static void processCy7c4xxFifo(void)
{
unsigned char c;
static unsigned char *cy7c4xx_buf_ptr = InDataPacket;
static unsigned char len = 0;
if (cy7c4xxPull(&c) != 0)
return;
if (len) {
*cy7c4xx_buf_ptr = c;
++cy7c4xx_buf_ptr;
--len;
if (len == 0) {
#if DEBUG
if (usbfifo_debug_operation.dump_fifo_out == 1) {
unsigned char l = cy7c4xx_buf_ptr-InDataPacket, i;
unsigned char b[12];
putrsUSART("FIFO IN: '");
for (i=0;i<l;++i) {
if (i != 0) {
while (BusyUSART());
putcUSART(' ');
}
sprintf(b, "%02x", InDataPacket[i]);
putsUSART(b);
}
sprintf(b, "' len=%3d\r\n", l);
putsUSART(b);
}
if (usbfifo_debug_operation.fifo_loopback == 1) {
unsigned char l = cy7c4xx_buf_ptr-InDataPacket, i; /* length of incoming packet _must_ not exceed the length of outgoing */
fifo9403aPush(l, 1);
for (i=0;i<l;++i)
fifo9403aPush(InDataPacket[i], 1);
}
#endif
/* FIXME: use real ping-pong */
while (USBHandleBusy(UsbInDataHandle)); // should not loop, anyway ...
UsbInDataHandle = USBGenWrite(USBGEN_DATA_EP_NUM, (BYTE*)&InDataPacket, cy7c4xx_buf_ptr-InDataPacket);
while (USBHandleBusy(UsbInDataHandle)); // have to wait here as full ping-pong is not implemented
// and thus we don't want data from FIFO override the data being sent here
cy7c4xx_buf_ptr = InDataPacket;
}
} else {
len = c;
}
}
void imprimir() {
while(BusyUSART());
WriteUSART(35);
while(BusyUSART());
WriteUSART(88);
while(BusyUSART());
itoa(buf, acc_x, 10);
putsUSART(&buf);
//putintUSART(&acc_x);
while(BusyUSART());
WriteUSART(43);
while(BusyUSART());
WriteUSART(89);
while(BusyUSART());
//putintUSART(&acc_y);
itoa(buf, acc_y, 10);
putsUSART(&buf);
while(BusyUSART());
WriteUSART(43);
while(BusyUSART());
WriteUSART(90);
while(BusyUSART());
//putintUSART(&acc_z);
itoa(buf, acc_z, 10);
putsUSART(&buf);
while(BusyUSART());
WriteUSART(43);
while(BusyUSART());
WriteUSART(33);
//itoa(buf, temperature, 10);
// putsUSART(&buf);
// putsUSART(&mid);
//putsUSART(&start);
//itoa(buf, acc_x, 10);
//putintUSART(&acc_x);
//putsUSART(&mid);
//itoa(buf, acc_y, 10);
//putsUSART(&buf);
//putsUSART(&mid);
//itoa(buf, acc_z, 10);
//putsUSART(&buf);
//putsUSART(&mid);
//putsUSART(&end);
//putsUSART(&enter);
}
void main() {
clock_int_4MHz();
habilita_interrupcao(recep_serial);
taxa_serial(9600);
while (1) {
if(!entrada_pin_e3){Reset();}//pressionar o botão para gravação
nivel_alto(pin_b7);
tempo_ms(1000);
nivel_baixo(pin_b7);
tempo_ms(1000);
//tempo_ms(2000);
ultoa(d,str); // convert to string and print d - importante para sensores
putsUSART(str);
tempo_ms(200);// o tempo para envio de mais de um caractere
// escreve_serial('A'); //while (envia_byte());// escreve só um byte
//------------Transmissão Serial ----------------------------------------------------------------
putsUSART((char *) Txdata); // transmite the string
if (avisa_interrompeu == 1) //foi inserido um caracter?
{
if(inputstr[str_pos - 1] == 'K') //0x0D o último caracter foi o ENTER?
{avisa_interrompeu = 0;
// printf("Comando digitado %s\r", inputstr);
str_pos = 0; //reset da posição na string de buffer
}
}
}
}
void main (void) {
// Interrupt configs
RCONbits.IPEN = 0; // Deshabilitar prioridades
INTCONbits.PEIE = 1; // Habilitar interrupciones de perifericos
INTCONbits.GIE = 1; // Habilitar interrupciones globales
// Inicializa el USART y lo configura a 8N1, 9600 badios
OpenUSART(
USART_TX_INT_OFF & // TX sin interrupciones
USART_RX_INT_ON & // RX con interrupciones
USART_ASYNCH_MODE & // Modo asincronico
USART_EIGHT_BIT & // 8 bits de datos
USART_CONT_RX & // Recepci?n continua
USART_BRGH_HIGH, 129 // 9600 baudios a 20 mhz (calcular con PicBaudRate)
);
// Init LCD
lcd_init();
lcd_gotoxy(0,2);
lcd_putrs(" Temp: ");
// Safety?
