// ** Grundinitialisierung **
void coldstart ()
{
setup_adc_ports(sAN0|sAN1|sAN2|sAN3|sAN4|VSS_VDD);
setup_adc(ADC_CLOCK_INTERNAL|ADC_TAD_MUL_0);
setup_oscillator(OSC_8MHZ|OSC_INTRC);
setup_comparator(NC_NC_NC_NC);
output_a (0b00001000);
output_b (0);
output_c (0);
output_d (0);
output_e (0);
set_tris_a (TRISA_INIT); // Datenrichtung Port A
set_tris_b (TRISB_INIT); // Datenrichtung Port B
set_tris_c (TRISC_INIT);
set_tris_d (TRISD_INIT);
set_tris_e (TRISE_INIT);
port_b_pullups(TRUE);
setup_timer_0(RTCC_INTERNAL|RTCC_DIV_32|RTCC_8_BIT);
// Timer0 intern, Takt 20.00/4/64 = 78.125 KHz
// Interrupt alle 256/15.625 = 3.2768 ms (305Hz)
// Korrekturwert für 10 ms: 156 Timerclicks
// -> Timer wird auf 256-156=100 vorgestellt
set_timer0 (Timerstartwert_K); // Timerwert auf Startwert setzen
enable_interrupts(INT_TIMER0);
setup_timer_1(T1_DISABLED); // Nur Timer0 Interrupt
delay_ms (200);
}
//=============================================================================
void init_prog(void)
{
setup_wdt(WDT_OFF);
setup_adc_ports(NO_ANALOGS|VSS_VDD);
setup_adc(ADC_OFF);
setup_psp(PSP_DISABLED);
setup_spi(SPI_SS_DISABLED);
setup_timer_0(RTCC_INTERNAL|RTCC_DIV_16|RTCC_8_BIT);// TIMER0
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);
setup_vref(FALSE);
setup_low_volt_detect(FALSE);
setup_oscillator(OSC_32MHZ);
set_tris_a(0xFF);//7F
set_tris_b(0xFF); //FF
set_tris_c(0x94);//94
set_tris_d(0xFF); //02
set_tris_e(0xF0); //f0
set_tris_f(0xFF);//ff
set_tris_g(0xFC); //04
output_a(0x00);
output_b(0x00);
output_c(0x00);
output_d(0x00);
output_e(0x00);
output_f(0x00);
output_g(0x00);
}
void main()
{
setup_oscillator(OSC_NORMAL);
while (true)
{
output_A(0xff);
output_B(0xff);
output_C(0xff);
output_D(0xff);
output_E(0xff);
output_high(pin_C1);
output_high(pin_C0);
output_high(pin_A4);
Delay_ms(500);
output_A(0x0);
output_B(0x0);
output_C(0x0);
output_D(0x0);
output_E(0x0);
output_low(pin_C1);
output_low(pin_C0);
output_low(pin_A4);
Delay_ms(500);
}
}
int main (void)
{
int dummy;
//int matrix; //only for test of ledmdrv
int i;
//int temp_current_val; //temporary
//int first_ec=1;
//Setup oscillator/ports/pins first
setup_oscillator();
setup_ports();
setup_peripheral_pin_select();
setup_interrupt_priorities();
#ifdef USE_DIO
setup_dio();
#endif
#ifdef USE_ADC
setup_adc();
#endif
#ifdef USE_ETHERCAT
while (!eeprom_loaded()) //Wait until ESC is ready
//ToggleHeartbeatLED(); //Success
SetHeartbeatLED;
setup_ethercat();
ClrHeartbeatLED;
#endif
setup_interrupt_priorities();
dummy = U1RXREG;
while(1){
if (i++%20001==0)
{
ToggleHeartbeatLED();
#if defined USE_ETHERCAT //&& ! defined M3_MAX2_BDC_ARMH
step_ethercat();
#endif
}
}
}
int main( void )
{
uint8_t buffer_index;
packet_header_t* header;
// Stop watchdog timer to prevent time out reset
WDTCTL = WDTPW + WDTHOLD;
header = (packet_header_t*)tx_buffer;
// Initialize Tx Buffer
header->length = sizeof(packet_header_t) - 1;
header->source = DEVICE_ADDRESS;
header->type = 0x66; // Sync message
header->flags = 0xAA;
// Make sure processor is running at 12MHz
setup_oscillator();
// Initialize UART for communications at 115200baud
setup_uart();
// Initialize LEDs
setup_leds();
// Initialize timer
set_ccr( 0, TIMER_LIMIT );
setup_timer_a(MODE_UP);
// Send sync message
register_timer_callback( send_sync_message, 0 );
// Initialize radio and enable receive callback function
setup_radio( process_rx );
// Enable interrupts, otherwise nothing will work
eint();
while (1)
{
// Enter sleep mode
__bis_SR_register( LPM0_bits + GIE );
__no_operation();
}
return 0;
}
void main()
{
int16 data = 0;
//Habilitar Oscilador interno
setup_oscillator(OSC_8MHZ,OSC_INTRC);
//Configuración de ADC
setup_adc_ports(AN0_TO_AN8);
setup_adc(ADC_CLOCK_INTERNAL);
while(TRUE)
{
sampling_ADC();
printf("\n\n");
}
}
void init_pic(void)
{
// initialise port A
LATA = PA_DefData;
TRISA = PA_DefTRIS;
// initialise port C
LATC = PC_DefData;
TRISC = PC_DefTRIS;
APFCON0 = 0x0;
//setup_timer_2 (T2_DIV_BY_16, 250, 10); //500 us overflow, 5.0 ms interrupt
setup_comparator (NC_NC_NC_NC); // This device COMP currently not supported by the PICWizard
setup_oscillator (OSC_8MHZ|OSC_PLL_ON) ;
setup_timer_0(RTCC_INTERNAL|RTCC_DIV_32|RTCC_8_bit); //1.0 ms overflow
setup_timer_4(T4_DISABLED,0,1);
setup_timer_6(T6_DISABLED,0,1);
}
// Frequency of interrupt (clock/(4*divisor)) / (256-reload)
void mcu_init()
{
setup_oscillator(OSC_16MHZ);
setup_adc_ports(NO_ANALOGS);
setup_adc(ADC_OFF);
setup_comparator(NC_NC_NC_NC);
// Setup the TIMER0 Interrupt
set_timer0(0);
setup_timer_0(RTCC_INTERNAL | RTCC_8_BIT | RTCC_DIV_4);
enable_interrupts(INT_TIMER0);
enable_interrupts(GLOBAL);
set_tris_a(0);
set_tris_b(0);
set_tris_c(0);
}
void main()
{
int8 val;
char car;
// Initialization
delay_ms(400);
disable_interrupts(global);
disable_interrupts(int_timer1);
disable_interrupts(int_timer2);
disable_interrupts(int_ext);
setup_adc_ports(NO_ANALOGS|VSS_VDD);
setup_adc(ADC_OFF|ADC_TAD_MUL_0);
setup_spi(FALSE);
setup_wdt(WDT_OFF);
