main() {
setup_ccp1(CCP_COMPARE_CLR_ON_MATCH); // Configure CCP1 in COMPARE mode
setup_timer_1(T1_INTERNAL); // Set up timer to instruction clk
while(TRUE) {
while(input(PIN_B0)) ; // Wait for keypress
setup_ccp1(CCP_COMPARE_SET_ON_MATCH); // Configure CCP1 to set
CCP_1=0; // C2 high now
set_timer1(0);
CCP_1 = 500; // Set high time limit
// to 100 us
// limit is time/(clock/4)
// 500 = .0001*(20000000/4)
setup_ccp1(CCP_COMPARE_CLR_ON_MATCH); // Configure CCP1 in COMPARE
// mode and to pull pin C2
// low on a match with timer1
delay_ms(1000); // Debounce - Permit only one pulse/sec
}
}
void pwm_init (int1 enabled)
{
set_tris_c (0); /* CCP1 is RC2, CCP2 is RC1 */
pwm_enabled = enabled;
if (enabled) {
setup_ccp1 (CCP_PWM);
setup_ccp2 (CCP_PWM);
setup_timer_2 (T2_DIV_BY_16, 255, 1); // 88 is 2.8 KHz
}
else {
setup_ccp1 (CCP_OFF);
setup_ccp2 (CCP_OFF);
}
}
void main()
{
enable_interrupts(INT_CCP1);
enable_interrupts(global);
setup_timer_1(T1_INTERNAL|T1_DIV_BY_1);
setup_ccp1(CCP_COMPARE_SET_ON_MATCH);
set_timer1(500);
ccp_1=40000;
while(1);
}
/*======================= configuracon de dispositivos =======================*/
void setup_devices(){
//int myerror = 0;
/*========================= configuracion del USB =========================*/
myerror = COM_init();
/*========================= configuracion del MMA7455 =====================*/
//myerror += MEMORIA_init_hw();
//myerror += MEMORIA_init();
/*========================= conversor analogo/digital =====================*/
// myerror = AD_init_adc();
/*========================= modulo CPP ====================================*/
//myerror = CP_init_ccp();
/*========================= configuracion del Reloj Digital ===============*/
//ds1307_init(DS1307_OUT_ON_DISABLED_HIHG | DS1307_OUT_ENABLED | DS1307_OUT_1_HZ);
//ds1307_set_date_time(0x0d, 0x01, 0x0d, 0x00, 0x0a, 0x2a, 0x00);
/*-------------------------------------------------------------------------*/
setup_psp(PSP_DISABLED);
setup_wdt(WDT_OFF);
setup_timer_0(RTCC_INTERNAL);
setup_timer_1(T1_DISABLED);
setup_timer_2(T2_DISABLED,0,1);
setup_comparator(NC_NC_NC_NC);
setup_vref(FALSE);
#ifndef CAPTURA_FRECUENCIA_H
setup_timer_3(T3_DISABLED|T3_DIV_BY_1);
setup_ccp1(CCP_OFF);
#endif
/*-------------------------------------------------------------------------*/
/*===================para los indicadores========================*/
set_tris_e(0x00);
set_tris_b(0x00);
set_tris_c(0x80); //configuracion para el modulo de memoria
set_tris_d(0x48);
output_bit(INDICADOR_USB, 0);
output_bit(INDICADOR_AMARILLO, 1);
////////////////////////////////
output_low(SPI_SCL);
output_high(SPI_SS);
output_low(SPI_MOSI);
output_high(SPI_MISO);
////////////////////////////////
//delay_ms(3000);
/*===============================================================*/
return;
}
void main()
{
setup_timer_2(T2_DIV_BY_16,255,1); //4.0 ms overflow, 4.0 ms interrupt
setup_ccp1(CCP_PWM);
setup_ccp2(CCP_PWM);
set_pwm1_duty((int16)200);
set_pwm2_duty((int16)200);
enable_interrupts(INT_SSP);
enable_interrupts(GLOBAL);
SET_TRIS_B(0);
stop();
//delay_ms(500);
while(TRUE)
{
if(hasCommand)
{
hasCommand= FALSE;
if(buffer[0] == 's'){
show();
}
else
switch(buffer[1])
{
case 1:
go_forward();
break;
case 2:
go_backward();
break;
case 3:
turn_right();
break;
case 4:
turn_left();
break;
case 5:
stop();
break;
default :
break;
}
}
}
}
void setup_motors() //initialize PWM
{
//setup_timer_2(T2_DIV_BY_1, 255, 16);
setup_timer_2(T2_DIV_BY_16, SPEED, 16);
//setup_timer_2(T2_DIV_BY_4, 63, 16);
// 5Mz instruction cycle, pwm cycle every 4*64 cycles (19.5khz)
// interrupt every 16th of that (not used)
setup_ccp1(CCP_PWM);
// PWM output on CCP1/RC2, pin 17
setup_ccp2(CCP_PWM);
// PWM output on CCP2/RC1, pin 16. PWM2 can be moved to pin 36; see ServoSkeleton
}
main() {
printf("\r\nHigh time (sampled every second):\r\n");
setup_ccp1(CCP_CAPTURE_RE); // Configure CCP1 to capture rise
setup_ccp2(CCP_CAPTURE_FE); // Configure CCP2 to capture fall
setup_timer_1(T1_INTERNAL); // Start timer 1
enable_interrupts(INT_CCP2); // Setup interrupt on falling edge
enable_interrupts(GLOBAL);
while(TRUE) {
delay_ms(1000);
printf("\r%lu us ", pulse_width/5 );
}
}