__delay_ms(39);
while (1) {
if (dataFlag != 0) {
dataFlag = 0;
// Convierte el float a string
sprintf(strGrados, "%2.1f,", grados);
if (data == 0xFD) putcUSART(0xFD); // Control
else if (data == 0xFF) putsUSART(strGrados); // Env�a info
}
Medir_Temperatura();
__delay_ms(39);
grados = Leer_DS18B20();
lcd_gotoxy(10,2);
printf("%2.1f", grados);
}
}
void main(void) {
char msg[6];
int counter=0;
initSquareWear();
// open USART, default baud rate 57600 (defined in SquareWear.h)
openUSART();
putrsUSART("Begin.\r\n"); // write a constant string
while(1) {
itoa(counter, msg);
putsUSART(msg); // write a string
putrsUSART("\r\n");
latC7 = !latC7;
delaySeconds(1);
counter++;
}
}
// main application code
void main()
{
u8 counter=0;
char str[20];
// TRISBbits.TRISB7=0;
init_picstar();
init_buzzer();
init_bPous;
// Configure Hardware USART
OpenUSART( USART_TX_INT_OFF &
USART_RX_INT_OFF &
USART_ASYNCH_MODE &
USART_EIGHT_BIT &
USART_CONT_RX &
USART_BRGH_LOW,
BAUD19200); //check the uard_baud.h file for available baud rates.
bip();
// let's wait until we powered the PICKIT2
delay_ms(2000);
// print from ROM
putrsUSART( "\r\nHello World!\r\n" );
// main loop
while(1)
{
if(bPous==0)
{
// bip();
// print from variable string
sprintf(str,"counter= %u \r\n", counter++);
putsUSART(str);
delay_ms(1000);
}
} // end of main loop
}
void InitializeGPS(void)
{
// configure USART
OpenUSART( USART_TX_INT_OFF &
USART_RX_INT_OFF &
USART_ASYNCH_MODE &
USART_EIGHT_BIT &
USART_CONT_RX &
USART_BRGH_LOW,
64 );
while (BusyUSART());
putsUSART(gga_off);
while (BusyUSART());
putsUSART(gsa_off);
while (BusyUSART());
putsUSART(gsv_off);
while (BusyUSART());
putsUSART(rmc_off);
while (BusyUSART());
putsUSART(gll_off);
while (BusyUSART());
putsUSART(vtg_on);
}
void main(void)
{
// Configuracao das portas com LEDs
TRISCbits.TRISC0=0; // LED Amarelo para simples sinalizacao
TRISCbits.TRISC1=0; // LED Verde para simples sinalizacao
TRISCbits.TRISC2=0; // LED Vermelho para simples sinalizacao
// Configuracao do pino TX da porta serial EUSART / para RS232
TRISCbits.TRISC6=1; // TX da EUSART
// O programa ira informar na porta serial o status
// e logs de funcionamento da coleta de dados I2C
// agora a CHAMADA para configuracao GLOBAL da PIC
configuracao_PIC();
// Preparacao para configuracao do modulo MSSP I2C (com Errata aplicada)
/* 17. Module: MSSP (ERRATA for PIC18F4550 and PIC18F2525, etc)
* ================
*
* It has been observed that following a Power-on Reset, I2C mode may not
* initialize properly by just configuring the SCL and SDA pins as either
* inputs or outputs. This has only been seen in a few unique system
* environments. A test of a statistically significant sample of pre-
* production systems, across the voltage and current range of the
* application's power supply, should indicate if a system is
* susceptible to this issue.
*
* Work around = Before configuring the module for I2C operation:
* 1. Configure the SCL and SDA pins as outputs by clearing
* their corresponding TRIS bits.
* 2. Force SCL and SDA low by clearing the corresponding LAT bits.
* 3. While keeping the LAT bits clear, configure SCL and SDA as
* inputs by setting their TRIS bits.
*
* Once this is done, use the SSPCON1 and SSPCON2 registers to
* configure the proper I2C mode as before.
*/
TRISCbits.TRISC3=0; // SCL do I2C colocado como saida por causa de bug*
TRISCbits.TRISC4=0; // SDA do I2C colocado como saida por causa de bug*
LATC3=0; // bug* pede que zere-se o LAT das portas SCL e SDA
LATC4=0; // durante inicializacao do I2C para evitar flutuacoes
// eletricas que ficariam nas portas antes de liga-las
Delay10KTCYx(10); // simples pausa para troca de estado na SDA e SCL
TRISCbits.TRISC3=1; // SCL do I2C, agora corretamente como saida
TRISCbits.TRISC4=1; // SDA do I2C, agora corretamente como saida
// here ends "errata workaround"
// entao a CHAMADA para diversas configuracoes referentes ao I2C (MSSP)
configuracao_I2C();
// e a inicializacao da porta serial EUSART
configuracao_EUSART();
while(BusyUSART());
putrsUSART("\n\r_INIT SERIAL.\n\r");
/*************************
*
* INICIO DO PROGRAMA
*
*************************/
LED_AMAR=0;
LED_VERM=1;
LED_VERD=0;
// Inicializacao do MSSP I2C
CloseI2C(); // simplesmente fechando qualquer possibilidade de I2C anterior
// comando nao necessario no boot da PIC
//macro = #define CloseI2C() SSPCON1 &=0xDF
while(BusyUSART());
putrsUSART("SSPAD=");
putsUSART( itoa(NULL,SSPADD,10) );
putrsUSART(" (hex=0x");
putrsUSART( itoa(NULL,SSPADD,16) );
putrsUSART("); Abrindo MSSP I2C (Master,Slew_off)\n\r");