setup_timer_0(RTCC_INTERNAL);
setup_timer_1(T1_INTERNAL|T1_DIV_BY_1);
setup_timer_2(T2_DIV_BY_1,2,1);
setup_timer_3(T3_DISABLED|T3_DIV_BY_1);
setup_comparator(NC_NC_NC_NC);
setup_vref(FALSE);
setup_low_volt_detect(FALSE);
setup_oscillator(False);
delay_ms(400);
while(1)
{
val = input(PIN_B0);
if (val == 0)
{
output_a(0);
}
else if (val == 1)
{
output_a(255);
}
}
}
//------------------------------------------------------------------------------
void init_prog(void)
{
setup_wdt(WDT_OFF);
setup_adc_ports(NO_ANALOGS|VSS_VDD);
setup_adc(ADC_OFF);
setup_psp(PSP_DISABLED);
setup_spi(SPI_SS_DISABLED);
setup_timer_0(RTCC_INTERNAL|RTCC_DIV_16|RTCC_8_BIT);// TIMER0
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);
setup_vref(FALSE);
setup_low_volt_detect(FALSE);
setup_oscillator(OSC_32MHZ);
set_tris_a(0x00);
set_tris_b(0x24);
set_tris_c(0x80);
set_tris_d(0x00);
set_tris_e(0x15);
set_tris_f(0x58);
set_tris_g(0x10);
output_a(0x00);
output_b(0x00);
output_c(0x00);
output_d(0x00);
output_e(0x00);
output_f(0x00);
output_g(0x00);
// RF Modul and PA/LNA activation
IOpin.modulepower=0;
IOpin.moduleCTX=1;
IOpin.moduleCPS=0;
IOpin.modulePWRUP=1;
}
//------------------------------------------------------------------------------
void main(){
int i;
setup_adc_ports(NO_ANALOGS|VSS_VDD);
setup_adc(ADC_CLOCK_DIV_2|ADC_TAD_MUL_0);
setup_psp(PSP_DISABLED);
setup_spi(SPI_SS_DISABLED);
setup_wdt(WDT_OFF);
setup_timer_0(RTCC_INTERNAL|RTCC_DIV_32);
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);
setup_vref(FALSE);
disable_interrupts(INT_TIMER0);
enable_interrupts(INT_RDA);
enable_interrupts(GLOBAL);
setup_oscillator(OSC_8MHZ|OSC_TIMER1|OSC_31250|OSC_PLL_OFF);
output_low(PIN_C5);
while(TRUE){
if(f_process){
f_process=0;
output_toggle(PIN_C5);
disable_interrupts(INT_RDA);
printf("\n\r");
for(i=0;i<(cont-2);i++){
printf("vector[%u]=%c\n\r",i,p[i]); //muestro los datos recibidos
}
procesar_guardar();
cont=0;
printf("Fin programacion\n\r");
enable_interrupts(INT_RDA);
}
}
}
void main(){
setup_timer_0(RTCC_INTERNAL|RTCC_DIV_256);
setup_timer_1(T1_DISABLED);
setup_oscillator (OSC_8MHZ);
setup_adc_ports(NO_ANALOGS|VSS_VDD);
setup_adc(ADC_OFF);
setup_comparator(NC_NC_NC_NC);
setup_vref(FALSE);
//Software workaround for the power switch floating
/*
onewire_init();
onewire_sendbyte(0xCC);
onewire_sendbyte(0x6C); //Write Data Command
onewire_sendbyte(0x31); //Eeprom address but actually gets written to Shadow Ram
onewire_sendbyte(0xE7); //Value to make PMOD1 SWEN=0 RNAOP=0
//Copy the shadow Ram written above over to actual EEPROM
onewire_init();
onewire_sendbyte(0xCC);
onewire_sendbyte(0x48); //send the copy command
onewire_sendbyte(0x30); //copy shadow ram to the block containing 31
*/
for (i=1;i<5;i++){
output_high(pin_A4);
delay_ms(250);
output_low(pin_A4);
delay_ms(250);
}
while(true){
//Use the following to determine the state of the one wire net
//Will report if device present, not, or shorted
//Comment out rest of code
//onewire_init_with_error_check();
//read_status();
//printf("status byte is ====>(%x)\n\r",status);
//printf("Please enter a command (h for help):\n\r");
//Waits for a command to come in over the serial port
//printf("Enter Command\n\r");
//Base commands are:
//N = Print out the net address of one attached sensor
//K = Return the current in micro volts
//C = Return the chip temperature in celsius
//F = Return the chip temperature in fahrenheit
if (interactive == 1)
printf("Enter Command:\n\r");
gets(command);
//Check to see if controller is present
if (command[0] == 'p'){
printf("Pyro Logger found and responding...\n\r");
printf("Firmware Version 1\n\r");
printf("N - Get Net address\n\r");
printf("Kaddress - Thermo uV's\n\r");
printf("Caddress - Temp in C\n\r");
printf("Faddress - Temp in F\n\r");
printf("i - toggle interactive\n\r");
interactive = 1;
}
if (command[0] == 'i'){
interactive = 0;
}
//Print out the Net address for configuring other software
if (command[0] == 'N'){
printf("Reading Net Address...\r\n");
read_netaddress();
}
//****************************************************
//READ Current from Sensor
//****************************************************
if (command[0] == 'K'){
//Initialize the Temporary Buffer and make sure you have the null char
tmp_buff[0]='0';
tmp_buff[1]='X';
tmp_buff[2]='0';
tmp_buff[3]='0';
tmp_buff[4]='\n';
i=0;
for(j=1; j<=15; j+=2) {
tmp_buff[2]=command[j];
tmp_buff[3]=command[j+1];
address_array[i]=ATOI(tmp_buff);
i++;
}
onewire_init();
onewire_sendbyte(0x55); //Transmit skip Rom Command
//Unique 64 Bit address
for(j=0; j<=7; j++)
{
onewire_sendbyte(address_array[j]);
}
onewire_sendbyte(0x69); //0x69 Transmit Read RAM command
onewire_sendbyte(0x0E); //Transmit Read start address
data_MSB=onewire_readbyte();
data_LSB=onewire_readbyte();
//printf("MSB ====>(%x)\n\r",data_MSB);
//printf("LSB ====>(%x)\n\r",data_LSB);
current=make16(data_MSB,data_LSB);
current=current >> 3;
current_float=(current*.000015625);
printf("%4.7f\r\n",current_float);
