEncodeLong && ticks_right_C_Long > 0)
ticks_right_C_Long--;
if ( ticks_left_C <= 1 && ticks_right_C <= 1 && executingEncode ) {
if ( motor_state == RoverMsgMotorForward)
RoverForward();
else if ( motor_state == RoverMsgMotorLeft2 || motor_state == RoverMsgMotorRight2 ) {
motor_encode_lthread(RoverMsgMotorForwardCMDelim+10);
}
else
RoverStop();
executingEncode = 0;
}
else if ( ticks_left_C_Long <= 1 && ticks_right_C_Long <= 1 && executingEncodeLong ) {
if ( motor_state == RoverMsgMotorLeft2 ) {
motor_encode_lthread(RoverMsgMotorRight2);
}
else if ( motor_state == RoverMsgMotorRight2 )
{
motor_encode_lthread(RoverMsgMotorLeft2);
}
else {
RoverStop();
}
motor_state = RoverMsgMotorStop;
executingEncodeLong = 0;
}
#else
WriteTimer0(0);
#endif
// try to receive a message and, if we get one, echo it back
//length = FromMainHigh_recvmsg(sizeof(val), (unsigned char *)&msgtype, (void *) &val);
//if (length == sizeof (val)) {
// ToMainHigh_sendmsg(sizeof (val), MSGT_TIMER0, (void *) &val);
//}
}
void SendIRImpl(void)
{
WORD t,wait;
BYTE hilo;
WORD pos;
WORD byteOrWord; // 0:未設定
WriteTimer0(0);
INTCONbits.TMR0IF = 0;
hilo = 1;
pos = 0;
byteOrWord = 0;
while (1) {
wait = ReadBuffer(&pos,&byteOrWord);
if (wait==BUFF_EOF)
break;
if (wait==MAX_WAIT_CYCLE)
break;
do {
LED1_PORT = hilo;
IRLED_PORT = hilo;
DelayIRFreqHi();
t = ReadTimer0();
if (t >= wait)
break;
LED1_PORT = 0;
IRLED_PORT = 0;
DelayIRFreqLo();
t = ReadTimer0();
} while(t < wait);
WriteTimer0(0);
hilo = !hilo;
LED1_PORT = hilo;
IRLED_PORT = hilo;
}
// wait 10msec [1cycle==0.083333333us]
Delay10KTCYx(120);
LED1_PORT = 0;
IRLED_PORT = 0;
PutsString("OK\r\n");
LED1_PORT = 0;
IRLED_PORT = 0;
}
/******************************************************************************
* Function: void UserInit(void)
*
* PreCondition: None
*
* Input: None
*
* Output: None
*
* Side Effects: None
*
* Overview: This routine should take care of all of the demo code
* initialization that is required.
*
* Note:
*
*****************************************************************************/
void UserInit(void)
{
unsigned char i;
initLEDs();
// Initialize the arrays
for (i=0; i<sizeof(USB_Out_Buffer); i++)
{
USB_Out_Buffer[i] = 0;
}
ReadMessageFromEEPROM();
testLEDs();
NextUSBOut = 0;
LastRS232Out = 0;
lastTransmission = 0;
nextProcessState = P_VERSION;
RS232cp = 0;
// POV
space = 0;
POV_curPos = 0;
POV_curLetter = 0;
OpenTimer0(TIMER_INT_ON & T0_8BIT & T0_SOURCE_INT & T0_PS_1_256);
WriteTimer0(POV_TIMER);
}//end UserInit
void timer0_int_handler(unsigned char *adcbuffer) {
WriteTimer0(0);
// unsigned int val;
// int length, msgtype;
// toggle an LED
#ifdef __USE18F2680
LATBbits.LATB0 = !LATBbits.LATB0;
#endif
// reset the timer
// try to receive a message and, if we get one, echo it back
// length = FromMainHigh_recvmsg(sizeof(val), (unsigned char *)&msgtype, (void *) &val);
// if (length == sizeof (val)) {
// ToMainHigh_sendmsg(sizeof (val), MSGT_TIMER0, (void *) &val);
// }
ConvertADC();
//while( BusyADC()) {
//LATBbits.LATB1 = 1;
//}
//LATBbits.LATB1 = 0;
}
void TMR0_ISR(void)
{
/*
* Clears the TMR0 interrupt flag to stop the program from processing the
* same interrupt multiple times.