//**** Funciones genericas ***************************************************
void Inicio(void){
//--- ini: mPaP -----------------------------------------------------------
numPulsosX=numPulsosY=numPulsosZ=numPulsosE=0;
periodoPulsosX=periodoPulsosY=periodoPulsosZ=periodoPulsosE=0;
//--- ini: PID ------------------------------------------------------------
min=0.0; max=1023 ; //valor Anti-windup
i1=0;e1=0;d1=0;
Kd=8; Kp=8; Ki=0.02915;
T=5; //Tiempo de muestreo tr/6 < T < tr/20
Kpz=Kp; Kiz=Ki*T/2; Kdz=Kd/T;
//--- ini: CCP ---------------------------------------------------------
//--- Pre=16 PR2=249 Pos=1, PWMF=3kHz,PWMT=300us con Fosc(clock)=48MHz
setup_timer_2(T2_DIV_BY_16,249,1);
setup_ccp1(ccp_pwm); //Configurar modulo CCP1 en modo PWM
set_pwm1_duty(0);
//--- ini: ADC ---------------------------------------------------------
setup_adc_ports(AN0|VSS_VDD );
setup_adc(ADC_CLOCK_INTERNAL);
//setup_adc(ADC_CLOCK_DIV_8); //respetar el Tad>1.6us
//Tad=8/Fosc=8/20Mhz=400ns
set_adc_channel(0); //Seleccionar Canal(0)=AN0=A0 para ADC
//--- ini: TIMER0 for OS_Timer() ---------------------------------------
setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); //config Timer0, Pre=1=RTCC_DIV_1
//set_timer0(0xF63B); //carga del Timer0, clock=20MHz, Fout=1kHz=0xF63B
set_timer0(0xE88F); //carga del Timer0, clock=48MHz, Fout=1kHz=0xE88F
//--- ini: Interrupts --------------------------------------------------
//enable_interrupts(GLOBAL);
enable_interrupts(INT_TIMER0); //habilita interrupcion Timer0
//enable_interrupts(INT_TIMER2);
//--- ini: USB ------------------------------------------------------------
usb_init(); //inicializamos el USB
usb_task(); //habilita periferico usb e interrupciones
usb_wait_for_enumeration(); //esperamos hasta que el PicUSB
//sea configurado por el host
delay_ms(50);
}
//Incluye las cabeceras antes descritas
void main(){ //Rutina principal
output_high(LED); //Enciende el LED indicador
lcd_init();
//Rutina de incializacion del LCD
lcd_putc("\fListo \n");
//Despliega el mensaje "Listo" en el LCD
setup_adc_ports(AN0);
//Fija el pin 0 del puerto A como entrada analogica
setup_adc (adc_clock_internal);
//El tiempo para la conversion AD esta dado por el oscilador
//interno
set_adc_channel(0); //El puerto AD activo es el 0
enable_interrupts(INT_EXT);
//Habilita la interrupcion externa en RB0
ext_int_edge(L_to_H);
//Fija la interrupcion por flanco de subida.
setup_timer_2(T2_DIV_BY_16,129,16);
//El tiempo de oscilacion del timer 2 sirve tanto para la
//interrupcion por timer2 como para el PWM.
setup_ccp1(CCP_PWM);
//Da de alta el modulo CCP1 como PWM
//y lo inicializa en duty cycle 0
set_pwm1_duty(0);
setup_ccp2(CCP_PWM);
//Da de alta el modulo CCP2 como PWM
//y lo inicializa en duty cycle 0
set_pwm2_duty(0);
enable_interrupts(GLOBAL);
//Habilita las interrupciones globales
output_low(LED); //Apaga el led antes encendido.
while(TRUE){
//Esta rutina espera a la interrupcion y parpadea el LED
//indicador
output_low(LED);
delay_ms(100);
output_high(LED);
delay_ms(100);
}
}
void main()
{
int i, seq[10] = {n0, n1, n2, n3, n4, n5, n6, n7, n8, n9}, tensao;
setup_adc_ports(AN0|VSS_VDD);
setup_adc(ADC_CLOCK_DIV_8);
setup_psp(PSP_DISABLED);
setup_spi(SPI_SS_DISABLED);
setup_wdt(WDT_OFF);
setup_timer_0(RTCC_INTERNAL);
setup_timer_1(T1_DISABLED);
setup_timer_2(T2_DISABLED,0,1);
setup_ccp1(CCP_OFF);
setup_comparator(NC_NC_NC_NC);
setup_vref(FALSE);
set_adc_channel(0);
//TODO: User Code
while(TRUE)
{
tensao = read_adc();
if(tensao >= 127)
{
for(i = 1; i < 10; i++)
{
output_D(seq[i]);
delay_ms(1000);
}
}
else
{
for(i = 9; i >= 1; i--)
{
output_D(seq[i]);
delay_ms(1000);
}
}
}
}
void main()
{
setup_timer_0 (RTCC_INTERNAL|RTCC_DIV_256);
setup_timer_1 (T1_INTERNAL|T1_DIV_BY_8);
setup_timer_2(T2_DIV_BY_16,155,1);
setup_ccp1(CCP_PWM);
set_pwm1_duty(0);
setup_comparator(NC_NC_NC_NC);
setup_vref(FALSE);
enable_interrupts (int_TIMER1);
enable_interrupts (GLOBAL);
config ();
while (true)
{
if (ReceberComando ()==1)
{
output_toggle (led) ;
verificaComando (cmd[2]);
}
}
}
void init() {
unsigned int16 i;
blink();
init_queue(&rxque0);
init_queue(&txque0);
set_step(1); // 0=full, 1=1/2, 5=1/4, 4=1/8, 7=1/16
enable(1);
//setup_counters(T0_INTERNAL, T0_DIV_1 | T0_8_BIT);