blink();
}
//***********************************************************
//Read Temperature of the on Chip Sensor
//***********************************************************
//DS2760 can measure 0.125 deg C per bit
//Whole number temperature values can be had by simpling taking the high byte
//Or if high and low bytes are used shift right 5 places and multiply by .125 in a float
if (command[0] == 'C' || command[0] == 'F'){
//Initialize the Temporary Buffer and make sure you have the null char
tmp_buff[0]='0';
tmp_buff[1]='X';
tmp_buff[2]='0';
tmp_buff[3]='0';
tmp_buff[4]='\n';
//Pull the address out of the command 8 bytes of HEX
//Changes it from a string to array stuffed in address_array
i=0;
for(j=1; j<=15; j+=2) {
tmp_buff[2]=command[j];
tmp_buff[3]=command[j+1];
address_array[i]=ATOI(tmp_buff);
i++;
}
//Send the addresss down the One Wire Buss
onewire_init();
onewire_sendbyte(0x55); //Match Net Address Command
for(j=0;j<=7;j++){
onewire_sendbyte(address_array[j]);
}
//Read Data
onewire_sendbyte(0x69); //0x69 Transmit Read RAM command
onewire_sendbyte(0x18); //Transmit Read start address
data_MSB=onewire_readbyte();
data_LSB=onewire_readbyte();
temp=make16(data_MSB,data_LSB);
//Check for a negative temperature for cold junction. Really cold junction
//can only be positive or zero. Cold junction reference should never fall below zero
//so if its below zero make it zero, about the best we could do aside throwing up errors
//To force temperature negative for testing uncomment below
//temp = temp + 32768;
//The Check
if (bit_test(temp,15) == 1)
temp = 0;
/*
//Bit Shift Math For Whole Number Only
temp=temp>>8;
temp_float = temp;
*/
//Shift the data 5 bits to the right
temp=temp >> 5;
//Math for celsius
temp_float=(temp *.125);
//Math for fahrenheit
temp_float_faren=((temp_float * 1.8) + 32);
//Print out either celsius or fahrenheit
//Over the serial Port
if (command[0] == 'C' )
printf("%3.2f\r\n",temp_float);
if (command[0] == 'F' )
printf("%3.2f\r\n",temp_float_faren);
//Flash the leds to show there is communication
blink();
}
void main()
{
disable_interrupts(GLOBAL);
setup_spi(SPI_MASTER | SPI_MODE_0_0 | SPI_CLK_DIV_16 );
setup_spi2(SPI_MASTER | SPI_MODE_0_0 | SPI_CLK_DIV_16 );
setup_adc_ports(sAN0|sAN1|sAN2|sAN3|sAN4|VSS_4V096);
setup_adc(ADC_CLOCK_INTERNAL|ADC_TAD_MUL_0);
// TIMER 0 is being used to service the WTD
setup_timer_0(T0_INTERNAL|T0_DIV_256);
/* sets the internal clock as source and prescale 256.
At 10 Mhz timer0 will increment every 0.4us (Fosc*4) in this setup and overflows every
6.71 seconds. Timer0 defaults to 16-bit if RTCC_8_BIT is not used.
Fosc = 10 MHz, Fosc/4 = 2.5 Mhz, div 256 = 0.0001024 s, 65536 increments = 6.71 sec
Fosc = 64 MHz, Fosc/4 = 16 Mhz, div 256 = 0.000016 s, 65536 increments = 1.05 sec
.. pre-load with 3036 to get exact 1.0000 sec value
*/
// TIMER 1 is used to extinguish the LED
setup_timer_1(T1_INTERNAL|T1_DIV_BY_8);
/* sets the internal clock as source and prescale 4.
At 10Mhz timer0 will increment every 0.4us in this setup and overflows every
104.8 ms. Timer1 is 16-bit.
Fosc = 10 Mhz ... 2.5 MHz / div 4 = 0.00000160 s * 65536 = 0.104858 sec
Fosc = 64 Mhz ... 16 MHz / div 4 = 0.00000025 s * 65536 = 0.016384 sec
Fosc = 64 Mhz ... 16 MHz / div 8 = 0.00000200 s * 65536 = 0.032768 sec
*/
setup_stepper_pwm(); // Uses TIMER 2
// TIMER 3 is used for stepper motor intervals
setup_timer_3(T3_INTERNAL | T3_DIV_BY_1); // 16 bit timer
// TIMER 4 is use for serial time-outs. 8-bit timer.
setup_timer_4(T4_DIV_BY_4, 127, 1);
setup_comparator(NC_NC_NC_NC);
setup_oscillator(OSC_16MHZ | OSC_PLL_ON); // Fosc = 64 MHz
ext_int_edge(0, H_TO_L); // Set up PIC18 EXT0
enable_interrupts(INT_EXT);
start_heartbeat();
enable_interrupts(GLOBAL);
init_hardware();
motor_sleep_rdy();
sleep_mode = FALSE;
busy_set();
init_nv_vars();
get_step_vars();
init_aws();
blink();
//Add for TCP/IP interface
//delay_ms(15000);
signon();
RTC_read();
RTC_last_power();
RTC_reset_HT();
RTC_read();
RTC_read_flags();
if(nv_sd_status>0) fprintf(COM_A,"@SD=%Lu\r\n", nv_sd_status);
init_rtc(); // This is the FAT RTC
sd_status = init_sdcard();
if(sd_status>0) msg_card_fail();
reset_event();
if(m_error[0] > 0 || m_error[1] > 0) msg_mer();
if (m_comp[0]==FALSE) {
e_port[0]=0;
write16(ADDR_E1_PORT,0);
fprintf(COM_A, "@MC1,%Lu,%Ld\r\n", m_comp[0],e_port[0]);
}
if (m_comp[1]==FALSE) {
m_lin_pos[1]=-1;
write16(ADDR_M2_LIN_POS, -1);
fprintf(COM_A, "@MC2,%Lu,%Ld\r\n", m_comp[1],m_lin_pos[1]);
}
if (nv_cmd_mode == FALSE){
for(dt=0; dt<100; ++dt){
blip();
if (nv_cmd_mode == TRUE) {
busy_clear();
fputs("@OK!", COM_A);
command_prompt();
dt = 100;
}
}
}
else command_prompt();
user_quit = auto_sample_ready();
reset_cpu();
}
//////////////////////////////////////////////////////////////////////////////////////////////
// //
// Main function //
// //
//////////////////////////////////////////////////////////////////////////////////////////////
int main(void)
{ //Test
int last_nombre = 4;
