/******************************************************************************************************
* Funcao: ConfiguraTransmissor *
* Entrada: Nenhuma *
* Saída: Nenhuma *
* Descrição: Configuração do transmissor *
******************************************************************************************************/
void ConfiguraUSART(void)
{
/*// serial communicatin configuration
SPBRG= 18; //Fill SPBRG register to set the baud rate
RCSTAbits.SPEN=1; // To activate Serial port (TX and RX pins)
TXSTAbits.TXEN=1; // To enable transmission
RCSTAbits.CREN=1; // To enable continuous reception
PIR1bits.RCIF =0; // clear rcif interrupt flag
PIE1bits.RCIE=1;
INTCONbits.PEIE =1; // enable peripheral interrupt
INTCONbits.GIE =1; // enable global interrupt
*/
OpenUSART(USART_TX_INT_OFF &
USART_RX_INT_ON &
USART_ASYNCH_MODE &
USART_EIGHT_BIT &
USART_BRGH_LOW,31);
baudUSART(BAUD_8_BIT_RATE &
BAUD_AUTO_OFF &
BAUD_WAKEUP_OFF);
}//fim ConfiguraTransmissor
int main(int argc, char** argv) {
OSCCON = 0xF7; //0b11110111;
//TRISD = 0x00; //LED output
TRISC = 0x80; //RX: input, TX: output
TRISB = 0x10; //Columns and rows = inputs, except column 1 = output
LATB = 0x00;
CloseUSART();
OpenUSART(RS232_CONFIG, RS232_SPBRG);
baudUSART(RS232_BAUD);
INTCON = 0xA0; //GIE = 1, TMR0IE = 1, TMR0IF = 0
while (1) {
}
return (EXIT_SUCCESS);
}
void InitApp(void)
{
unsigned char config, baudconfig;
unsigned spbrg;
/* TODO Initialize User Ports/Peripherals/Project here */
/* Setup analog functionality and port direction */
SRAM_Setup_Pins();
/* Initialize peripherals */
CloseUSART();
config = USART_TX_INT_OFF & USART_RX_INT_ON & USART_BRGH_HIGH & USART_CONT_RX &
USART_EIGHT_BIT & USART_ASYNCH_MODE & USART_ADDEN_OFF;
/* SPBRG based on 8MHz clk */
//spbrg = 16; //115200
//spbrg = 34; // 57600
spbrg = 103; // 19200 known working w/ 8MHz clock
//spbrg = 207; // 9600
//spbrg = 832; // 2400
//spbrg = 1665; // 1200
/* SPBRG based on 48MHz clk */
//spbrg = 103; //115200 48MHz
OpenUSART(config, spbrg);
baudconfig = BAUD_IDLE_CLK_LOW & BAUD_16_BIT_RATE & BAUD_WAKEUP_OFF & BAUD_AUTO_OFF;
baudconfig &= ~0x20; // RX Not inverted
baudUSART(baudconfig);
PIR1bits.RCIF = 0; // Clear RX interrput flag
PIE1bits.RCIE = 1; // Enable UART receive interrupts
IPR1bits.RCIP = 0; // Set UART receive as low priority interrupt
PIR1bits.TXIF = 0; // Clear TX interrupt flag
PIE1bits.TXIE = 0; // Disable UART transmit interrupts
IPR1bits.TXIP = 0; // Set UART transmit as low priority interrupt
/* Configure the IPEN bit (1=on) in RCON to turn on/off int priorities */
RCONbits.IPEN = 1;
/* Enable interrupts */
PIR1 = 0; // Clear peripheral interrupts
INTCONbits.GIEH = 1; // Enable high priority interrupts
INTCONbits.GIEL = 1; // Enable low priority interrupts
}
void InitApp(void)
{
/* Setup analog functionality and port direction */
//LEDs
LED1_DIR = OUT;
LED2_DIR = OUT;
LED3_DIR = OUT;
//Control panel
CTRLPOT_DIR = IN;
CTRLBUTTON1_DIR = IN;
