int main()
{
mJTAGPortEnable(0);
mPORTASetPinsDigitalOut(BIT_0|BIT_1|BIT_2|BIT_3|BIT_4|BIT_5|BIT_6|BIT_7);
mPORTAClearBits(BIT_0|BIT_1|BIT_2|BIT_3|BIT_4|BIT_5|BIT_6|BIT_7);
INTCONSET=0x1000;
INTEnableSystemMultiVectoredInt();
IEC0 =0;
IFS0 = 0;
INTCONCLR = 0x00000018;
IEC0SET = 0x00088000;
IPC3 = 0x1F000000;
IPC4 = 0X17000000;
lcdconfig();
while(1)
{
if(IFS0 & 0x8000==1)
{
lcddata('3');
PORTA=0X0F;
}
if(IFS0 & 0x80000==1)
{
lcddata('4');
PORTA=0XFF;
}
}
}
int main(void)
{
int i;
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// Configure the device for maximum performance but do not change the PBDIV
// Given the options, this function will change the flash wait states, RAM
// wait state and enable prefetch cache but will not change the PBDIV.
// The PBDIV value is already set via the pragma FPBDIV option above..
SYSTEMConfig(SYS_FREQ, SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE);
// Explorer16 LEDs are on lower 8-bits of PORTA and to use all LEDs, JTAG port must be disabled.
mJTAGPortEnable(DEBUG_JTAGPORT_OFF);
// Make all lower 8-bits of PORTA as output. Turn them off before changing
// direction so that we don't have unexpected flashes
mPORTAClearBits(BIT_7 | BIT_6 | BIT_5 | BIT_5 | BIT_4 | \
BIT_3 | BIT_2 | BIT_1 | BIT_0 );
mPORTASetPinsDigitalOut( BIT_7 | BIT_6 | BIT_5 | BIT_5 | BIT_4 | \
BIT_3 | BIT_2 | BIT_1 | BIT_0 );
// Now blink all LEDs ON/OFF forever.
while(1)
{
mPORTAToggleBits(BIT_7 | BIT_6 | BIT_5 | BIT_5 | BIT_4 | \
BIT_3 | BIT_2 | BIT_1 | BIT_0 );
// Insert some delay
i = 1024*1024*10;
while(i--);
}
}
int main()
{
i=0;
lcdini();
DDPCON=0x0000;
mPORTDSetPinsDigitalIn(BIT_7|BIT_13|BIT_6); //Set Portd pins DigitalIn
mPORTASetPinsDigitalOut(BIT_0|BIT_1|BIT_2|BIT_3|BIT_4|BIT_5|BIT_6);
mPORTAClearBits(BIT_0|BIT_1|BIT_2|BIT_3|BIT_4|BIT_5|BIT_6);
mPORTASetPinsDigitalIn(BIT_7);
char x;
while(1)
{
switch(i) //Switch case to select function
{
case 0:
mode();
break;
case 1:
batteryv();
break;
case 2:
temps();
break;
}
if(i==3)
{
lcdcmd(0x01);
break;
}
}
}
void InitBluetooth(void)
{
#if DESIRED_BAUDRATE == 9600
mPORTBSetPinsDigitalOut(BIT_9);
mPORTBSetBits(BIT_9);// BT high level, the reset polarity is active low
mPORTASetPinsDigitalOut(BIT_3);
mPORTASetBits(BIT_3);// Set Baud rate (high = force 9,600, low = 115 K or firmware setting)
mPORTASetPinsDigitalOut(BIT_2);
mPORTASetBits(BIT_2);// Set BT master (high = auto-master mode)
#elif DESIRED_BAUDRATE == 115200
mPORTBSetPinsDigitalOut(BIT_9);
mPORTBSetBits(BIT_9);// BT high level, the reset polarity is active low
mPORTASetPinsDigitalOut(BIT_3);
mPORTAClearBits(BIT_3);// Set Baud rate (high = force 9,600, low = 115 K or firmware setting)
mPORTASetPinsDigitalOut(BIT_2);
mPORTASetBits(BIT_2);// Set BT master (high = auto-master mode)
#elif DESIRED_BAUDRATE ==921600
//nothing
#endif
UARTConfigure(UART_MODULE_ID2, UART_ENABLE_PINS_TX_RX_ONLY|UART_ENABLE_PINS_CTS_RTS);
UARTConfigure(UART_MODULE_ID2, UART_ENABLE_HIGH_SPEED);
UARTSetFifoMode(UART_MODULE_ID2, UART_INTERRUPT_ON_TX_NOT_FULL | UART_INTERRUPT_ON_RX_NOT_EMPTY);
UARTSetLineControl(UART_MODULE_ID2, UART_DATA_SIZE_8_BITS | UART_PARITY_NONE | UART_STOP_BITS_1);
UARTSetDataRate(UART_MODULE_ID2, GetPeripheralClock(), DESIRED_BAUDRATE);
UARTEnable(UART_MODULE_ID2, UART_ENABLE_FLAGS(UART_PERIPHERAL | UART_RX | UART_TX));
// Configure UART RX Interrupt
INTEnable(INT_SOURCE_UART_RX(UART_MODULE_ID2), INT_ENABLED);
INTSetVectorPriority(INT_VECTOR_UART(UART_MODULE_ID2), INT_PRIORITY_LEVEL_2);
INTSetVectorSubPriority(INT_VECTOR_UART(UART_MODULE_ID2), INT_SUB_PRIORITY_LEVEL_1);
// Enable multi-vector interrupts
//WriteStringXbee("*** UART Bluetooth demarre ***\r\n");
}
static PT_THREAD (protothread_key(struct pt *pt))
{
PT_BEGIN(pt);
static int keypad, i, pattern;
// order is 0 thru 9 then * ==10 and # ==11
// no press = -1
// table is decoded to natural digit order (except for * and #)
// 0x80 for col 1 ; 0x100 for col 2 ; 0x200 for col 3
// 0x01 for row 1 ; 0x02 for row 2; etc
static int keytable[12]={0x108, 0x81, 0x101, 0x201, 0x82, 0x102, 0x202, 0x84, 0x104, 0x204, 0x88, 0x208};
// init the keypad pins A0-A3 and B7-B9
// PortA ports as digital outputs
mPORTASetPinsDigitalOut(BIT_0 | BIT_1 | BIT_2 | BIT_3); //Set port as output
// PortB as inputs
mPORTBSetPinsDigitalIn(BIT_7 | BIT_8 | BIT_9); //Set port as input
while(1) {
// read each row sequentially
mPORTAClearBits(BIT_0 | BIT_1 | BIT_2 | BIT_3);
pattern = 1; mPORTASetBits(pattern);
// yield time
PT_YIELD_TIME_msec(30);
//mPORTAClearBits(BIT_0 | BIT_1 | BIT_2 | BIT_3);
//pattern = 1; mPORTASetBits(pattern);
for (i=0; i<4; i++) {
keypad = mPORTBReadBits(BIT_7 | BIT_8 | BIT_9);
if(keypad!=0) {keypad |= pattern ; break;}
mPORTAClearBits(pattern);
pattern <<= 1;
mPORTASetBits(pattern);
}
// search for keycode
if (keypad > 0){ // then button is pushed
for (i=0; i<12; i++){
if (keytable[i]==keypad) break;
}
}
else i = -1; // no button pushed
// draw key number
tft_fillRoundRect(30,200, 100, 28, 1, ILI9340_BLACK);// x,y,w,h,radius,color
tft_setCursor(30, 200);
tft_setTextColor(ILI9340_YELLOW); tft_setTextSize(4);
sprintf(buffer,"%d", i);
if (i==10)sprintf(buffer,"*");
if (i==11)sprintf(buffer,"#");
tft_writeString(buffer);
// NEVER exit while
} // END WHILE(1)
PT_END(pt);
} // keypad thread
void initLCD()
{
//No commands for 40ms
OpenTimer2( T2_PS_1_256 | T2_ON, delay( 40 ) );
//Start Reset
mPORTAClearBits( 1 << 3 );
mPORTASetPinsDigitalOut( 1 << 3 );
//Prep
mPMPOpen(
PMP_ON |
PMP_TTL |
PMP_READ_WRITE_EN |
PMP_WRITE_POL_LO |
PMP_READ_POL_LO,
PMP_MODE_MASTER1 |
PMP_WAIT_BEG_4 |
PMP_WAIT_MID_15 |
PMP_WAIT_END_4,
PMP_PEN_0,
PMP_INT_OFF
);
//Wake Up!
