void lcd_draw_string(int x, int y, char *str) {
printf("lcd draw string: %s\n", str);
unsigned char cmd[3] = { 0xDB, 0, 0 };
cmd[2] = x;
cmd[1] = y;
lcd_send_data(cmd, 3);
lcd_send_data((unsigned char*)str, strlen(str));
lcd_send_byte('\0');
lcd_delay();
return;
int i = 0;
while (*str != '\0') {
lcd_send_data((unsigned char *)str, 1);
++str;
++i;
if (i % 16 == 0 && *str != '\0') {
lcd_send_byte('\0');
usleep(1000);
cmd[2] = (x+i)*5;
lcd_send_data(cmd, 3);
}
}
lcd_send_byte('\0');
lcd_delay();
}
void lcd_putc( char c) {
switch (c) {
case '\f' : lcd_send_byte(0,1);
delay_ms(2);
break;
case '\n' : lcd_gotoxy(1,2); break;
case '\b' : lcd_send_byte(0,0x10); break;
default : lcd_send_byte(1,c); break;
}
}
int _user_putc (char c){
switch (c)
{
case '\a' : lcd_gotoxy(1,1); break;
case '\f' :
lcd_send_byte(0,1);
LCD_DELAY_F();
break;
case '\n' : lcd_gotoxy(1,2); break;
case '\b' : lcd_send_byte(0,0x10); break;
default : lcd_send_byte(1,c); break;
}
return c;
}
void lcd_init(void)
{
BYTE i;
#if defined(__PCB__)
set_tris_lcd(LCD_OUTPUT_MAP);
#else
#if (defined(LCD_DATA4) && defined(LCD_DATA5) && defined(LCD_DATA6) && defined(LCD_DATA7))
output_drive(LCD_DATA4);
output_drive(LCD_DATA5);
output_drive(LCD_DATA6);
output_drive(LCD_DATA7);
#else
lcdtris.data = 0x0;
#endif
lcd_enable_tris();
lcd_rs_tris();
lcd_rw_tris();
#endif
lcd_output_rs(0);
lcd_output_rw(0);
lcd_output_enable(0);
delay_ms(15);
for(i=1;i<=3;++i)
{
lcd_send_nibble(3);
delay_ms(5);
}
lcd_send_nibble(2);
for(i=0;i<=3;++i)
lcd_send_byte(0,LCD_INIT_STRING[i]);
}
void Initialize_LCD(void){
int8 i;
TRIS_RS=0;
TRIS_E=0;
RS_PIN=0;
E_PIN=0;
TRIS_DATA_PIN_4=0;
TRIS_DATA_PIN_5=0;
TRIS_DATA_PIN_6=0;
TRIS_DATA_PIN_7=0;
_delay_5ms();//15ms
_delay_5ms();
_delay_5ms();
for(i=0 ;i < 3; i++){
lcd_send_nibble(0x03);
_delay_5ms();//5ms
}
lcd_send_nibble(0x02);
for(i=0; i < sizeof(LCD_INIT_STRING); i++){
lcd_send_byte(0, LCD_INIT_STRING[i]);
}
}
void dsp_set_cgram_address( int8 which, int8 line ) {
which <<= 3;
which &= 0x38; //Begin of glyph
which |= line; //Position in glyph
lcd_send_byte(0, 0x40 | which); //set cgram address
}
void lcd_gotoxy(int8 x, int8 y)
{
int8 address;
switch(y)
{
case 1:
address = LCD_LINE_1_ADDRESS;
break;
case 2:
address = LCD_LINE_2_ADDRESS;
break;
case 3:
address = LCD_LINE_3_ADDRESS;
break;
case 4:
address = LCD_LINE_4_ADDRESS;
break;
default:
address = LCD_LINE_1_ADDRESS;
break;
}
address += x-1;
lcd_send_byte(0, 0x80 | address);
}
void lcd_send_data(uint8_t data)
{
RS_OUT;
RW_OUT;
SET_RS;
CLR_RW;
lcd_send_byte(data);
}
void lcd_send_cmd(uint8_t cmd)
{
RS_OUT;
RW_OUT;
CLR_RS;
CLR_RW;
lcd_send_byte(cmd);
}
void lcd_gotoxy( BYTE x, BYTE y) {
BYTE address;
// sans control
address = taddrLines[y];
address+=x-1;
lcd_send_byte(0,0x80|address);
}