setup_counters(T0_INTERNAL, T0_DIV_2 | T0_8_BIT);
set_timer0(0);
enable_interrupts(INT_RTCC);
enable_interrupts(INT_RDA);
enable_interrupts(GLOBAL);
output_bit(CTS,0); // ready to receive from usb
output_bit(STROBE,1); // parallel port strobe
// input(PIN_C3); // ESTOP
input(PIN_C4); // ALIM
input(PIN_C0); // XLIM
input(PIN_C1); // YLIM
// input(PIN_C2); // ZLIM
output_bit(PIN_C2,0); // changed from ZLIM to PWM OUTPUT
setup_ccp1(CCP_PWM);
setup_timer_2(T2_DIV_BY_16, 255, 1); // mode, period, postscale
set_timer2(0);
set_pwm1_duty(0); // duty cycle is val/(4*(255+1))
}
void main()
{
//initialize data
var_init();
//initialize timers and cp1 interrupt
setup_timer_1(T1_INTERNAL | T1_DIV_BY_2); //div 2 - 26.2 ms overflow
setup_ccp1(CCP_CAPTURE_FE);
//with 819.2 us overflow for Timer0, motor's speed must be at least 20 RPS
setup_timer_0(T0_INTERNAL | T0_DIV_16); //div 16 - 819.2 us overflow
//enable interrupts
enable_interrupts(INT_RB2|INT_RB3|INT_RB4|INT_RB5);;
enable_interrupts(INT_EXT);
enable_interrupts(INT_TIMER1);
enable_interrupts(INT_CCP1);
enable_interrupts(INT_TIMER0);
enable_interrupts(INT_RDA);
enable_interrupts(GLOBAL);
//initialize clock
ds1307_init();
//test power on
rgb_bits.blue = 0xF00F;
rgb_bits.red = 0x0F0F;
rgb_bits.green = 0x00FF;
latch_write(rgb_bits.blue, rgb_bits.red, rgb_bits.green);
//get the first values of date, time
ds1307_get_time(hour, min, sec);
ds1307_get_date(day, month, year, dow);
// calculating hour hand's position for analog clock
anal_hour = hour % 12;
anal_hour = anal_hour * 5;
anal_hour = anal_hour + (int8)(min / 12);
// calculating hour, minute, day, month numbers to display in digital clock
hour_h = (int8)(hour / 10);
hour_l = hour % 10;
min_h = (int8)(min / 10);
min_l = min % 10;
day_h = (int8)(day / 10);
day_l = day % 10;
month_h = (int8)(month / 10);
month_l = month % 10;
// main routine
while(true)
{
// rs232 operation
if (rs232_status == 11)
{
//notify the RS232 transmission for date, time update is successful
latch_write(0x0000, 0x0FF0, 0x0000);
rs232_status = 0;
ds1307_set_date_time(day, month, year, dow, hour, min, sec);
putc('O');
delay_ms(100);
putc('K');
delay_ms(100);
latch_ClearAll();
}
// get the time value from ds1307 after each 5 minutes
if(tick == 300)
{
ds1307_get_time(hour, min, sec);
ds1307_get_date(day, month, year, dow);
anal_hour = hour % 12;
anal_hour = anal_hour * 5;
anal_hour = anal_hour + (int8)(min / 12);
tick = 1;
}
// change values of minute and hour at appropriate value of second and minute
if(sec > 59)
{
sec = 0;
min++;
if(min > 59)
{
min = 0;
ds1307_get_time(hour, min, sec);
anal_hour = hour % 12;
anal_hour = anal_hour * 5;
anal_hour = anal_hour + (int8)(min / 12);
}
//refresh value for digital clock after each minute
hour_h = (int8)(hour / 10);
hour_l = hour % 10;
min_h = (int8)(min / 10);
min_l = min % 10;
}
//display routine
if(circle_trigger == 1)
{
circle_trigger = 0;
if ((smode % 2) == 1) latch_ClearAll();
digit_sec++;
section_trigger = 1;
section_count = MAX_SECTION;
section_timer = 256 - (int8)(sigHall_timer / (MAX_SECTION * 8)) + tuning;
while(circle_trigger == 0 && section_count > 0)
{
if(section_trigger == 1)
{
set_timer0(section_timer);
section_trigger = 0;
//data calculation
fetch_data();
//shifting data
latch_write(rgb_bits.blue, rgb_bits.red, rgb_bits.green);
//smode change between continuous display and discrete display
if ((smode % 2) == 1 && section_count > 1) latch_ClearAll();
section_count--;
}
}
}// circle_trigger
} // end of while(true)
}
void main()
{
char string[30];
char ch;
int auxc1,auxcb,auxs;
int pilha_can[11];
setup_adc_ports(NO_ANALOGS);
setup_adc(ADC_CLOCK_DIV_2);
setup_spi(spi_master|spi_h_to_l|spi_clk_div_4|spi_ss_disabled|spi_sample_at_end);
setup_timer_0(RTCC_INTERNAL);
setup_timer_1(T1_DISABLED);
setup_timer_2(T2_DISABLED,0,1);
setup_ccp1(CCP_OFF);
setup_ccp2(CCP_OFF);
enable_interrupts(INT_RDA);//tirar se quiser arrancar em debug
disable_interrupts(global);
DEBUG=false;
#IF CDEBUG
DEBUG=true;
#ENDIF
strcpy(go,"debug");
//START MCP2510***************************************************
f2510rst();
delay_ms(1000);
f2510cfg();
delay_ms(1000);
auxc1=read_eeprom(save_adr);
f2510cfg_end(auxc1,0);