char str[64] = "Test de String...";
unsigned char distanceActuel = 0;
//Variables protocole de liaison de donnée
char trame_a_envoye = 0, trame_complete = 0, trameRX[NBROCTET], trameTX[NBROCTET];
//Initial configuration
setup_oscillator();
config();
//Init fifo
fifo_init();
radio_dir(TRM_RX); //Module en réception
//Display welcome screen: ToDo
#ifdef USE_GLCD
GLCD_Bitmap((char*)Base1, 0, 0, 128, 64);
#endif
//Test
// index = 0;
// while(1)
// {
// // result = get_offset(dirty_buf[index], dirty_buf[index + 1], flag);
// result = get_flag(flag);
// Nop();
// clean_buffer(result, 16);
// Nop();
// }
//Main loop
while (1)
{
#ifdef AUTO
routine_auto(&trame_a_envoye, &trame_complete, trameTX, trameRX);
#endif
#ifdef BORNE
routine_borne(&trame_a_envoye, &trame_complete, trameTX, trameRX);
#endif
//Test: encodeur et GLCD
if((last_nombre != nombre) || buttonPress) //Si une transition a eu lieu
{
#ifdef USE_GLCD
GLCD_ClearScreen();
GLCD_Bitmap((char*)Base1, 0, 0, 128, 64);
if(buttonPress && !toEcran1)
{
BORNERESERVE = nombre;
GLCD_GoTo(0,5);
GLCD_WriteString(RESERVE);
toEcran1 = 1;
}
else if(buttonPress && toEcran1)
{
toEcran1 = 0;
BORNERESERVE = 3;
confirm=2;
}
sprintf(str,"%d",SERIALBATTERIE);
GLCD_GoTo(107,0);
GLCD_WriteString(str);
#endif
switch(nombre)
{
case 0:
#ifdef USE_GLCD
DISTANCE = D1;
GLCD_GoTo(0,2);
GLCD_WriteString(ADR1A);
if(!toEcran1)
{
GLCD_GoTo(0,3);
GLCD_WriteString(ADR2);
GLCD_GoTo(0,4);
GLCD_WriteString(ADR3);
}
#endif
break;
case 1:
#ifdef USE_GLCD
DISTANCE = D2;
GLCD_GoTo(0,3);
GLCD_WriteString(ADR2A);
if(!toEcran1)
{
GLCD_GoTo(0,2);
GLCD_WriteString(ADR1);
GLCD_GoTo(0,4);
GLCD_WriteString(ADR3);
}
#endif
break;
case 2:
#ifdef USE_GLCD
DISTANCE = D3;
if(!toEcran1)
{
GLCD_GoTo(0,2);
GLCD_WriteString(ADR1);
GLCD_GoTo(0,3);
GLCD_WriteString(ADR2);
}
GLCD_GoTo(0,4);
GLCD_WriteString(ADR3A);
#endif
break;
default:
#ifdef USE_GLCD
GLCD_ClearScreen();
GLCD_Bitmap((char*)Base1, 0, 0, 128, 64);
#endif
break;
}
#ifdef USE_GLCD
GLCD_GoTo(90,7);
GLCD_WriteString(METER);
distanceActuel = DISTANCE;
buttonPress = 0;
last_nombre = nombre;
if(confirm==2)
{
if(D1<DISTANCEPROCHE){
borneProche(0);
}
else if(D2<DISTANCEPROCHE){
borneProche(1);
}
else if(D3<DISTANCEPROCHE){
borneProche(2);
}
if(confirm==1)
{
buttonPress=1;
toEcran1=0;
}
else if(confirm==0)
{
buttonPress=0;
toEcran1=0;
last_nombre=4;
}
}
#endif
}
//Données sortantes
if(trame_a_envoye == 1)
{
envoie = rf_envoie(trameTX, (char *)clean_buf);
if(envoie == 1)
trame_a_envoye = 0;
}
//Flags - Données entrantes
if(rf_flag == 1)//&& trame_complete == 0)
{
//Actualise la batterie
#ifdef USE_GLCD
getBatt();
sprintf(str,"%03i",BATTERIE);
GLCD_GoTo(80,0);
if(nombre==0)
{DISTANCE = D1;}
else if(nombre==1)
{DISTANCE = D2;}
else if(nombre==2)
{DISTANCE = D3;}
GLCD_WriteString(str);
sprintf(str,"%i",DISTANCE);
GLCD_GoTo(40,7);
GLCD_WriteString(str);
#endif
result = get_flag(flag);
if(result != 10)
{
clean_buffer(result, 32);
//Extraction des octets vers la couche application
trame_complete = rf_gerer_RX((char *)clean_buf, trameRX);
}
//Remise à zéro de la détection
rf_flag = 0;
result = 10;
}
//
#ifdef GPS_FEEDTHROUGH
//TestGPS
#ifdef DEBUG_MPSIM
gps_flag =1; //REMOVE
#endif
if(gps_flag)
{
gps_flag = 0;
//Filtre les données quand le buffer est plein
#ifdef DEBUG_MPSIM
(gpsstr[3]='R'); //REMOVE
#endif
if((gpsstr[3]=='R'))
{
for(a =0;a<47;a++)
{
gps[a] = gpsstr[a]; //Buffer de travail
}
// puts_usart1(gpsstr);
//gps[] = "$GPRMC,174254.000,V,4522.75800,N,07155.43400,W";
#ifdef DEBUG_MPSIM
gps[20]='4';
gps[21]='5';
gps[22]='2';
gps[23]='2';
gps[25]='7';
gps[26]='5';
gps[27]='8';
gps[33]='0';
gps[34]='7';
gps[35]='1';
gps[36]='5';
gps[37]='5';
gps[39]='4';
gps[40]='3';
gps[41]='4';
gps[45]='W';
#endif
convStr();
//LaA = 45.3793;
//LoA= -71.9239;
assignDist(LaA,LoA);
}
}
#endif
/*
#ifdef USE_GLCD
if(buttonPress)
{
switchScreen(last_nombre);
buttonPress = 0;
}
if(distanceActuel < DISTANCEBATT && BATTERIE < 50 && ecran ==2)
{
switchBatt();
}
#endif
*/
if(buttonPress)
{
#ifdef BORNE
buttonPress = 0;
char donnee_test[NBROCTET] = {0x30, 0x31, 0x32, 0x33, 0x34, 0x35, 0x36, 0x37};
envoie = rf_envoie(donnee_test, (char *)clean_buf);
#endif
#ifdef AUTO
puts_usart1(gps);
#endif
}
if(rssi_flag)
{
rssi_flag = 0;
//Filtre les données quand le buffer est plein
rssi = get_rssi();
}
}
return 0;
}
int main (void)
{
int dummy;
//int matrix; //only for test of ledmdrv
int i;
//int temp_current_val; //temporary
//int first_ec=1;
//Setup oscillator/ports/pins first
setup_oscillator();
setup_ports();
setup_peripheral_pin_select();
setup_interrupt_priorities();
#ifdef USE_DIO
setup_dio();
#endif
#ifdef USE_CONTROL
setup_control();
#endif
#ifdef USE_ADC_SPI
setup_adc_spi();
#endif
#ifdef USE_ADC
setup_adc();
initDma0(); // Initialise the DMA controller to buffer ADC data in conversion order
#endif
#ifdef USE_TIMER3
//setup_timer3();
#endif
#ifdef USE_UART
setup_uart();
#endif
ecat_isr_running = 0;
#ifdef USE_ETHERCAT
while (!eeprom_loaded()) //Wait until ESC is ready