void lcd_gotoxy( byte x, byte y) {
byte address;
if(y!=1)
address=lcd_line_two;
else
address=0;
address+=x-1;
lcd_send_byte(0,0x80|address);
}
void lcd_gotoxy( BYTE x, BYTE y) {
BYTE address;
if(y!=1)
address=lcd_line_two;
else
address=0;
address+=x-1;
lcd_send_byte(0,0x80|address);
}
//----------------------------
void lcd_gotoxy(int8 x, int8 y){
int8 address;
if(y != 1)
address = lcd_line_two;
else
address=0;
address += x-1;
lcd_send_byte(0, 0x80 | address);
}
void lcd_gotoxy(unsigned char x, unsigned char y){
unsigned char address;
if(y!=1)
address = lcd_line_two;
else
address = 0;
address += x-1;
lcd_send_byte(0,0x80|address);
}
void lcd_gotoxy(BYTE x, BYTE y)
{
BYTE address;
if(y!=1)
address=LCD_LINE_TWO;
else
address=0;
address+=x-1;
lcd_send_byte(0,0x80|address);
}
void lcd_gotoxy(int8 x, int8 y)
{
int8 address;
if(y != 1)
address = LCD_LINE_TWO;
else
address=0;
address += x-1;
lcd_send_byte(0, 0x80 | address);
}
void lcd_write_data(unsigned char data)
{
OS_CPU_SR_ALLOC();
OS_ENTER_CRITICAL();
LCD_RS_HIGH();
LCD_CS_LOW();
lcd_send_byte(data);
LCD_CS_HIGH();
OS_EXIT_CRITICAL();
}
void lcd_write_cmd(unsigned char cmd)
{
OS_CPU_SR_ALLOC();
OS_ENTER_CRITICAL();
LCD_RS_LOW();
LCD_CS_LOW();
lcd_send_byte(cmd);
LCD_CS_HIGH();
OS_EXIT_CRITICAL();
}
void lcd_init() {
BYTE i;
set_tris_lcd(LCD_WRITE);
lcd.rs = 0;
lcd.rw = 0;
lcd.enable = 0;
delay_ms(15);
for(i=1;i<=3;++i) {
lcd_send_nibble(3);
delay_ms(5);
}
lcd_send_nibble(2);
for(i=0;i<=3;++i)
lcd_send_byte(0,LCD_INIT_STRING[i]);
}
void lcd_init(void)
{
int8 i;
lcd_line = 1;
output_low(LCD_RS);
#ifdef USE_RW_PIN
output_low(LCD_RW);
#endif
output_low(LCD_E);
// Some LCDs require 15 ms minimum delay after
// power-up. Others require 30 ms. I'm going
// to set it to 35 ms, so it should work with
// all of them.
delay_ms(35);
for(i=0 ;i < 3; i++)
{
lcd_send_nibble(0x03);
delay_ms(5);
}
lcd_send_nibble(0x02);
for(i=0; i < sizeof(LCD_INIT_STRING); i++)
{
lcd_send_byte(0, LCD_INIT_STRING[i]);
// If the R/W signal is not used, then
// the busy bit can't be polled. One of
// the init commands takes longer than
// the hard-coded delay of 50 us, so in
// that case, lets just do a 5 ms delay
// after all four of them.
#ifndef USE_RW_PIN
delay_ms(5);
#endif
}
}
//----------------------------
void lcd_init(void)
{
char i;
output_low(LCD_RS);
#ifdef USE_LCD_RW
output_low(LCD_RW);
#endif
output_low(LCD_E);
delay_ms(15);
for(i=0 ;i < 3; i++)
{
lcd_send_nibble(0x03);
delay_ms(5);
}
lcd_send_nibble(0x02);
for(i=0; i < sizeof(LCD_INIT_STRING); i++)
{
lcd_send_byte(0, LCD_INIT_STRING[i]);
// If the R/W signal is not used, then
// the busy bit can't be polled. One of
// the init commands takes longer than
// the hard-coded delay of 60 us, so in
// that case, lets just do a 5 ms delay
// after all four of them.