//****************************************************************
pilha_rs232[0]=0;
pilha_can[0]=0;
enable_interrupts(global);
while(true)
{
while(DEBUG==false)
{
auxs=f2510rx(pilha_can);
if (auxs==1) printf("ERROR CAN_BUFFER FULL n\\r");
else if (auxs==0)
{
printf(":%X%X%X%X%X%X",pilha_can[1],pilha_can[2],pilha_can[3],pilha_can[4],pilha_can[5],pilha_can[6]);
for(auxs=0;auxs<pilha_can[6];++auxs)
{
printf("%X",pilha_can[7+auxs]);
}
printf("\r");
pilha_can[0]=0; }
if(pilha_rs232[0]==1)
{
auxs=f2510tx(pilha_rs232);
if (auxs==false) printf("ERROR TX CAN BUFFER FULL \n\r");
}
}
while(DEBUG==TRUE)
{
printf("******************************\n\r");
printf("* 1-Debug OFF *\n\r");
printf("* 2-MCP dump *\n\r");
printf("* 3-MCP config *\n\r");
printf("* 4-MCP Send *\n\r");
printf("* 5-configuracao de end *\n\r");
printf("* 6-MCP reset *\n\r");
printf("* 7-MCP receive *\n\r");
printf("* 8-clear receive buffer *\n\r");
printf("* g-SAVE Adress *\n\r");
printf("* l-READ Adress *\n\r");
printf("******************************\n\r");
ch=getc();
printf("%C\r",ch);
switch(ch)
{
case '1': printf("\n\r DEBUG MODE OFF \n\r");
DEBUG=FALSE;
pilha_can[0]=0;
pilha_rs232[0]=0;
enable_interrupts(INT_RDA);
enable_interrupts(global);
break;
case '2': f2510dump();
break;
case '3': f2510cfg();
break;
case '4': printf ("\n\r Introduza endereco de destino \n\r");
gets(string);
pilha_rs232[1]=atoi(string);
printf ("\n\r Introduza sub endereco de destino \n\r");
gets(string);
pilha_rs232[2]=atoi(string);
printf ("\n\r Introduza endereco de origem \n\r");
gets(string);
pilha_rs232[3]=atoi(string);
printf ("\n\r Introduza sub endereco de origem \n\r");
gets(string);
pilha_rs232[4]=atoi(string);
printf ("\n\r Introduza tipo \n\r");
gets(string);
pilha_rs232[5]=atoi(string);
printf ("\n\r Introduza tamanho dado \n\r");
gets(string);
pilha_rs232[6]=atoi(string);
for(auxc1=1;auxc1<pilha_rs232[6]+1;++auxc1){
printf ("\n\r Introduza dado %d\n\r",auxc1);
gets(string);
pilha_rs232[7+auxc1-1]=atoi(string);
}
auxcb=f2510tx(pilha_rs232);
printf ("\n\r resultado = %02x \n\r",auxcb);
break;
case '5': printf ("\n\r Introduza endereco \n\r");
gets(string);
auxc1=atoi(string);
f2510cfg_end(auxc1,0);
break;
case 'g': printf ("\n\r Introduza endereco \n\r");
gets(string);
auxc1=atoi(string);
write_eeprom(save_adr,auxc1);
break;
case 'l': auxc1=read_eeprom(save_adr);
printf("\n\r Endereco=%u\n\r",auxc1);
break;
case '6': f2510rst();
break;
case '7': printf("\n RESULTADO=%u\n",f2510rx(pilha_can));
printf("\n\r end_dest=%u \n\r",pilha_can[1]);
printf("\n\r sub_end_dest=%u \n\r",pilha_can[2]);
printf("\n\r end_orig=%u \n\r",pilha_can[3]);
printf("\n\r sub_end_orig=%u \n\r",pilha_can[4]);
printf("\n\r tipo=%u \n\r",pilha_can[5]);
printf("\n\r comp_dados=%u \n\r",pilha_can[6]);
for(auxc1=0;auxc1<pilha_can[6];++auxc1)
{
printf("\n\r dado %u=%u \n\r",auxc1+1,pilha_can[7+auxc1]);
}
break;
case '8': f2510bc(0x2c,0);
pilha_can[0]=0;
break;
}
}
}
}
void main()
{
setup_adc_ports(NO_ANALOGS);
setup_adc(ADC_CLOCK_DIV_2);
setup_psp(PSP_DISABLED);
setup_spi(SPI_SS_DISABLED);
setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1);
setup_timer_1(T1_DISABLED);
setup_timer_2(T2_DIV_BY_16,155,1);
setup_ccp1(CCP_PWM);
setup_ccp2(CCP_PWM);
set_pwm1_duty(312); // Inicia el Ciclo de Trabajo PWM1 en 50%.
set_pwm2_duty(312); // Inicia el Ciclo de Trabajo PWM2 en 50%.
setup_comparator(NC_NC_NC_NC);
setup_vref(FALSE);
set_tris_a(0b11100000); //
set_tris_c(0b10000000); //Pone RC7 como input y RC6 como output (y de 5 a 0 también)
set_tris_b(0b00000000); // Habilita como salidas los pines B0, B1,...,B7
set_tris_e(0b010);
// ************************ CONFIGURACIÓN PWM1 y PWM2: ************************
int32 brillo=0;
int32 exposicion=500; //Tiempo de exposición de la cámara en [ms]
int32 der_steps=0;
int32 izq_steps=0;
int32 led=0;
int32 motor=0;
int32 direccion=0;
int32 pasos=0;
int32 velocidad=0;
char leido_pantalla[5];
output_low(PIN_B0);
output_low(PIN_B1);
output_low(PIN_B2);
output_low(PIN_B3);
output_low(PIN_B4);
output_high(PIN_B6); // Siempre en 5V para conectar pull up 10kOhm de RA4 para SLEEP MOTOR 3 (altura)
set_pwm1_duty(0); // Mantiene Ciclos en 0 para reducir consumo al iniciar.