while( !mT2GetIntFlag() );
CloseTimer2();
mT2ClearIntFlag();
//End Reset
mPORTASetBits( 1 << 3 );
//No Commands for 39us
OpenTimer2( T2_PS_1_256 | T2_ON, delay( 40 ) );
//Wake Up!
while( !mT2GetIntFlag() );
CloseTimer2();
mT2ClearIntFlag();
lcdCommand(LCD_ON);
//Best boot 5-1-05
lcdCommand(0xA3); //LCD Bias (A2 A3) - First Choice
lcdCommand(0x2F); //Turn on internal power control
lcdCommand(0x26); //Pseudo-Contrast 7 = dark 6 = OK - First Choice
lcdCommand(0x81); //Set contrast
lcdCommand(40);//The Contrast (30 to 54 - Recommeneded)
lcdCommand(0xC8); //Flip screen on the horizontal to match with the vertical software invertion
lcdClear();
}
// initialize hardware
void Initialize()
{
// All of these items will affect the performance of your code and cause it to run significantly slower than you would expect.
SYSTEMConfigPerformance(SYS_CLOCK);
WriteCoreTimer(0); // Core timer ticks once every two clocks (verified)
// set default digital port A for IO
DDPCONbits.JTAGEN = 0; // turn off JTAG
DDPCONbits.TROEN = 0; // ensure no tracing on
//mPORTASetPinsDigitalOut(BIT_0 | BIT_1 | BIT_2 | BIT_3 | BIT_4 | BIT_5 | BIT_6 | BIT_7);
// todo - set this based on width of image. make rest inputs?
mPORTBSetPinsDigitalOut(BIT_0|BIT_1|BIT_2|BIT_3|BIT_4|BIT_5|BIT_6|BIT_7|BIT_8|BIT_9|BIT_10|BIT_11|BIT_12|BIT_13|BIT_14|BIT_15);
// Configure the device for maximum performance but do not change the PBDIV
// Given the options, this function will change the flash wait states, RAM
// wait state and enable prefetch cache but will not change the PBDIV.
// The PBDIV value is already set via the pragma FPBDIV option above..
int pbClk = SYSTEMConfig( SYS_CLOCK, SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE);
InitializeUART(pbClk);
mPORTASetPinsDigitalOut(BIT_1);
// set internals
// SetUARTClockDivider(flashOptions.baudDivisor);
// prepare 32 bit timer 45 to trigger interrupts
//OpenTimer45(T45_ON | T45_SOURCE_INT | T45_PS_1_1, interruptTime);
// set up the timer interrupt and priority
//ConfigIntTimer45(T4_INT_ON | T4_INT_PRIOR_7);
// enable multivectored interrupts
//INTEnableSystemMultiVectoredInt();
// start watchdog timer
//tickle in interrupt, turn off during reset of device, causes a reset
//The next statement enables the Watchdog Timer:
// WDTCONbits.ON = 1;
//sprintf(text,"Wait states %d\r\n.",BMXCONbits.BMXWSDRM);
//PrintSerial(text);
//BMXCONbits.BMXWSDRM = 0; // set RAM access to zero wait states
//sprintf(text,"TODO _ REMOVE:override %d\r\n",pinOverride);
//PrintSerial(text);
//sprintf(text,"TODO _ REMOVE:actual %d\r\n",PORTAbits.RA1);
//PrintSerial(text);
}
int main(void)
{
// === config the uart, DMA, SPI ===========
PT_setup();
// == SPI ==
//enable SPI at 10 MHz clock to meet digital potentiometer specifications
SpiChnOpen(spiChn, SPI_OPEN_ON | SPI_OPEN_MODE16 | SPI_OPEN_MSTEN | SPI_OPEN_CKE_REV , spiClkDiv);
// === setup system wide interrupts ====================
INTEnableSystemMultiVectoredInt();
// === set up i/o port pin ===============================
//Port B bits, 3,7,8, and 9 are used to select digital output
//Port B bit 4 is used as chip select for treble digital potentiometer
//Port B bit 13 is used as a select signal for output effect selection multiplexer
//Additional functionality would use the TFT to display which output was being
//selected
mPORTBSetPinsDigitalOut(BIT_4 | BIT_3|BIT_7 | BIT_8 | BIT_9 |BIT_13); //Set port as output
//Port A Bits 0,2,and 3 are used to configure digital potentiometers (chip selects). Port A bit 4 is used
//for multiplexing whether to have input from Digital effector chip, distortion,
//or pure tonestack sound
mPORTASetPinsDigitalOut(BIT_0 | BIT_2 | BIT_3 | BIT_4);
// === now the threads ===================================
// init the threads
PT_INIT(&pt_cmd);
PT_INIT(&pt_time);
//==Digipot spi stuff
// SCK2 is pin 26
// SDO1 (MOSI) is in PPS output group 1, could be connected to RB5 which is pin 14
PPSOutput(2, RPB5, SDO1);
// control CS for DAC
//mPORTBSetPinsDigitalOut(BIT_4); //CS
mPORTBSetBits(BIT_4 | BIT_6);
//===
mPORTASetBits(BIT_0 | BIT_2 | BIT_3 | BIT_4); //CS pins active high
mPORTAClearBits(BIT_4);
mPORTBClearBits(BIT_13);
mPORTBSetBits(BIT_13);
// schedule the threads
while(1) {
//cmd used as command center for all effects
PT_SCHEDULE(protothread_cmd(&pt_cmd));
}
} // main
int main(int argc, char** argv) {
mPORTAClearBits(BIT_6); //Clear bits to ensure the LED is off.
mPORTASetPinsDigitalOut(BIT_6); //Set port as output
while(1)
{
//PORTAbits.RA2 = ~PORTAbits.RA2;
mPORTAToggleBits(BIT_6);
delay_millis(100);
}
return (EXIT_SUCCESS);
}
int main(void)
{
// === config the uart, DMA, vref, timer5 ISR =============
PT_setup();
// === setup system wide interrupts ====================
INTEnableSystemMultiVectoredInt();
// === set up i/o port pin ===============
mPORTASetBits(BIT_0 | BIT_1 ); //Clear bits to ensure light is off.
