void initialiseIO() { //Led Fault mPORTBSetPinsDigitalOut(BIT_8); PORTSetBits(IOPORT_B, BIT_8); //Led Alert mPORTBSetPinsDigitalOut(BIT_9); PORTSetBits(IOPORT_B, BIT_9); //Relais 1 mPORTDSetPinsDigitalOut(BIT_1); PORTSetBits(IOPORT_D, BIT_1); //Relais 2 mPORTDSetPinsDigitalOut(BIT_2); PORTSetBits(IOPORT_D, BIT_2); //Address mPORTESetPinsDigitalIn(BIT_0); mPORTESetPinsDigitalIn(BIT_1); mPORTESetPinsDigitalIn(BIT_2); mPORTESetPinsDigitalIn(BIT_3); mPORTESetPinsDigitalIn(BIT_4); mPORTESetPinsDigitalIn(BIT_5); mPORTESetPinsDigitalIn(BIT_6); mPORTESetPinsDigitalIn(BIT_7); }
int main(void) { long i; //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ // Configure the device for maximum performance but do not change the PBDIV // Given the options, this function will change the flash wait states, RAM // wait state and enable prefetch cache but will not change the PBDIV. // The PBDIV value is already set via the pragma FPBDIV option above.. SYSTEMConfig(SYS_FREQ, SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE); // Explorer16 LEDs are on lower 8-bits of PORTA and to use all LEDs, JTAG port must be disabled. mJTAGPortEnable(DEBUG_JTAGPORT_OFF); // Make all lower 8-bits of PORTA as output. Turn them off before changing // direction so that we don't have unexpected flashes mPORTDClearBits(BIT_2 | BIT_1 | BIT_0 ); mPORTDSetPinsDigitalOut(BIT_2 | BIT_1 | BIT_0 ); while (1) { BlinkLeds(); i = 1024*1024*30; while(i--); // i = 1024*1024*1024; // while(i--); } }
void MyCyclone_Init(void) { // Configure Reset Pin = GPIO_2[10] = RD7 mPORTDClearBits(RST_FPGA); mPORTDSetPinsDigitalOut(RST_FPGA); // Do a Reset mPORTDSetBits(RST_FPGA); mPORTDClearBits(RST_FPGA); // Do Interrupts Initialization // Set RD8/INT1 and RD9/INT2 as inputs mPORTDSetPinsDigitalIn(BIT_8 | BIT_9); // Clear corresponding bits in INTCON for falling edge trigger INTCONCLR = _INTCON_INT1EP_MASK | _INTCON_INT2EP_MASK; // Set up interrupt prioirty and sub-priority INTSetVectorPriority(INT_EXTERNAL_1_VECTOR, My_INT_EXTERNAL_1_PRIORITY); INTSetVectorSubPriority(INT_EXTERNAL_1_VECTOR, My_INT_EXTERNAL_1_SUB_PRIORITY); INTSetVectorPriority(INT_EXTERNAL_2_VECTOR, My_INT_EXTERNAL_2_PRIORITY); INTSetVectorSubPriority(INT_EXTERNAL_2_VECTOR, My_INT_EXTERNAL_2_SUB_PRIORITY); // Clear the interrupt flags INTClearFlag(INT_INT1); INTClearFlag(INT_INT2); // Enable INT1 & INT2 INTEnable(INT_INT1, INT_ENABLED); INTEnable(INT_INT2, INT_ENABLED); // Enable KEY0 and KEY1 interrupts and IOs of the MyExpansionBoard_IO_v2 MyCyclone_Write(CYCLONE_CONFIG,CYCLONE_ENABLE_INT_KEY0 | CYCLONE_ENABLE_INT_KEY1 | CYCLONE_ENABLE_IO_AB | CYCLONE_ENABLE_IO_CD); }
int main(void){ mPORTBSetPinsAnalogIn(0xFFFF); //Enable all analog mPORTDClearBits(BIT_0 |BIT_1 | BIT_8); mPORTDSetPinsDigitalOut(BIT_0 | BIT_1 | BIT_8); SYSTEMConfig(SYS_FREQ, SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE); CloseADC10(); SetChanADC10(INITCH); OpenADC10(CONFIG1, CONFIG2, CONFIG3, CFGPORT, CFGSCAN); ConfigIntADC10(CFGINT); EnableADC10(); mPMPOpen(PMP_CONTROL, PMP_MODE, PMP_PORT, PMP_INT); mPMPEnable(); //mPORTDClearBits(BIT_0 |BIT_1 | BIT_8); INTEnableSystemMultiVectoredInt(); OpenTimer2(T2_ON | T2_PS_1_64, 256); ConfigIntTimer2(T2_INT_ON | T2_INT_PRIOR_5 | T2_INT_SUB_PRIOR_2); EnableIntT2; mPORTDToggleBits(BIT_0); while(1){ //Blink so we know we're still running noteOn(67, 100); //delayMs(1000); mPORTDToggleBits(BIT_0); //noteOff(67); DelayMs(1000); //mPORTDToggleBits(BIT_0); } return 0; }
void InitLEDs(void) { // Config PORTD pins RD0, RD1 and RD2 as outputs, and clear // (MMc: These macros from "ports.h" are kinda useless, imho) // mPORTDSetPinsDigitalOut(BIT_0 | BIT_1 | BIT_2); // Same as TRISDCLR = 0x0007 mPORTDClearBits(BIT_0 | BIT_1 | BIT_2); // Same as LATDCLR = 0x0007 }
void InitializeIO(void) { //Initializing CSN and CE pins as output mPORTFSetPinsDigitalOut(BIT_0 | BIT_1); mPORTFClearBits(BIT_0 | BIT_1); //Initializing IRQ pin as input mPORTDSetPinsDigitalIn(BIT_13); mPORTDClearBits(BIT_13); //Setting CSN bit active LATFbits.LATF1 = 1; //Initializing LEDs mPORTDSetPinsDigitalOut(BIT_1 | BIT_2); mPORTDClearBits(BIT_1 | BIT_2); //Initializing MOSI/SDO1 and SCK as output mPORTDSetPinsDigitalOut(BIT_10); mPORTDSetPinsDigitalOut(BIT_0); //Initializing MISO/SDI1 as input mPORTCSetPinsDigitalIn(BIT_4); }
void chip_select(void) { mPORTDSetPinsDigitalOut(BIT_12); //chip select for eeprom mPORTDSetBits(BIT_12); mPORTGSetPinsDigitalOut(BIT_8 | BIT_6); //master out slave in & SCK mPORTGClearBits(BIT_6 | BIT_8); /* SCK(RG6) and SDO(RG8) low */ mPORTGSetPinsDigitalIn(BIT_7); //master in slav out mPORTGSetBits(BIT_7); mPORTDSetPinsDigitalOut(BIT_8); //write protect mPORTDSetBits(BIT_8); //config SPI2....!!!! SPI2CONbits.SIDL = 0; // Continue module operation in Idle mode SPI2CONbits.DISSDO = 0; // SDOx pin is controlled by the module SPI2CON=0; SPI2CON=0x00008360; //enable the spi peripheral-8160 SPI2BRG=15; // use Fpb/10 clock frequency will give 10MHz....40/(2*(1+1))=10Mhz IEC1CLR=0xE0; // disable all interrupts IFS1CLR=0xE0; // clear any existing event IPC7CLR=0x1f000000; // clear the priority }
/*-----------------------------------------------------------*/ static void prvSetupHardware(void) { /* Setup the CPU clocks, and configure the interrupt controller. */ SYSTEMConfigPerformance(configCPU_CLOCK_HZ); mOSCSetPBDIV(OSC_PB_DIV_2); INTEnableSystemMultiVectoredInt(); /* LEDs off. */ mPORTDClearBits(BIT_0 | BIT_1 | BIT_2); /* LEDs are outputs. */ mPORTDSetPinsDigitalOut(BIT_0 | BIT_1 | BIT_2); }
void setupHardware() { SYSTEMConfig(SYS_CLOCK, SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE); mPORTDSetPinsDigitalOut(BIT_1); //yellow LED mPORTGSetPinsDigitalOut(BIT_6); //green LED //A1 PIR Input (CN4 module, RB2) //A2 STB current consumption (AN3) //D0 IR Output mPORTDSetPinsDigitalOut(BIT_3); //D1 STB IRF control mPORTDSetPinsDigitalIn(BIT_4); //D2 BUT OTG mPORTDSetPinsDigitalOut(BIT_5); //D3 SHD RED LED Command OFF acqusition notificaiton mPORTDSetPinsDigitalOut(BIT_6); //D4 SHD GREEN LED Command ON acqusition notificaiton //D5 IR input (RD7) //D6 SHD BUT1 //D7 SHD BUT2 mPORTBSetPinsDigitalOut(BIT_14); //D9 monitor relay control DDPCONbits.JTAGEN = 0; initLEDs(); initUART(); initADC(); setupCNModuleAnd_IR_PIR_Input(); //setupCNModuleAndPIRInput(); configureRTC(); setupIRTransmit(); switchMonitorOff(); switchSTBOff(); INTConfigureSystem(INT_SYSTEM_CONFIG_MULT_VECTOR); INTEnableInterrupts(); T2CONbits.ON = 1; }
void InitializeSystem() { SYSTEMConfigWaitStatesAndPB(CLOCK_FREQ); mOSCSetPBDIV(OSC_PB_DIV_4); // Set to get 20MHz PB clock //mOSCSetPBDIV(OSC_PB_DIV_2); CheKseg0CacheOn(); mJTAGPortEnable(0); // Initialize the pins to all digital output and driven to ground. // Exception is RE7 and RE6 which are switch inputs PORTSetPinsDigitalIn(IOPORT_E, BIT_6); PORTSetPinsDigitalIn(IOPORT_E, BIT_7); mPORTASetPinsDigitalOut(0xFFFF); mPORTBSetPinsDigitalOut(0xFFFF); mPORTCSetPinsDigitalOut(0xFFFF); mPORTDSetPinsDigitalOut(0xFFFF); mPORTESetPinsDigitalOut(0xFF3F); mPORTFSetPinsDigitalOut(0xFFFF); mPORTGSetPinsDigitalOut(0xFFFF); mPORTAClearBits(0xFFFF); mPORTBClearBits(0xFFFF); mPORTCClearBits(0xFFFF); mPORTDClearBits(0xFFFF); mPORTEClearBits(0xFF3F); mPORTESetBits(0x000F); // LED latches need to be set high for off mPORTFClearBits(0xFFFF); mPORTGClearBits(0xFFFF); INTEnableSystemMultiVectoredInt(); #ifdef SANITY_CHECK mLED_Green_On(); #endif //LCD_Initialize(); //WIFI_Initialize(); //SPRINKLER_Initialize(); //RTCC_Initialize(); //SERIALUSB_Initialize(); SDCARD_Initialize(); TCPIP_Initialize(); }