OpenI2C(MASTER,SLEW_OFF); // configuracao implicita da SSPCON1 e SSPSTAT
while (1)
{
testaColisao();
getDS1307();
//testaColisao();
getTemperaturaHumidade();
pausa(10);
}
}
void getDS1307(void)
{
int hora=0, minuto=0, segundo=0, diasemana=0, dia=0, mes=0, ano=0, dummy=0;
char msg[40];
//#define StartI2C() SSPCON2bits.SEN=1;while(SSPCON2bits.SEN)
LED_AMAR=1;
IdleI2C();
StartI2C();
//IdleI2C();
__delay_us(16);
WriteI2C( 0xD0 );
//IdleI2C();
__delay_us(60);
WriteI2C( 0x00 );
IdleI2C();
__delay_us(16);
//AckI2C();AckI2C();AckI2C();AckI2C();AckI2C();AckI2C();AckI2C();AckI2C();
StopI2C();
//#define StopI2C() SSPCON2bits.PEN=1;while(SSPCON2bits.PEN)
//IdleI2C();
__delay_us(26);
RestartI2C();
__delay_us(16);
WriteI2C( 0xD1 );
__delay_us(1);
IdleI2C();
segundo =ReadI2C();
AckI2C();
IdleI2C();
minuto =ReadI2C();
AckI2C();
IdleI2C();
hora =ReadI2C();
AckI2C();
IdleI2C();
diasemana=ReadI2C();
AckI2C();
IdleI2C();
dia =ReadI2C();
AckI2C();
IdleI2C();
mes =ReadI2C();
AckI2C();
IdleI2C();
ano =ReadI2C();
AckI2C();
IdleI2C();
dummy =ReadI2C();
//AckI2C();
//__delay_us(16);
//IdleI2C();
//NotAckI2C();
//IdleI2C();
StopI2C();
//#define StopI2C() SSPCON2bits.PEN=1;while(SSPCON2bits.PEN)
LED_VERM = 0;
LED_AMAR=0;
LED_VERD=1;
sprintf(msg,"%xh:%xm:%xs _ dia %x/%x/%x _ ",
hora,minuto,segundo,dia,mes,ano);
while(BusyUSART());
putsUSART( msg );
LED_VERD=0;
}
void getTemperaturaHumidade (void)
{
unsigned char TEMPL=0, TEMPH=0, HUMIDL=0, HUMIDH=0;
unsigned char DUMMY=0, OP=0, BT=0;
float humidade, temperatura;
char msg[55];
LED_AMAR=1;
//#define StartI2C() SSPCON2bits.SEN=1;while(SSPCON2bits.SEN)
StartI2C(); // ACORDAR DEVICE
__delay_us(16);
WriteI2C(0xB8); // endereco Slave do AM2315
__delay_us(135);
StopI2C();
//#define StopI2C() SSPCON2bits.PEN=1;while(SSPCON2bits.PEN)
// com clock de 4 mhz:
// 10K (100) = 1000 ms
// 1K (100) = 100 ms
// 1K (10) = 10 ms
// 1K (2) = 2 ms
// Delay100TCYx();
__delay_us(25);
RestartI2C(); // REQUISITAR PEDIDO DE BYTES
__delay_us(16);
WriteI2C(0xB8); // endereco Slave do AM2315
__delay_us(60); // manual do AM2315 recomenda minimo de 30us
WriteI2C(0x03); // byte que simboliza a temperatura
__delay_us(60);
WriteI2C(0x00); // start byte para leitura
__delay_us(60);
WriteI2C(0x04); // quantidades de bytes a serem lidos;
//AckI2C();
__delay_us(16);
StopI2C();
//#define StopI2C() SSPCON2bits.PEN=1;while(SSPCON2bits.PEN)
__delay_ms(10); // manual do AM2315 recomenda esperar no minimo 10ms
RestartI2C();
WriteI2C(0xB9); // endereco Slave do AM2315
//AckI2C(); // retirado por nao necessitar (?)
__delay_us(60); // manual do AM2315 recomenda minimo de 30us
IdleI2C();
OP = ReadI2C(); // 1o byte
AckI2C();
IdleI2C();
BT = ReadI2C(); // 2o byte
AckI2C();
IdleI2C();
HUMIDL = ReadI2C(); // 3o byte
AckI2C();
IdleI2C();
HUMIDH = ReadI2C(); // 4o byte
AckI2C();
IdleI2C();
TEMPL = ReadI2C(); // 5o byte
AckI2C();
IdleI2C();
TEMPH = ReadI2C(); // 6o byte
AckI2C();
IdleI2C();
DUMMY = ReadI2C(); // 7o byte
AckI2C();
IdleI2C();
DUMMY = ReadI2C(); // 8 byte
//__delay_us(16);
StopI2C();
//#define StopI2C() SSPCON2bits.PEN=1;while(SSPCON2bits.PEN)
LED_VERM=0;
LED_AMAR=0;
LED_VERD=1;
// Calculos obtidos do exemplo do Arduino
humidade = HUMIDL;
humidade *= 256;
humidade += HUMIDH;
humidade /= 10;
temperatura = TEMPL;
temperatura *= 256;
temperatura += TEMPH;
temperatura /= 10;
/* ou ainda
RH = RHH << 8;
RH |= RHL;
TEMP = TEMPH << 8;
TEMP |= TEMPL;
*/
sprintf (msg, "Temp= %0.2f, Humid= %0.2f .", temperatura, humidade);
while(BusyUSART());
putsUSART(msg);
while(BusyUSART());
putrsUSART("\n\r");
LED_VERD=0;
}
void main(void) {
/* Configure the oscillator for the device */
ConfigureOscillator();
/* Initialize I/O and Peripherals for application */
InitApp();
char i = 0;
int loops = 0;
int direction = 1;
unsigned int servoIn[MAX_SERVOS];
unsigned int servoSorted1[MAX_SERVOS];
unsigned int servoSorted2[MAX_SERVOS];
unsigned char servoSortedId1[MAX_SERVOS];
unsigned char servoSortedId2[MAX_SERVOS];
unsigned int servoBuffer[MAX_SERVOS];
unsigned int servoBufferId[MAX_SERVOS];
//unsigned int servoBuffer[MAX_SERVOS];
unsigned char currentServo = 0;
unsigned int servoValue;
unsigned char sBegin[] = "Begin\n";
unsigned char sCommand[25];
for(i = 0; i < MAX_SERVOS; i++) {
servoIn[i] = 0;
}
//Test values
servoIn[0] = 0x01AA;
servoIn[1] = 0x00AF;
servoIn[2] = 0x0100;
servoIn[3] = 0x0060;
servoIn[4] = 0x0020;
putsUSART((char *) sBegin);
while(1) {
int num = 32424;
char hex[5];
//Process values
SortServos(servoIn, servoBuffer, servoBufferId);
PrintStatus(servoIn, servoBuffer, servoBufferId,