*/
INTCONbits.TMR0IF = 0;
++heartBeatCount;
++appUpdateCount;
++keypadUpdate_count;
++comUpdateCount;
--timeStampUpdateCount;
if( timeStampUpdateCount <= 0 )
{
AppTimestamp++;
timeStampUpdateCount = TIMESTAMP_DURATION;
}
if(tmr[0].func != 0 )
(*(tmr[0].func))();
// Reload value for 1ms overflow
WriteTimer0(tmr[0].reload);
}
void delay(unsigned int c)
{
INTCONbits.TMR0IF = 0;
WriteTimer0(c);
while (INTCONbits.TMR0IF == 0)
;
}
void timer0_isr(void)
{
INTCON1bits.TMR0IF = 0;
WriteTimer0(6);
ms_ticks++;
}
void main(void)
{
//timer vars
int result;
float final_result;
Delay100TCYx(10); //let the device startup
usart_init();
i2c_init();
printf("Starting\r\n");
// let sonar initialize, delay 250 ms
Delay1KTCYx(625);
TRISBbits.TRISB3 = 1; // data pin input
while(1)
{
while(PORTBbits.RB3 == 0);
// configure timer0
OpenTimer0(TIMER_INT_OFF & T0_16BIT & T0_SOURCE_INT & T0_PS_1_1);
WriteTimer0( 0 ); // restart timer
while(PORTBbits.RB3 == 1);
//Delay1TCY();
result = ReadTimer0(); // read timer
printf("Timer is %u \r\n", result);
final_result = (float)result / (float)(2.5*147);
printf("X / (4*147) = %i \r\n", (int)final_result);
}
}
void main(void) {
TRISBbits.RB0 = 1; // KEY1 is input
TRISBbits.RB1 = 1; // KEY2 is input
SSEG_Init(); // Initialize SSEGs
// Configure Timer0
OpenTimer0(TIMER_INT_ON & // Enable TIMER Interrupt
T0_16BIT & // Timer0 is configured as an 16-bit timer/counter
T0_SOURCE_INT & // Internal instruction cycle clock (CLKO) acts as source of clock
T0_PS_1_16); // 1:16 Prescaler value
WriteTimer0(TMR0_value); // Write Timer0 value to Timer0 to count
INTCONbits.INT0E = 1; // Enable Interrupt 0 (RB0 as interrupt)
INTCON2bits.INTEDG0 = 1; // Interrupt 0 occurs at rising edge
INTCONbits.INT0F = 0; // Clear Interrupt 0 flag
INTCON3bits.INT1E = 1; // Enable Interrupt 1 (RB1 as interrupt)
INTCON2bits.INTEDG1 = 1; // Interrupt 1 occurs at rising edge
INTCON3bits.INT1F = 0; // Clear Interrupt 0 flag
INTCONbits.GIE = 1; // Enables all unmasked interrupts
while(1) {
Delayms(250);
if(direction_flag == 0) {
counter++; // Increase counter by one
if(counter > 99) counter = 0;
}
else if (direction_flag == 1) {
counter--;
if(counter < 0) counter = 99;
}
}
}
void interrupt ISR(void) {
if(INTCONbits.TMR0IF==1) { // if Timer0 Interrupt is occurred
INTCONbits.TMR0IF = 0; // Clear the interrupt flag