set_pwm2_duty(0);
//*************** INICIO ***************
while(true)
{
char seleccionar=0;
output_low(PIN_A2);
output_low(PIN_A3);
output_low(PIN_A4);
printf("Set parameters: e=exposicion(%Ld), v=velocidad(%Ld)\n\r",exposicion,velocidad);
printf(" b=brillo(%Ld), d=direccion(%Ld), p=pasos(%Ld)\n\r",brillo,direccion,pasos);
printf(" l=led(%Ld), m=motores(%Ld) \n\r",led,motor);
seleccionar=getc();
switch(seleccionar)
{
case 'v':
printf("Ingrese Velocidad en [ms] y [ENTER]\n\r");
fgets(leido_pantalla);
velocidad=atoi32(leido_pantalla);
break;
case 'e':
printf("Ingrese tiempo de exposicion en [ms] y [ENTER]\n\r");
fgets(leido_pantalla);
exposicion=atoi32(leido_pantalla);
break;
case 'b':
printf("Ingrese Ciclo de Trabajo para PWM1 (0-100) (brillo) y [ENTER]:\n\r");
fgets(leido_pantalla);
brillo=atoi(leido_pantalla);
set_pwm1_duty(brillo*20000000/(100*2000*16));
set_pwm2_duty(brillo*20000000/(100*2000*16));
break;
case 'l':
printf("Ingrese Led a encender: 0 a 7 y [ENTER]\n\r");
fgets(leido_pantalla);
led=atoi32(leido_pantalla);
break;
case 'd':
printf("Ingrese direccion 1=Derecha, 0=Izquierda y [ENTER]\n\r");
fgets(leido_pantalla);
direccion = atoi32(leido_pantalla);
break;
case 'p':
printf("Ingrese el numero de pasos a utlizar y [ENTER]\n\r");
fgets(leido_pantalla);
pasos = atoi32(leido_pantalla);
break;
case 'm':
printf("Ingrese el numero de motor a utlizar: 1,2 o 3 y [ENTER]\n\r");
fgets(leido_pantalla);
motor = atoi32(leido_pantalla);
break;
case '1':
led_on(led);
break;
case '2':
led_off();
break;
case '3':
motor_move(motor,pasos,direccion);
break;
case '4':
led_on_off(led,exposicion);
break;
case '5':
int32 pasos_restantes;
int32 steps;
int dir;
dir = direccion;
steps = pasos;
pasos_restantes = pasos;
motor_on(motor);
while(pasos_restantes > 0){
printf("pasos_restantes: %Ld\n\r",pasos_restantes);
delay_us(200);
steps = motores4(pasos_restantes,dir,velocidad);
pasos_restantes = pasos_restantes - steps;
if (pasos_restantes <=0)
break;
delay_us(200);
dir = (dir == 0)?1:0;
motores2(2000,dir);
}
break;
case '6':
int32 pasos_restantes2;
int32 steps2;
int dir2;
dir2 = direccion;
steps2 = pasos;
pasos_restantes2 = pasos;
motor_on(motor);
while(true){
printf("pasos restantes: %Ld\n\r",pasos_restantes2);
delay_us(200);
steps2 = motores4(pasos_restantes2,dir2,velocidad);
delay_us(200);
dir2 = (dir2 == 0)?1:0;
motores2(2000,dir2);
pasos_restantes2 = pasos_restantes2 - steps2;
if (pasos_restantes2 <=0)
pasos_restantes2 = pasos;
}
break;
case '7':
int32 steps3;
motor_on(motor);
steps3 = motores4(pasos,direccion,velocidad);
if (steps3 - pasos < 0){
direccion = (direccion == 0)?1:0;
motores2(2000,direccion);
delay_us(200);
motores3(2147483640,direccion);
direccion = (direccion == 0)?1:0;
motores2(2000,direccion);
}
break;
case '8':
printf("Setup Calibracion Quick\n\r");
motor_on(motor);
motores3(2147483640,DERECHA);
delay_us(200);
motores2(2000,IZQUIERDA);
delay_us(200);
izq_steps = motores3(2147483640,IZQUIERDA);
delay_us(200);
motores2(2000,DERECHA);
delay_us(200);
der_steps = motores3(2147483640,DERECHA);
printf("izq_steps ->%Ld<- \n\r",izq_steps);
printf("der_steps ->%Ld<- \n\r",der_steps);
while(true){
motores2(izq_steps,IZQUIERDA);
delay_us(200);
motores2(der_steps,DERECHA);
delay_us(200);
}
case '9':
printf("Setup Velocidad ...\n\r");
output_high(PIN_A4);
motores2(2000,IZQUIERDA);
delay_us(200);
izq_steps = motores3(2147483640,IZQUIERDA);
delay_us(200);
motores2(2000,DERECHA);
delay_us(200);
der_steps = motores3(2147483640,DERECHA);
printf("izq_steps ->%Ld<- \n\r",izq_steps);
printf("der_steps ->%Ld<- \n\r",der_steps);
motores4(izq_steps,IZQUIERDA,velocidad);
delay_us(200);
motores4(der_steps,DERECHA,200);
delay_us(200);
break;
}
}
} //FIN MAIN
main() {
char selection;
byte value;
printf("\r\nFrequency:\r\n");
printf(" 1) 19.5 khz\r\n");
printf(" 2) 4.9 khz\r\n");
printf(" 3) 1.2 khz\r\n");
do {
selection=getc();
} while((selection<'1')||(selection>'3'));
setup_ccp1(CCP_PWM); // Configure CCP1 as a PWM
// The cycle time will be (1/clock)*4*t2div*(period+1)
// In this program clock=10000000 and period=127 (below)
// For the three possible selections the cycle time is:
// (1/10000000)*4*1*128 = 51.2 us or 19.5 khz
// (1/10000000)*4*4*128 = 204.8 us or 4.9 khz
// (1/10000000)*4*16*128= 819.2 us or 1.2 khz
switch(selection) {
case '1' : setup_timer_2(T2_DIV_BY_1, 127, 1);
break;
case '2' : setup_timer_2(T2_DIV_BY_4, 127, 1);
break;
case '3' : setup_timer_2(T2_DIV_BY_16, 127, 1);
break;
}
setup_port_a(ALL_ANALOG);
setup_adc(adc_clock_internal);
set_adc_channel( 0 );
printf("%c\r\n",selection);
while( TRUE ) {
value=read_adc();
printf("%2X\r",value);
set_pwm1_duty(value); // This sets the time the pulse is
// high each cycle. We use the A/D
// input to make a easy demo.