CTRLSWITCH1_DIR = IN;
CTRLLED1_DIR = OUT;
CTRLLED2_DIR = OUT;
CTRLLED3_DIR = OUT;
//UART
RX_DIR = IN;
TX_DIR = IN; //Module will dynamically change as needed
/* Initialize peripherals */
//ADC
OpenADC( ADC_FOSC_RC &
ADC_RIGHT_JUST &
ADC_4_TAD,
ADC_CH3 &
ADC_REF_VDD_VSS &
ADC_INT_OFF,
ADC_4ANA);
//Timer
OpenTimer0(TIMER_INT_ON & T0_16BIT &
T0_SOURCE_INT &
T0_PS_1_2);
WriteTimer0(0x0000);
OpenTimer1(TIMER_INT_ON &
T1_SOURCE_INT &
T1_16BIT_RW &
T1_PS_1_1 &
T1_OSC1EN_OFF &
T1_SYNC_EXT_OFF);
WriteTimer1(SERVO_MIN);
//UART
//BusPirate: m 3 6 ENTER ENTER ENTER 1 e 3 W (2)) P
OpenUSART( USART_TX_INT_OFF &
USART_RX_INT_OFF &
USART_BRGH_HIGH &
USART_NINE_BIT &
USART_ASYNCH_MODE &
USART_ADDEN_OFF, UART_BAUDRATE);
baudUSART(BAUD_IDLE_CLK_LOW &
BAUD_16_BIT_RATE &
BAUD_WAKEUP_OFF &
BAUD_AUTO_OFF);
/* Configure the IPEN bit (1=on) in RCON to turn on/off int priorities */
INTCONbits.TMR0IF = 1; //reset Interrupt Flag
PIR1bits.TMR1IF = 1;
RCONbits.IPEN = 1;
RCSTAbits.SPEN=1;
/* Enable interrupts */
ei();
}
void init_sumo ( void )
{
OSCCONbits.IRCF = 7; // Set internal clock to 16 Mhz
ANSELHbits.ANS11 = 0; // Make RX digital
// 115200,8,n,1: 138 - 64MHz
// 19200,8,n,1: 832 - 64MHz; 207 - 16MHz
// 9600,8,n,1: 129 - 20 MHz; 1249 - 48MHz; 1666 - 64MHz
usart_open(USART_TX_INT_OFF & // disable TX interrupt
USART_RX_INT_ON & // enable RX interrupt
USART_BRGH_HIGH & // Use High BRGH
USART_CONT_RX & // Receive continuous data
USART_EIGHT_BIT & // Use 8 bit
USART_ASYNCH_MODE, // Use Asynchronous mode
207); // 19200 for 16 Mhz
#if defined (__SDCC)
stdout = STREAM_USART; // Set stdout to serial stream
#else
baudUSART(BAUD_16_BIT_RATE &
BAUD_IDLE_CLK_LOW &
BAUD_WAKEUP_OFF &
BAUD_AUTO_OFF & 0x48); // 16 bit BRG
#endif
#if defined (__SDCC)
adc_open(ADC_CHN_0, // Set channel 0
ADC_FOSC_16 | ADC_ACQT_8, // Configure Acquisition frequency
ADC_CFG_7A, // Set the number of channels to use
ADC_FRM_RJUST | // Adjust result to the right
ADC_INT_OFF | // Disable interrupts
ADC_VCFG_VDD_VSS | // Configure reference voltages
ADC_NVCFG_VSS | // Negative reference to VSS
ADC_PVCFG_VDD); // Positive reference to VDD
#else
OpenADC(ADC_RIGHT_JUST & ADC_FOSC_16 & ADC_8_TAD,
ADC_CH0 & ADC_INT_OFF,
ADC_REF_VDD_VDD & ADC_REF_VDD_VSS,
0b0000111111110000);
#endif
T0CONbits.T08BIT = 0; // 16 bit mode
T0CONbits.T0CS = 0; // Source is internal
T0CONbits.PSA = 1; // Disable prescaler
T0CONbits.T0PS = 7; // Prescaler to 1:256
TMR0H = 0; TMR0L = 0; // Reset Timer0 to 0x0000
INTCONbits.TMR0IF = 0; // Clear interrupt flag
INTCONbits.TMR0IE = 1; // Enable Interruption from timer0
T0CONbits.TMR0ON = 1; // Start timer0
write_timer_0(Ticks4NextInterrupt);
Servo.FL = 1;
Servo.FR = 1;
Servo.BL = 1;
Servo.BR = 1;
FL_SERVO_TRIS = 0;
FR_SERVO_TRIS = 0;
BL_SERVO_TRIS = 0;
BR_SERVO_TRIS = 0;
RCONbits.IPEN = 0; // Interruption Priority Disabled
INTCONbits.PEIE = 1; // Peripheral Interrupt Enabled
INTCONbits.GIE = 1; // Global Interrupt Enable
}