WriteTimer0(TMR0_value); // Update TMR0 value
if(timer_flag == 0) { // if it is first 10ms
SSEG_Print(1,counter%10); // Shows ones of counter at first sseg
timer_flag = 1;
}
else { // if it is second 10ms
SSEG_Print(2,counter/10); // Shows tens of counter at second sseg
timer_flag = 0;
}
}
if(INTCONbits.INT0F == 1) { // if External Interrupt 0 is occurred (KEY1)
INTCONbits.INT0F = 0; // Clear Interrupt 0 Flag
direction_flag = 1;
}
if(INTCON3bits.INT1F == 1) { // if External Interrupt 1 is occurred (KEY2)
INTCON3bits.INT1F = 0; // Clear Interrupt 1 Flag
direction_flag = 0;
}
}
void timer0_int_handler() {
WriteTimer0(0);
// unsigned int val;
// int length, msgtype;
// toggle an LED
#ifdef __USE18F2680
LATBbits.LATB0 = !LATBbits.LATB0;
#endif
// reset the timer
// try to receive a message and, if we get one, echo it back
// length = FromMainHigh_recvmsg(sizeof(val), (unsigned char *)&msgtype, (void *) &val);
// if (length == sizeof (val)) {
// ToMainHigh_sendmsg(sizeof (val), MSGT_TIMER0, (void *) &val);
// }
UART_timeout++;
//unsigned char motorcomm[2] = {0x9F, 0x1F};
// unsigned char motorcomm[2] = {0x00, 0x00};
// uart_trans(2, motorcomm);
//ConvertADC();
//while( BusyADC()) {
//LATBbits.LATB1 = 1;
//}
//LATBbits.LATB1 = 0;
}
void high_isr(void)
#else
#error "Invalid compiler selection for implemented ISR routines"
#endif
{
/* Determine which flag generated the interrupt */
if(INTCONbits.TMR0IF == 1) { //Timer0
Servo_Switch_Flag = 0;
LED3 = 1;
//PORTDbits.RD0 = 1;
INTCONbits.TMR0IF = 0;
WriteTimer0(SERVO_PERIOD);
WriteTimer1(0xFFFF - Servo_Times[0]);
Servo_Id = 0;
//Todo: fix defines
LATC = 0xFF;
} else if(PIR1bits.TMR1IF == 1) { //Timer1
//Servo_Id = (Servo_Id++) % MAX_SERVOS;
WriteTimer1(0xFFFF - Servo_Times[++Servo_Id]);
//Todo: Properly define this in headers
//Off by one because of critical interrupt stuff above
switch(Servo_Id) {
case 1:
LATC = LATC & ~(1 << SERVO_PIN_1);
LED3 = 0;
break;
case 2:
LATC = LATC & ~(1 << SERVO_PIN_2);
break;
case 3:
LATC = LATC & ~(1 << SERVO_PIN_3);
break;
case 4:
LATC = LATC & ~(1 << SERVO_PIN_4);
break;
case 5:
LATC = LATC & ~(1 << SERVO_PIN_5);
Servo_Switch_Flag = 1;
break;
}
PIR1bits.TMR1IF = 0;
} else {
/* Unhandled interrupts */
}
}
///////////////////////////////////////////////////////////////////////
// Hardware and variable init.