currentServo, servoValue);
ScaleServos(servoBuffer);
OffsetServos(servoBuffer);
//Cleanly switch out new values
//ToDo: Functionize
if(Servo_Set == 1) {
for(i = 0; i < MAX_SERVOS; i++) {
servoSorted2[i] = servoBuffer[i];
servoSortedId2[i] = servoBufferId[i];
Servo_Set = 2;
}
if(Servo_Switch_Flag == 1) {
Servo_Times = servoSorted2;
}
}
if(Servo_Set == 1) {
for(i = 0; i < MAX_SERVOS; i++) {
servoSorted2[i] = servoBuffer[i];
servoSortedId2[i] = servoBufferId[i];
Servo_Set = 2;
}
if(Servo_Switch_Flag == 1) {
Servo_Times = servoSorted2;
}
}
// for(int i = 0; i < MAX_SERVOS; i++) {
// servoSorted2[i] = servoSortedNext[i];
// //Servo_Times = servoSorted2;
// servoSet = 2;
// }
//
// }
//Read dashboard controls
if(CTRLBUTTON1) {
CTRLLED1 = 1;
currentServo = (currentServo + 1) % MAX_SERVOS;
for(int e = 0; e < 10; e++) {
//__delay_ms(40);
__delay_ms(10);
}
} else {
CTRLLED1 = 0;
}
if(CTRLSWITCH1) {
CTRLLED2 = 1;
servoIn[currentServo] = servoValue;
} else {
CTRLLED2 = 0;
}
//TODO: I got bridge problems, son
/*
//if(DataRdyUSART())
//while (!DataRdyUSART());
//sHeader[3] = getcUSART();
while( !DataRdyUSART( ) ); //Wait for serial data
//sHeader[1] = ReadUSART(); // Read buffer
if (RCSTAbits.OERR) {
RCSTAbits.CREN=0;
RCSTAbits.CREN=1;
sHeader[1] = getcUSART();
}
//getsUSART((char *) sHeader, 4); // Receive data up to 24 bytes.
//while (BusyUSART());
*/
ConvertADC();
for(int e = 0; e < 20; e++) {
//__delay_ms(40);
__delay_ms(40);
}
while( BusyADC() );
servoValue = ReadADC();
}
}
void main(void) {
char c;
char str[7]="ECHO:x\0";
RCONbits.IPEN = 1; // Enable priority interrupt
INTCON = 0b10100000;
TRISD = 0b00000000; // Configure PORTD for output
PORTD = 0b00000000; // turn off all LEDs initially
TRISB = 0b00000010; // Configure PORTB for output except RB1
PORTB = 0b00000000; // turn off all LEDs initially
//TMR0H=0x67;
//TMR0L=0x69;
//T0CON=0b10000110;
// configure USART
OpenUSART(USART_TX_INT_OFF &
USART_RX_INT_OFF &
USART_ASYNCH_MODE &
USART_EIGHT_BIT &
USART_CONT_RX,
129);
OpenADC(ADC_FOSC_64 & ADC_RIGHT_JUST & ADC_1ANA, ADC_CH0 & ADC_INT_OFF, 0);
OpenTimer0(TIMER_INT_ON & T0_16BIT & T0_SOURCE_INT & T0_PS_1_64);
WriteTimer0(57722);
//CONFIGURAR AQUI AS INTERRUPÇÕES
while (1); // stay in an infinite loop
{
// ADC handler
ConvertADC();
while (BusyADC());
resultado = ReadADC();
// Usart handler
c = getc_usart();
if (c == 'l') {
PORTB = 0b00000001;
} else if (c == 'd') {
PORTB = 0b00000000;
}
else if (c == 'q') {
resultado = resultado + 50;
}
else if (c == 'f') {
resultado = resultado - 50;
}
// get char from USART by polling method
str[5] = c;
putsUSART(str); // send string to USART
}
}
void terminalSendString(char *str) {
while(BusyUSART());
putsUSART(str);
}
void TaskTxSerial(void *pdata)
{
#if OS_CRITICAL_METHOD == 3
OS_CPU_SR cpu_sr;
#endif
struct AdcMsg *Sensores;
INT8U err;
INT16S Sensor1;
INT16S Sensor2;
INT16S Sensor3;
INT16U Acumulador1;
INT16U Acumulador2;
INT16U Acumulador3;
INT8U contador;
INT16U ValorTeclado;
INT8S strTx1[5];
INT8S strTx2[5];
INT8S strTx3[5];
for(;;)
{
OSSemPend(STaskTxSerial,0,&err);
Acumulador1=0;
Acumulador2=0;
Acumulador3=0;
for(contador=0 ; contador<10 ; contador++) {
Sensores = (struct AdcMsg *) OSQPend(QueueADC0, 0, &err);
Acumulador1+=Sensores->adc0;
Acumulador2+=Sensores->adc1;
Acumulador3+=Sensores->adc2;
OSMemPut(dMemory,Sensores);
}
OSSemPend(STeclado,0,&err);
ValorTeclado=NumeroSensores;
OSSemPost(STeclado);
Sensor1=0;
Sensor2=0;
Sensor3=0;
switch(ValorTeclado){
case 3:
Sensor3 = (INT16S) Acumulador3/10;
case 2:
Sensor2 = (INT16S) Acumulador2/10;
case 1:
Sensor1 = (INT16S) Acumulador1/10;
default:
break;
}
/*
itoa(Sensor1,strTx1);
putsUSART(strTx1);
putrsUSART(SPACE);
itoa(Sensor2,strTx2);
putsUSART(strTx2);
putrsUSART(SPACE);
itoa(Sensor3,strTx3);
putsUSART(strTx3);
putrsUSART(CRLF);
*/
if(NumeroSensores > 0){
itoa(Sensor1,strTx1);
putsUSART(strTx1);
putrsUSART(SPACE);
if(NumeroSensores > 1){
itoa(Sensor2,strTx2);
putsUSART(strTx2);
putrsUSART(SPACE);
}
if(NumeroSensores > 2){
itoa(Sensor3,strTx3);
putsUSART(strTx3);
}
putrsUSART(CRLF);
}
//OSSemPost(STask1);
OSTimeDly(10);
}
}
void main(void) {
char mensagem[]="Pronto > ";
ADCON1=0xF; // torna todas portas AN0 a AN12 como digitais
// na PIC18F2525 somente AN0 a AN4 e AN8 a AN12
// nas PICs com 40 pinos, todos ANs de 0 a 12
//
// PCFG3:PCFG0: A/D Port Configuration Control bits
// Note 1:
// The POR value of the PCFG bits depends on the value of
// the PBADEN Configuration bit. When PBADEN = 1,
// PCFG<2:0> = 000; when PBADEN = 0, PCFG<2:0> = 111.