//ToggleHeartbeatLED(); //Success
SetHeartbeatLED;
//#ifdef ECAT_DMA
cfgDma0SpiTx();
cfgDma1SpiRx();
//#endif
setup_ethercat();
ClrHeartbeatLED;
#endif
#if defined PWR_0_2 || defined PWR_0_3 || defined PWR_0_4 || defined PWR_0_5
ClrEnableMotor;
#endif
setup_interrupt_priorities();
dummy = U1RXREG;
while(1){
if (i++%20001==0)
{
//ToggleHeartbeatLED();
}
#if defined USE_ETHERCAT
if (!IEC0bits.DMA1IE)
{
DISABLE_AL_EVENT_INT;
step_ethercat();
ENABLE_AL_EVENT_INT;
}
#endif
}
}
//inits
void init(){
setup_oscillator(OSC_INTRC|OSC_8MHZ);
setup_timer_2(MODE,PERIOD,POSTSCALE);
enable_interrupts(INT_TIMER2);
enable_interrupts(global);
}
void main ()
{
disable_interrupts(GLOBAL); //общее запрещение прерываний
setup_oscillator(OSC_8MHZ); //|OSC_INTRC
set_tris_a(0x00); //выходы
set_tris_b(0xff); //входы
set_tris_c(0x10); //выходы, RC4-вход(данные от STM)
//output_c(0x4f);
portc=0x4f;
porta=0x7f;
portb=0xff;
//set_tris_c(0x10); //выходы, RC4-вход(данные от STM)
//output_a(0x7f);
//output_b(0xff);
pit_bykl();
pr_wkl_pit=0; //пр. вкл. питания (исп. для 1-го нажатия кн. "Питание")
delay_ms(1000); //для настройки STM
//Инициализация модуля MSSP(режим SPI)
SSPCON1=0x31;
SSPSTAT=0; //0x80;
SSPBUF=0x55;
//иниц. таймеров:
//t0con=0xc8; //8-ми разр
t0con=0x88; //16-ми разр счетчик
T1CON=0x85;
setup_timer_1(T1_INTERNAL|T1_DIV_BY_1);
set_timer1(62286);
set_timer0(64536);
//enable_interrupts(INT_TIMER2);
enable_interrupts(INT_TIMER1);
enable_interrupts(INT_TIMER0);
enable_interrupts(GLOBAL);
//СОСТОЯНИЕ кнопок и ручек по ВКЛЮЧЕНИЮ:
//----------------------------------------
for (ii=0; ii<6;ii++)
{
du_pA=porta&0xc0|mask[ii];
output_a(du_pA);
pr_state_rb[ii] = input_b();
}
while(1)
{
for (ii=0; ii<6;ii++)
{
pr_ruk=0;
// output_a(mask[ii]); //SL... -> PORTA
du_pA=porta&0xc0|mask[ii];
output_a(du_pA);
tek_state_rb[ii] = input_b();
if (pr_state_rb[ii] ^ tek_state_rb[ii])
//возможно нажатие или вращение ?
{
if ((tek_state_rb[ii]&mask_kn[ii])!=mask_kn[ii]) //если это кнопка, то отрабат. дребезг
{ //кнопка
delay_ms(1);
tek1_state_rb = input_b();
delay_ms(1);
tek2_state_rb = input_b();
delay_ms(1);
tek3_state_rb = input_b();
// if (tek_state_rb[ii] == tek3_state_rb) //дребезг зак.-есть нажатие/отжатие или вращение!
}
else //ручка
{
tek3_state_rb=tek_state_rb[ii];
}
if (tek_state_rb[ii] == tek3_state_rb) //дребезг зак.-есть нажатие/отжатие или вращение!
switch(ii) //номер сигнала SL0,SL1,SL2,SL3,SL4,SL5
{
case 0: //SL0
//Кнопки K1, Ser:
if (!(tek3_state_rb & (1 << 0))) { buf_per=0x81; //№1-наж.
do
tek3_state_rb = input_b();
while (!(tek3_state_rb & (1 << 0)));
//отжатие произошло
while (buf_per!=0) {}
buf_per=0x01; //№1-отж.
break;
}
if (!(tek3_state_rb & (1 << 5))) { buf_per=0x82; //№2-наж.
do
tek3_state_rb = input_b();
while (!(tek3_state_rb & (1 << 5)));
//отжатие произошло
while (buf_per!=0) {}
buf_per=0x02; //№2-отж.
break;
}
//Ручки -B_K1, +B_K1 -Sm_K1, +Sm_K1:
//***********************************
if ((tek3_state_rb & 0x02)&&(tek3_state_rb & 0x04)) //RB1 & RB2==1
{
for (ib=0; ib<2;ib++)
{
if ((tek3_state_rb & (0x02 << ib)) && (!(pr_state_rb[ii] & (0x02 << ib))))
switch(ib)
{
case 0:
pr_ruk=1;
buf_per=0x14; //№20-влево
break;
case 1:
pr_ruk=1;
buf_per=0x94; //№20-вправо
break;
}//switch
} //for ib
} //if
// else
// {
if ((tek3_state_rb & 0x08)&&(tek3_state_rb & 0x10)&& (!pr_ruk)) //RB3 & RB4==1 & pr_ruk=0
{
for (ib=0; ib<2;ib++)
{
if ((tek3_state_rb & (0x08 << ib)) && (!(pr_state_rb[ii] & (0x08 << ib))))
switch(ib)
{
case 0:
{
buf_per=0x15; //№21-влево
break;
}
case 1:
{
buf_per=0x95; //№21-вправо
break;
}
}//switch ib
} //for
} //if
// } //else
pr_state_rb[ii]=tek3_state_rb;
pr_ruk=0;
break;
case 1: //SL1
//Кнопки K2, DISP:
if (!(tek3_state_rb & (1 << 0))) { buf_per=0x83; //№3-наж.
do
tek3_state_rb = input_b();
while (!(tek3_state_rb & (1 << 0)));
//отжатие произошло
while (buf_per!=0) {}
buf_per=0x03; //№2-отж.
break;
}
if (!(tek3_state_rb & (1 << 5))) { buf_per=0x84; //№4-наж.
do
tek3_state_rb = input_b();
while (!(tek3_state_rb & (1 << 5)));
//отжатие произошло
while (buf_per!=0) {}
buf_per=0x04; //№4-отж.
break;
}
//Ручки -B_K2, +B_K2 -Sm_K2, +Sm_K2:
//***********************************
if ((tek3_state_rb & 0x02)&&(tek3_state_rb & 0x04)) //RB1 & RB2==1
{
for (ib=0; ib<2;ib++)
{
if ((tek3_state_rb & (0x02 << ib)) && (!(pr_state_rb[ii] & (0x02 << ib))))
switch(ib)
{
case 0:
pr_ruk=1;
buf_per=0x16; //№22-влево
break;
case 1:
pr_ruk=1;
buf_per=0x96; //№22-вправо
break;
}//switch
} //for
} //if
// else
// {
if ((tek3_state_rb & 0x08)&&(tek3_state_rb & 0x10) && (!pr_ruk)) //RB3 & RB4==1 & (!pr_ruk)
{
for (ib=0; ib<2;ib++)
{
if ((tek3_state_rb & (0x08 << ib)) && (!(pr_state_rb[ii] & (0x08 << ib))))
switch(ib)
{
case 0:
{
buf_per=0x17; //№23-влево
break;
}
case 1:
{
buf_per=0x97; //№23-вправо
break;
}
}//switch
} //for
} //if
// } //else
// pr_state_rb[ii]=tek3_state_rb;
pr_ruk=0;
break;
case 2: //SL2
//Кнопки Raz, Pam:
if (!(tek3_state_rb & (1 << 0))) { buf_per=0x85; //№5-наж.