mPORTASetPinsDigitalOut(BIT_0 | BIT_1 ); //Set port as output
mPORTBSetBits(BIT_0 ); //Clear bits to ensure light is off.
mPORTBSetPinsDigitalOut(BIT_0 ); //Set port as output
// === now the threads ====================
// init the thread control semaphores
PT_SEM_INIT(&control_t1, 0); // start blocked
PT_SEM_INIT(&control_t2, 1); // start unblocked
PT_SEM_INIT(&send_sem, 1); // start with ready to send
// init the threads
PT_INIT(&pt1);
PT_INIT(&pt2);
PT_INIT(&pt3);
PT_INIT(&pt4);
PT_INIT(&pt5);
// init the optional rate scheduler
PT_RATE_INIT();
// schedule the threads
while(1) {
PT_RATE_LOOP(); // not necessary if you use PT_SCHEDULE
PT_RATE_SCHEDULE(protothread1(&pt1), t1_rate);
if (run_t4) PT_RATE_SCHEDULE(protothread4(&pt4), t4_rate); //run always
PT_RATE_SCHEDULE(protothread2(&pt2), t1_rate);
if (cmd[0] != 'k') PT_RATE_SCHEDULE(protothread3(&pt3),t3_rate);
PT_SCHEDULE(protothread5(&pt5));
/*
// alternate scheme
PT_SCHEDULE(protothread1(&pt1));
if (run_t4) PT_SCHEDULE(protothread4(&pt4));
PT_SCHEDULE(protothread2(&pt2));
if (run_t4) PT_SCHEDULE(protothread4(&pt4));
if (cmd[0] != 'k') PT_SCHEDULE(protothread3(&pt3));
*/
}
} // main
// init the UART settings
void InitializeUART(int clock)
{
clockDivider = clock/(4*DESIRED_BAUDRATE) - 1;
// UART1
// U1RX on RPA4
// U1TX on RPA0
mPORTAClearBits(BIT_0 | BIT_4);
mPORTASetPinsDigitalIn(BIT_4);
mPORTASetPinsDigitalOut(BIT_0);
U1RXR = 2; // RPB2 = U1RX
RPA0R = 1; // PIN RPA0 = U1TX
SetUARTClockDivider(clockDivider);
}
void InitializeSystem()
{
SYSTEMConfigWaitStatesAndPB(CLOCK_FREQ);
mOSCSetPBDIV(OSC_PB_DIV_4); // Set to get 20MHz PB clock
//mOSCSetPBDIV(OSC_PB_DIV_2);
CheKseg0CacheOn();
mJTAGPortEnable(0);
// Initialize the pins to all digital output and driven to ground.
// Exception is RE7 and RE6 which are switch inputs
PORTSetPinsDigitalIn(IOPORT_E, BIT_6);
PORTSetPinsDigitalIn(IOPORT_E, BIT_7);
mPORTASetPinsDigitalOut(0xFFFF);
mPORTBSetPinsDigitalOut(0xFFFF);
mPORTCSetPinsDigitalOut(0xFFFF);
mPORTDSetPinsDigitalOut(0xFFFF);
mPORTESetPinsDigitalOut(0xFF3F);
mPORTFSetPinsDigitalOut(0xFFFF);
mPORTGSetPinsDigitalOut(0xFFFF);
mPORTAClearBits(0xFFFF);
mPORTBClearBits(0xFFFF);
mPORTCClearBits(0xFFFF);
mPORTDClearBits(0xFFFF);
mPORTEClearBits(0xFF3F);
mPORTESetBits(0x000F); // LED latches need to be set high for off
mPORTFClearBits(0xFFFF);
mPORTGClearBits(0xFFFF);
INTEnableSystemMultiVectoredInt();
#ifdef SANITY_CHECK
mLED_Green_On();
#endif
//LCD_Initialize();
//WIFI_Initialize();
//SPRINKLER_Initialize();
//RTCC_Initialize();
//SERIALUSB_Initialize();
SDCARD_Initialize();
TCPIP_Initialize();
}
int main(void)
{
int dmaChn=0; // the DMA channel to use
// first let us set the LED I/O ports as digital outputs
mPORTASetPinsDigitalOut(0xff);
mPORTAClearBits(0xff); // start with all LED's turned off
// Open the desired DMA channel.
// We enable the AUTO option, we'll keep repeating the sam transfer over and over.
DmaChnOpen(dmaChn, 0, DMA_OPEN_AUTO);
// set the transfer parameters: source & destination address, source & destination size, number of bytes per event
DmaChnSetTxfer(dmaChn, LED_pattern, (void*)&LATA, sizeof(LED_pattern), 1, 1);
// set the transfer event control: what event is to start the DMA transfer
DmaChnSetEventControl(dmaChn, DMA_EV_START_IRQ(_TIMER_3_IRQ));
// once we configured the DMA channel we can enable it
// now it's ready and waiting for an event to occur...
DmaChnEnable(dmaChn);
// now use the 32 bit timer to generate an interrupt at the desired LED_BLINK_RATE
{
int pbFreq=SYS_FREQ/(1<<mOSCGetPBDIV()); // get the PB frequency the timer is running at
// use 1:1 prescaler for max resolution, the PB clock
OpenTimer23(T2_ON | T2_SOURCE_INT | T2_PS_1_1, (pbFreq/1000)*LED_BLINK_RATE);
}
while(1)
{
// do some other useful work
}
}
int
main()
{
SYSTEMConfigPerformance(FCY);
/* JTAG off */
DDPCONbits.JTAGEN = 0;
/* RA0 = 0 */
mPORTAClearBits(BIT_0);
/* RA0 O/P */
mPORTASetPinsDigitalOut(BIT_0);
while(1) {
/* F = 10 Hz */
delay_ms(50);
/* RA0 = ! RA0 */
mPORTAToggleBits(BIT_0);
}
return 0;
}
static void UART_Config (CPU_INT32U baud_rate)
{
CPU_INT32U ubrg;
CPU_INT32U config1;
CPU_INT32U config2;
mPORTAClearBits(DEF_BIT_07); /* Turn off RA7 on startup. */
mPORTASetPinsDigitalOut(DEF_BIT_07); /* Make RA7 as output. */
ubrg = UART_CalcBRG(baud_rate); /* Calculate the correct multiplier */
config1 = UART_EN /* UART module enabled */
| UART_IDLE_CON /* UART works in IDLE mode */
| UART_RX_TX /* Communication is done through the normal pins */
| UART_DIS_WAKE /* Disable Wake-up on START bit detect during SLEEP */
| UART_DIS_LOOPBACK /* Disable loop back */
| UART_DIS_ABAUD /* Input to capture module from ICx pin */
| UART_NO_PAR_8BIT /* 8 bits no parity */
| UART_1STOPBIT /* 1 stop bit */
| UART_IRDA_DIS /* IrDA disabled */
| UART_MODE_FLOWCTRL /* UART pins in flow control mode */
| UART_DIS_BCLK_CTS_RTS /* Disable BCLK, CTS, and RTS pins */
| UART_NORMAL_RX /* UxRX idle stat is '1' */
| UART_BRGH_SIXTEEN; /* 16x baud clock */
config2 = UART_TX_PIN_LOW /* IrDA encoded UxTx idle stat is '0' */
| UART_RX_ENABLE /* Enable UxRx pin */
| UART_TX_ENABLE /* Enable UxTx pin */
| UART_INT_TX /* Interrupt on trasnfer of each character to TSR */
| UART_INT_RX_CHAR /* Interrupt on every char received */
| UART_ADR_DETECT_DIS /* Disable 9-bit address detect */
| UART_RX_OVERRUN_CLEAR; /* Rx buffer overrun status bit clear */