int main(void) { unsigned int temp; // Configure the device for maximum performance but do not change the PBDIV // Given the options, this function will change the flash wait states, RAM // wait state and enable prefetch cache but will not change the PBDIV. // The PBDIV value is already set via the pragma FPBDIV option above.. SYSTEMConfig(GetSystemClock(), SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE); /*PORT CONFIGURATION for UART*/ // Blinky LED for Uart activity //mPORTAClearBits(BIT_7); //mPORTASetPinsDigitalOut(BIT_7); // PINS used for the buttons PORTSetPinsDigitalIn(IOPORT_B, BIT_2 | BIT_3 | BIT_4); #define CONFIG (CN_ON | CN_IDLE_CON) #define INTERRUPT (CHANGE_INT_ON | CHANGE_INT_PRI_2) mCNOpen(CONFIG, CN4_ENABLE | CN5_ENABLE | CN6_ENABLE, CN4_PULLUP_ENABLE | CN5_PULLUP_ENABLE | CN6_PULLUP_ENABLE); temp = mPORTBRead(); //Analog input CloseADC10(); #define PARAM1 ADC_MODULE_ON | ADC_FORMAT_INTG32 | ADC_CLK_AUTO | ADC_AUTO_SAMPLING_ON #define PARAM2 ADC_VREF_AVDD_AVSS | ADC_SCAN_ON | ADC_SAMPLES_PER_INT_2 | ADC_BUF_16 | ADC_ALT_INPUT_OFF #define PARAM3 ADC_CONV_CLK_INTERNAL_RC | ADC_SAMPLE_TIME_5 #define PARAM4 ENABLE_AN0_ANA | ENABLE_AN1_ANA #define PARAM5 SKIP_SCAN_AN2 | SKIP_SCAN_AN3 | SKIP_SCAN_AN4 | SKIP_SCAN_AN5 | SKIP_SCAN_AN6 | SKIP_SCAN_AN7 | SKIP_SCAN_AN8 | SKIP_SCAN_AN9 | SKIP_SCAN_AN10 | SKIP_SCAN_AN11 | SKIP_SCAN_AN12 | SKIP_SCAN_AN13 | SKIP_SCAN_AN14 | SKIP_SCAN_AN15 SetChanADC10( ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN0); OpenADC10( PARAM1, PARAM2, PARAM3, PARAM4, PARAM5 ); EnableADC10(); //PORT D for motors mPORTDClearBits(BIT_0 | BIT_1 | BIT_2 | BIT_3 | BIT_4 | BIT_5 | BIT_6 | BIT_7 | BIT_8 | BIT_9 | BIT_10 | BIT_11 | BIT_12 | BIT_13 | BIT_14 | BIT_15); // Turn off PORTD on startup. mPORTDSetPinsDigitalOut(BIT_0 | BIT_1 | BIT_2 | BIT_3 | BIT_4 | BIT_5 | BIT_6 | BIT_7 | BIT_8 | BIT_9 | BIT_10 | BIT_11 | BIT_12 | BIT_13 | BIT_14 | BIT_15); // Make PORTD output. // Explorer-16 uses UART2 to connect to the PC. // This initialization assumes 36MHz Fpb clock. If it changes, // you will have to modify baud rate initializer. UARTConfigure(UART2, UART_ENABLE_PINS_TX_RX_ONLY); UARTSetFifoMode(UART2, UART_INTERRUPT_ON_TX_NOT_FULL | UART_INTERRUPT_ON_RX_NOT_EMPTY); UARTSetLineControl(UART2, UART_DATA_SIZE_8_BITS | UART_PARITY_NONE | UART_STOP_BITS_1); UARTSetDataRate(UART2, GetPeripheralClock(), DESIRED_BAUDRATE); UARTEnable(UART2, UART_ENABLE_FLAGS(UART_PERIPHERAL | UART_RX | UART_TX)); // Configure UART2 RX Interrupt INTEnable(INT_SOURCE_UART_RX(UART2), INT_ENABLED); INTSetVectorPriority(INT_VECTOR_UART(UART2), INT_PRIORITY_LEVEL_2); INTSetVectorSubPriority(INT_VECTOR_UART(UART2), INT_SUB_PRIORITY_LEVEL_0); // Congifure Change/Notice Interrupt Flag ConfigIntCN(INTERRUPT); // configure for multi-vectored mode INTConfigureSystem(INT_SYSTEM_CONFIG_MULT_VECTOR); // enable interrupts INTEnableInterrupts(); WriteString("*** UART Interrupt-driven Example ***\r\n"); unsigned int channel1, channel2; unsigned int motor1Time, motor2Time; // Let interrupt handler do the work while (1) { while ( ! mAD1GetIntFlag() ); channel1 = ReadADC10(0); channel2 = ReadADC10(1); motor1Time = (channel1*(60000)/(1023) + 80000); motor2Time = (channel2*(60000)/(1023) + 80000); //maximo valor de motorTime = 140000 //use motor time for stepping delay if (MotorsON) { if (M1forward) { adelante(1, motor1Time, 1); } else { atras(1, motor1Time, 1); } if (M2forward) { adelante(1, motor2Time, 3); } else { atras(1, motor2Time, 3); } } mAD1ClearIntFlag(); } return 0; }
int main(void) { //LOCALS unsigned int temp; unsigned int channel1, channel2; M1_stepPeriod = M2_stepPeriod = M3_stepPeriod = M4_stepPeriod = 50; // in tens of u-seconds unsigned char M1_state = 0, M2_state = 0, M3_state = 0, M4_state = 0; SYSTEMConfig(GetSystemClock(), SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE); /* TIMER1 - now configured to interrupt at 10 khz (every 100us) */ OpenTimer1(T1_ON | T1_SOURCE_INT | T1_PS_1_1, T1_TICK); ConfigIntTimer1(T1_INT_ON | T1_INT_PRIOR_2); /* TIMER2 - 100 khz interrupt for distance measure*/ OpenTimer2(T2_ON | T2_SOURCE_INT | T2_PS_1_1, T2_TICK); ConfigIntTimer2(T2_INT_ON | T2_INT_PRIOR_3); //It is off until trigger /* PORTA b2 and b3 for servo-PWM */ mPORTAClearBits(BIT_2 | BIT_3); mPORTASetPinsDigitalOut(BIT_2 | BIT_3); /* ULTRASONICS: some bits of PORTB for ultrasonic sensors */ PORTResetPins(IOPORT_B, BIT_8 | BIT_9| BIT_10 | BIT_11 ); PORTSetPinsDigitalOut(IOPORT_B, BIT_8 | BIT_9| BIT_10 | BIT_11); //trigger /* Input Capture pins for echo signals */ //interrupt on every risging/falling edge starting with a rising edge PORTSetPinsDigitalIn(IOPORT_D, BIT_8| BIT_9| BIT_10| BIT_11); //INC1, INC2, INC3, INC4 Pin mIC1ClearIntFlag(); OpenCapture1( IC_EVERY_EDGE | IC_INT_1CAPTURE | IC_TIMER2_SRC | IC_ON );//front ConfigIntCapture1(IC_INT_ON | IC_INT_PRIOR_4 | IC_INT_SUB_PRIOR_3); OpenCapture2( IC_EVERY_EDGE | IC_INT_1CAPTURE | IC_TIMER2_SRC | IC_ON );//back ConfigIntCapture2(IC_INT_ON | IC_INT_PRIOR_4 | IC_INT_SUB_PRIOR_3); OpenCapture3( IC_EVERY_EDGE | IC_INT_1CAPTURE | IC_TIMER2_SRC | IC_ON );//left ConfigIntCapture3(IC_INT_ON | IC_INT_PRIOR_4 | IC_INT_SUB_PRIOR_3); OpenCapture4( IC_EVERY_EDGE | IC_INT_1CAPTURE | IC_TIMER2_SRC | IC_ON );//right ConfigIntCapture4(IC_INT_ON | IC_INT_PRIOR_4 | IC_INT_SUB_PRIOR_3); /* PINS used for the START (RD13) BUTTON */ PORTSetPinsDigitalIn(IOPORT_D, BIT_13); #define CONFIG (CN_ON | CN_IDLE_CON) #define INTERRUPT (CHANGE_INT_ON | CHANGE_INT_PRI_2) mCNOpen(CONFIG, CN19_ENABLE, CN19_PULLUP_ENABLE); temp = mPORTDRead(); /* PORT D and E for motors */ //motor 1 mPORTDSetBits(BIT_4 | BIT_5 | BIT_6 | BIT_7); // Turn on PORTD on startup. mPORTDSetPinsDigitalOut(BIT_4 | BIT_5 | BIT_6 | BIT_7); // Make PORTD output. //motor 2 mPORTCSetBits(BIT_1 | BIT_2 | BIT_3 | BIT_4); // Turn on PORTC on startup. mPORTCSetPinsDigitalOut(BIT_1 | BIT_2 | BIT_3 | BIT_4); // Make PORTC output. //motor 3 and 4 mPORTESetBits(BIT_0 | BIT_1 | BIT_2 | BIT_3 | BIT_4 | BIT_5 | BIT_6 | BIT_7); // Turn on PORTE on startup. mPORTESetPinsDigitalOut(BIT_0 | BIT_1 | BIT_2 | BIT_3 | BIT_4 | BIT_5 | BIT_6 | BIT_7); // Make PORTE output. // UART2 to connect to the PC. // This initialization assumes 36MHz Fpb clock. If it changes, // you will have to modify baud rate initializer. UARTConfigure(UART2, UART_ENABLE_PINS_TX_RX_ONLY); UARTSetFifoMode(UART2, UART_INTERRUPT_ON_TX_NOT_FULL | UART_INTERRUPT_ON_RX_NOT_EMPTY); UARTSetLineControl(UART2, UART_DATA_SIZE_8_BITS | UART_PARITY_NONE | UART_STOP_BITS_1); UARTSetDataRate(UART2, GetPeripheralClock(), BAUD); UARTEnable(UART2, UART_ENABLE_FLAGS(UART_PERIPHERAL | UART_RX | UART_TX)); // Configure UART2 RX Interrupt INTEnable(INT_SOURCE_UART_RX(UART2), INT_ENABLED); INTSetVectorPriority(INT_VECTOR_UART(UART2), INT_PRIORITY_LEVEL_2); INTSetVectorSubPriority(INT_VECTOR_UART(UART2), INT_SUB_PRIORITY_LEVEL_0); /* PORTD for LEDs - DEBUGGING */ mPORTDClearBits(BIT_0 | BIT_1 | BIT_2); mPORTDSetPinsDigitalOut(BIT_0 | BIT_1 | BIT_2); // Congifure Change/Notice Interrupt Flag ConfigIntCN(INTERRUPT); // configure for multi-vectored mode INTConfigureSystem(INT_SYSTEM_CONFIG_MULT_VECTOR); // enable interrupts INTEnableInterrupts(); counterDistanceMeasure=600; //measure ULTRASONICS distance each 60 ms while (1) { /***************** Robot MAIN state machine *****************/ unsigned char ret = 0; switch (Robo_State) { case 0: MotorsON = 0; Robo_State = 0; InvInitialOrientation(RESET); TestDog(RESET); GoToRoom4short(RESET); BackToStart(RESET); InitialOrientation(RESET); GoToCenter(RESET); GoToRoom4long(RESET); break; case 1: ret = InvInitialOrientation(GO); if (ret == 1) { Robo_State = 2; } break; case 2: ret = TestDog(GO); if (ret == 1) { Robo_State = 3; //DOG not found } else if (ret == 2) { Robo_State = 4; //DOG found } break; case 3: ret = GoToRoom4short(GO); if (ret == 1) { Robo_State = 0; } break; case 4: ret = BackToStart(GO); if (ret == 1) { Robo_State = 5; } break; case 5: ret = GoToCenter(GO); if (ret == 1) { Robo_State = 6; } break; case 6: ret = GoToRoom4long(GO); if (ret == 1) { Robo_State = 0; } break; } if (frontDistance < 30 || backDistance < 30 || leftDistance < 30 || rightDistance < 30) mPORTDSetBits(BIT_0); else mPORTDClearBits(BIT_0); /***************************************************************/ /***************** Motors State Machine ************************/ if (MotorsON) { /**************************** MOTOR MAP M1 O-------------O M2 ON EVEN MOTORS, STEPS MUST BE INVERTED | /\ | i.e. FORWARD IS BACKWARD | / \ | | || | | || | M3 O-------------O M4 *****************************/ if (M1_counter == 0) { switch (M1_state) { case 0: // set 0011 step (0x3 , 1); if (M1forward) M1_state = 1; else M1_state = 3; break; case 1: // set 1001 step (0x9 , 1); if (M1forward) M1_state = 2; else M1_state = 0; break; case 2: // set 1100 step (0xC , 1); if (M1forward) M1_state = 3; else M1_state = 1; break; case 3: // set 0110 default: step (0x6 , 1); if (M1forward) M1_state = 0; else M1_state = 2; break; } M1_counter = M1_stepPeriod; step_counter[0]--; if (directionNow == countingDirection) step_counter[1]--; } if (M2_counter == 0) { switch (M2_state) { case 0: // set 0011 step (0x3 , 2); if (M2forward) M2_state = 1; else M2_state = 3; break; case 1: // set 0110 step (0x6 , 2); if (M2forward) M2_state = 2; else M2_state = 0; break; case 2: // set 1100 step (0xC , 2); if (M2forward) M2_state = 3; else M2_state = 1; break; case 3: // set 1001 default: step (0x9 , 2); if (M2forward) M2_state = 0; else M2_state = 2; break; } M2_counter = M2_stepPeriod; } if (M3_counter == 0) { switch (M3_state) { case 0: // set 0011 step (0x3 , 3); if (M3forward) M3_state = 1; else M3_state = 3; break; case 1: // set 1001 step (0x9 , 3); if (M3forward) M3_state = 2; else M3_state = 0; break; case 2: // set 1100 step (0xC , 3); if (M3forward) M3_state = 3; else M3_state = 1; break; case 3: // set 0110 default: step (0x6 , 3); if (M3forward) M3_state = 0; else M3_state = 2; break; } M3_counter = M3_stepPeriod; } if (M4_counter == 0) { switch (M4_state) { case 0: // set 0011 step (0x3 , 4); if (M4forward) M4_state = 1; else M4_state = 3; break; case 1: // set 0110 step (0x6 , 4); if (M4forward) M4_state = 2; else M4_state = 0; break; case 2: // set 1100 step (0xC , 4); if (M4forward) M4_state = 3; else M4_state = 1; break; case 3: // set 1001 default: step (0x9 , 4); if (M4forward) M4_state = 0; else M4_state = 2; break; } M4_counter = M4_stepPeriod; } } else { //motors off mPORTDSetBits(BIT_4 | BIT_5 | BIT_6 | BIT_7); mPORTCSetBits(BIT_1 | BIT_2 | BIT_3 | BIT_4); mPORTESetBits(BIT_0 | BIT_1 | BIT_2 | BIT_3 | BIT_4 | BIT_5 | BIT_6 | BIT_7); } /************************************************************/ /******* TEST CODE, toggles the servos (from 90 deg. to -90 deg.) every 1 s. ********/ /* if (auxcounter == 0) { servo1_angle = 0; if (servo2_angle == 90) servo2_angle = -90; else servo2_angle = 90; auxcounter = 20000; // toggle angle every 2 s. } */ servo1_angle = 0; servo2_angle = -90; /* if (frontDistance > 13 && frontDistance < 17) { servo2_angle = 90; } else servo2_angle = -90; */ /*******************************************************************/ /****************** SERVO CONTROL ******************/ /* Changing the global servoX_angle at any point in the code will move the servo to the desired angle. */ servo1_counter = (servo1_angle + 90)*(18)/180 + 6; // between 600 and 2400 us if (servo1_period == 0) { mPORTASetBits(BIT_2); servo1_period = SERVOMAXPERIOD; /* 200 * 100us = 20000us period */ } servo2_counter = (servo2_angle + 90)*(18)/180 + 6; // between 600 and 2400 us if (servo2_period == 0) { mPORTASetBits(BIT_3); servo2_period = SERVOMAXPERIOD; /* 200 * 100us = 20000us period */ } /*****************************************************/ } /* end of while(1) */ return 0; }
/**************************************************************************** Function: static void InitializeBoard(void) Description: This routine initializes the hardware. It is a generic initialization routine for many of the Microchip development boards, using definitions in HardwareProfile.h to determine specific initialization. Precondition: None Parameters: None - None Returns: None Remarks: None ***************************************************************************/ static void InitializeBoard(void) { // WiFi Module hardware Initialization handled by Library // Enable multi-vectored interrupts INTEnableSystemMultiVectoredInt(); // Enable optimal performance SYSTEMConfigPerformance(GetSystemClock()); mOSCSetPBDIV(OSC_PB_DIV_1); // Use 1:1 CPU Core:Peripheral clocks // Disable JTAG port so we get our I/O pins back, but first // wait 50ms so if you want to reprogram the part with // JTAG, you'll still have a tiny window before JTAG goes away. // The PIC32 Starter Kit debuggers use JTAG and therefore must not // disable JTAG. DelayMs(50); DDPCONbits.JTAGEN = 0; // LEDs LEDS_OFF(); mPORTESetPinsDigitalOut(BIT_5 | BIT_6 | BIT_7); // Switches mPORTDSetPinsDigitalIn(BIT_4 | BIT_5 | BIT_6); ConfigCNPullups(CN13_PULLUP_ENABLE | CN14_PULLUP_ENABLE | CN15_PULLUP_ENABLE); // LCD mPORTESetPinsDigitalOut(BIT_0 | BIT_1 | BIT_2 | BIT_3); //Configure LCD SPI pins mPORTFSetPinsDigitalOut(BIT_8); mPORTDSetPinsDigitalOut(BIT_15); //SPI Flash mPORTDSetPinsDigitalOut(BIT_14); //UART mPORTFSetPinsDigitalOut(BIT_5); mPORTFSetPinsDigitalIn(BIT_4); //MiWi #if defined(MRF24J40) || defined(MRF49XA) PHY_CS = 1; mPORTDSetPinsDigitalOut(BIT_9); PHY_RESETn = 1; mPORTDSetPinsDigitalOut(BIT_11); #endif #if defined(MRF49XA) nFSEL_TRIS = 0; FINT_TRIS = 1; nFSEL = 1; #elif defined(MRF24J40) PHY_WAKE = 1; mPORTBSetPinsDigitalOut(BIT_9); #else Data_nCS_TRIS = 0; Config_nCS_TRIS = 0; Data_nCS = 1; Config_nCS = 1; IRQ1_INT_TRIS = 1; IRQ0_INT_TRIS = 1; #endif /* Set the Port Directions of SDO, SDI, Clock & Slave Select Signal */ /* Set SCK port pin to output */ mPORTDSetPinsDigitalOut(BIT_10); /* Set SDO port pin to output */ mPORTDSetPinsDigitalOut(BIT_0); /* Set SDI port pin to input */ mPORTCSetPinsDigitalIn(BIT_4); /* Set INT1, INT2 port pins to input */ mPORTESetPinsDigitalIn(BIT_8 | BIT_9); /* Clear SPI1CON register */ SPI1CONCLR = 0xFFFFFFFF; #ifdef HARDWARE_SPI unsigned int pbFreq; /* Enable SPI1, Set to Master Mode & Set CKE bit : Serial output data changes on transition from active clock state to Idle clock state */ SPI1CON = 0x00008120; /* Peripheral Bus Frequency = System Clock / PB Divider */ pbFreq = (DWORD) CLOCK_FREQ / (1 << mOSCGetPBDIV()); /* PB Frequency can be maximum 40 MHz */ if (pbFreq > (2 * MAX_SPI_CLK_FREQ_FOR_P2P)) { { unsigned int SPI_Clk_Freq; unsigned char SPI_Brg1 = 1; //For the SPI1 /* Continue the loop till you find SPI Baud Rate Register Value */ while (1) { /* SPI Clock Calculation as per PIC32 Manual */ SPI_Clk_Freq = pbFreq / (2 * (SPI_Brg1 + 1)); if (SPI_Clk_Freq <= MAX_SPI_CLK_FREQ_FOR_P2P) { break; } SPI_Brg1++; } mSpiChnSetBrg(1, SPI_Brg1); } } else { /* Set SPI1 Baud Rate */ mSpiChnSetBrg(1, 0); } #endif /* Set the Interrupt Priority */ mINT2SetIntPriority(4); #if defined(MRF89XA) mINT1SetIntPriority(4); #endif /* Set Interrupt Subpriority Bits for INT2 */ mINT2SetIntSubPriority(2); #if defined(MRF89XA) mINT2SetIntSubPriority(1); #endif /* Set INT2 to falling edge */ mINT2SetEdgeMode(0); #if defined(MRF89XA) mINT1SetEdgeMode(1); mINT2SetEdgeMode(1); #endif /* Enable INT2 */ mINT2IntEnable(1); #if defined(MRF89XA) mINT2IntEnable(1); #endif /* Enable Multi Vectored Interrupts */ // INTEnableSystemMultiVectoredInt(); #if defined(MRF89XA) PHY_IRQ1 = 0; PHY_IRQ0 = 0; PHY_RESETn_TRIS = 1; #else RFIF = 0; if (RF_INT_PIN == 0) { RFIF = 1; } #endif // Initialize the EEPROM XEEInit(); // UART Initialization #if defined(STACK_USE_UART) UARTTX_TRIS = 0; UARTRX_TRIS = 1; UMODE = 0x8000; // Set UARTEN. Note: this must be done before setting UTXEN USTA = 0x00001400; // RXEN set, TXEN set #define CLOSEST_UBRG_VALUE ((GetPeripheralClock()+8ul*BAUD_RATE)/16/BAUD_RATE-1) #define BAUD_ACTUAL (GetPeripheralClock()/16/(CLOSEST_UBRG_VALUE+1)) #define BAUD_ERROR ((BAUD_ACTUAL > BAUD_RATE) ? BAUD_ACTUAL-BAUD_RATE : BAUD_RATE-BAUD_ACTUAL) #define BAUD_ERROR_PRECENT ((BAUD_ERROR*100+BAUD_RATE/2)/BAUD_RATE) #if (BAUD_ERROR_PRECENT > 3) #warning UART frequency error is worse than 3% #elif (BAUD_ERROR_PRECENT > 2) #warning UART frequency error is worse than 2% #endif UBRG = CLOSEST_UBRG_VALUE; #endif }