#ifndef USE_LCD_RW
delay_ms(5);
#endif
}
}
void lcd_init(void){
int8 i;
TRISRS=0;
TRISEN=0;
#ifdef USE_RW
TRISRW=0;
#endif
RSPIN=0;
EPIN=0;
#ifdef USE_RW
RWPIN=0;
#endif
TRIS_DATA_PIN_4=0;
TRIS_DATA_PIN_5=0;
TRIS_DATA_PIN_6=0;
TRIS_DATA_PIN_7=0;
_delay_5ms();//15ms
_delay_5ms();
_delay_5ms();
for(i=0 ;i < 3; i++){
lcd_send_nibble(0x03);
_delay_5ms();//5ms
}
lcd_send_nibble(0x02);
for(i=0; i < sizeof(LCD_INIT_STRING); i++){
lcd_send_byte(0, LCD_INIT_STRING[i]);
#ifndef USE_RW
_delay_5ms();
#endif
}
}
void dsp_strength_bar( int8 end_signal_char_index,
int8 width, int8 value )
{
int8 mark_pos = value/STRENGTH_VALUES_PER_CHAR;
int8 mark_glyph = value-(mark_pos*STRENGTH_VALUES_PER_CHAR);
lcd_output_rs(0);
int8 current_address = lcd_read_byte() & 0x7F;
dsp_create_signal_character( end_signal_char_index, mark_glyph );
lcd_send_byte( 0, 0x80|current_address ); //Restore DDRAM address
int8 i;
for( i=0; i<mark_pos; ++i ) {
lcd_putc(CHAR_FULL_STRENGTH);
}
if ( mark_pos != width ) {
lcd_putc(end_signal_char_index);
}
for( i=mark_pos+1; i<width; ++i ) {
lcd_putc(' ');
}
}
void lcd_init(void)
{
int8 i;
output_low(LCD_RS);
output_low(LCD_E);
delay_ms(15);
for(i=0 ;i < 3; i++)
{
lcd_send_nibble(0x03);
delay_ms(5);
}
lcd_send_nibble(0x02);
for(i=0; i < sizeof(LCD_INIT_STRING); i++)
{
lcd_send_byte(0, LCD_INIT_STRING[i]);
delay_ms(5);
}
}
void main()
{
TRISC=0;
// Variables para controlador
int16 valor;
float control; //valor del PWM
float a1,b1,c1; //constantes del PID
float ref; //temperatura a alcanzar
float rT,eT,iT,dT,yT,uT,iT0,eT0,iT_1,eT_1; //variables de ecuaciones
float max,min; //límites máximo y mínimo de control.
float T ,Kp1, Ti1,Td1;
setup_adc_ports(RA0_ANALOG);//entrada del LM35
setup_adc(ADC_CLOCK_INTERNAL);
setup_COUNTERS(RTCC_internal.rtcc_div_1);
set_adc_channel(0);
setup_timer_2(t2_div_by_4,500,1); //periodo de la señal PWM a 1ms
setup_ccp1(ccp_pwm); //Módulo CCP a modo PWM
setup_adc(ADC_CLOCK_INTERNAL); //reloj convertidor AD interno
set_adc_channel(0);
setup_timer_0(rtcc_ext_l_to_h|RTCC_DIV_2); //Configuración TMR0
setup_timer_1(T1_internal|T1_DIV_BY_8); //Configuración TMR1
float Temp;
int c;
char k;
char Kp[6];
char Ki[6];
char Kd[6];
char Sp[6];
int v;
port_b_pullups(true),
lcd_init();
kbd_init();
inicio:
for (v=0;v<=5;v++){
Kp[v]=0; Ki[v]=0; Kd[v]=0; Sp[v]=0;
}
lcd_gotoxy(1,1);
lcd_putc("\f");
lcd_putc("Kp:");
lcd_gotoxy(9,1);
lcd_putc("Ki:");
lcd_gotoxy(1,2);
lcd_putc("Kd:");
lcd_gotoxy(9,2);
lcd_putc("Sp:");
while(true){
K_p:
lcd_gotoxy(4,1);
lcd_send_byte(0,0x0f);
c=0;
k=0;
while(c<=4){
k=kbd_getc();
if(k!=0){
if(k!='A' && k!='*' && k!='C'){
if(k=='B'){
printf(lcd_putc,".");