TRISB=0; // output do LCD na PORTB / LCD output in PORTB
initLCD(); // inicia comandos de configuracao do LCD
// LCD init commands
/*
* obs: a biblioteca XLCD.H da PLIB para PIC18, considera como default o LCD
* conectado na PORTB com as seguintes pinagens:
*
Lower Nibble = LCD DATA in PORT B0, B1, B2, B3 (DATA_PORT)
RW_PIN in B6 ( PORT for LCD RW , can also be grounded)
RS_PIN in B5 ( PORT for LCD RS )
E_PIN in B4 ( PORT for LCD Enable Pin )
*/
TRISA2=1; // entrada do BOTAO / push-BOTTON input
TRISC0=0; // led verde 1
TRISC1=0; // led verde 2
TRISC2=0; // led verde 3
TRISC3=0; // led verde 4
TRISC4=0; //buzzer
TRISC5=0; //led vermelho
LED_VERMELHO=1;
LED1=1;
Delay10KTCYx(1000);
while(BusyXLCD());
WriteCmdXLCD(0x01); // comando para limpar LCD / command to clear LCD
while(BusyXLCD());
putrsXLCD ("Serial IO EUSART"); // somente logotipo / just a start logo
SetDDRamAddr(0x40); // Linha 2 do Display LCD / second line of LCD
while(BusyXLCD());
putrsXLCD ("RS232 PIC18F2525"); // somente logotipo / just a start logo
SetDDRamAddr(0x00); // volta cursor para linha 0 e posicao 0 do LCD
// put cursor in position 0,0 of LCD
contadorDisplay=0; // zerando a posicao de caracteres do LCD
// reseting the LCD character count
// Habilitacao dos pinos C6 e C7 para uso da EUSART (explicacao abaixo):
// Enabling pins C6 and C7 for EUSART (explanation bellow):
TRISC6=1;
TRISC7=1;
RCSTAbits.SPEN=1;
/*
The pins of the Enhanced USART are multiplexed
with PORTC. In order to configure RC6/TX/CK and
RC7/RX/DT as a USART:
? SPEN bit (RCSTA<7>) must be set (= 1)
? TRISC<7> bit must be set (= 1)
? TRISC<6> bit must be set (= 1)
Note:
The EUSART control will automatically
reconfigure the pin from input to output as
needed.
*/
LED1=1;
LED2=0;
LED_VERMELHO=0;
CloseUSART(); // fecha qualquer USART que estaria supostamente aberta antes
// just closes any previous USART open port
Delay10KTCYx(1); //Passing 0 (zero) results in a delay of 2,560,000 cycles
Delay10KTCYx(1000);
//PORTC=1; Delay10TCYx(50); PORTC=0;
OpenUSART( USART_TX_INT_OFF &
USART_RX_INT_ON &
USART_ASYNCH_MODE &
USART_EIGHT_BIT &
USART_CONT_RX &
USART_BRGH_LOW,
51
);
// Baud Rate "51" para 2400bps @ 8mhz em modo assincrono
// de acordo com DS39626E-page 207 do Datasheet em PDF da PIC18F2525
// These are common comands for 2400 bps running at 8 mhz, assyncronous mode
// just as being showed in PIC18F2525 Datasheet (DS39626E-page 207)
//baudUSART (BAUD_8_BIT_RATE | BAUD_AUTO_OFF);
// page 1158 do pic18_plib.pdf (capitulo 8.17.1.3.3 baud_USART)
// Set the baud rate configuration bits for enhanced usart operation
// These functions are only available for processors with
// enhanced usart capability (EUSART)
/*
The Enhanced Universal Synchronous Asynchronous
Receiver Transmitter (EUSART) module is one of the
two serial I/O modules. (Generically, the USART is also
known as a Serial Communications Interface or SCI.)
The EUSART can be configured as a full-duplex
asynchronous system that can communicate with
peripheral devices, such as CRT terminals and
personal computers. It can also be configured as a half-
duplex synchronous system that can communicate
with peripheral devices, such as A/D or D/A integrated
circuits, serial EEPROMs, etc.