///////////////////////////////////////////////////////////////////////
void init(void)
{
// Oscillator selection
OSCCONbits.IRCF0 = 1;
OSCCONbits.IRCF1 = 1;
OSCCONbits.IRCF2 = 1;
// All digital pins on porta
ADCON1 = 0x0F;
// Set initial port state
PORTA = 1;
PORTB = 0;
PORTC = 0x04;
TRISA = PortAConfig;
TRISB = PortBConfig;
TRISC = PortCConfig;
// PortB pullups enable
INTCON2bits.NOT_RBPU = 0;
// Enable the main 1-sec timer that will interrupt every second
OpenTimer0(TIMER_INT_ON &
T0_16BIT &
T0_SOURCE_INT &
T0_PS_1_32);
WriteTimer0(TMR0_VAL); // Load initial timer value
// Serial interface init (9600 @ 8 MHz, BRGH = 1 => 51)
OpenUSART(USART_ASYNCH_MODE &
USART_TX_INT_OFF &
USART_RX_INT_ON &
USART_EIGHT_BIT &
USART_CONT_RX &
USART_BRGH_HIGH,
51);
uart_state = IDLE;
rx_pointer = 0;
// Enable interrupts GIE and PEIE
INTCON |= 0xC0;
// Clear the clock
clock_clear();
// Clear possible existing interrupt flags
INTCONbits.INT0IF = 0;
INTCONbits.TMR0IF = 0;
PIR1bits.TMR1IF = 0;
output = 0;
switchpoint_init();
}
// Timer0 interrupt handler
void timer0_int_handler() {
// reset the timer
WriteTimer0(0);
// Send low priority message
ToMainLow_sendmsg(0, MSGT_TIMER0, 0);
}
void interrupt ISR(void) {
if(INTCONbits.TMR0IF==1) { // if Timer0 Interrupt is occurred
INTCONbits.TMR0IF = 0; // Clear the interrupt flag
WriteTimer0(TMR0_value); // Update TMR0 value
flag = 1;
}
}
void ReadIR(void)
{
WORD t;
BYTE hilo;
BYTE exit;
WORD byteOrWord; // 0:未設定
WORD pos;
if (enableReadIR==0)
return;
if (IR_PORT == 1)
return;
// なにか信号があった
WriteTimer0(0);
INTCONbits.TMR0IF = 0;
hilo = 0;
pos = 0;
byteOrWord = 0;
exit = 0;
while (exit==0) {
LED1_PORT = !hilo;
do {
t = ReadTimer0();
if (INTCONbits.TMR0IF || (t > MAX_WAIT_CYCLE)) {
t = MAX_WAIT_CYCLE;
INTCONbits.TMR0IF = 0;
exit=1;
break;
}
} while (IR_PORT == hilo);
WriteTimer0(0);
exit += WriteBuffer(t,&pos,&byteOrWord);
hilo = !hilo;
}
LED1_PORT = 0;
WriteEOF(pos);
if (!WaitToReadySerial())
return;
PrintIRBuffer("received,");
}
void low_isr(void)
{
if(INTCONbits.TMR0IE && INTCONbits.TMR0IF)
{
WriteTimer0(57724);
led=led^1;
INTCONbits.TMR0IF = 0;
}
}
void pausa (unsigned int segundos)
{
if (segundos <= 0) return;
OpenTimer0( TIMER_INT_OFF &
T0_16BIT &
T0_PS_1_32 &
T0_SOURCE_INT &
T0_EDGE_FALL
);
//Enable TIMER Interrupt (Int_On)
/* Calculo do Timer0
*
* (1 seg * 8000000) / (4 * 32) ... 32 = 1/32 prescaler
* 8.000.000 / 128 = 62500
*
* Timer0 = 65536 - 62500 = 3035 ou 0xBDB
*/
WriteTimer0( 0xBDC );
LED_AMAR=1;
LED_VERM=0;
T0CONbits.TMR0ON = 1; // Ligue o Timer 0
//T0CONbits.PSA = 0; // Use valores atraves do Pre-Scaler
//T0CONbits.T0CS=0; // A fonte clock eh Interna (CLKO/FOSC) T0_SOURCE_INT
// Sem Interrupcoes
INTCONbits.GIE = 0; // Interrupcoes Globais desligadas
INTCONbits.PEIE = 0; // Interrupcoes dos Perifericos desligadas
INTCONbits.TMR0IE = 0; // Interrupcoes do Timer0 desligadas
INTCONbits.TMR0IF = 0; // Zera o contador do Timer0
while (segundos > 0)
{
while (!TMR0IF) ; // enquando o Timer0 nao tiver overflow, espere
LED_AMAR=~LED_AMAR; // Led Amarelo pisca a cada segundo
//segundos--;
//WriteTimer0( 0xBDC );
INTCONbits.TMR0IF=0; // Zera o contador do Timer0
segundos--;
}
CloseTimer0(); // Feche o Timer0
//TMR0ON=0;
LED_AMAR=0;
LED_VERM=0;
LED_VERD=0;
}
int main(void) {
//--------------
// Initialization