//******************************** //******************************** //********** INITIALISE ********** //******************************** //******************************** void initialise (void) { BYTE data; //##### GENERAL NOTE ABOUT PIC32'S ##### //Try and use the peripheral libraries instead of special function registers for everything (literally everything!) to avoid //bugs that can be caused by the pipeline and interrupts. //--------------------------------- //----- CONFIGURE PERFORMANCE ----- //--------------------------------- //----- SETUP EVERYTHING FOR OPTIMUM PERFORMANCE ----- SYSTEMConfigPerformance(80000000ul); //Note this sets peripheral bus to '1' max speed (regardless of configuration bit setting) //Use PBCLK divider of 1:1 to calculate UART baud, timer tick etc //----- SET PERIPHERAL BUS DIVISOR ----- //To minimize dynamic power the PB divisor should be chosen to run the peripherals at the lowest frequency that provides acceptable system performance mOSCSetPBDIV(OSC_PB_DIV_2); //OSC_PB_DIV_1, OSC_PB_DIV_2, OSC_PB_DIV_4, OSC_PB_DIV_8, //----- SETUP INTERRUPTS ----- INTEnableSystemMultiVectoredInt(); //------------------------- //----- SETUP IO PINS ----- //------------------------- //(Device will powerup with all IO pins as inputs) //----- TURN OFF THE JTAG PORT ----- //(JTAG is on by default) //mJTAGPortEnable(0); //Must be on for Microchip Multimedia Development board #define PORTA_IO 0xc2ff //Setup the IO pin type (0 = output, 1 = input) mPORTAWrite(0xc033); //Set initial ouput pin states mPORTASetPinsDigitalIn(PORTA_IO); //(Sets high bits as input) mPORTASetPinsDigitalOut(~PORTA_IO); //(Sets high bits as output) #define PORTB_IO 0xfbff //Setup the IO pin type (0 = output, 1 = input) mPORTBWrite(0x6d13); //Set initial ouput pin states mPORTBSetPinsDigitalIn(PORTB_IO); //(Sets high bits as input) mPORTBSetPinsDigitalOut(~PORTB_IO); //(Sets high bits as output) mPORTBSetPinsDigitalIn(BIT_0 | BIT_1 | BIT_3 | BIT_4 | BIT_15); //Joystick inputs #define PORTC_IO 0xf01e //Setup the IO pin type (0 = output, 1 = input) mPORTCWrite(0x3018); //Set initial ouput pin states mPORTCSetPinsDigitalIn(PORTC_IO); //(Sets high bits as input) mPORTCSetPinsDigitalOut(~PORTC_IO); //(Sets high bits as output) #define PORTD_IO 0x7bfe //Setup the IO pin type (0 = output, 1 = input) mPORTDWrite(0xbdaf); //Set initial ouput pin states mPORTDSetPinsDigitalIn(PORTD_IO); //(Sets high bits as input) mPORTDSetPinsDigitalOut(~PORTD_IO); //(Sets high bits as output) mPORTDSetPinsDigitalOut(BIT_2 | BIT_1); //LED's 2 and 3 mPORTDSetPinsDigitalIn(BIT_9); #define PORTE_IO 0x03ff //Setup the IO pin type (0 = output, 1 = input) mPORTEWrite(0x02a2); //Set initial ouput pin states mPORTESetPinsDigitalIn(PORTE_IO); //(Sets high bits as input) mPORTESetPinsDigitalOut(~PORTE_IO); //(Sets high bits as output) #define PORTF_IO 0x111f //Setup the IO pin type (0 = output, 1 = input) mPORTFWrite(0x0039); //Set initial ouput pin states mPORTFSetPinsDigitalIn(PORTF_IO); //(Sets high bits as input) mPORTFSetPinsDigitalOut(~PORTF_IO); //(Sets high bits as output) #define PORTG_IO 0xd3cf //Setup the IO pin type (0 = output, 1 = input) mPORTGWrite(0xf203); //Set initial ouput pin states mPORTGSetPinsDigitalIn(PORTG_IO); //(Sets high bits as input) mPORTGSetPinsDigitalOut(~PORTG_IO); //(Sets high bits as output) //Read pins using: // mPORTAReadBits(BIT_0); //Write pins using: // mPORTAClearBits(BIT_0); // mPORTASetBits(BIT_0); // mPORTAToggleBits(BIT_0); //----- INPUT CHANGE NOTIFICATION CONFIGURATION ----- //EnableCN0(); ConfigCNPullups(CN2_PULLUP_ENABLE | CN3_PULLUP_ENABLE | CN5_PULLUP_ENABLE | CN6_PULLUP_ENABLE | CN12_PULLUP_ENABLE); //Joystick pins //----- SETUP THE A TO D PINS ----- ENABLE_ALL_DIG; //--------------------- //----- SETUP USB ----- //--------------------- //The USB specifications require that USB peripheral devices must never source current onto the Vbus pin. Additionally, USB peripherals should not source //current on D+ or D- when the host/hub is not actively powering the Vbus line. When designing a self powered (as opposed to bus powered) USB peripheral //device, the firmware should make sure not to turn on the USB module and D+ or D- pull up resistor unless Vbus is actively powered. Therefore, the //firmware needs some means to detect when Vbus is being powered by the host. A 5V tolerant I/O pin can be connected to Vbus (through a resistor), and //can be used to detect when Vbus is high (host actively powering), or low (host is shut down or otherwise not supplying power). The USB firmware //can then periodically poll this I/O pin to know when it is okay to turn on the USB module/D+/D- pull up resistor. When designing a purely bus powered //peripheral device, it is not possible to source current on D+ or D- when the host is not actively providing power on Vbus. Therefore, implementing this //bus sense feature is optional. This firmware can be made to use this bus sense feature by making sure "USE_USB_BUS_SENSE_IO" has been defined in the //HardwareProfile.h file. // #if defined(USE_USB_BUS_SENSE_IO) // tris_usb_bus_sense = INPUT_PIN; // See HardwareProfile.h // #endif //If the host PC sends a GetStatus (device) request, the firmware must respond and let the host know if the USB peripheral device is currently bus powered //or self powered. See chapter 9 in the official USB specifications for details regarding this request. If the peripheral device is capable of being both //self and bus powered, it should not return a hard coded value for this request. Instead, firmware should check if it is currently self or bus powered, and //respond accordingly. If the hardware has been configured like demonstrated on the PICDEM FS USB Demo Board, an I/O pin can be polled to determine the //currently selected power source. On the PICDEM FS USB Demo Board, "RA2" is used for this purpose. If using this feature, make sure "USE_SELF_POWER_SENSE_IO" //has been defined in HardwareProfile.h, and that an appropriate I/O pin has been mapped to it in HardwareProfile.h. // #if defined(USE_SELF_POWER_SENSE_IO) // tris_self_power = INPUT_PIN; // See HardwareProfile.h // #endif //Enable the USB port now - we will check to see if Vbus is powered at the end of init and disable it if not. //USBDeviceInit(); //usb_device.c. Initializes USB module SFRs and firmware variables to known states. //------------------------ //----- SETUP TIMERS ----- //------------------------ //(INCLUDE THE USAGE OF ALL TIMERS HERE EVEN IF NOT SETUP HERE SO THIS IS THE ONE POINT OF //REFERENCE TO KNOW WHICH TIMERS ARE IN USE AND FOR WHAT). //----- SETUP TIMER 1 ----- //Used for: Available //OpenTimer1((T1_ON | T1_IDLE_CON | T1_GATE_OFF | T1_PS_1_4 | T1_SOURCE_INT), 20000); //----- SETUP TIMER 2 ----- //Used for: //OpenTimer2((T2_ON | T2_IDLE_CON | T2_GATE_OFF | T2_PS_1_1 | T2_SOURCE_INT), 0xffff); //0xffff = 305Hz //----- SETUP TIMER 3 ----- //Used for: //OpenTimer3((T3_ON | T3_IDLE_CON | T3_GATE_OFF | T3_PS_1_1 | T3_SOURCE_INT), PIEZO_TIMER_PERIOD); //----- SETUP TIMER 4 ----- //Used for: //OpenTimer4((T4_ON | T4_IDLE_CON | T4_GATE_OFF | T4_PS_1_1 | T4_SOURCE_INT), 20000); //----- SETUP TIMER 5 ----- //Used for: Heartbeat OpenTimer5((T5_ON | T5_IDLE_CON | T5_GATE_OFF | T5_PS_1_1 | T5_SOURCE_INT), 40000); //1mS with 80MHz osc and PB_DIV_2 ConfigIntTimer5(T5_INT_ON | T5_INT_PRIOR_7); //1=lowest priority to 7=highest priority. ISR function must specify same value //--------------------------------- //----- SETUP EVAL BOARD CPLD ----- //--------------------------------- //Graphics bus width = 16 mPORTGSetPinsDigitalOut(BIT_14); mPORTGSetBits(BIT_14); //SPI source select = SPI3 (not used) mPORTGSetPinsDigitalOut(BIT_12); mPORTGClearBits(BIT_12); //SPI peripheral destination select = Expansion Slot (not used) mPORTASetPinsDigitalOut(BIT_7 | BIT_6); mPORTASetBits(BIT_7); mPORTAClearBits(BIT_6); //-------------------------------------- //----- PARALLEL MASTER PORT SETUP ----- //-------------------------------------- PMMODE = 0; PMAEN = 0; PMCON = 0; PMMODE = 0x0610; PMCONbits.PTRDEN = 1; //Enable RD line PMCONbits.PTWREN = 1; //Enable WR line PMCONbits.PMPEN = 1; //Enable PMP //------------------------------ //----- INITIALISE DISPLAY ----- //------------------------------ display_initialise(); display_test(); //LOAD OUR GLOBAL HTML STYLES FILE READY FOR DISPLAY HTML PAGES BYTE dummy_styles_count; DWORD file_size; if (display_html_setup_read_file(global_css, 0, &file_size)) { dummy_styles_count = 0; display_html_read_styles(&file_size, &dummy_styles_count, 1); //1 = this is global styles file } }