BSP_UART_START(config1, config2, ubrg); /* Configure the settings */
}
int main(void)
{
//LOCALS
unsigned int temp;
unsigned int channel1, channel2;
M1_stepPeriod = M2_stepPeriod = M3_stepPeriod = M4_stepPeriod = 50; // in tens of u-seconds
unsigned char M1_state = 0, M2_state = 0, M3_state = 0, M4_state = 0;
SYSTEMConfig(GetSystemClock(), SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE);
/* TIMER1 - now configured to interrupt at 10 khz (every 100us) */
OpenTimer1(T1_ON | T1_SOURCE_INT | T1_PS_1_1, T1_TICK);
ConfigIntTimer1(T1_INT_ON | T1_INT_PRIOR_2);
/* TIMER2 - 100 khz interrupt for distance measure*/
OpenTimer2(T2_ON | T2_SOURCE_INT | T2_PS_1_1, T2_TICK);
ConfigIntTimer2(T2_INT_ON | T2_INT_PRIOR_3); //It is off until trigger
/* PORTA b2 and b3 for servo-PWM */
mPORTAClearBits(BIT_2 | BIT_3);
mPORTASetPinsDigitalOut(BIT_2 | BIT_3);
/* ULTRASONICS: some bits of PORTB for ultrasonic sensors */
PORTResetPins(IOPORT_B, BIT_8 | BIT_9| BIT_10 | BIT_11 );
PORTSetPinsDigitalOut(IOPORT_B, BIT_8 | BIT_9| BIT_10 | BIT_11); //trigger
/* Input Capture pins for echo signals */
//interrupt on every risging/falling edge starting with a rising edge
PORTSetPinsDigitalIn(IOPORT_D, BIT_8| BIT_9| BIT_10| BIT_11); //INC1, INC2, INC3, INC4 Pin
mIC1ClearIntFlag();
OpenCapture1( IC_EVERY_EDGE | IC_INT_1CAPTURE | IC_TIMER2_SRC | IC_ON );//front
ConfigIntCapture1(IC_INT_ON | IC_INT_PRIOR_4 | IC_INT_SUB_PRIOR_3);
OpenCapture2( IC_EVERY_EDGE | IC_INT_1CAPTURE | IC_TIMER2_SRC | IC_ON );//back
ConfigIntCapture2(IC_INT_ON | IC_INT_PRIOR_4 | IC_INT_SUB_PRIOR_3);
OpenCapture3( IC_EVERY_EDGE | IC_INT_1CAPTURE | IC_TIMER2_SRC | IC_ON );//left
ConfigIntCapture3(IC_INT_ON | IC_INT_PRIOR_4 | IC_INT_SUB_PRIOR_3);
OpenCapture4( IC_EVERY_EDGE | IC_INT_1CAPTURE | IC_TIMER2_SRC | IC_ON );//right
ConfigIntCapture4(IC_INT_ON | IC_INT_PRIOR_4 | IC_INT_SUB_PRIOR_3);
/* PINS used for the START (RD13) BUTTON */
PORTSetPinsDigitalIn(IOPORT_D, BIT_13);
#define CONFIG (CN_ON | CN_IDLE_CON)
#define INTERRUPT (CHANGE_INT_ON | CHANGE_INT_PRI_2)
mCNOpen(CONFIG, CN19_ENABLE, CN19_PULLUP_ENABLE);
temp = mPORTDRead();
/* PORT D and E for motors */
//motor 1
mPORTDSetBits(BIT_4 | BIT_5 | BIT_6 | BIT_7); // Turn on PORTD on startup.
mPORTDSetPinsDigitalOut(BIT_4 | BIT_5 | BIT_6 | BIT_7); // Make PORTD output.
//motor 2
mPORTCSetBits(BIT_1 | BIT_2 | BIT_3 | BIT_4); // Turn on PORTC on startup.
mPORTCSetPinsDigitalOut(BIT_1 | BIT_2 | BIT_3 | BIT_4); // Make PORTC output.
//motor 3 and 4
mPORTESetBits(BIT_0 | BIT_1 | BIT_2 | BIT_3 |
BIT_4 | BIT_5 | BIT_6 | BIT_7); // Turn on PORTE on startup.
mPORTESetPinsDigitalOut(BIT_0 | BIT_1 | BIT_2 | BIT_3 |
BIT_4 | BIT_5 | BIT_6 | BIT_7); // Make PORTE output.
// UART2 to connect to the PC.
// This initialization assumes 36MHz Fpb clock. If it changes,
// you will have to modify baud rate initializer.
UARTConfigure(UART2, UART_ENABLE_PINS_TX_RX_ONLY);
UARTSetFifoMode(UART2, UART_INTERRUPT_ON_TX_NOT_FULL | UART_INTERRUPT_ON_RX_NOT_EMPTY);
UARTSetLineControl(UART2, UART_DATA_SIZE_8_BITS | UART_PARITY_NONE | UART_STOP_BITS_1);
UARTSetDataRate(UART2, GetPeripheralClock(), BAUD);
UARTEnable(UART2, UART_ENABLE_FLAGS(UART_PERIPHERAL | UART_RX | UART_TX));
// Configure UART2 RX Interrupt
INTEnable(INT_SOURCE_UART_RX(UART2), INT_ENABLED);
INTSetVectorPriority(INT_VECTOR_UART(UART2), INT_PRIORITY_LEVEL_2);
INTSetVectorSubPriority(INT_VECTOR_UART(UART2), INT_SUB_PRIORITY_LEVEL_0);
/* PORTD for LEDs - DEBUGGING */
mPORTDClearBits(BIT_0 | BIT_1 | BIT_2);
mPORTDSetPinsDigitalOut(BIT_0 | BIT_1 | BIT_2);
// Congifure Change/Notice Interrupt Flag
ConfigIntCN(INTERRUPT);
// configure for multi-vectored mode
INTConfigureSystem(INT_SYSTEM_CONFIG_MULT_VECTOR);
// enable interrupts
INTEnableInterrupts();
counterDistanceMeasure=600; //measure ULTRASONICS distance each 60 ms
while (1) {
/***************** Robot MAIN state machine *****************/
unsigned char ret = 0;
switch (Robo_State) {
case 0:
MotorsON = 0;
Robo_State = 0;
InvInitialOrientation(RESET);
TestDog(RESET);
GoToRoom4short(RESET);
BackToStart(RESET);
InitialOrientation(RESET);
GoToCenter(RESET);
GoToRoom4long(RESET);
break;
case 1:
ret = InvInitialOrientation(GO);
if (ret == 1) {
Robo_State = 2;
}
break;
case 2:
ret = TestDog(GO);
if (ret == 1) {
Robo_State = 3; //DOG not found
} else if (ret == 2) {
Robo_State = 4; //DOG found
}
break;
case 3:
ret = GoToRoom4short(GO);
if (ret == 1) {
Robo_State = 0;
}
break;
case 4:
ret = BackToStart(GO);
if (ret == 1) {
Robo_State = 5;
}
break;
case 5:
ret = GoToCenter(GO);
if (ret == 1) {
Robo_State = 6;
}
break;
case 6:
ret = GoToRoom4long(GO);
if (ret == 1) {
Robo_State = 0;
}
break;
}
if (frontDistance < 30 || backDistance < 30 || leftDistance < 30 || rightDistance < 30)
mPORTDSetBits(BIT_0);
else
mPORTDClearBits(BIT_0);
/***************************************************************/
/***************** Motors State Machine ************************/
if (MotorsON) {
/****************************
MOTOR MAP
M1 O-------------O M2 ON EVEN MOTORS, STEPS MUST BE INVERTED
| /\ | i.e. FORWARD IS BACKWARD
| / \ |
| || |
| || |
M3 O-------------O M4
*****************************/
if (M1_counter == 0) {
switch (M1_state) {
case 0: // set 0011
step (0x3 , 1);
if (M1forward)
M1_state = 1;
else
M1_state = 3;
break;
case 1: // set 1001
step (0x9 , 1);
if (M1forward)
M1_state = 2;
else
M1_state = 0;
break;
case 2: // set 1100