The Enhanced USART module implements additional
features, including automatic baud rate detection and
calibration, automatic wake-up on Sync Break recep-
tion and 12-bit Break character transmit. These make it
ideally suited for use in Local Interconnect Network bus
(LIN bus) systems. (DS39626E-page 201)
*/
INTCONbits.PEIE = 1; // interrupcoes para perifericos
INTCONbits.GIE = 1; // interrupcoes globais
while(BusyUSART());
putrsUSART("\n\rLed1 e LedVermelho = Interrupcao; Led2 = while wait; Led3/4 = Err");
while(BusyUSART());
putrsUSART("\n\rComandos ^E (echo), ^P (lcd), ^L (cls), ^S (status)");
while(BusyUSART());
putrsUSART("\n\rTerminal Serial: ");
while(BusyUSART());
putsUSART(mensagem);
LED_VERMELHO=0;
LED1=1;
LED2=1;
//LED4=1;
while (1){
//LED4=RCIF;
// o LED4 mostra o status da Interrupcao da RX Serial
// Led4 shows the status of RX interrupt
//LED3=TXIF;
// o LED3 mostra o status da suposta interrupcao de TX
// Led3 shows the suposed TX interrupt state
LED3=OERR;
LED4=FERR;
/*
bit 2 FERR: Framing Error bit
1 = Framing error (can be cleared by reading RCREG register and receiving next valid byte)
0 = No framing error
*
bit 1 OERR: Overrun Error bit
1 = Overrun error (can be cleared by clearing bit, CREN)
0 = No overrun error
*/
LED2=~LED2;
Delay10KTCYx(10);
// quando esta no modo de espera de tecla* (interrupcao), fica piscando
// os tres leds para demonstrar a despreocupacao do loop while
// *na verdade essa espera de tecla eh o RX da serial
// when being in wait mode (for interrupt *keypress )just flashes the tree
// leds to demonstrate the un-commitment of while loop to keypress
// * this keypress event is the serial RX
// Check for overrun error condition
if (OERR == 1)
{
// Clear the overrun error condition
BUZZ=1;
CREN = 0;
CREN = 1;
Delay100TCYx(10); BUZZ=0;
}
LED_VERMELHO = RCIF; // buffer de recepcao cheio
}
return;
}
/**
* シリアルバッファへ書き込み
* @param str 出力バッファ
*/
void WriteSerial(char *str)
{
putsUSART(str);
}
void PrintStatus(unsigned int *iServos, unsigned int *iOutput,
unsigned char *cIds, unsigned char cId, unsigned int iInput) {
static int c = 4;
unsigned char sMod[] = "Mod: ";
unsigned char sId[] = " Id: ";
unsigned char sInput[] = ", Input: ";
unsigned char sCurrent[] = " Current: ";
unsigned char sNew[] = " New: ";
unsigned char sSorted[] = " Sorted: ";
unsigned char sSeparator[] = ", ";
unsigned char sNewline[] = "\r\n";
//Overall Values
putsUSART((char *) sMod);
WriteUSART((c % 10) + '0'); //This just shows activity
putsUSART((char *) sId);
PrintInt(cId);
putsUSART((char *) sInput);
PrintInt(iInput);
putsUSART((char *) sNewline);
//Current values
putsUSART((char *) sCurrent);
for(int i = 0; i < MAX_SERVOS; i++) {
if(i) {
putsUSART((char *) sSeparator);
}
PrintInt(iServos[i]);
}
putsUSART((char *) sNewline);
//New values
putsUSART((char *) sNew);
for(int i = 0; i < MAX_SERVOS; i++) {
if(i) {
putsUSART((char *) sSeparator);
}
PrintInt(iOutput[i]);
}
putsUSART((char *) sNewline);
//Sort order
putsUSART((char *) sSorted);
for(int i = 0; i < MAX_SERVOS; i++) {
if(i) {
putsUSART((char *) sSeparator);
}
PrintInt(cIds[i]);
}
putsUSART((char *) sNewline);
putsUSART((char *) sNewline);
c++;
}
void main (void)
{
TRISC0=0; // Led Amar
TRISC1=0; // Led Verd
TRISC2=0; // LED Verm
TRISC6=0; // saida TX EUSART
ADCON1=0x0F; // coloca pinos I/O em modo digital (nao analogico)
acordar();
unsigned int D0, D1, D2, D3, minAnterior, contador, segInicial;
char msg[30];
LED_VERM=1;
// inicia porta serial com 9600 bps @ 8mhz
initExt7SegLCD(); // inicia barramento I2C e escreve ".12:34."
pausa(1); piscaSeg(0);
// Inicio do Relogio e Display
contador=0; // o contador esta acima do limite (59)
minAnterior=10; // o minuto nunca chegaria a 10 (forca display)
while (1)
{
getDS1307();
sprintf(msg," _[%x:%x:%x]_", hora, minuto, segundo );
while(BusyUSART());
putsUSART( msg );
D0 = (hora & 0b00110000) >> 4; // utiliza somente 2 bits da nibble esq
D1 = hora & 0b00001111; // utiliza somente 4 bits da nibble dir
D2 = (minuto & 0b11110000) >> 4;// utiliza somente 4 bits da nibble esq
D3 = minuto & 0b00001111; // utiliza somente 4 bits da nibble dir
/*
sprintf(msg,"___ %d%d:%d%d ...%xseg_ \r\n",
D0, D1, D2, D3 ,segundo);
while(BusyUSART());
putsUSART( msg );
*/
if (D3 != minAnterior) // se mudou o minuto, entao mostre novo horario
{
StartI2C();
__delay_us(16); // delay experimental
WriteI2C(HT16K33_ADDR << 1);
WriteI2C(0x00);
WriteI2C(numbertable[D0] & 0xff ); // preenche todos os bits
WriteI2C(numbertable[D0] >> 8); // qualquer byte
// obs: acima como foram usados somente 2 bits, alguma "sujeira"
// poderia ter ficado escrita no registrador, por isso a necessidade
// de "preencher" os outros bits com & 0xff
WriteI2C(numbertable[ D1 ] & 0xFF ); // preenche todos os bits
WriteI2C(numbertable[ D1 ] >> 8); // qualquer byte
WriteI2C(0xFF); // escreve ":" sempre no segundo 0 de mostrar
WriteI2C(0xFF >> 8); // qualquer byte
WriteI2C(numbertable[ D2 ] & 0xFF );// preenche todos os bits
WriteI2C(numbertable[ D2 ] >> 8); // qualquer byte
WriteI2C(numbertable[ D3 ] & 0xFF );// preenche todos os bits
WriteI2C(numbertable[ D3 ] >> 8); // qualquer byte
NotAckI2C(); // encerra envio
__delay_us(16); // delay experimental
StopI2C();
minAnterior=D3; // variavel para proxima checagem e mudanca
}
pausa(1); // utiliza TIMER0 para realizar contagem precisa de 1 seg
if ( (contador % 2) == 0) piscaSeg(1); // gera a piscada ":" par
else piscaSeg(0); // ou impar " ", a cada mudanca de contador (seg)
sprintf(msg,"\r\nSeg=%d, Cont=%d", segundo, contador );
while(BusyUSART());
putsUSART( msg );
// rotina abaixo de calculo de desvio de segundos
// ainda deve ser corrigida para o algoritmo correto
if (contador >= 2 ) // cont >= 40+10
{
dormir();
sprintf(msg,"\r\nSeg=%d, Cont=%d (volta do sleep)", segundo, contador );
while(BusyUSART());
putsUSART( msg );
contador=0;
}
contador++; // incrementa controle de contagem de segundos
}
static void processUsbCommands(void)
{
#if defined(USB_POLLING)
// Check bus status and service USB interrupts.