int main(void) { DBINIT(); DBPRINTF("MAIN.... \n"); unsigned int temp; int POWER; //bool RELAY; //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ //STEP 1. Configure cache, wait states and peripheral bus clock SYSTEMConfig(SYS_FREQ, SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE); //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ // STEP 2. configure the port registers mPORTDSetPinsDigitalOut(BIT_0 | BIT_1 | BIT_2 | BIT_9); mPORTESetPinsDigitalOut(BIT_0 | BIT_1 | BIT_2); //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ // STEP 3. initialize the port pin states = outputs low mPORTDClearBits(BIT_0 | BIT_1 | BIT_2); //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ // STEP 4. enable change notice, enable discrete pins and weak pullups mCNOpen(CONFIG, PINS, PULLUPS); //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ // STEP 5. read port(s) to clear mismatch on change notice pins temp = mPORTDRead(); //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ // STEP 6. clear change notice interrupt flag ConfigIntCN(INTERRUPT); //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ // STEP 7. enable multi-vector interrupts INTEnableSystemMultiVectoredInt(); //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ // STEP 8. configure SPI port and MCP3909 OpenSPI1(FRAME_ENABLE_ON | ENABLE_SDO_PIN | SPI_MODE32_ON | SPI_CKE_ON | SLAVE_ENABLE_OFF | CLK_POL_ACTIVE_LOW | MASTER_ENABLE_ON , SPI_ENABLE | SPI_FRZ_CONTINUE | SPI_IDLE_STOP | SPI_RX_OVFLOW_CLR); CONFIG_3909(); DBPRINTF("CONFIGURED.... \n"); while(1) { // Toggle LED's to signify code is looping mPORTDToggleBits(BIT_0); // toggle LED1 (same as LATDINV = 0x0002) SAMPLE(); POWER = MEASURE_POWER(); DBPRINTF("power measured! \n"); DelayMs(1000); /************************ *ETHERNET COMMUNICATIONS* ************************/ }; }
void Terminal(void) { const char str1[] = {'k',0x00,'e',0x00,'y',0x00,'.',0x00,'b',0x00,'m',0x00,'p',0x00,'\0',0x00}; const char str2[] = {'\\',0x00,'s',0x00,'y',0x00,'s',0x00,'\0',0x00}; char KeyBuffer[31]={'Q','W','E','R','T','Y','U','I','O','P','A','S','D','F','G','H','J','K','L','Z','X','C','V','B','N','M',',',' ',' ',' ','.'}; char SpecialKeyBuffer[31]={'1','2','3','4','5','6','7','8','9','0','!','@','#','$','%','&','*','?','/','Z','"',' ','(',')','-','+',';',' ',' ',' ',':'}; const unsigned short int LetterPosX[4]={93,62,32,1}; const unsigned short int SpecialCharPosY[6]={1,284,1,39,245,284}; const unsigned short int LetterPosY[31]={1,33,65,97,129,161,193,225,257,289, 17,49,81,113,145,177,209,241,273, 49,81,113,145,177,209,241, 81,113,145,177,209}; _Bool NumSp=0,UppLow=0,ReadCmd=0,ErrorSyntax=0,HighApp=0,LowApp=0,SyntaxError=0,ExitApp=0,InitRfApp=0,SendApp=0,StatusRfApp=0,ReadApp=0,SetTime=0,SetDate=0; char c[2]={'A',0x00}; char TextBuffer[10],i=0,b=0,Parametri=0,StringBuffer[50],Nchar=0,Param3[10],Param2[10],Param1[10],Param4[10],Param5[10]; unsigned short int clu=0, dat=0,DelCount=0,a=0x0000; TRFData rfData; char Minuti[3]={0x30,0x30,0x00};///minuti char Ore[3]={0x30,0x31,0x00};///Ore SSD1289_writeResgiter( 0x0049, 0x000A );///fine della finestra a 10 px LCD_CLS(AZZURRO); sprintf(TextBuffer,"Loading.."); LCD_Text57(2,1,TextBuffer,1,BLACK,NONE); Xcursor=238; Ycursor=2; wFSchdir ((unsigned short int *)&str2[0]); DrawBmp(0,319,(unsigned short int * )&str1[0],0); SSD1289_writeResgiter( 0x0049, 0x013F ); while(TRUE) { if(PORTDbits.RD14==0) { read(); clu=getX(); dat=getY(); clu=(unsigned short int)((((float)6.01/(float)233.01)*(float)clu)+(float)clu); dat=(unsigned short int)((((float)10.01/(float)313.01)*(float)dat)+(float)dat); b=0; for(i=0; i<31; i++) { ///lettere if((LetterPosX[b]<=clu)&&(clu<=(LetterPosX[b]+29))&&((LetterPosY[i]<=dat)&&(dat<=(LetterPosY[i]+29))))//la Q { ///se attivo caratteri speciali if(NumSp) c[0]=SpecialKeyBuffer[i]; else c[0]=KeyBuffer[i]; if((UppLow==1)&&(NumSp==0)) { switch(c[0]) { case ',': break; case' ': break; case'.': break; default: c[0]+=0x20; break; } } LCD_FastRect(Xcursor-6,Ycursor,Xcursor,Ycursor+5,WHITE); strcpy(TextBuffer,c); StringBuffer[Nchar]=c[0]; LCD_Text57Land(Xcursor,Ycursor,TextBuffer,1,BLACK,NONE); Nchar++; //Ycursor+=6; if(Ycursor>=319) { Ycursor=2; Xcursor-=8; Nchar=0; } DelayMs(50); } if(i==9) b++; if(i==18) b++; if(i==25) b++; } ///comandi speciali b=2; for(i=0; i<6; i++) { if((LetterPosX[b]<=clu)&&(clu<=(LetterPosX[b]+29))&&((SpecialCharPosY[i]<=dat)&&(dat<=(SpecialCharPosY[i]+34))))//la Q { switch(i) { case 0: ///da implementare Upper/lower letter if(UppLow==0) { UppLow=1; LCD_Cercle(53,29,3,1,GRAY); } else { UppLow=0; LCD_Cercle(53,29,3,1,BLUE); } break; case 1: LCD_FastRect(Xcursor-6,Ycursor,Xcursor,Ycursor+5,AZZURRO); Ycursor-=6; Nchar--; if(Ycursor>350) { Ycursor=314; Xcursor+=8; Nchar=0; if(Xcursor>241) Xcursor=238; } break; case 2: ///da implementare break; case 3: ///da implementare break; case 4: ///da implementare attiva/disattiva numeri+caratteri speciali if(NumSp==0) { NumSp=1; LCD_Cercle(22,274,3,1,BLUE); } else { NumSp=0; LCD_Cercle(22,274,3,1,GRAY); } break; case 5: ///torna a capo riga (invio) LCD_FastRect(Xcursor-6,Ycursor,Xcursor,Ycursor+5,AZZURRO); NumSp=0; LCD_Cercle(22,274,3,1,GRAY); UppLow=0; LCD_Cercle(53,29,3,1,BLUE); Ycursor=2; Xcursor-=8; if(Xcursor<=136) { LCD_FastRect(121,0,239,319,AZZURRO); Xcursor=238; } ReadCmd=1; StringBuffer[Nchar]=0x00; Nchar=0; break; } DelayMs(50); } if(i==1) b=3; } } ///Lampeggio cursore DelayMs(1); DelCount++; if(DelCount==200) { DelCount=0; if(a==0x00000) a=0xffff; else a=0x0000; LCD_FastRect(Xcursor-6,Ycursor,Xcursor,Ycursor+5,a); } ///Se premuto invio.. if(ReadCmd==1) { ReadCmd=0; ErrorSyntax=0; Parametri=0; b=0; ///Ciclo per verificare la stringa passata ///carica in Param1, Param2, Param3, ogni parola separata da uno spazio for(i=0; i<20; i++) { if(StringBuffer[i]==0x20) {Parametri=1; Param1[i]=0x00; break;} if(StringBuffer[i]==0x00) {Parametri=1; Param1[i]=0x00; break;} Param1[i]=StringBuffer[i]; } if(StringBuffer[i]!=0x00) { b=0; for(i<20; i++;) { if(StringBuffer[i]==0x20) {Parametri=2; Param2[b]=0x00; break;} if(StringBuffer[i]==0x00) {Parametri=2; Param2[b]=0x00; break;} Param2[b]=StringBuffer[i]; b++; } } if(StringBuffer[i]!=0x00) { b=0; for(i<20; i++;) { if(StringBuffer[i]==0x20) {Parametri=3; Param3[b]=0x00; break;} if(StringBuffer[i]==0x00) {Parametri=3; Param3[b]=0x00; break;} Param3[b]=StringBuffer[i]; b++; } } if(StringBuffer[i]!=0x00) { b=0; for(i<20; i++;) { if(StringBuffer[i]==0x20) {Parametri=4; Param4[b]=0x00; break;} if(StringBuffer[i]==0x00) {Parametri=4; Param4[b]=0x00; break;} Param4[b]=StringBuffer[i]; b++; } } if(StringBuffer[i]!=0x00) { b=0; for(i<20; i++;) { if(StringBuffer[i]==0x20) {Parametri=5; Param5[b]=0x00; break;} if(StringBuffer[i]==0x00) {Parametri=5; Param5[b]=0x00; break;} Param5[b]=StringBuffer[i]; b++; } } ///Fine ciclo //Verifica le stringhe //da completare salta al programma... if(strcmp(Param1,"HIGH")==FALSE) HighApp=1; if(strcmp(Param1,"LOW")==FALSE) LowApp=1; if(strcmp(Param1,"EXIT")==FALSE) ExitApp=1; if(strcmp(Param1,"REBOOT")==FALSE) SoftReset(); if(strcmp(Param1,"SEND")==FALSE) SendApp=1; if(strcmp(Param1,"INITRF")==FALSE) InitRfApp=1; if(strcmp(Param1,"STATUSRF")==FALSE) StatusRfApp=1; if(strcmp(Param1,"READRF")==FALSE) ReadApp=1; if(strcmp(Param1,"SETTIME")==FALSE) SetTime=1; if(strcmp(Param1,"SETDATE")==FALSE) SetDate=1; if((HighApp==0)&&(LowApp==0)&&(ExitApp==0)&&(SendApp==0)&&(InitRfApp==0)&&(StatusRfApp==0)&&(ReadApp==0)&&(SetTime==0)&&(SetDate==0)) SyntaxError=1; if(SetTime) { SetTime=0; Ore[0]=Param2[0]; Ore[1]=Param2[1]; Minuti[0]=Param3[0]; Minuti[1]=Param3[1]; if((Ore[0]>=0x32)&&(Ore[1]>=0x34)) { sprintf(StringBuffer,"Ore invalide!"); LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,RED,NONE); } else if(Minuti[0]>=0x36) { sprintf(StringBuffer,"Minuti invalidi!"); LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,RED,NONE); } else{ lastTime.hour=atobcd(&Ore[0]); lastTime.min=atobcd(&Minuti[0]); RtccSetTimeDate(lastTime.l, lastDate.l); sprintf(StringBuffer,"Time