step (0xC , 1);
if (M1forward)
M1_state = 3;
else
M1_state = 1;
break;
case 3: // set 0110
default:
step (0x6 , 1);
if (M1forward)
M1_state = 0;
else
M1_state = 2;
break;
}
M1_counter = M1_stepPeriod;
step_counter[0]--;
if (directionNow == countingDirection)
step_counter[1]--;
}
if (M2_counter == 0) {
switch (M2_state) {
case 0: // set 0011
step (0x3 , 2);
if (M2forward)
M2_state = 1;
else
M2_state = 3;
break;
case 1: // set 0110
step (0x6 , 2);
if (M2forward)
M2_state = 2;
else
M2_state = 0;
break;
case 2: // set 1100
step (0xC , 2);
if (M2forward)
M2_state = 3;
else
M2_state = 1;
break;
case 3: // set 1001
default:
step (0x9 , 2);
if (M2forward)
M2_state = 0;
else
M2_state = 2;
break;
}
M2_counter = M2_stepPeriod;
}
if (M3_counter == 0) {
switch (M3_state) {
case 0: // set 0011
step (0x3 , 3);
if (M3forward)
M3_state = 1;
else
M3_state = 3;
break;
case 1: // set 1001
step (0x9 , 3);
if (M3forward)
M3_state = 2;
else
M3_state = 0;
break;
case 2: // set 1100
step (0xC , 3);
if (M3forward)
M3_state = 3;
else
M3_state = 1;
break;
case 3: // set 0110
default:
step (0x6 , 3);
if (M3forward)
M3_state = 0;
else
M3_state = 2;
break;
}
M3_counter = M3_stepPeriod;
}
if (M4_counter == 0) {
switch (M4_state) {
case 0: // set 0011
step (0x3 , 4);
if (M4forward)
M4_state = 1;
else
M4_state = 3;
break;
case 1: // set 0110
step (0x6 , 4);
if (M4forward)
M4_state = 2;
else
M4_state = 0;
break;
case 2: // set 1100
step (0xC , 4);
if (M4forward)
M4_state = 3;
else
M4_state = 1;
break;
case 3: // set 1001
default:
step (0x9 , 4);
if (M4forward)
M4_state = 0;
else
M4_state = 2;
break;
}
M4_counter = M4_stepPeriod;
}
} else {
//motors off
mPORTDSetBits(BIT_4 | BIT_5 | BIT_6 | BIT_7);
mPORTCSetBits(BIT_1 | BIT_2 | BIT_3 | BIT_4);
mPORTESetBits(BIT_0 | BIT_1 | BIT_2 | BIT_3 |
BIT_4 | BIT_5 | BIT_6 | BIT_7);
}
/************************************************************/
/******* TEST CODE, toggles the servos (from 90 deg. to -90 deg.) every 1 s. ********/
/* if (auxcounter == 0) {
servo1_angle = 0;
if (servo2_angle == 90)
servo2_angle = -90;
else
servo2_angle = 90;
auxcounter = 20000; // toggle angle every 2 s.
}
*/
servo1_angle = 0;
servo2_angle = -90;
/*
if (frontDistance > 13 && frontDistance < 17) {
servo2_angle = 90;
}
else
servo2_angle = -90;
*/
/*******************************************************************/
/****************** SERVO CONTROL ******************/
/*
Changing the global servoX_angle at any point in the code will
move the servo to the desired angle.
*/
servo1_counter = (servo1_angle + 90)*(18)/180 + 6; // between 600 and 2400 us
if (servo1_period == 0) {
mPORTASetBits(BIT_2);
servo1_period = SERVOMAXPERIOD; /* 200 * 100us = 20000us period */
}
servo2_counter = (servo2_angle + 90)*(18)/180 + 6; // between 600 and 2400 us
if (servo2_period == 0) {
mPORTASetBits(BIT_3);
servo2_period = SERVOMAXPERIOD; /* 200 * 100us = 20000us period */
}
/*****************************************************/
} /* end of while(1) */
return 0;
}
//
// Main application entry point.
//
int main(void)
{
static TICK t = 0;
static DWORD dwLastIP = 0;
// Initialize application specific hardware
InitializeBoard();
// Initialize stack-related hardware components that may be
// required by the UART configuration routines
TickInit();
MPFSInit();
// Initialize Stack and application related NV variables into AppConfig.
InitAppConfig();
// Initialize core stack layers (MAC, ARP, TCP, UDP) and
// application modules (HTTP, SNMP, etc.)
StackInit();
// Initialize any application-specific modules or functions/
// For this demo application, this only includes the
// UART 2 TCP Bridge
//************** PIC32-WEB ********************
//***** Additional initializations Start: *****
// 1. UART1
USART_Init(115200,(GetPeripheralClock()));
USART_Test_Menu_Begin();
// 2. Timer1
// configure Timer 1 using external clock(32768Hz), 1:1 prescale,
// period 0x8000, thus set interrupt on every 1sec
// Blink LED0 (right most one) with frequency 2Hz at every one Timer1 interrupt.
OpenTimer1(T1_ON | T1_SOURCE_EXT | T1_PS_1_1, 0x8000);
// set up the timer interrupt with a priority of 3
ConfigIntTimer1(T1_INT_ON | T1_INT_PRIOR_3);
//CloseTimer1(); // Switches off the Timer1
mPORTASetPinsDigitalOut(BIT_2); // Set RA2 like out -> LED1
// 3. Enable interrupts at the end of initialization
// enable multi-vector interrupts
INTEnableSystemMultiVectoredInt();
//***** Additional initializations End: *****
// Now that all items are initialized, begin the co-operative
// multitasking loop. This infinite loop will continuously
// execute all stack-related tasks, as well as your own
// application's functions. Custom functions should be added
// at the end of this loop.
// Note that this is a "co-operative mult-tasking" mechanism
// where every task performs its tasks (whether all in one shot
// or part of it) and returns so that other tasks can do their
// job.
// If a task needs very long time to do its job, it must be broken
// down into smaller pieces so that other tasks can have CPU time.
while(1){
// Run all enabled web demo applications:
// This task performs normal stack task including checking
// for incoming packet, type of packet and calling
// appropriate stack entity to process it.
StackTask();
// This tasks invokes each of the core stack application tasks
StackApplications();
// Process application specific tasks here.