do
tek3_state_rb = input_b();
while (!(tek3_state_rb & (1 << 0)));
//отжатие произошло
while (buf_per!=0) {}
buf_per=0x05; //№5-отж.
break;
}
if (!(tek3_state_rb & (1 << 5))) { buf_per=0x86; //№6-наж.
do
tek3_state_rb = input_b();
while (!(tek3_state_rb & (1 << 5)));
//отжатие произошло
while (buf_per!=0) {}
buf_per=0x06; //№6-отж.
break;
}
//Ручки -T, +T -Del, +Del:
//***********************************
if ((tek3_state_rb & 0x02)&&(tek3_state_rb & 0x04)) //RB1 & RB2==1
{
for (ib=0; ib<2;ib++)
{
if ((tek3_state_rb & (0x02 << ib)) && (!(pr_state_rb[ii] & (0x02 << ib))))
switch(ib)
{
case 0:
pr_ruk=1;
buf_per=0x18; //№24-влево
break;
case 1:
pr_ruk=1;
buf_per=0x98; //№24-вправо
break;
}//switch
} //for
} //if
// else
{
if ((tek3_state_rb & 0x08)&&(tek3_state_rb & 0x10) && (!pr_ruk)) //RB3 & RB4==1 & (!pr_ruk)
{
for (ib=0; ib<2;ib++)
{
if ((tek3_state_rb & (0x08 << ib)) && (!(pr_state_rb[ii] & (0x08 << ib))))
switch(ib)
{
case 0:
{
buf_per=0x19; //№25-влево
break;
}
case 1:
{
buf_per=0x99; //№25-вправо
break;
}
}//switch
} //for
} //if
} //else
// pr_state_rb[ii]=tek3_state_rb;
pr_ruk=0;
break;
case 3: //SL3
//Кнопки Sinch, Pusk, Kurs, Izm:
if (!(tek3_state_rb & (1 << 0))) { buf_per=0x87; //№7-наж.
do
tek3_state_rb = input_b();
while (!(tek3_state_rb & (1 << 0)));
//отжатие произошло
while (buf_per!=0) {}
buf_per=0x07; //№7-отж.
break;
}
if (!(tek3_state_rb & (1 << 3))) { buf_per=0x88; //№8-наж.
do
tek3_state_rb = input_b();
while (!(tek3_state_rb & (1 << 3)));
//отжатие произошло
while (buf_per!=0) {}
buf_per=0x08; //№8-отж.
break;
}
if (!(tek3_state_rb & (1 << 4))) { buf_per=0x89; //№9-наж.
do
tek3_state_rb = input_b();
while (!(tek3_state_rb & (1 << 4)));
//отжатие произошло
while (buf_per!=0) {}
buf_per=0x09; //№9-отж.
break;
}
if (!(tek3_state_rb & (1 << 5))) { buf_per=0x8A; //№10-наж.
do
tek3_state_rb = input_b();
while (!(tek3_state_rb & (1 << 5)));
//отжатие произошло
while (buf_per!=0) {}
buf_per=0x0A; //№10-отж.
break;
}
//Ручки -Ur, +Ur :
//****************
if ((tek3_state_rb & 0x02)&&(tek3_state_rb & 0x04)) //RB1 & RB2==1
{
for (ib=0; ib<2;ib++)
{
if ((tek3_state_rb & (0x02 << ib)) && (!(pr_state_rb[ii] & (0x02 << ib))))
switch(ib)
{
case 0:
buf_per=0x1A; //№26-влево
break;
case 1:
buf_per=0x9A; //№26-вправо
break;
}//switch
} //for
} //if
// pr_state_rb[ii]=tek3_state_rb;
break;
case 4: // SL4
//Кнопки Pit, Sbor:
if (!(tek3_state_rb & (1 << 0))) { buf_per=0x8B; //№11-наж.
if (pr_wkl_pit==0)
{
pit_bkl();
}
break;
}
if (!(tek3_state_rb & (1 << 5))) { buf_per=0x8C; //№12-наж.
do
tek3_state_rb = input_b();
while (!(tek3_state_rb & (1 << 5)));
//отжатие произошло
while (buf_per!=0) {}
buf_per=0x0C; //№12-отж.
break;
}
//Ручки -Ur, +Ur :
//****************
if ((tek3_state_rb & 0x02)&&(tek3_state_rb & 0x04)) //RB1 & RB2==1
{
for (ib=0; ib<2;ib++)
{
if ((tek3_state_rb & (0x02 << ib)) && (!(pr_state_rb[ii] & (0x02 << ib))))
switch(ib)
{
case 0:
buf_per=0x1B; //№27-влево
break;
case 1:
buf_per=0x9B; //№27-вправо
break;
}//switch
} //for
} //if
// pr_state_rb[ii]=tek3_state_rb;
break;
case 5: //SL5
//Кнопки Men,"1", "2", "3", "4", "5":
if (!(tek3_state_rb & (1 << 0))) { buf_per=0x8D; //№13-наж.
do
tek3_state_rb = input_b();
while (!(tek3_state_rb & (1 << 0)));
//отжатие произошло
while (buf_per!=0) {}
buf_per=0x0D; //№13-отж.
break;
}
if (!(tek3_state_rb & (1 << 1))) { buf_per=0x8e; //№14-наж.
do
tek3_state_rb = input_b();
while (!(tek3_state_rb & (1 << 1)));
//отжатие произошло
while (buf_per!=0) {}
buf_per=0x0e; //№14-отж.
break;
}
if (!(tek3_state_rb & (1 << 2))) { buf_per=0x8f; //№15-наж.
do
tek3_state_rb = input_b();
while (!(tek3_state_rb & (1 << 2)));
//отжатие произошло
while (buf_per!=0) {}
buf_per=0x0f; //№15-отж.
break;
}
if (!(tek3_state_rb & (1 << 3))) { buf_per=0x90; //№16-наж.
do
tek3_state_rb = input_b();
while (!(tek3_state_rb & (1 << 3)));
//отжатие произошло
while (buf_per!=0) {}
buf_per=0x10; //№16-отж.
break;
}
if (!(tek3_state_rb & (1 << 4))) { buf_per=0x91; //№17-наж.
do
tek3_state_rb = input_b();
while (!(tek3_state_rb & (1 << 4)));
//отжатие произошло
while (buf_per!=0) {}
buf_per=0x11; //№17-отж.
break;
}
if (!(tek3_state_rb & (1 << 5))) { buf_per=0x92; //№18-наж.