USBDeviceTasks(); // Interrupt or polling method. If using polling, must call
// this function periodically. This function will take care
// of processing and responding to SETUP transactions
// (such as during the enumeration process when you first
// plug in). USB hosts require that USB devices should accept
// and process SETUP packets in a timely fashion. Therefore,
// when using polling, this function should be called
// regularly (such as once every 1.8ms or faster** [see
// inline code comments in usb_device.c for explanation when
// "or faster" applies]) In most cases, the USBDeviceTasks()
// function does not take very long to execute (ex: <100
// instruction cycles) before it returns.
#endif
// Note: The user application should not begin attempting to read/write over the USB
// until after the device has been fully enumerated. After the device is fully
// enumerated, the USBDeviceState will be set to "CONFIGURED_STATE".
if ((USBDeviceState < CONFIGURED_STATE)||(USBSuspendControl==1))
return;
// As the device completes the enumeration process, the UsbCbInitEP() function will
// get called. In this function, we initialize the user application endpoints (in this
// example code, the user application makes use of endpoint 1 IN and endpoint 1 OUT).
// The USBGenRead() function call in the UsbCbInitEP() function initializes endpoint 1 OUT
// and "arms" it so that it can receive a packet of data from the host. Once the endpoint
// has been armed, the host can then send data to it (assuming some kind of application software
// is running on the host, and the application software tries to send data to the USB device).
// If the host sends a packet of data to the endpoint 1 OUT buffer, the hardware of the SIE will
// automatically receive it and store the data at the memory location pointed to when we called
// USBGenRead(). Additionally, the endpoint handle (in this case UsbOutCmdHandle) will indicate
// that the endpoint is no longer busy. At this point, it is safe for this firmware to begin reading
// from the endpoint buffer, and processing the data. In this example, we have implemented a few very
// simple commands. For example, if the host sends a packet of data to the endpoint 1 OUT buffer, with the
// first byte = 0x80, this is being used as a command to indicate that the firmware should "Toggle LED(s)".
if (!USBHandleBusy(UsbOutCmdHandle)) { // Check if the endpoint has received any data from the host.
#if DEBUG
unsigned char l = USBHandleGetLength(UsbOutCmdHandle);
if (usbfifo_debug_operation.dump_usb_out == 1) {
unsigned char b[16];
unsigned char i;
putrsUSART("USB OUT: '");
for (i=0;i<l;++i) {
if (i != 0) {
while (BusyUSART());
putcUSART(' ');
}
sprintf(b, "%02x", OutCmdPacket[i]);
putsUSART(b);
}
sprintf(b, "' len=%3d\r\n", l);
putsUSART(b);
}
if (usbfifo_debug_operation.usb_loopback == 1) {
unsigned char i;
// Now check to make sure no previous attempts to send data to the host are still pending. If any attemps are still
// pending, we do not want to write to the endpoint 1 IN buffer again, until the previous transaction is complete.
// Otherwise the unsent data waiting in the buffer will get overwritten and will result in unexpected behavior.
while (USBHandleBusy(UsbInCmdHandle));
for (i=0;i<l;++i)
InCmdPacket[i] = OutCmdPacket[i];
// The endpoint was not "busy", therefore it is safe to write to the buffer and arm the endpoint.
// The USBGenWrite() function call "arms" the endpoint (and makes the handle indicate the endpoint is busy).
// Once armed, the data will be automatically sent to the host (in hardware by the SIE) the next time the
// host polls the endpoint. Once the data is successfully sent, the handle (in this case UsbInCmdHandle)
// will indicate the the endpoint is no longer busy.
UsbInCmdHandle = USBGenWrite(USBGEN_CMD_EP_NUM, (BYTE*)&InCmdPacket, l);
}
#endif
switch (OutCmdPacket[0]) {
#if DEBUG
case USBFIFO_CMD_DUMP_USB_OUT:
usbfifo_debug_operation.dump_usb_out ^= 1;
break;
case USBFIFO_CMD_DUMP_FIFO_OUT:
usbfifo_debug_operation.dump_fifo_out ^= 1;
break;
case USBFIFO_CMD_FIFO_LOOPBACK:
usbfifo_debug_operation.fifo_loopback ^= 1;
break;
case USBFIFO_CMD_USB_LOOPBACK:
usbfifo_debug_operation.usb_loopback ^= 1;
break;
#endif
default:
{
unsigned char b[8];
putrsUSART("Unexpected cmd=");
sprintf(b, "0x%2X\r\n", OutCmdPacket[0]);
putsUSART(b);
}
break;
}
// Re-arm the OUT endpoint for the next packet:
// The USBGenRead() function call "arms" the endpoint (and makes it "busy"). If the endpoint is armed, the SIE will
// automatically accept data from the host, if the host tries to send a packet of data to the endpoint. Once a data
// packet addressed to this endpoint is received from the host, the endpoint will no longer be busy, and the application
// can read the data which will be sitting in the buffer.