// For this demo app, this will include the Generic TCP
// client and servers, and the SNMP, Ping, and SNMP Trap
// demos. Following that, we will process any IO from
// the inputs on the board itself.
// Any custom modules or processing you need to do should
// go here.
#if defined(STACK_USE_ICMP_CLIENT)
PingDemo();
#endif
#if defined(STACK_USE_SNMP_SERVER) && !defined(SNMP_TRAP_DISABLED)
SNMPTrapDemo();
if(gSendTrapFlag)
SNMPSendTrap();
#endif
#if defined(STACK_USE_BERKELEY_API)
BerkeleyTCPClientDemo();
BerkeleyTCPServerDemo();
BerkeleyUDPClientDemo();
#endif
ProcessIO();
// If the local IP address has changed (ex: due to DHCP lease change)
// write the new IP address to the LCD display, UART, and Announce
// service
if(dwLastIP != AppConfig.MyIPAddr.Val)
{
#if defined(STACK_USE_ANNOUNCE)
AnnounceIP();
#endif
}
}
}
main()
{
// Disable JTAG (on RA0 and RA1 )
mJTAGPortEnable( DEBUG_JTAGPORT_OFF );
// Configure the device for maximum performance but do not change the PBDIV
// Given the options, this function will change the flash wait states, RAM
// wait state and enable prefetch cache but will not change the PBDIV.
// The PBDIV value is already set via the pragma FPBDIV option above..
SYSTEMConfig(GetSystemClock(), SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE);
initializeUART();
initializeADC();
initializeLCD();
initializeRPG();
/* Initialize SD card */
setup_SDSPI();
SD_setStart();
/* Fill tempBuffer[] with int 0 to 63
* Write it to the current block.
* Empty tempBuffer[] to all 0.
* Read from the current block to make sure that it returns the right value.
*/
fillTempBuffer();
testSDReadWrite(tempBuffer);
curr_read_block = curr_block;
ConfigTimer1(); // Enable Timer1 for second counts
configureInterrupts();
// T2CON = 0x8030; // TMR1 on, prescale 1:256 PB
mPORTASetPinsDigitalOut( LED_MASK ); // LEDs = output
mPORTDSetPinsDigitalIn( PB_MASK_D ); // PBs on D = input
curr_state = READY;
// enable interrupts
INTEnableInterrupts();
int i = 0;
while( 1 )
{
if (getPrintToUARTFlag() == 1){
LCDMenuControl();
//mPORTAToggleBits( LED_MASK );
convertAndPrintIntegerToString("i => ", i++);
convertAndPrintIntegerToString("timeElapse => ", timeElapsed);
convertAndPrintIntegerToString("timeElapsedLEDSample => ", timeElapsedLEDSample);
convertAndPrintIntegerToString("timeElapsedLEDTurnedOff => ", timeElapsedLEDTurnedOff);
convertAndPrintIntegerToString("sampleLEDNow => ", sampleLEDNow);
convertAndPrintIntegerToString(" ADC Value => ", getChannel5Value());
printShadowDetect();
printLightLevel();
drawLightDetectedBar();
controlPowerRelay();
switch(curr_state) {
case READY : WriteString("State => READY ");
break;
case SLEEP : WriteString("State => SLEEP ");
break;
case HIBERNATE : WriteString("State => HIBERNATE");
break;
case BUSY : WriteString("State => BUSY ");
break;
}
WriteString("\r");
setPrintToUARTFlag(0);
}
if (NEW_BYTE_RECEIVED == 1){
curr_state = READY;
NEW_BYTE_RECEIVED = 0;
//mPORTAToggleBits( LED_MASK );
char tempArray[] = "g";
tempArray[0] = characterByteReceived;
WriteString(tempArray);
if(curr_state = HIBERNATE) {
addByteToBuffer(characterByteReceived);
}
else {
PutCharacter(characterByteReceived);
}
}
if(bufferIndex == 512) {
SDWriteBlock(currBlock);
currBlock++;
bufferIndex = 0;
}
if((curr_state == READY) && (timeElapsed >= SLEEP_TIMEOUT) && (timeElapsed < HIBERNATE_TIMEOUT)) {
curr_state = SLEEP;
}
else if((curr_state == SLEEP) && (timeElapsed >= HIBERNATE_TIMEOUT)) {
curr_state = HIBERNATE;
timeElapsed = 0;
}
if (transmitDataFromSDCard == 1) {
transmitDataFromSDCard = 0;
forwardDataToPrinter();
}
} // main (while) loop
return 0;
} // main
//********************************
//********************************
//********** INITIALISE **********
//********************************
//********************************
void initialise (void)
{
BYTE data;
//##### GENERAL NOTE ABOUT PIC32'S #####
//Try and use the peripheral libraries instead of special function registers for everything (literally everything!) to avoid
//bugs that can be caused by the pipeline and interrupts.
//---------------------------------
//----- CONFIGURE PERFORMANCE -----
//---------------------------------
//----- SETUP EVERYTHING FOR OPTIMUM PERFORMANCE -----
SYSTEMConfigPerformance(80000000ul); //Note this sets peripheral bus to '1' max speed (regardless of configuration bit setting)
//Use PBCLK divider of 1:1 to calculate UART baud, timer tick etc
//----- SET PERIPHERAL BUS DIVISOR -----
//To minimize dynamic power the PB divisor should be chosen to run the peripherals at the lowest frequency that provides acceptable system performance
mOSCSetPBDIV(OSC_PB_DIV_2); //OSC_PB_DIV_1, OSC_PB_DIV_2, OSC_PB_DIV_4, OSC_PB_DIV_8,
//----- SETUP INTERRUPTS -----
INTEnableSystemMultiVectoredInt();
//-------------------------
//----- SETUP IO PINS -----
//-------------------------
//(Device will powerup with all IO pins as inputs)
//----- TURN OFF THE JTAG PORT -----
//(JTAG is on by default)
//mJTAGPortEnable(0); //Must be on for Microchip Multimedia Development board
#define PORTA_IO 0xc2ff //Setup the IO pin type (0 = output, 1 = input)
mPORTAWrite(0xc033); //Set initial ouput pin states
mPORTASetPinsDigitalIn(PORTA_IO); //(Sets high bits as input)
mPORTASetPinsDigitalOut(~PORTA_IO); //(Sets high bits as output)
#define PORTB_IO 0xfbff //Setup the IO pin type (0 = output, 1 = input)
mPORTBWrite(0x6d13); //Set initial ouput pin states
mPORTBSetPinsDigitalIn(PORTB_IO); //(Sets high bits as input)
mPORTBSetPinsDigitalOut(~PORTB_IO); //(Sets high bits as output)
mPORTBSetPinsDigitalIn(BIT_0 | BIT_1 | BIT_3 | BIT_4 | BIT_15); //Joystick inputs
#define PORTC_IO 0xf01e //Setup the IO pin type (0 = output, 1 = input)
mPORTCWrite(0x3018); //Set initial ouput pin states
mPORTCSetPinsDigitalIn(PORTC_IO); //(Sets high bits as input)
mPORTCSetPinsDigitalOut(~PORTC_IO); //(Sets high bits as output)
#define PORTD_IO 0x7bfe //Setup the IO pin type (0 = output, 1 = input)
mPORTDWrite(0xbdaf); //Set initial ouput pin states
mPORTDSetPinsDigitalIn(PORTD_IO); //(Sets high bits as input)
mPORTDSetPinsDigitalOut(~PORTD_IO); //(Sets high bits as output)
mPORTDSetPinsDigitalOut(BIT_2 | BIT_1); //LED's 2 and 3