Kp[c]=k;
lcd_gotoxy(4+c,1);
}
else
printf(lcd_putc,"%c",k);
Kp[c]=k;
lcd_gotoxy(4+c,1);
}
if(k=='A'){
c++;
Kp[c]=-92;
lcd_gotoxy(4+c,1);
}
}
if(k=='D'){
int j=0;
for(;;){
Kp[j]=0;
if(j==5) break;
j++;
}
c=0;
lcd_gotoxy(1,1);
lcd_putc("Kp: ");
lcd_gotoxy(4+c,1);
}
if(k=='*'){
Kp[c+1]=-92;
goto K_i;
}
} //FUERA DEL WHILE
lcd_gotoxy(4+c-1,1);
lcd_send_byte(0,0x0f);
k=0;
for(;;){
k=kbd_getc();
if(k!=0){
if(k=='*'){
break;
}
}
}
K_i:
lcd_gotoxy(12,1);
lcd_send_byte(0,0x0f);
c=0;
k=0;
///KI
while(c<=4){
k=kbd_getc();
if(k!=0){
if(k!='A' && k!='*'){
if(k=='B'){
printf(lcd_putc,".");
Ki[c]=k;
lcd_gotoxy(12+c,1);
}
else
printf(lcd_putc,"%c",k);
Ki[c]=k;
lcd_gotoxy(12+c,1);
}
if(k=='A'){
c++;
Ki[c]=-92;
lcd_gotoxy(12+c,1);
}
}
if(k=='D'){
int j=0;
for(;;){
Ki[j]=0;
if(j==5) break;
j++;
}
c=0;
lcd_gotoxy(9,1);
lcd_putc("Ki: ");
lcd_gotoxy(12+c,1);
}
if(k=='*'){
Ki[c+1]=-92;
goto K_d;
}
}
///FIN KI
///FUERA DEL WHILE
lcd_gotoxy(12+c-1,1);
lcd_send_byte(0,0x0f);
k=0;
for(;;){
k=kbd_getc();
if(k!=0){
if(k=='*'){
break;
}
}
}
K_d:
lcd_gotoxy(4,2);
lcd_send_byte(0,0x0f);
c=0;
k=0;
while(c<=4){
k=kbd_getc();
if(k!=0){
if(k!='A' && k!='*'){
if(k=='B'){
printf(lcd_putc,".");
Kd[c]=k;
lcd_gotoxy(4+c,2);
}
else
printf(lcd_putc,"%c",k);
Kd[c]=k;
lcd_gotoxy(4+c,2);
}
if(k=='A'){
c++;
Kd[c]=-92;
lcd_gotoxy(4+c,2);
}
}
if(k=='D'){
int j=0;
for(;;){
Kd[j]=0;
if(j==5) break;
j++;
}
c=0;
lcd_gotoxy(1,2);
lcd_putc("Kd: ");
lcd_gotoxy(4+c,2);
}
if(k=='*'){
Kd[c+1]=-92;
goto S_p;
}
}
//FUERA WHILE
lcd_gotoxy(4+c-1,2);
lcd_send_byte(0,0x0f);
k=0;
for(;;){
k=kbd_getc();
if(k!=0){
if(k=='*'){
break;
}
}
}
///SP
S_p:
lcd_gotoxy(12,2);
lcd_send_byte(0,0x0f);
c=0;
k=0;
while(c<=4){
k=kbd_getc();
if(k!=0){
if(k!='A' && k!='*'){
if(k=='B'){
printf(lcd_putc,".");
Sp[c]=k;
lcd_gotoxy(12+c,2);
}
else
printf(lcd_putc,"%c",k);
Sp[c]=k;
lcd_gotoxy(12+c,2);
}
if(k=='A'){
c++;
Sp[c]=-92;
lcd_gotoxy(12+c,2);
}
}
if(k=='D'){
int j=0;
for(;;){
Sp[j]=0;
if(j==5) break;
j++;
}
c=0;
lcd_gotoxy(9,4);
lcd_putc("Sp: ");
lcd_gotoxy(12+c,2);
}
if(k=='*'){
Sp[c+1]=-92;
goto PID;
}
}
lcd_gotoxy(12+c-1,2);
lcd_send_byte(0,0x0f);
k=0;
for(;;){
k=kbd_getc();
if(k!=0){
if(k=='*'){
break;
}
}
}
PID:
printf(lcd_putc, "\f"); // Borra la pantalla
lcd_gotoxy(4, 1);
printf(lcd_putc, "procesando.. ");
delay_ms(600);
float result;
a1 = conv(Kp); b1 = conv(Ki);c1 = conv(Kd);ref = conv(Sp);
// strtod(cc,NULL);
lcd_init();
iT0=0.0;
eT0=0.0;
min=0.0; //inicialización variables
uT = 0.0;
max=1023;
while(True){
Temp=(float)read_adc();
yT=Temp*5.0/1024.0;
rT=ref;
eT=rT-yT; //Cálculo error
lcd_gotoxy(1,2);
printf(lcd_putc,"error:%f",eT);
iT=b1*eT+iT0; //Cálculo del término integral