updated!"); LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,BLACK,NONE); } } if(StatusRfApp) { StatusRfApp=0; StatusRead(); sprintf(StringBuffer,"%02x ",TransceiverStatus.bits.RG_FF_IT); LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,BLACK,NONE); Ycursor+=16; sprintf(StringBuffer,"%02x ",TransceiverStatus.bits.POR); LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,BLACK,NONE); Ycursor+=16; sprintf(StringBuffer,"%02x ",TransceiverStatus.bits.RGUR_FFOV); LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,BLACK,NONE); Ycursor+=16; sprintf(StringBuffer,"%02x ",TransceiverStatus.bits.WKUP); LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,BLACK,NONE); Ycursor+=16; sprintf(StringBuffer,"%02x ",TransceiverStatus.bits.EXT); LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,BLACK,NONE); Ycursor+=16; sprintf(StringBuffer,"%02x ",TransceiverStatus.bits.LBD); LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,BLACK,NONE); Ycursor+=16; sprintf(StringBuffer,"%02x ",TransceiverStatus.bits.FFEM); LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,BLACK,NONE); Ycursor+=16; sprintf(StringBuffer,"%02x ",TransceiverStatus.bits.RSSI_ATS); LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,BLACK,NONE); Ycursor+=16; sprintf(StringBuffer,"%02x ",TransceiverStatus.bits.DQD); LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,BLACK,NONE); Ycursor+=16; sprintf(StringBuffer,"%02x ",TransceiverStatus.bits.CRL); LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,BLACK,NONE); Ycursor+=16; sprintf(StringBuffer,"%02x ",TransceiverStatus.bits.ATGL); LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,BLACK,NONE); Ycursor=2; } if(InitRfApp) { InitRfApp=0; if(strcmp(Param2,"OFF")==FALSE) { MRF49XA_Power_Down(); sprintf(StringBuffer,"RF Stopped!"); LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,RED,NONE); } else{ initRFPorts(); MRF49XA_Init(); InitRFData(&rfData); sprintf(StringBuffer,"RF Initialized! %x",RF_IRQ); LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,BLACK,NONE); } } if(ReadApp)///Test sniff pacchetti { WORD GENCREG2 = (0x8000|XTAL_LD_CAP_125); WORD CFSREG2 ; WORD DRVSREG2 ; WORD RXCREG2 ; WORD PMCREG2 = 0x8201; WORD TXCREG2 = 0x9850; volatile BOOL RxPacketValid[BANK_SIZE]; BYTE RxPacket[BANK_SIZE][80]; volatile BYTE RxPacketLen[BANK_SIZE]; WORD totalReceived = 0; unsigned char FreqBand=0,DataRate=0,Nop=0; ReadApp=0; sprintf(StringBuffer,"Reading.."); LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,BLACK,AZZURRO); //Setta le porte mPORTFSetPinsDigitalOut(BIT_5);//SDO mPORTFSetPinsDigitalOut(BIT_13);//SCK mPORTBSetPinsDigitalOut(BIT_14);//CS mPORTBSetPinsDigitalOut(BIT_13);//FSEL mPORTESetPinsDigitalIn(BIT_9);//FINT mPORTESetPinsDigitalIn(BIT_8);//IRQ mPORTFSetPinsDigitalIn(BIT_4);//SDI mPORTFSetPinsDigitalIn(BIT_12);//INT SPI4CON = 0x0120; //SPI1BRG = 0x001F; // 64:1 prescale (slow display update) SPI4BRG = 0x0001; // 4:1 prescale (fast display update) 16Mhz spi clock at 72Mhz sys clock SPI4CONSET = 0x8000; // enables the spi RF_RSCLR; DelayUs(10); RF_RSSET; DelayMs(125); RF_CSSET; RF_FSELSET; //RF_SCKCLR; //RF_SDOCLR; ///Fine init porte i=Param2[0]; //i=1; switch(i) { case '1': FreqBand = 1; break; case '2': FreqBand = 2; break; case '3': FreqBand = 3; break; } GENCREG2 |= ((WORD)FreqBand << 4); i=Param3[0]; //i=1; switch(i) { case '1': DataRate = 1; DRVSREG2 = 0xC623; break; case '2': DataRate = 2; DRVSREG2 = 0xC611; break; case '3': DataRate = 3; DRVSREG2 = 0xC608; break; case '4': DataRate = 4; DRVSREG2 = 0xC605; break; case '5': DataRate = 5; DRVSREG2 = 0xC602; break; } i=Param4[0]; //i=4; switch(i) { case '1': RXCREG2 = 0x9421; break; case '2': RXCREG2 = 0x9441; break; case '3': RXCREG2 = 0x9461; break; case '4': RXCREG2 = 0x9481; break; case '5': RXCREG2 = 0x94A1; break; case '6': RXCREG2 = 0x94C1; break; } switch(FreqBand) { case 1: CFSREG2 = 0xA640; break; case 2: CFSREG2 = 0xA640; break; case 3: CFSREG2 = 0xA7D0; break; default: break; } //Init RF SPI_Command(FIFORSTREG); SPI_Command( FIFORSTREG | 0x0002); SPI_Command(GENCREG2); SPI_Command(0xC4F7); SPI_Command(CFSREG2); SPI_Command(DRVSREG2); SPI_Command(PMCREG2); SPI_Command(RXCREG2); SPI_Command(TXCREG2); SPI_Command(PMCREG2 | 0x0020); DelayMs(5); SPI_Command(PMCREG2 | 0x0080); SPI_Command(GENCREG2 | 0x0040); SPI_Command(FIFORSTREG); SPI_Command( FIFORSTREG | 0x0002); SPI_Command(0x0000); //InitRFData(&rfData); sprintf(StringBuffer,"%x, %x, %x",Param2[0],Param3[0],Param4[0]); LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,BLACK,AZZURRO); sprintf(StringBuffer,"%x,%x",RF_IRQ,RF_INT); LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,BLACK,AZZURRO); while(TRUE) { if((RF_IRQ==0)||(RF_INT==1)) { //nCS = 0; RF_CSCLR; Nop++; if( SPI_SDI == 1 ) { BYTE RxPacketPtr; BYTE tmpPacketLen; BYTE bIndex; WORD counter; // There is data in RX FIFO //nCS = 1; //nFSEL = 0; // FIFO selected RF_CSSET; RF_FSELCLR; tmpPacketLen = SPI_Read(); for(bIndex = 0; bIndex < BANK_SIZE; bIndex++) { if( RxPacketValid[bIndex] == FALSE ) { break; } } if( tmpPacketLen >= 80 || tmpPacketLen == 0 || bIndex >= BANK_SIZE ) { IGNORE_HERE: //nFSEL = 1; // bad packet len received RF_FSELSET; SPI_Command(PMCREG2); // turn off the transmitter and receiver SPI_Command(FIFORSTREG); // reset FIFO SPI_Command(GENCREG2); // disable FIFO, TX_latch SPI_Command(GENCREG2 | 0x0040); // enable FIFO SPI_Command(PMCREG2 | 0x0080); // turn on receiver SPI_Command(FIFORSTREG | 0x0002); // FIFO synchron latch re-enabled goto RETURN_HERE; } RxPacketLen[bIndex] = tmpPacketLen; //RLED = 1; //nFSEL = 1; mPORTDSetBits(BIT_2); RF_FSELSET; RxPacketPtr = 0; counter = 0; while(1) { if( counter++ == 0xFFFF ) { goto IGNORE_HERE; } else if( RF_FINT == 1) { //nFSEL = 0; RF_FSELCLR; counter = 0; RxPacket[bIndex][RxPacketPtr++] = SPI_Read(); if( RxPacketPtr >= RxPacketLen[bIndex] ) { BYTE i; //nFSEL = 1; //nCS = 0; RF_FSELSET; RF_CSCLR; //SPI_SDO = 0; RF_SDOCLR; Nop++; for(i = 0; i < 8; i++) { //SPI_SCK = 1; //SPI_SCK = 0; RF_SCKSET; Nop++; RF_SCKCLR; Nop++; } if( SPI_SDI == 0 ) { goto IGNORE_HERE; } //nCS = 1; RF_CSSET; SPI_Command(FIFORSTREG); //RLED = 0; mPORTDClearBits(BIT_2); RxPacketValid[bIndex] = TRUE; SPI_Command(FIFORSTREG | 0x0002); // FIFO synchron latch re-enable goto RETURN_HERE; } //nFSEL = 1; RF_FSELSET; } } } else // read the rest of the interrupts { SPI_Read(); //nCS = 1; RF_CSSET; } RETURN_HERE: Nop++; } for(i = 0; i < BANK_SIZE; i++) { if( RxPacketValid[i] == TRUE ) { BYTE j; WORD received_crc; WORD calculated_crc; totalReceived++; //Printf("\r\n"); Xcursor-=8; Ycursor=2; sprintf(StringBuffer,"%04x | %04x |",totalReceived,RxPacketLen[i]); LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,BLACK,NONE); //PrintChar(totalReceived>>8); //PrintChar(totalReceived); //Printf(" | "); //PrintChar(RxPacketLen[i]); //Printf(" | "); for(j = 0; j < RxPacketLen[i]; j++) { sprintf(StringBuffer,"%02x ",RxPacket[i][j]); LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,BLACK,NONE); Ycursor+=12; //PrintChar(RxPacket[i][j]); //Printf(" "); } received_crc = ((WORD)RxPacket[i][RxPacketLen[i]-1]) + (((WORD)RxPacket[i][RxPacketLen[i]-2]) << 8); calculated_crc = CRC16(RxPacket[i], RxPacketLen[i]-2); if( received_crc != calculated_crc ) { //Printf(" * CRC"); sprintf(StringBuffer," * CRC"); LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,BLACK,NONE); } RxPacketValid[i] = FALSE; } } //i=MRF49XA_Receive_Packet(&rfData); //DelayUs(50); //if(i==3) break; //if(i==2) break; //if(i==1) break; //sprintf(StringBuffer,"%x,%x,%x",RF_IRQ,RF_FINT,SPI_SDI); //LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,BLACK,AZZURRO); if(PORTDbits.RD14==0) break; } Xcursor-=8; sprintf(StringBuffer,"Ricevuto! %d, 0x%02x, 0x%02x, 0x%02x, 0x%02x",i,rfData.buffer[0],rfData.buffer[1],rfData.buffer[2],rfData.buffer[3]); LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,BLACK,NONE); } if(SendApp) { SendApp=0; //LCD_FastRect(121,0,239,319,AZZURRO); AddRFData(&rfData,Param2[0]); MRF49XA_Send_Packet(&rfData); InitRFData(&rfData); sprintf(StringBuffer,"Dato inviato.."); LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,BLACK,NONE); } if(HighApp) { HighApp=0; if(strcmp(Param2,"D2")==FALSE) { sprintf(StringBuffer,"D2 Actived! 1"); LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,GREEN,NONE); mPORTDSetPinsDigitalOut(BIT_2); mPORTDSetBits(BIT_2); } else { sprintf(StringBuffer,"Port Not Found!"); LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,RED,NONE); } } if(LowApp) { LowApp=0; if(strcmp(Param2,"D2")==FALSE) { sprintf(StringBuffer,"D2 Deactived! 0"); LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,GREEN,NONE); mPORTDSetPinsDigitalOut(BIT_2); mPORTDClearBits(BIT_2); } else { sprintf(StringBuffer,"Port Not Found!"); LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,RED,NONE); } } if(SyntaxError) { SyntaxError=0; sprintf(StringBuffer,"Syntax Error!"); LCD_Text57Land(Xcursor,Ycursor,StringBuffer,1,RED,NONE); } if(ExitApp==1) break; Xcursor-=8; Ycursor=2; for(i=0; i<10; i++) { StringBuffer[i]=0x00; Param1[i]=0x00; Param2[i]=0x00; Param3[i]=0x00; } } if(PORTDbits.RD3==0) break; } }