// the high time will be:
// if value is LONG INT:
// value*(1/clock)*t2div
// if value is INT:
// value*4*(1/clock)*t2div
// for example a value of 30 and t2div
// of 1 the high time is 12us
// WARNING: A value to high or low will
// prevent the output from
// changing.
}
}
void main()
{
int1 flag = 0;
porta = 0;//all ports are zero
portb = 0;
portc = 0;
setup_adc_ports(no_analogs|vss_vdd); //digital functions selected
setup_adc(adc_off); //internal rc oscillator disabled for adc
setup_wdt(wdt_off); //watch dog timer disabled
setup_timer_0(rtcc_off); //all timers disabled
setup_timer_1(t1_disabled);
setup_timer_2(t2_disabled,0,1);
setup_timer_3(t3_disabled|t3_div_by_1);
setup_comparator(nc_nc_nc_nc); //comparators disabled
setup_vref(false); //no reference voltage in ra2
setup_ccp1(ccp_off); //disable ccp1
setup_ccp2(ccp_off); //disable ccp2
enable_interrupts(int_rda); //uart rx interruption enabled
enable_interrupts(global); //global interruptions enabled
usb_cdc_init();
usb_init(); //initialize hardware usb and wait for PC conection
set_tris_a(0b00111111);
set_tris_b(0b11111011);//rb2 output mclr dspic
port_b_pullups(false);
set_tris_c(0b10111111);
stateDspic = running;
counterReset = 0;
delay_ms(500);//wait for supply stabilization
while(true)
{
usb_task();
manage_conection();
if (usb_cdc_kbhit())
{
data_rx_usb=usb_cdc_getc();//read buffer and save in data_rx
printf("%c",data_rx_usb);//send through uart
if (data_rx_usb == rstKeyword[0])
{
if (counterReset == 0)
counterReset++;
}
else if (data_rx_usb == rstKeyword[1])
{
if (counterReset == 1)
counterReset++;
else
counterReset = 0;
}
else if (data_rx_usb == rstKeyword[2])
{
if (counterReset == 2)
counterReset++;
else
counterReset = 0;
}
else if (data_rx_usb == rstKeyword[3])
{
if (counterReset == 3)
counterReset++;
else
counterReset = 0;
}
else if (data_rx_usb == rstKeyword[4] && counterReset == 4)//here, all requirements were met
{
counterReset = 0;
flag = 0; //reset flag
for(i = 0; i < 10000; i++) //wait for the next byte
{
if (usb_cdc_kbhit()) //if a new byte is received
{
data_rx_usb = usb_cdc_getc();//read buffer and save in data_rx
printf("%c",data_rx_usb);//send through uart
flag = 0;
break;
}
flag = 1;
}
if (flag == 1) //apply reset when no characters were received
{
stateDspic = stop;
delay_ms(50);
stateDspic = running;
}
}
else
counterReset = 0;
}
}
}
//programa principal
void main()
{
set_tris_A(0x00);/* 0000 0000
RA0 LED1 PIN 02
RA1 LED2 PIN 03
RA2 LED3 PIN 04
RA3 LED4 PIN 05
RA4 LED5 PIN 06
RA5 LED6 PIN 07
*/
set_tris_B(0x00);/* (0000 0000)
RB0 LED7 PIN 40
RB1 LED8 PIN 39
RB2 LED9 PIN 38
RB3 LED10 PIN 37
RB4 LED11 PIN 36
RB5 LED12 PIN 35
RB6 LED13 PIN 34
RB7 LED14 PIN 33
*/
set_tris_C(0X00);/*
RC0 ----- PIN 15
RC1 ----- PIN 16
RC2 ----- PIN 17
RC6 LED15 PIN 25
RC7 LED16 PIN 26
*/
// Configuración de Leds 17 hasta 20 y Pulsadores 1 y 2
set_tris_D(0X00);/*
RD0 SW01 PIN 19 --->Pulsador 1
RD1 SW02 PIN 20 --->Pulsador 2
RD2 ----- PIN 21
RD3 ----- PIN 22
RD4 LED17 PIN 27
RD5 LED18 PIN 28
RD6 LED19 PIN 29
RD7 LED20 PIN 30
*/
set_tris_E(0x00);/* bits(**** 0000)
RE0 ----- PIN 08
RE1 ----- PIN 09
RE2 ----- PIN 10
RE3 ----- PIN 01
*/
//Habilitando y deshabilitando modulos...
setup_timer_1(T1_disabled);
setup_timer_2(T2_disabled,0,1);
setup_timer_3(T3_disabled);
setup_ccp1(CCP_OFF);
setup_ADC(ADC_OFF);
setup_VREF(FALSE);//no voltaje de referencia
setup_COMPARATOR(NO_ANALOGS);//
//limpie los puertos
OUTPUT_A(0x00);
OUTPUT_B(0x00);
OUTPUT_C(0X00);
OUTPUT_D(0X00);
//limpiar registros, probar limpiar todos los registros en assembler con =0
//#ZERO_RAM
limpiarRegistros();
/*condicional para lanzar secuencia cuando
el pulsador esté presionado. */
output_float(SW01);
output_float(SW02);
while(TRUE)
{
if (input_state(SW01) == 1 && input_state(SW02) == 1)
{
secuencia1();
}else if (input_state(SW01) == 0 && input_state(SW02) == 1)
{
secuencia2();
}else if (input_state(SW01) == 1 && input_state(SW02) == 0)
{
secuencia4();
}else
{
}
}
//vuelva a inicio y vuelva y arranque
reset_cpu();
}
void main()
{
TRISC=0;
// Variables para controlador
int16 valor;
float control; //valor del PWM
float a1,b1,c1; //constantes del PID
float ref; //temperatura a alcanzar
float rT,eT,iT,dT,yT,uT,iT0,eT0,iT_1,eT_1; //variables de ecuaciones
float max,min; //límites máximo y mínimo de control.