do
tek3_state_rb = input_b();
while (!(tek3_state_rb & (1 << 5)));
//отжатие произошло
while (buf_per!=0) {}
buf_per=0x12; //№18-отж.
break;
}
pr_state_rb[ii]=tek3_state_rb;
break;
}//switch(ii)
pr_state_rb[ii]=tek3_state_rb;
}//if
}//for (ii)
}//while(1)
//output_bit(PIN_C3,1);
//BUF_CAP[i-1]=input(PIN_C4);
//output_bit( PIN_B2, 0); //Ldac в 0
//level = input_state(pin_A3);
} //main
void main(){
setup_oscillator (OSC_8MHZ);
setup_timer_1(T1_DISABLED);
setup_adc_ports(NO_ANALOGS|VSS_VDD);
setup_adc(ADC_OFF);
setup_comparator(NC_NC_NC_NC);
setup_vref(FALSE);
// Give indiction that the microcontroller is up and running
for (i=0;i<5;i++){
blink();
}
//On boot interactive mode is on so that the user can use a terminal interface
interactive = 1;
//Main loop starts here...
while(true){ //Waits for a command to come in over the serial port in interactive mode
if (interactive == 1)
printf("Please enter a command (h for help):\n\r");
command = getc();
switch (command){
case 'i': //Turn off interactive mode
printf("Turning Off Interactive...\n\r");
interactive = 0;
printf("Done...\n\r");
break;
case 'r': //Reset DS2482
if (interactive == 1){
printf("Resetting the DS2482\n\r");
}
//Do the Reset
result = ds2482_reset();
if (interactive == 1){
if (result == 1)
printf("...Success...\n\r");
else printf ("...Fail..\n\r");
}
break;
case 'c': //Configure DS2482
//Active pullup should always be selected unless
//there is only a single slave on the 1-Wire line.
//0x01 1WS Disabled, SPU Disabled, 0 NC, APU Active Pullup (Normal Operation for more then one device on onewire bus)
//0x05 1WS Disabled, SPU Active, 0 NC, APU Active Pullup (Strong pullup is commonly used with 1-Wire parasitically powered temperature sensors, eeprom, A/D converters)
if (interactive == 1){
printf("Configuring the DS2482\n\r");
}
//Do the Config
result = ds2482_write_config(0x01);
if (interactive == 1){
if (result == 1)
printf("...Success...\n\r");
else printf ("...Fail..\n\r");
}
break;
case 'R': //Reset One Wire Bus
if (interactive == 1){
printf("Resetting the One Wire\n\r");
}
result = OWreset();
if (interactive == 1){
if (result == 1)
printf("...Success...\n\r");
else printf ("...Fail..\n\r");
}
break;
case 'n': //Read the Network Address
OWreset();
delay_ms(1);
OWWriteByte("33");
//delay_ms(20);
for(i=0; i<=7; i++) {
result = OWReadByte();
printf ("%2X",result);
delay_ms(1);
}
break;
case 's': //Read the OW status register
OWreset();
delay_ms(1);
OWWriteByte(204); //Transmit skip Rom Command CC = 204
OWWriteByte(105); //0x69 Transmit Read RAM command
OWWriteByte(1); //Transmit Read start address
result=OWReadByte();
break;
case 'f': //Fix the floating power switch
OWreset();
OWWriteByte(0xCC);
OWWriteByte(0x6C); //Write Data Command
OWWriteByte(0x31); //Eeprom address but actually gets written to Shadow Ram
OWWriteByte(0xE7); //Value to make PMOD1 SWEN=0 RNAOP=0
//Copy the shadow Ram written above over to actual EEPROM
OWreset();
OWWriteByte(0xCC);
OWWriteByte(0x48); //send the copy command
OWWriteByte(0x30); //copy shadow ram to the block containing 31
break;
default: //Displays help message if you get an 'h' or an unknown command
printf("PyroLogger Board Found and Responding...\n\r");
printf("Firmware Version 2\n\r");
printf("Interactive Mode is ON\n\r");
printf("\n\r");
printf("\n\r");
printf("Command List:\n\r");
printf("h = System Help\n\r");
printf("i = Exit ineractive mode\n\r");
printf("r = Reset DS2482\n\r");
printf("c = Configure DS2482\n\r");
printf("R = Reset One Wire Bus\n\r");
printf("N = Print Net Address\n\r");
}
}
}
//====================================
void main()
{
int16 local_ccp_delta;
got_pulse_width = FALSE;
first_press = TRUE;
//DAC_address = 0xC4; //Address of the DAC don't ever forget this please
DAC_address = 0xC0; //I2C Address of parts with marking AJ
//Oscillator Config
//setup_oscillator(OSC_8MHZ|OSC_INTRC|OSC_PLL_ON); //I am giving it all shes got, she can't take any more Captain
//setup_oscillator(OSC_500KHZ|OSC_INTRC|OSC_PLL_OFF); //Can measure a little over 4 seconds with timer1
setup_oscillator(OSC_2MHZ|OSC_INTRC|OSC_PLL_OFF); //Can measure a little over 1 second with timer1 Use this one
//Capture Compare Config
setup_CCP1(CCP_CAPTURE_FE); //Sets up Capture Compare for Falling Edge - Reads Tap Input
bit_set(APFCON,0); //Set CCP1 Pin to A5 instead of A2
//ADC Config
SETUP_ADC(ADC_CLOCK_INTERNAL);
SETUP_ADC_PORTS(sAN3); //Analog in on RA4
set_adc_channel(3);
delay_us(10);
setup_timer_1(T1_INTERNAL | T1_DIV_BY_8 );
setup_timer_2(T2_DIV_BY_16 , 31, 1); //Need a real understanding of what this lines does here
enable_interrupts(INT_CCP1);
enable_interrupts(INT_TIMER2);
enable_interrupts(GLOBAL);
//DAC Test Code
//setVoltage(4095, FALSE); //Sets DAC output to Max voltage
//setVoltage(0, FALSE);
mode = 1; //Start off in POT mode
while(1)
{
pot_val = read_adc(); //Read the ADC everytime
if (mode == 1){ //We are in POT mode just set the value
pot_save = pot_val;
setVoltage(pot_val * 4, FALSE); //scale to 12bit DAC
}
if (((pot_val > pot_save + 10 && mode ==0)) || ((pot_val < pot_save - 10) && (mode == 0))){ //We are in TAP mode only set voltage if POT moves a lot
mode = 1; //Jump out of tap mode and enter pot mode
}
if(got_pulse_width)
{
disable_interrupts(GLOBAL);
local_ccp_delta = ccp_delta;
enable_interrupts(GLOBAL);
pulse_width_ms = local_ccp_delta / 62; //2E-6 per tick * 8 Prescale = 1.6E-5 so .001 / 1.6E-5 = 62.5
got_pulse_width = FALSE;
// For Testing set Pulse width ms here
// pulse_width_ms = 524;
LUT_count = 1;
while (millisecond_delay[LUT_count] >= pulse_width_ms){