int main() { // Initialize Sockets and IP address containers // SOCKET serverSock, clientSock = INVALID_SOCKET; IP_ADDR curr_ip, ip; // Initialize buffer length variables // int rlen, sent, bytesSent; // Initialize the Send/Recv buffers // char rbfr[10]; // Socket struct descriptor // struct sockaddr_in addr; int addrlen = sizeof(struct sockaddr_in); // System clock containers // unsigned int sys_clk, pb_clk; // Initialize LED Variables: // Setup the LEDs on the PIC32 board // RD0, RD1 and RD2 as outputs // mPORTDSetPinsDigitalOut(BIT_0 | BIT_1 | BIT_2 ); mPORTDClearBits(BIT_0 | BIT_1 | BIT_2); // Clear previous LED status. // Setup the switches on the PIC32 board as inputs // mPORTDSetPinsDigitalIn(BIT_6 | BIT_7 | BIT_13); // RD6, RD7, RD13 as inputs // Setup the system clock to use CPU frequency // sys_clk = GetSystemClock(); pb_clk = SYSTEMConfigWaitStatesAndPB(sys_clk); // interrupts enabled INTEnableSystemMultiVectoredInt(); // system clock enabled SystemTickInit(sys_clk, TICKS_PER_SECOND); // Initialize TCP/IP // TCPIPSetDefaultAddr(DEFAULT_IP_ADDR, DEFAULT_IP_MASK, DEFAULT_IP_GATEWAY, DEFAULT_MAC_ADDR); if (!TCPIPInit(sys_clk)) return -1; DHCPInit(); // Port to bind socket to // addr.sin_port = 6653; addr.sin_addr.S_un.S_addr = IP_ADDR_ANY; // Initialize TCP server socket // if((serverSock = socket(AF_INET, SOCK_STREAM, IPPROTO_TCP)) == SOCKET_ERROR) return -1; // Ensure we bound to the socket. End Program if bind fails // if(bind(serverSock, (struct sockaddr*) &addr, addrlen ) == SOCKET_ERROR) return -1; // Listen to up to five clients on server socket // listen(serverSock, 5); // We store our desired transfer paragraph // char myStr[] = "TCP/IP (Transmission Control Protocol/Internet Protocol) is " "the basic communication language or protocol of the Internet. " "It can also be used as a communications protocol in a private " "network (either an intranet or an extranet). When you are set up " "with direct access to the Internet, your computer is provided " "with a copy of the TCP/IP program just as every other computer " "that you may send messages to or get information from also has " "a copy of TCP/IP. TCP/IP is a two-layer program. The higher " "layer, Transmission Control Protocol, manages the assembling " "of a message or file into smaller packets that are transmitted " "over the Internet and received by a TCP layer that reassembles " "the packets into the original message. The lower layer, " "Internet Protocol, handles the address part of each packet so " "that it gets to the right destination. Each gateway computer on " "the network checks this address to see where to forward the " "message. Even though some packets from the same message are " "routed differently than others, they'll be reassembled at the " "destination.\0"; // Chunk up our data // // Copy our string into our buffer // int tlen = strlen(myStr); char tbfr1[tlen1+1]; // Loop forever // while(1) { // Refresh TCIP and DHCP // TCPIPProcess(); DHCPTask(); // Get the machines IP address and save to variable // ip.Val = TCPIPGetIPAddr(); // DHCP server change IP address? // if(curr_ip.Val != ip.Val) curr_ip.Val = ip.Val; // TCP Server Code // if(clientSock == INVALID_SOCKET) { // Start listening for incoming connections // clientSock = accept(serverSock, (struct sockaddr*) &addr, &addrlen); // Upon connection to a client blink LEDS. // if(clientSock != INVALID_SOCKET) { setsockopt(clientSock, SOL_SOCKET, TCP_NODELAY, (char*)&tlen, sizeof(int)); mPORTDSetBits(BIT_0); // LED1=1 DelayMsec(50); mPORTDClearBits(BIT_0); // LED1=0 mPORTDSetBits(BIT_1); // LED2=1 DelayMsec(50); mPORTDClearBits(BIT_1); // LED2=0 mPORTDSetBits(BIT_2); // LED3=1 DelayMsec(50); mPORTDClearBits(BIT_2); // LED3=0 } } else { // We are connected to a client already. We start // by receiving the message being sent by the client // rlen = recvfrom(clientSock, rbfr, sizeof(rbfr), 0, NULL, NULL); // Check to see if socket is still alive // if(rlen > 0) { // If the received message first byte is '02' it signifies // a start of message // if (rbfr[0]==2) { //mPORTDSetBits(BIT_0); // LED1=1 // Check to see if message begins with // '0271' to see if the message is a a global reset // if(rbfr[1]==71) { mPORTDSetBits(BIT_0); // LED1=1 DelayMsec(50); mPORTDClearBits(BIT_0); // LED1=0 } } // If the received message starts with a second byte is // '84' it signifies a initiate transfer // if(rbfr[1]==84){ mPORTDSetBits(BIT_2); // LED3=1 bytesSent = 0; //sent = 0; while (bytesSent < tlen){ memcpy(tbfr1, myStr+bytesSent, tlen1); if (bytesSent > 1049){ tbfr1[tlen-bytesSent+1] = '\0'; send(clientSock, tbfr1, tlen-bytesSent+1, 0); } else{ tbfr1[tlen1] = '\0'; // Loop until we send the full message // send(clientSock, tbfr1, tlen1+1, 0); } bytesSent += tlen1; DelayMsec(50); } mPORTDClearBits(BIT_2); // LED3=0 } mPORTDClearBits(BIT_0); // LED1=0 } // The client has closed the socket so we close as well // else if(rlen < 0) { closesocket(clientSock); clientSock = SOCKET_ERROR; } } } }
/******************************************************************************* * Function: BoardInit(void) * PreCondition:None * Input: None * Output: None * Overview: SPI pins and SFR, Maintenance Tasks Timer, External Interrupts, * and other board issues initialization. * Note: This routine needs to be called before initialising MiWi stack * or invoking other function that operates on MiWi stack. ******************************************************************************/ void BoardInit(void){ #if defined(__PIC32MX__) // RADIO INTERFACES & SPI INIT -------------------------------------------// #if defined HARDWARE_SPI /* Peripheral Bus Frequency = System Clock / PB Divider */ unsigned int pbFreq; pbFreq = (DWORD) CLOCK_FREQ/(1 << mOSCGetPBDIV()); unsigned int SPI_Clk_Freq; unsigned char SPI_Brg; #endif #if defined MRF24J40 PHY_CS_TRIS = 0; PHY_CS = 1; PHY_RESETn_TRIS = 0; PHY_RESETn = 1; MRF24J40_INT_TRIS = 1; SDI_TRIS = 1; SDO_TRIS = 0; SCK_TRIS = 0; SPI_SDO = 0; SPI_SCK = 0; PHY_WAKE_TRIS = 0; PHY_WAKE = 1; SPICONCLR = 0xFFFFFFFF; // Clear SPIxCON register #ifdef HARDWARE_SPI /* Enable SPI, Set to Master Mode & Set CKE bit : Serial output * data changes on transition from active clock state to Idle * clock state */ SPICON = 0x00008120; /* PB Frequency can be maximum 40 MHz */ if(pbFreq > (2 * MAX_SPI_CLK_FREQ_FOR_P2P)){ SPI_Brg = 1; /* Continue the loop till you find SPI Baud Rate Reg Value */ while(1){ /* SPI Clock Calculation as per PIC32 Manual */ SPI_Clk_Freq = pbFreq / (2 * (SPI_Brg + 1)); if(SPI_Clk_Freq <= MAX_SPI_CLK_FREQ_FOR_P2P){ break; } SPI_Brg++; } #if defined MRF24J40_IN_SPI1 mSpiChnSetBrg (1, SPI_Brg); #elif defined MRF24J40_IN_SPI2 mSpiChnSetBrg (2, SPI_Brg); #elif defined MRF24J40_IN_SPI3 mSpiChnSetBrg (1A, SPI_Brg); #elif defined MRF24J40_IN_SPI4 mSpiChnSetBrg (3A, SPI_Brg); #endif } else{ #if defined MRF24J40_IN_SPI1 mSpiChnSetBrg (1, 0); #elif defined MRF24J40_IN_SPI2 mSpiChnSetBrg (2, 0); #elif defined MRF24J40_IN_SPI3 mSpiChnSetBrg (1A, 0); #elif defined MRF24J40_IN_SPI4 mSpiChnSetBrg (3A, SPI_Brg); #endif } #endif #endif #if defined(MRF49XA_1) //Configuration for Guilja's Expansion Board, Connection SLot 1 --// mPORTESetPinsDigitalOut(BIT_1); //nCS