float T ,Kp1, Ti1,Td1;
setup_adc_ports(RA0_ANALOG);//entrada del LM35
setup_adc(ADC_CLOCK_INTERNAL);
setup_COUNTERS(RTCC_internal.rtcc_div_1);
set_adc_channel(0);
setup_timer_2(t2_div_by_4,500,1); //periodo de la señal PWM a 1ms
setup_ccp1(ccp_pwm); //Módulo CCP a modo PWM
setup_adc(ADC_CLOCK_INTERNAL); //reloj convertidor AD interno
set_adc_channel(0);
setup_timer_0(rtcc_ext_l_to_h|RTCC_DIV_2); //Configuración TMR0
setup_timer_1(T1_internal|T1_DIV_BY_8); //Configuración TMR1
float Temp;
int c;
char k;
char Kp[6];
char Ki[6];
char Kd[6];
char Sp[6];
int v;
port_b_pullups(true),
lcd_init();
kbd_init();
inicio:
for (v=0;v<=5;v++){
Kp[v]=0; Ki[v]=0; Kd[v]=0; Sp[v]=0;
}
lcd_gotoxy(1,1);
lcd_putc("\f");
lcd_putc("Kp:");
lcd_gotoxy(9,1);
lcd_putc("Ki:");
lcd_gotoxy(1,2);
lcd_putc("Kd:");
lcd_gotoxy(9,2);
lcd_putc("Sp:");
while(true){
K_p:
lcd_gotoxy(4,1);
lcd_send_byte(0,0x0f);
c=0;
k=0;
while(c<=4){
k=kbd_getc();
if(k!=0){
if(k!='A' && k!='*' && k!='C'){
if(k=='B'){
printf(lcd_putc,".");
Kp[c]=k;
lcd_gotoxy(4+c,1);
}
else
printf(lcd_putc,"%c",k);
Kp[c]=k;
lcd_gotoxy(4+c,1);
}
if(k=='A'){
c++;
Kp[c]=-92;
lcd_gotoxy(4+c,1);
}
}
if(k=='D'){
int j=0;
for(;;){
Kp[j]=0;
if(j==5) break;
j++;
}
c=0;
lcd_gotoxy(1,1);
lcd_putc("Kp: ");
lcd_gotoxy(4+c,1);
}
if(k=='*'){
Kp[c+1]=-92;
goto K_i;
}
} //FUERA DEL WHILE
lcd_gotoxy(4+c-1,1);
lcd_send_byte(0,0x0f);
k=0;
for(;;){
k=kbd_getc();
if(k!=0){
if(k=='*'){
break;
}
}
}
K_i:
lcd_gotoxy(12,1);
lcd_send_byte(0,0x0f);
c=0;
k=0;
///KI
while(c<=4){
k=kbd_getc();
if(k!=0){
if(k!='A' && k!='*'){
if(k=='B'){
printf(lcd_putc,".");
Ki[c]=k;
lcd_gotoxy(12+c,1);
}
else
printf(lcd_putc,"%c",k);
Ki[c]=k;
lcd_gotoxy(12+c,1);
}
if(k=='A'){
c++;
Ki[c]=-92;
lcd_gotoxy(12+c,1);
}
}
if(k=='D'){
int j=0;
for(;;){
Ki[j]=0;
if(j==5) break;
j++;
}
c=0;
lcd_gotoxy(9,1);
lcd_putc("Ki: ");
lcd_gotoxy(12+c,1);
}
if(k=='*'){
Ki[c+1]=-92;
goto K_d;
}
}
///FIN KI
///FUERA DEL WHILE
lcd_gotoxy(12+c-1,1);
lcd_send_byte(0,0x0f);
k=0;
for(;;){
k=kbd_getc();
if(k!=0){
if(k=='*'){
break;
}
}
}
K_d:
lcd_gotoxy(4,2);
lcd_send_byte(0,0x0f);
c=0;
k=0;
while(c<=4){
k=kbd_getc();
if(k!=0){
if(k!='A' && k!='*'){
if(k=='B'){
printf(lcd_putc,".");
Kd[c]=k;
lcd_gotoxy(4+c,2);
}
else
printf(lcd_putc,"%c",k);
Kd[c]=k;
lcd_gotoxy(4+c,2);
}
if(k=='A'){
c++;
Kd[c]=-92;
lcd_gotoxy(4+c,2);
}
}
if(k=='D'){
int j=0;
for(;;){
Kd[j]=0;
if(j==5) break;
j++;
}
c=0;
lcd_gotoxy(1,2);
lcd_putc("Kd: ");
lcd_gotoxy(4+c,2);
}
if(k=='*'){
Kd[c+1]=-92;
goto S_p;
}
}
//FUERA WHILE
lcd_gotoxy(4+c-1,2);
lcd_send_byte(0,0x0f);
k=0;
for(;;){
k=kbd_getc();
if(k!=0){
if(k=='*'){
break;
}
}
}
///SP
S_p:
lcd_gotoxy(12,2);
lcd_send_byte(0,0x0f);
c=0;
k=0;
while(c<=4){
k=kbd_getc();
if(k!=0){
if(k!='A' && k!='*'){
if(k=='B'){
printf(lcd_putc,".");
Sp[c]=k;
lcd_gotoxy(12+c,2);
}
else
printf(lcd_putc,"%c",k);
Sp[c]=k;
lcd_gotoxy(12+c,2);
}
if(k=='A'){
c++;
Sp[c]=-92;
lcd_gotoxy(12+c,2);
}
}
if(k=='D'){
int j=0;
for(;;){
Sp[j]=0;
if(j==5) break;
j++;
}
c=0;
lcd_gotoxy(9,4);
lcd_putc("Sp: ");
lcd_gotoxy(12+c,2);
}
if(k=='*'){
Sp[c+1]=-92;
goto PID;
}
}
lcd_gotoxy(12+c-1,2);
lcd_send_byte(0,0x0f);
k=0;
for(;;){
k=kbd_getc();
if(k!=0){
if(k=='*'){
break;
}
}
}
PID:
printf(lcd_putc, "\f"); // Borra la pantalla
lcd_gotoxy(4, 1);
printf(lcd_putc, "procesando.. ");
delay_ms(600);
float result;
a1 = conv(Kp); b1 = conv(Ki);c1 = conv(Kd);ref = conv(Sp);
// strtod(cc,NULL);
lcd_init();
iT0=0.0;
eT0=0.0;
min=0.0; //inicialización variables
uT = 0.0;
max=1023;
while(True){
Temp=(float)read_adc();
yT=Temp*5.0/1024.0;
rT=ref;
eT=rT-yT; //Cálculo error
lcd_gotoxy(1,2);
printf(lcd_putc,"error:%f",eT);
iT=b1*eT+iT0; //Cálculo del término integral
dT=c1*(eT-eT0); //Cálculo del término derivativo