UsbOutCmdHandle = USBGenRead(USBGEN_CMD_EP_NUM, (BYTE*)&OutCmdPacket, USBGEN_EP_SIZE);
}
if (!USBHandleBusy(UsbOutDataHandle)) {
#if USBGEN_EP_SIZE > FIFO_9403A_MAX_MSG_LEN
#error "Transfer of more than FIFO_9403A_MAX_MSG_LEN not implemented"
#endif
unsigned char l = USBHandleGetLength(UsbOutDataHandle);
unsigned char i;
#if DEBUG
if (usbfifo_debug_operation.dump_usb_out == 1) {
unsigned char b[16];
putrsUSART("USB OUT: '");
for (i=0;i<l;++i) {
if (i != 0) {
while (BusyUSART());
putcUSART(' ');
}
sprintf(b, "%02x", OutDataPacket[i]);
}
sprintf(b, "' len=%3d\r\n", l);
putsUSART(b);
}
if (usbfifo_debug_operation.usb_loopback == 1) {
while (USBHandleBusy(UsbInDataHandle)); // ensure that FIFO data left the device
for (i=0;i<l;++i)
InDataPacket[i] = OutDataPacket[i];
/* FIXME: use real ping-pong */
UsbInDataHandle = USBGenWrite(USBGEN_DATA_EP_NUM, (BYTE*)&InDataPacket, l);
while (USBHandleBusy(UsbInDataHandle)); // have to wait here as full ping-pong is not implemented
// and thus we don't want data from FIFO override the data being sent here
}
#endif
fifo9403aPush(l, 1);
for (i=0;i<l;++i)
fifo9403aPush(OutDataPacket[i], 1);
UsbOutDataHandle = USBGenRead(USBGEN_DATA_EP_NUM, (BYTE*)&OutDataPacket, USBGEN_EP_SIZE);
}
}
//===============================================================================================
// Main loop
//===============================================================================================
void main(void)
{
// Creates the variable to readin the commands from the python script
char reading;
// Creates the controller structure and initizle the corresponding values
CONTROLLER PY_GAMES_CONTROLLER;
CONTROLLER_INIT(&PY_GAMES_CONTROLLER);
// Set all of PORTC as outputs
TRISC=0x00;
// Configure UART
OpenUSART(USART_TX_INT_OFF & USART_RX_INT_OFF & USART_ASYNCH_MODE &USART_EIGHT_BIT & USART_CONT_RX & USART_BRGH_HIGH, 10);
Delay1KTCYx(4);
while(1)
{
// Wait for the next branch of data to come in and store it to the reading variable
while(!DataRdyUSART());
reading=ReadUSART();
// Checks to see if the current reading is equal to c, which means check to see if the controller is connected
if(reading=='c')
{
// Sends 1 to the python script
sprintf(message,"1");
putsUSART(message);
Delay1KTCYx(4);
}
// Checks to see if reading is equal to j for joystick
else if(reading=='j')
{
// Waits for the next data to be sent and stores it to reading
while(!DataRdyUSART());
reading=ReadUSART();
// Checks to see if the next reading is equal to l, or left
if(reading=='l')
{
// Waits for the next data to come in and stores it to reading
while(!DataRdyUSART());
reading=ReadUSART();
// Checks to see if x axis data is requested
if(reading=='x')
{
// Reads in the left joystick's x axis and sends it to the python script
int result=READJOYSTICKX(&PY_GAMES_CONTROLLER.LEFT_JOYSTICK);
sprintf(message,"%d",result);
putsUSART(message);
Delay1KTCYx(4);
}
// Check to see if y axis data is requested
else if(reading=='y')
{
// Reads the left joystick's y axis and sends the results to the python script
int result=READJOYSTICKY(&PY_GAMES_CONTROLLER.LEFT_JOYSTICK);
sprintf(message,"%d",result);
putsUSART(message);
Delay1KTCYx(4);
}
}
// Checks to see if reading is equal to r for right
else if(reading=='r')
{
// Waits for the next data to come in and stores the results to reading
while(!DataRdyUSART());
reading=ReadUSART();
// Checks to see if x axis data is requested
if(reading=='x')
{
// Reads in the right joystick's x axis and sends the results to the python script
int result=READJOYSTICKX(&PY_GAMES_CONTROLLER.RIGHT_JOYSTICK);
sprintf(message,"%d",result);
putsUSART(message);
Delay1KTCYx(4);
}
// Check to see if y axis data is requested
else if(reading=='y')
{
// Checks the right joystick's y axis and sends the results to the python script
int result=READJOYSTICKY(&PY_GAMES_CONTROLLER.RIGHT_JOYSTICK);
sprintf(message,"%d",result);
putsUSART(message);
Delay1KTCYx(4);
}
}
}
// Checks to see if reading is equal to b for button
else if(reading=='b')
{
// Waits for the next data to come in and stores the results to reading
while(!DataRdyUSART());
reading=ReadUSART();
// Checks to see if reading is equal to y for yellow button
if(reading=='y')
{
// Checks the status of the yellow button and sends it to the python script
int result=ISBUTTONPRESSED(&PY_GAMES_CONTROLLER.YELLOW_BUTTON);
sprintf(message,"%d",result);
putsUSART(message);
Delay1KTCYx(4);
}
// Checks to see if reading is equal to r for red button
else if(reading=='r')
{
// Checks the status of the red button and sends the results to the python script
int result=ISBUTTONPRESSED(&PY_GAMES_CONTROLLER.RED_BUTTON);
sprintf(message,"%d",result);
putsUSART(message);
Delay1KTCYx(4);
}
}
}
}
void Write_str(unsigned char* str)
{
putsUSART((char *)str); /*Passing the address of the String to the USART write function */
while(BusyUSART()); /*Wait until USART goes to idle state */
}
void SEND_TX_DATA(void)
{
putsUSART(TRANSMITT_DATA);
while (BusyUSART());
Clear_TX_Buffer();
}