char LCDinit[] = {0x33,0x32,0x28,0x01,0x0c,0x06,0x00}; //Array holding initialization string for LCD
char Msg1[] = {0x84,'C','U','N','T','\0'};
char Msg2[] = {0xC5,'R','P','S','\0'};
char Msg3[10]; // Msg for displaying RPS to LCD (size 10 in case dealing with large numbers)
InitApp(); // Initialize Ports
DisplayLCD(LCDinit,1); // Initialize LCD
//--------------
// Message on LCD
DisplayLCD(Msg1,0); // Display message on LCD
DisplayLCD(Msg2,0); // Display message 2
//--------------
// Initialize encoder variables
CHA = PORTBbits.RB5; // Initialize channel A
CHB = PORTBbits.RB4; // Initialize channel B
OLD_ROT = 0; // Initialize state of rotation
CCWTurn = 0; // Initialize CCW count
CWTurn = 0; // Initialize CW count
RPS = 0.0; // Initialize RPS value
CHAcount = 0; // Channel A counter
//--------------
// Setup PWM cycle to motor
PR2 = 0x9B; // Open pwm1 at period = 1 ms
CCP1CONbits.DC1B1 = 0; // Set duty cycle of pwm1
CCP1CONbits.DC1B0 = 0; // ...
CCPR1L = 0b00000100; // ...
//-------------
// Set timer and interrupts
TMR0count = 0; // Set counter for TMR0
WriteTimer0(EncoderCount);// Load Timer0
InitInterrupts(); // Initialize timer interrupts for Port B encoder
//--------------
// Loop phase: Display RPS on LCD
while(1)
{
WaitHalfSec();
WriteLCD(0xC0,5,RPS,Msg3); // Display RPS on LCD
}
//--------------
// Exit main
CloseTimer0();
return (EXIT_SUCCESS);
}
/*
*------------------------------------------------------------------------------
* void TMR0_init(void)
* Summary : Initialize timer0 for schedular base
*
* Input : None
*
* Output : None
*
*------------------------------------------------------------------------------
*/
void TMR0_init(UINT16 reload , void (*func)(void))
{
// Enable the TMR0 interrupt,16bit counter
// with internal clock,No prescalar.
OpenTimer0(TIMER_INT_ON & T0_SOURCE_INT & T0_16BIT & T0_PS_1_1);
// Reload value for 5ms overflow
WriteTimer0(reload);
tmr[0].reload = reload;
tmr[0].func = func;
}
void interrupt low_isr(void){
/* Check if overflow interrupt for Timer 0 occures */
if(INTCONbits.TMR0IF == 1){
/* Cyclic change state from ON to OFF and so on */
LED_2 = ~LED_2;
/* Clear timer interrupt flage - it's necessary */
INTCONbits.TMR0IF = 0;
/* Upload default value to timer */
WriteTimer0(TIMER0_DEF_VALUE);
}
}
void startTimer0()
{
// Setup the timer with a 1:1 prescaler with 16 bits resolution
// Therefore the timer0 freq is 500 kHz / 4 / 4 = 31.250 kHz
OpenTimer0( TIMER_INT_ON & T0_16BIT & T0_SOURCE_INT & T0_PS_1_4 );
// Should take a little over 2 seconds to overflow the counter from TMR0 = 0
// If you write in a different starting value for TMR0 it'll overflow sooner
WriteTimer0(0);
INTCONbits.TMR0IF = 0;
}
void interrupt ISR(void) {
if(INTCONbits.TMR0IF==1) { // if Timer0 Interrupt is occurred
INTCONbits.TMR0IF = 0; // Clear the interrupt flag
WriteTimer0(TMR0_value); // Update TMR0 value
if(PORTBbits.RB0 == 0) { // if KEY1 is pressed
while(PORTBbits.RB0 == 0); // Trap until KEY1 is released
flag = 1; // Change flag to toogle LED1
}
}
}
void
InterruptHandlerHigh ()
{ //Every 0.026 secs
if (INTCONbits.TMR0IF)
{ //check for TMR0 overflow
INTCONbits.TMR0IF = 0; //clear interrupt flag
WriteTimer0(0);
//Code used by the interrupt goes here
}
printf("In interrupt handler \r\n");
}
void timer0_int_handler() {
// Encoder count for motor 0.