dT=c1*(eT-eT0); //Cálculo del término derivativo
uT=iT+a1*eT+dT; //Cálculo de la salida PID
lcd_gotoxy(1,1);
printf(lcd_putc,"Out:%f",uT);
if (uT>max) { //Salida PID si es mayor que el MAX
uT=max;}
else {
if (uT<min){ //Salida PID si es menor que el MIN
uT=min;}
}
control=uT; //Transferencia de salida PID a señal PWM
lcd_gotoxy(10,1);
printf(lcd_putc,"Sp:%f",ref);
set_pwm1_duty(control);
iT0=iT; //Guardar variables
eT0=eT;
delay_ms(20);
}
}
}
void lcd_reset() {
lcd_send_byte(0xEF);
sleep(1);
}
void dsp_create_signal_character( int8 which, int8 strength ) {
dsp_set_cgram_address( which, 2 );
for( int8 i=0; i<3; i++ )
lcd_send_byte(1, CHAR_SIGNAL_STRENGTH_GLYPH[strength]);
}
void dsp_write_mid_glyph( int8 which, int8 *ptr ) {
dsp_set_cgram_address( which, 2 );
for( int8 i=0; i<3; i++ )
lcd_send_byte(1, *ptr++);
}
/*
* Display a range bar with:
* - 3 possibles values per position in mid characters
* - 2 possibles values per position in start and end characters
* Note: Only one range line is allowed.
*/
void dsp_range_line( int8 start_char_index,
int8 mid_char_index,
int8 end_char_index,
int8 width, int16 value,
int16 max_value )
{
int8 range_positions = (3*(width-2)) + 2 + 2;
int8 mark = math_change_range(value, max_value, range_positions);
int8 start_glyph;
int8 end_glyph;
int8 mark_glyph;
int8 mark_pos;
if ( mark < 2 ) { //Mark at start range
mark_pos = 0;
mark_glyph = 0xFF;
start_glyph = mark;
end_glyph = 2;
}
else if ( mark > (range_positions-2) ) { //Mark at end range
mark_pos = 0;
mark_glyph = 0xFF;
start_glyph = 2;
end_glyph = (range_positions-mark);
}
else if ( mark == (range_positions-2) ) { //Mark just before end range
mark_pos = 0;
mark_glyph = 0xFF;
start_glyph = 2;
end_glyph = 1;
}
else { //Mark at mid range
mark -= 2;
mark_pos = mark/3;
mark_glyph = mark-(mark_pos*3);
start_glyph = 2;
end_glyph = 2;
}
lcd_output_rs(0);
int8 current_address = lcd_read_byte() & 0x7F;
// Set glyphs
dsp_write_mid_glyph( start_char_index,
CHAR_START_RANGE_MID_GLYPH[start_glyph] );
dsp_write_mid_glyph( end_char_index,
CHAR_END_RANGE_MID_GLYPH[end_glyph] );
if ( mark_glyph != 0xFF ) {
dsp_write_mid_glyph( mid_char_index,
CHAR_RANGE_POSITION_GLYPH[mark_glyph] );
}
lcd_send_byte( 0, 0x80|current_address ); //Restore DDRAM address
// Write range line
int8 i;
lcd_putc(start_char_index);
for( i=0; i<mark_pos; ++i ) {
lcd_putc('-');
}
lcd_putc( (mark_glyph==0xFF) ? '-' : mid_char_index);
for( i=mark_pos+1; i<(width-2); ++i ) {
lcd_putc('-');
}
lcd_putc(end_char_index);
}
void dsp_clear_character( int8 which ) {
dsp_set_cgram_address( which, 0 );
for( int8 i=0; i<8; i++ )
lcd_send_byte(1, 0);
}