mPORTDSetPinsDigitalIn(BIT_9);
#define PORTE_IO 0x03ff //Setup the IO pin type (0 = output, 1 = input)
mPORTEWrite(0x02a2); //Set initial ouput pin states
mPORTESetPinsDigitalIn(PORTE_IO); //(Sets high bits as input)
mPORTESetPinsDigitalOut(~PORTE_IO); //(Sets high bits as output)
#define PORTF_IO 0x111f //Setup the IO pin type (0 = output, 1 = input)
mPORTFWrite(0x0039); //Set initial ouput pin states
mPORTFSetPinsDigitalIn(PORTF_IO); //(Sets high bits as input)
mPORTFSetPinsDigitalOut(~PORTF_IO); //(Sets high bits as output)
#define PORTG_IO 0xd3cf //Setup the IO pin type (0 = output, 1 = input)
mPORTGWrite(0xf203); //Set initial ouput pin states
mPORTGSetPinsDigitalIn(PORTG_IO); //(Sets high bits as input)
mPORTGSetPinsDigitalOut(~PORTG_IO); //(Sets high bits as output)
//Read pins using:
// mPORTAReadBits(BIT_0);
//Write pins using:
// mPORTAClearBits(BIT_0);
// mPORTASetBits(BIT_0);
// mPORTAToggleBits(BIT_0);
//----- INPUT CHANGE NOTIFICATION CONFIGURATION -----
//EnableCN0();
ConfigCNPullups(CN2_PULLUP_ENABLE | CN3_PULLUP_ENABLE | CN5_PULLUP_ENABLE | CN6_PULLUP_ENABLE | CN12_PULLUP_ENABLE); //Joystick pins
//----- SETUP THE A TO D PINS -----
ENABLE_ALL_DIG;
//---------------------
//----- SETUP USB -----
//---------------------
//The USB specifications require that USB peripheral devices must never source current onto the Vbus pin. Additionally, USB peripherals should not source
//current on D+ or D- when the host/hub is not actively powering the Vbus line. When designing a self powered (as opposed to bus powered) USB peripheral
//device, the firmware should make sure not to turn on the USB module and D+ or D- pull up resistor unless Vbus is actively powered. Therefore, the
//firmware needs some means to detect when Vbus is being powered by the host. A 5V tolerant I/O pin can be connected to Vbus (through a resistor), and
//can be used to detect when Vbus is high (host actively powering), or low (host is shut down or otherwise not supplying power). The USB firmware
//can then periodically poll this I/O pin to know when it is okay to turn on the USB module/D+/D- pull up resistor. When designing a purely bus powered
//peripheral device, it is not possible to source current on D+ or D- when the host is not actively providing power on Vbus. Therefore, implementing this
//bus sense feature is optional. This firmware can be made to use this bus sense feature by making sure "USE_USB_BUS_SENSE_IO" has been defined in the
//HardwareProfile.h file.
// #if defined(USE_USB_BUS_SENSE_IO)
// tris_usb_bus_sense = INPUT_PIN; // See HardwareProfile.h
// #endif
//If the host PC sends a GetStatus (device) request, the firmware must respond and let the host know if the USB peripheral device is currently bus powered
//or self powered. See chapter 9 in the official USB specifications for details regarding this request. If the peripheral device is capable of being both
//self and bus powered, it should not return a hard coded value for this request. Instead, firmware should check if it is currently self or bus powered, and
//respond accordingly. If the hardware has been configured like demonstrated on the PICDEM FS USB Demo Board, an I/O pin can be polled to determine the
//currently selected power source. On the PICDEM FS USB Demo Board, "RA2" is used for this purpose. If using this feature, make sure "USE_SELF_POWER_SENSE_IO"
//has been defined in HardwareProfile.h, and that an appropriate I/O pin has been mapped to it in HardwareProfile.h.
// #if defined(USE_SELF_POWER_SENSE_IO)
// tris_self_power = INPUT_PIN; // See HardwareProfile.h
// #endif
//Enable the USB port now - we will check to see if Vbus is powered at the end of init and disable it if not.
//USBDeviceInit(); //usb_device.c. Initializes USB module SFRs and firmware variables to known states.
//------------------------
//----- SETUP TIMERS -----
//------------------------
//(INCLUDE THE USAGE OF ALL TIMERS HERE EVEN IF NOT SETUP HERE SO THIS IS THE ONE POINT OF
//REFERENCE TO KNOW WHICH TIMERS ARE IN USE AND FOR WHAT).
//----- SETUP TIMER 1 -----
//Used for: Available
//OpenTimer1((T1_ON | T1_IDLE_CON | T1_GATE_OFF | T1_PS_1_4 | T1_SOURCE_INT), 20000);
//----- SETUP TIMER 2 -----
//Used for:
//OpenTimer2((T2_ON | T2_IDLE_CON | T2_GATE_OFF | T2_PS_1_1 | T2_SOURCE_INT), 0xffff); //0xffff = 305Hz
//----- SETUP TIMER 3 -----
//Used for:
//OpenTimer3((T3_ON | T3_IDLE_CON | T3_GATE_OFF | T3_PS_1_1 | T3_SOURCE_INT), PIEZO_TIMER_PERIOD);
//----- SETUP TIMER 4 -----
//Used for:
//OpenTimer4((T4_ON | T4_IDLE_CON | T4_GATE_OFF | T4_PS_1_1 | T4_SOURCE_INT), 20000);
//----- SETUP TIMER 5 -----
//Used for: Heartbeat
OpenTimer5((T5_ON | T5_IDLE_CON | T5_GATE_OFF | T5_PS_1_1 | T5_SOURCE_INT), 40000); //1mS with 80MHz osc and PB_DIV_2
ConfigIntTimer5(T5_INT_ON | T5_INT_PRIOR_7); //1=lowest priority to 7=highest priority. ISR function must specify same value
//---------------------------------
//----- SETUP EVAL BOARD CPLD -----
//---------------------------------
//Graphics bus width = 16
mPORTGSetPinsDigitalOut(BIT_14);
mPORTGSetBits(BIT_14);
//SPI source select = SPI3 (not used)
mPORTGSetPinsDigitalOut(BIT_12);
mPORTGClearBits(BIT_12);
//SPI peripheral destination select = Expansion Slot (not used)
mPORTASetPinsDigitalOut(BIT_7 | BIT_6);
mPORTASetBits(BIT_7);
mPORTAClearBits(BIT_6);
//--------------------------------------
//----- PARALLEL MASTER PORT SETUP -----
//--------------------------------------
PMMODE = 0;
PMAEN = 0;
PMCON = 0;
PMMODE = 0x0610;
PMCONbits.PTRDEN = 1; //Enable RD line
PMCONbits.PTWREN = 1; //Enable WR line
PMCONbits.PMPEN = 1; //Enable PMP
//------------------------------
//----- INITIALISE DISPLAY -----
//------------------------------
display_initialise();
display_test();
//LOAD OUR GLOBAL HTML STYLES FILE READY FOR DISPLAY HTML PAGES
BYTE dummy_styles_count;
DWORD file_size;
if (display_html_setup_read_file(global_css, 0, &file_size))
{
dummy_styles_count = 0;
display_html_read_styles(&file_size, &dummy_styles_count, 1); //1 = this is global styles file
}
}
int main(int argc, char** argv) {
uchar status = 0;
mPORTAClearBits(BIT_6); //Clear bits to ensure the LED is off.