mPORTBSetPinsDigitalIn(BIT_2); //FINT //Juan: Added. //----------------------------------------------------------------// MRF49XA_1_PHY_CS_TRIS = 0; MRF49XA_1_PHY_CS = 1; MRF49XA_1_PHY_RESETn_TRIS = 0; MRF49XA_1_PHY_RESETn = 1; MRF49XA_1_INT_TRIS = 1; MRF49XA_1_SDI_TRIS = 1; MRF49XA_1_SDO_TRIS = 0; MRF49XA_1_SCK_TRIS = 0; MRF49XA_1_SPI_SDO = 0; MRF49XA_1_SPI_SCK = 0; MRF49XA_1_nFSEL_TRIS = 0; MRF49XA_1_FINT_TRIS = 1; MRF49XA_1_nFSEL = 1; // nFSEL inactive MRF49XA_1_SPICONCLR = 0xFFFFFFFF; //Clear SPIxCON register #ifdef HARDWARE_SPI /* Enable SPI1, Set to Master Mode & Set CKE bit : Serial output * data changes on transition from active clock state to Idle * clock state */ MRF49XA_1_SPICON = 0x00008120; /* PB Frequency can be maximum 40 MHz */ if(pbFreq > (2 * MAX_SPI_CLK_FREQ_FOR_P2P)){ SPI_Brg = 1; /* Continue the loop till you find SPI Baud Rate Reg Value */ while(1){ /* SPI Clock Calculation as per PIC32 Manual */ SPI_Clk_Freq = pbFreq / (2 * (SPI_Brg + 1)); if(SPI_Clk_Freq <= MAX_SPI_CLK_FREQ_FOR_P2P){ break; } SPI_Brg++; } #if defined MRF49XA_1_IN_SPI1 mSpiChnSetBrg (1, SPI_Brg); #elif defined MRF49XA_1_IN_SPI2 mSpiChnSetBrg (2, SPI_Brg); #elif defined MRF49XA_1_IN_SPI3 mSpiChnSetBrg (1A, SPI_Brg); #endif } else{ #if defined MRF49XA_1_IN_SPI1 mSpiChnSetBrg (1, 0); #elif defined MRF49XA_1_IN_SPI2 mSpiChnSetBrg (2, 0); #elif defined MRF49XA_1_IN_SPI3 mSpiChnSetBrg (1A, 0); #endif } #endif #endif #if defined(MRF49XA_2) MRF49XA_2_PHY_CS_TRIS = 0; MRF49XA_2_PHY_CS = 1; MRF49XA_2_PHY_RESETn_TRIS = 0; MRF49XA_2_PHY_RESETn = 1; MRF49XA_2_INT_TRIS = 1; MRF49XA_2_SDI_TRIS = 1; MRF49XA_2_SDO_TRIS = 0; MRF49XA_2_SCK_TRIS = 0; MRF49XA_2_SPI_SDO = 0; MRF49XA_2_SPI_SCK = 0; MRF49XA_2_nFSEL_TRIS = 0; MRF49XA_2_FINT_TRIS = 1; MRF49XA_2_nFSEL = 1; // nFSEL inactive MRF49XA_2_SPICONCLR = 0xFFFFFFFF; // Clear SPIxCON register #ifdef HARDWARE_SPI /* Enable SPI1, Set to Master Mode & Set CKE bit : Serial output * data changes on transition from active clock state to Idle * clock state */ MRF49XA_2_SPICON = 0x00008120; /* PB Frequency can be maximum 40 MHz */ if(pbFreq > (2 * MAX_SPI_CLK_FREQ_FOR_P2P)){ SPI_Brg = 1; /* Continue the loop till you find SPI Baud Rate Reg Value */ while(1){ /* SPI Clock Calculation as per PIC32 Manual */ SPI_Clk_Freq = pbFreq / (2 * (SPI_Brg + 1)); if(SPI_Clk_Freq <= MAX_SPI_CLK_FREQ_FOR_P2P){ break; } SPI_Brg++; } #if defined MRF49XA_2_IN_SPI1 mSpiChnSetBrg (1, SPI_Brg); #elif defined MRF49XA_2_IN_SPI2 mSpiChnSetBrg (2, SPI_Brg); #elif defined MRF49XA_2_IN_SPI3 mSpiChnSetBrg (1A, SPI_Brg); #endif } else{ #if defined MRF49XA_2_IN_SPI1 mSpiChnSetBrg (1, 0); #elif defined MRF49XA_2_IN_SPI2 mSpiChnSetBrg (2, 0); #elif defined MRF49XA_2_IN_SPI3 mSpiChnSetBrg (1A, 0); #endif } #endif #endif // SPI & EXTERNAL INTERRUPTS PINS AND CONFIGURATION ----------------------// #if (defined __32MX675F256L__ || defined ____32MX675F512__) /* Set the SPI Port Directions (SDO, SDI, SCK) for every SPI module.*/ #if defined MRF49XA_1_IN_SPI1 || defined MRF49XA_2_IN_SPI1 || \ defined MRF89XA_IN_SPI1 || defined MRF24J40_IN_SPI1 || \ defined MRF24WB0M_IN_SPI1 mPORTDSetPinsDigitalOut(BIT_0); //SDO1 mPORTDSetPinsDigitalOut(BIT_10); //SCK1 mPORTCSetPinsDigitalIn(BIT_4); //SDI1 #endif #if defined MRF49XA_1_IN_SPI2 || defined MRF49XA_2_IN_SPI2 || \ defined MRF89XA_IN_SPI2 || defined MRF24J40_IN_SPI2 || \ defined MRF24WB0M mPORTGSetPinsDigitalOut(BIT_8); //SDO2 mPORTGSetPinsDigitalOut(BIT_6); //SCK2 mPORTGSetPinsDigitalIn(BIT_7); //SDI2 #endif #if defined MRF49XA_1_IN_SPI3 || defined MRF49XA_2_IN_SPI3 || \ defined MRF89XA_IN_SPI3 || defined MRF24J40_IN_SPI3 || \ defined MRF24WB0M mPORTFSetPinsDigitalOut(BIT_8); //SDO3 mPORTDSetPinsDigitalOut(BIT_15); //SCK3 mPORTFSetPinsDigitalIn(BIT_2); //SDI3 #endif // #if defined MRF24WB0M_IN_SPI4 // mPORTFSetPinsDigitalOut(BIT_5); //SDO4 // mPORTFSetPinsDigitalOut(BIT_13); //SCK4 // mPORTFSetPinsDigitalIn(BIT_4); //SDI4 // #endif #endif #endif // TIMER 1 FOR TIME_SYNC -------------------------------------------------// #if defined(ENABLE_TIME_SYNC) //TIMER 1 MAY BE USED FOR SLEEP MODE AND/OR FOR STACKS MAINTENANCE. IT //NEEDS ADAPTATION BEFORE ENABLING TIME_SYNC WITH TIMER 1 TOO! T1CON = 0; T1CON = 0x0012; T1CONSET = 0x8000; PR1 = 0xFFFF; IFS0bits.T1IF = 0; mT1IntEnable(1); mT1SetIntPriority(4); while(T1CONbits.TWIP); TMR1 = 0; #endif // TIMER 1 FOR NODE STACKS AUTO-MAINTENANCE ------------------------------// #if defined NODE_DOES_MAINTENANCE_TASKS T1CON = 0x0070; //Disable timer, PBCLK source, PS=256 TMR1 = 0x0000; //Reset count PR1 = MAINTENANCE_PERIOD; //Set period. IPC1SET = 0x00000005; //Set Priority level 1, Subpriority level 1 IFS0CLR = 0x00000010; //Clear T1IF IEC0SET = 0x00000010; //Set T1IE //Timer will be triggered after initialization. #endif // IOPORT CN - For waking up the node manually. --------------------------// mPORTDSetPinsDigitalIn(BIT_5); // CN14 CNCON = 0x8000; //Module enabled. CNEN = 0x00004000; //Enable CN14 CNPUE = 0x00004000; //Enable CN14 weak pull-up. ReadBUTTONS(); //Clear PORT mismatch condition. IFS1CLR = 0x00000001; //Clear the CN interrupt flag status bit IPC6SET = 0x00180000; //Set CN priority 6, subpriority 0. //It will be enabled only during sleep mode time interval //------------------------------------------------------------------------// // Lo modifico en el wifi config #if defined(ENABLE_NVM) //REVIEW //EE_nCS_TRIS = 0;//FERNANDO, CUIDADO NO SE SI LA PILA REALMENTE FUNCIONA CON FLASH MEMORY //EE_nCS = 1; #endif // INTERRUPTION FLAGS AND EXT_INT PIN FINAL SETTINGS ---------------------// #if defined MRF49XA_1 MRF49XA_1_IF = 0; if(MRF49XA_1_INT_PIN == 0){ MRF49XA_1_IF = 1; } #endif #if defined MRF49XA_2 MRF49XA_2_IF = 0; if(MRF49XA_2_INT_PIN == 0){ MRF49XA_2_IF = 1; } #endif #if defined MRF89XA PHY_IRQ1 = 0; #endif #if defined MRF24J40 MRF24J40_IF = 0; if(MRF24J40_INT_PIN == 0){ MRF24J40_IF = 1; } #endif }
static void lcd_setup(void) { //mPORTDSetPinsDigitalOut(BIT_3); //mPORTDClearBits(BIT_3); mPORTDSetPinsDigitalOut( BIT_2 ); //Set backlight to open drain mPORTDOpenDrainOpen( BIT_2 ); //Enable contrast control OpenTimer2(T2_ON, LCD_PWMPERIOD); OpenOC4( OC_ON | OC_TIMER_MODE16 | OC_TIMER2_SRC | OC_CONTINUE_PULSE | OC_LOW_HIGH , LCD_PWMPERIOD, 0x0458 ); //Start the timer for contrast/brightness PWM //OpenTimer3(T3_ON | T3_PS_1_1 | T3_SOURCE_INT, LCD_PWMPERIOD); //PR3 = LCD_PWMPERIOD - 1; //OC3R = 0; //mT3SetIntPriority(4); //mT3ClearIntFlag(); //mT3IntEnable(1); //SetDCOC3PWM(LCD_PWMPERIOD >> 2); //SetDCOC3PWM(1); //Enable brightness control OpenOC3( OC_ON | OC_TIMER_MODE16 | OC_TIMER2_SRC | OC_CONTINUE_PULSE | OC_LOW_HIGH , LCD_PWMPERIOD, 0x500 ); // Open ENABLE line as output LCD_EN_CLR(); PORT_DIR_OUT(LCD_EN_P, LCD_EN); LCD_EN_CLR(); // Open RW and RS lines as output LCD_RS_CLR(); PORT_CLR(LCD_RW_P, LCD_RW); PORT_DIR_OUT(LCD_RS_P, LCD_RS); PORT_DIR_OUT(LCD_RW_P, LCD_RW); LCD_RS_CLR(); PORT_CLR(LCD_RW_P, LCD_RW); // Set data lines as output PORT_CLR(LCD_DATA_P, LCD_DATA_MASK); PORT_DIR_OUT(LCD_DATA_P, LCD_DATA_MASK); PORT_CLR(LCD_DATA_P, LCD_DATA_MASK); // Wait for proper power up task_delay(LCD_LONG_DELAY); task_delay(LCD_LONG_DELAY); task_delay(LCD_LONG_DELAY); task_delay(LCD_LONG_DELAY); // Wait for the LCD to power up correctly lcd_command(LCD_FUNCTION_SET_CMD | LCD_FUNCTION_SET_8_BITS); task_delay(LCD_SHORT_DELAY); lcd_command(LCD_FUNCTION_SET_CMD | LCD_FUNCTION_SET_8_BITS); task_delay(LCD_VERY_SHORT_DELAY); lcd_command(LCD_FUNCTION_SET_CMD | LCD_FUNCTION_SET_8_BITS); task_delay(LCD_VERY_SHORT_DELAY); // Set up the LCD function lcd_command(LCD_FUNCTION_SET_CMD | LCD_FUNCTION_SET_8_BITS | LCD_FUNCTION_SET_2_LINES); task_delay(LCD_VERY_SHORT_DELAY); // Turn the display on lcd_command(LCD_DISPLAY_CTRL_CMD | LCD_DISPLAY_CTRL_CURSOR_ON | LCD_DISPLAY_CTRL_BLINK_ON); task_delay(LCD_VERY_SHORT_DELAY); // Clear the display lcd_command(LCD_CLEAR_DISPLAY_CMD); task_delay(LCD_SHORT_DELAY); // Increase the cursor lcd_command(LCD_ENTRY_MODE_CMD | LCD_ENTRY_MODE_INCREASE); task_delay(LCD_SHORT_DELAY); lcd_command(LCD_DISPLAY_CTRL_CMD | LCD_DISPLAY_CTRL_DISPLAY_ON); task_delay(LCD_SHORT_DELAY); }