LUT_count = LUT_count + 1;
}
calculated_voltage = map(pulse_width_ms, millisecond_delay[LUT_count - 1], millisecond_delay[LUT_count] , dac_out[LUT_count-1],dac_out[LUT_count]);
// printf("%lu ms \n\r", pulse_width_ms); //Debug Message
// printf("%lu dac \n\r", calculated_voltage); //Debug Message
setVoltage(calculated_voltage,FALSE);
mode = 0; //Set Mode to tap mode, requires larger movement of POT to break out
}
}
}
void main(){
setup_oscillator( OSC_8MHZ );
//setup_adc_ports(sAN6|VSS_VDD);
setup_adc(ADC_CLOCK_INTERNAL);
//setup_counters(RTCC_INTERNAL,RTCC_DIV_1);
//setup_timer_1(T1_DISABLED);
setup_comparator(NC_NC_NC_NC);
setup_vref(FALSE);
state0 = read_eeprom (0);
state1 = read_eeprom (1);
state2 = read_eeprom (2);
//Test the LEDs
/*
while (1){
output_low(LED0);
output_low(LED1);
output_low(LED2);
delay_ms(1000);
output_high(LED0);
output_high(LED1);
output_high(LED2);
delay_ms(1000);
}
*/
//The LEDs are an active High because of the NPN transistor driving the low side
if (state0 == 1)
output_high(LED0);
if (state1 == 1)
output_high(LED1);
if (state2 == 1)
output_high(LED2);
//The buttons are an active high to avoid problems with powerdown causing false triggers
//
while(true)
{
if(input(button0)){
//Toggle the LED
output_toggle(LED0);
while (input(button0)){} //Stay right here until button is released
//We know button was pressed and released
state0 = !state0;
write_eeprom(0, state0);
}
if(input(button1)){
//Toggle the LED
output_toggle(LED1);
while (input(button1)){} //Stay right here until button is released
//We know button was pressed and released
state1 = !state1;
write_eeprom(1, state1);
}
if( input(button2) ){
output_toggle(LED2);
while (input(button2)){} //Stay right here until button is released
//We know button was pressed and released
state2 = !state2;
write_eeprom(2, state2);
}
}
}
int main (void)
{
int i=0;
tmp_debug = 0;
//Setup oscillator/ports/pins first
setup_oscillator();
setup_ports();
setup_peripheral_pin_select();
setup_interrupt_priorities();
//init_temperature_model();
//Blinking HB LED and Timestamp
#ifdef USE_DIO
setup_dio();
#endif
//ToDo Used?
#ifdef USE_TIMER1
setup_timer1(); //do before setup_pwm
#endif //ToDo: there was a missing #endif, maybe that's why disabling Timer1 was breaking the code!
//Motor control PWM
#ifdef USE_PWM
//setup_pwm();
#endif
//Brushless motor
#ifdef USE_BLDC
setup_bldc();
#endif
//Torque PID and Current PID
#ifdef USE_CONTROL
setup_control();
#endif
//Analog to Digital
#ifdef USE_ADC
setup_adc();
#endif
//Torso external ADC
#ifdef USE_ADC_SPI
setup_adc_spi();
#endif
//Current measurment, control and limitation
#ifdef USE_CURRENT
setup_current();
#endif
//ToDo: Remvove?
#ifdef USE_TIMER3
setup_timer3();
#endif
//VerteX SPI Encoder
#ifdef USE_ENCODER_VERTX
setup_vertx();
#endif
//Torso motor brake
#ifdef USE_BRAKE
setup_brake();
#endif
//EtherCAT Communication
#ifdef USE_ETHERCAT
while (!eeprom_loaded()) //Wait until ESC is ready
SetHeartbeatLED;
setup_ethercat();
ClrHeartbeatLED;
#endif
setup_interrupt_priorities();
if (RCONbits.WDTO)
SetHeartbeatLED;
//RCONbits.SWDTEN = 1;//enable watchdog timer
if (RCON & 0x03 == 0x03)
{
RCONbits.BOR = 0;
RCONbits.POR = 0;
}
rcon_reg = RCON;
while(1)
{
if (i++%10001==0)
{
//ToggleHeartbeatLED();
#if defined USE_ETHERCAT
step_ethercat();
#endif
}
}
}
void main(){
setup_oscillator( OSC_8MHZ );
setup_adc_ports(sAN6|VSS_VDD);
setup_adc(ADC_CLOCK_INTERNAL);
setup_counters(RTCC_INTERNAL,RTCC_DIV_1);
setup_timer_1(T1_DISABLED);
setup_comparator(NC_NC_NC_NC);
setup_vref(FALSE);
//Software workaround for the power switch floating
onewire_init();
onewire_sendbyte(0xCC);
onewire_sendbyte(0x6C); //Write Data Command
onewire_sendbyte(0x31); //Eeprom address but actually gets written to Shadow Ram
onewire_sendbyte(0xE7); //Value to make PMOD1 SWEN=0 RNAOP=0
//Copy the shadow Ram written above over to actual EEPROM
onewire_init();
onewire_sendbyte(0xCC);
onewire_sendbyte(0x48); //send the copy command
onewire_sendbyte(0x30); //copy shadow ram to the block containing 31
while(true){
/*-------------------------------------------------------------------
Pull Reading From Temp Probe
-------------------------------------------------------------------*/
//Use the following to determine the state of the one wire net
//Will report if device present, not, or shorted
//Comment out rest of code
//onewire_init_with_error_check();
//read_status();
//printf("status byte is ====>(%x)\n\r",status);
printf("Please enter a command (h for help):\n\r");
command = getc(); //Gets a key from the keyboard
switch (command){
case 'h' :
printf("Type any of the following commands:\n\r");
printf("h This Help Message\n\r");
printf("C Ambiant Temp in deg. C\n\r");
printf("c Ambiant Temp in deg. C(No Formatting)\n\r");
printf("F Ambiant Temp in deg. F\n\r");
printf("f Ambiant Temp in deg. F(No Formatting)\n\r");
printf("N 64 bit node address in Hex\n\r");
printf("K Thermo millivolts\n\r");
printf("k Thermo millivolts(No Formatting)\n\r");
printf("s One line scroll test\n\r");
break;
case 'C' :
read_temp();
printf(" deg C===>(%3.2f)\n\r",temp_float);
break;
case 'c' :
read_temp();
printf("%3.2f\n\r",temp_float);
break;
case 'F' :
read_temp();
printf(" deg F===>(%3.2f)\n\r",temp_float_faren);
break;
case 'f' :
read_temp();
printf("%4.2f",temp_float_faren);
break;
case 'K' :
read_current();
printf("mV===>(%4.3f)\n\r",current_float);
break;
case 'k' :
read_current();
printf("%4.3f\n\r",current_float);
break;
case 's' :
scroll_test();
break;
default :
printf("Not a valid command:\n\r");
}
delay_ms(1000);
}
}