timer0Counter++;
// Reset the timer
WriteTimer0(0xCF);
DEBUG_ON(TMR0_DBG);
DEBUG_OFF(TMR0_DBG);
if (ticks_flag) {
// Reverse counter to prevent it from going a set distance.
ticks0Counter++;
// Going thru right hand turn
if (ticks0Counter >= maxTickZero && postRight == 1) {
postRight = 2;
WriteUSART(0x00);
// Turn right 90
motorBuffer[0] = 0x01;
motorBuffer[1] = 0x03;
motorBuffer[2] = 0x04;
motorBuffer[3] = 0x01;
motorBuffer[4] = 0x0C;
motorBuffer[5] = 0x09;
ToMainHigh_sendmsg(MOTORLEN, MSGT_I2C_DATA, (void *) motorBuffer);
} else if (ticks0Counter >= maxTickZero && postRight == 2) {
// Move forward after right turn
postRight = 0;
motorBuffer[0] = 0x01;
motorBuffer[1] = 0x03;
motorBuffer[2] = 0x01;
motorBuffer[3] = 0x01;
motorBuffer[4] = 0x00;
motorBuffer[5] = 0x00;
ToMainHigh_sendmsg(MOTORLEN, MSGT_I2C_DATA, (void *) motorBuffer);
} else if (ticks0Counter >= maxTickZero && postAlignFlag) {
postAlignFlag = 0;
motorBuffer[0] = 0x01;
motorBuffer[1] = 0x03;
motorBuffer[2] = 0x01;
motorBuffer[3] = 0x01;
motorBuffer[4] = 0x00;
motorBuffer[5] = 0x00;
ToMainHigh_sendmsg(MOTORLEN, MSGT_I2C_DATA, (void *) motorBuffer);
} else if (ticks0Counter >= maxTickZero) {
//Stops wheels after set number of ticks
WriteUSART(0x00);
}
}
}
void InterruptHandlerLow (void)
{
unsigned int t0;
if(INTCONbits.TMR0IF) //check for TMR0 overflow interrupt flag
{
INTCONbits.TMR0IF = 0; //clear interrupt flag
t0=ReadTimer0();
WriteTimer0(t0 +18661); //Nastavi na 1.0 Sek
UTicTac++; // Povecaj idle števec
LATAbits.LATA3 = !LATAbits.LATA3;
}
}
void timer0_int_handler() {
unsigned int val;
int length, msgtype;
// toggle an LED
LATBbits.LATB0 = !LATBbits.LATB0;
// reset the timer
WriteTimer0(0);
// try to receive a message and, if we get one, echo it back
length = FromMainHigh_recvmsg(sizeof(val), (unsigned char *)&msgtype, (void *) &val);
if (length == sizeof (val)) {
ToMainHigh_sendmsg(sizeof (val), MSGT_TIMER0, (void *) &val);
}
}
void timer0_handler (void)
{
INTCONbits.TMR0IF = 0;
WriteTimer0( TIMER_START_SEC );
if(LED==1) LED = 0; else LED=1;
transmit = 1;
/* if(ledr==1){
LED = 0;
ledr=0;
} else {
LED=1;
ledr=1;
}*/
}
void tratar_high_interrupt(void)
{
// Verifica se o motivo da chamada da interrupção foi o estouro(overflow) do Timer0
if(INTCONbits.TMR0IF)
{
//Re-carrega valor inicial do contador do Timer0
WriteTimer0(INICIO_TMR0);
if(barra_up_debounce == 2) barra_up_debounce = 1;
//Limpa flag da interrupção do Timer0
INTCONbits.TMR0IF = 0;
}
}