uT=iT+a1*eT+dT; //Cálculo de la salida PID
lcd_gotoxy(1,1);
printf(lcd_putc,"Out:%f",uT);
if (uT>max) { //Salida PID si es mayor que el MAX
uT=max;}
else {
if (uT<min){ //Salida PID si es menor que el MIN
uT=min;}
}
control=uT; //Transferencia de salida PID a señal PWM
lcd_gotoxy(10,1);
printf(lcd_putc,"Sp:%f",ref);
set_pwm1_duty(control);
iT0=iT; //Guardar variables
eT0=eT;
delay_ms(20);
}
}
}
void main()
{
//Configuraciones del PIC-------------------------------------------------------
//Configuración de puertos...
set_tris_A(0x0B);
set_tris_B(0xFF);
set_tris_C(0x80);
set_tris_D(0x00);
lcd_init();
dht_init();
//Parámetros del ADC...
setup_adc(ADC_CLOCK_INTERNAL); //Reloj interno para conversiones
setup_adc_ports(AN0_AN1_AN3); //Puertos usados como entradas
//Parámetros para el PWM...
setup_ccp1(CCP_PWM); //Módulo PWM activado
setup_timer_2(T2_DIV_BY_4,249,1); //Onda de 4KHz
//Parámetros de Timer0...
setup_timer_0(RTCC_INTERNAL|RTCC_DIV_16); //4ms para desbordamiento
//Interrupciones...
enable_interrupts(INT_RB); //Interrupción puerto B
enable_interrupts(INT_RTCC); //Interrupción Timer0
enable_interrupts(INT_RDA); //Interrupción RS-232
enable_interrupts(GLOBAL);
//Análisis de la bandera...
set_pwm1_duty(0);
lcd_init();
if(read_eeprom(0x00) == 0)
{
//LM35--------------------------------------------------------------------------
bitRes1=read_eeprom(0x01);
cadEnv1=read_eeprom(0x02);
offSens1=(float)read_eeprom(0x03)/10.0;
if(read_eeprom(0x04)==0)
offSens1*=-1.0;
//------------------------------------------------------------------------------
//RHT03-------------------------------------------------------------------------
cadEnv2=read_eeprom(0x06);
offSens2=(float)read_eeprom(0x07)/10.0;
if(read_eeprom(0x08)==0)
offSens2*=-1.0;
//------------------------------------------------------------------------------
//LDR---------------------------------------------------------------------------
bitRes3=read_eeprom(0x0A);
cadEnv3=read_eeprom(0x0B);
offSens3=(float)read_eeprom(0x0C)/10.0;
if(read_eeprom(0x0D)==0)
offSens3*=-1.0;
//------------------------------------------------------------------------------
//PWM---------------------------------------------------------------------------
pwmSens=read_eeprom(0x0F);
threshold[0]=read_eeprom(0x10);
threshold[1]=read_eeprom(0x11);
threshold[2]=read_eeprom(0x12);
threshold[3]=read_eeprom(0x13);
//------------------------------------------------------------------------------
}
//------------------------------------------------------------------------------
while(true){
//Al presionar aceptar o cancelar se limpia el display.-------------------------
if(cls){
cls=false;
lcd_init();
}
//Lectura de los sensores-------------------------------------------------------
if(readSens){
readSens=false;
ReadSensData();
}
//Muestra las lecturas o configuraciones en el display--------------------------
if(!enterConfig && !displayConfigs)
ShowDisplay();
else if(displayConfigs && !enterConfig)
ShowConfigs();
if(enterConfig){
if(selector==1)
ConfigLM35();
else if(selector==2)
ConfigRHT03();
else if(selector==3)
ConfigLDR();
else if(selector==4)
ConfigPWM();
}
if(save==true){
save=false;
SaveC();
}
//Control del ventilador--------------------------------------------------------
FanRPM();
//Lectura del búfer-------------------------------------------------------------
if(read){
ReadBuffer();
ExecCmd();
SaveC();
}
//Envío a la PC-----------------------------------------------------------------
if(sendData){
sendData=false;
if(segs1==cadEnv1){
MakeNSendFrame(1);
segs1=0;
}
if(segs2==cadEnv2){
MakeNSendFrame(2);
segs2=0;
}
if(segs3==cadEnv3){
MakeNSendFrame(3);
segs3=0;
}
}//End if sendData
}//End while
}