//mPORTASetPinsDigitalOut(BIT_6); //Set port as output
// lets set the digital IO bits for the ethernet module
mPORTASetPinsDigitalOut(BIT_7|BIT_6);
mPORTGSetPinsDigitalOut(BIT_8 | BIT_9 | BIT_14 | BIT_0);
mPORTBSetPinsDigitalOut(0x0000FFFF);
mPORTESetPinsDigitalOut(0x000000FF);
// set the control bits high
mPORTASetBits(BIT_7);
mPORTGSetBits(BIT_8 | BIT_9 | BIT_14);
mPORTGClearBits(BIT_0);
//mPORTGClearBits(BIT_0);
//mPORTGClearBits(0x0000FFFF);
//mPORTEClearBits(0x0000FFFF);
//mPORTAClearBits(0x0000FFFF);
//mPORTBClearBits(0x0000FFFF);
//while(1){}
// lets init the W5100
struct W5100Context_t context;
context.Mode = MR_RST;
context.InterruptMask = 0xFF;
context.RetryTimeValue = 0x0FA0; // 400 ms
context.RetryCount = 1;
context.GateAdd[0] = 10;
context.GateAdd[1] = 1;
context.GateAdd[2] = 1;
context.GateAdd[3] = 3;
context.SHardAdd[0] = 0;
context.SHardAdd[1] = 1;
context.SHardAdd[2] = 2;
context.SHardAdd[3] = 3;
context.SHardAdd[4] = 4;
context.SHardAdd[5] = 5;
context.Subnet[0] = 255;
context.Subnet[1] = 255;
context.Subnet[2] = 255;
context.Subnet[3] = 0;
context.SourceIP[0] = 10;
context.SourceIP[1] = 1;
context.SourceIP[2] = 1;
context.SourceIP[3] = 2;
context.sockets[0].Mem = MEM_2K;
context.sockets[1].Mem = MEM_2K;
context.sockets[2].Mem = MEM_2K;
context.sockets[3].Mem = MEM_2K;
ShortDelay_ms(100);
W5100Init( &context );
W5100ReadData(SHAR0, &status, 1);
W5100ReadData(SHAR1, &status, 1);
W5100ReadData(SHAR2, &status, 1);
W5100ReadData(SHAR3, &status, 1);
W5100ReadData(SHAR4, &status, 1);
W5100ReadData(SHAR5, &status, 1);
EstablishServer(&context);
// lets try a random write
//W5100WriteData(0x001A, 0x07, 1);
//mPORTEWrite(0x07);
while(1)
{
status = W5100PollStatus(&context, 0);
if( status == SOCK_ESTABLISH)
mPORTGSetBits(BIT_0);
else
mPORTGClearBits(BIT_0);
if( status == SOCK_CLOSE_WAIT)
EstablishServer(&context);
//PORTAbits.RA2 = ~PORTAbits.RA2;
mPORTAToggleBits(BIT_6);
ShortDelay(US_TO_CT_TICKS*1000000);
//delay_millis(1000);
}
return (EXIT_SUCCESS);
}
// === Main ======================================================
void main(void) {
//SYSTEMConfigPerformance(PBCLK);
ANSELA = 0; ANSELB = 0;
// === config threads ==========
// turns OFF UART support and debugger pin, unless defines are set
PT_setup();
// === setup system wide interrupts ========
INTEnableSystemMultiVectoredInt();
CloseADC10(); // ensure the ADC is off before setting the configuration
#define PARAM1 ADC_FORMAT_INTG16 | ADC_CLK_AUTO | ADC_AUTO_SAMPLING_OFF //
// define setup parameters for OpenADC10
// ADC ref external | disable offset test | disable scan mode | do 1 sample | use single buf | alternate mode off
#define PARAM2 ADC_VREF_AVDD_AVSS | ADC_OFFSET_CAL_DISABLE | ADC_SCAN_OFF | ADC_SAMPLES_PER_INT_1 | ADC_ALT_BUF_OFF | ADC_ALT_INPUT_OFF
// Define setup parameters for OpenADC10
// use peripherial bus clock | set sample time | set ADC clock divider
// ADC_CONV_CLK_Tcy2 means divide CLK_PB by 2 (max speed)
// ADC_SAMPLE_TIME_5 seems to work with a source resistance < 1kohm
#define PARAM3 ADC_CONV_CLK_PB | ADC_SAMPLE_TIME_5 | ADC_CONV_CLK_Tcy2 //ADC_SAMPLE_TIME_15| ADC_CONV_CLK_Tcy2
// define setup parameters for OpenADC10
// set AN11 and as analog inputs
#define PARAM4 ENABLE_AN11_ANA // pin 24
// define setup parameters for OpenADC10
// do not assign channels to scan
#define PARAM5 SKIP_SCAN_ALL
// use ground as neg ref for A | use AN11 for input A
// configure to sample AN11
SetChanADC10( ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN11 ); // configure to sample AN4
OpenADC10( PARAM1, PARAM2, PARAM3, PARAM4, PARAM5 ); // configure ADC using the parameters defined above
EnableADC10(); // Enable the ADC
OpenTimer2(T2_ON | T2_SOURCE_INT | T2_PS_1_1, 400);
mPORTAClearBits(BIT_0 ); //Clear bits to ensure light is off.
mPORTASetPinsDigitalOut(BIT_0 ); //Set port as output
int CVRCON_setup;
// set up the Vref pin and use as a DAC
// enable module| eanble output | use low range output | use internal reference | desired step
CVREFOpen( CVREF_ENABLE | CVREF_OUTPUT_ENABLE | CVREF_RANGE_LOW | CVREF_SOURCE_AVDD | CVREF_STEP_0 );
// And read back setup from CVRCON for speed later
// 0x8060 is enabled with output enabled, Vdd ref, and 0-0.6(Vdd) range
CVRCON_setup = CVRCON; //CVRCON = 0x8060
// Open the desired DMA channel.
// We enable the AUTO option, we'll keep repeating the same transfer over and over.
DmaChnOpen(dmaChn, 0, DMA_OPEN_AUTO);
// set the transfer parameters: source & destination address, source & destination size, number of bytes per event
// Setting the last parameter to one makes the DMA output one byte/interrut
//DmaChnSetTxfer(dmaChn, sine_table, (void*) &CVRCON, sizeof(sine_table), 1, 1);
// set the transfer event control: what event is to start the DMA transfer
// In this case, timer2
DmaChnSetEventControl(dmaChn, DMA_EV_START_IRQ(_TIMER_2_IRQ));
// once we configured the DMA channel we can enable it
// now it's ready and waiting for an event to occur...
//DmaChnEnable(dmaChn);
int i;
for(i=0; i <256; i++){
ball_scored[i] = 0x60|((unsigned char)((float)255/2*(sin(6.2832*(((float)i)/(float)256))+1))) ;
//ball_lost[i]
// game_over
}
// init the threads
PT_INIT(&pt_timer);
PT_INIT(&pt_adc);
PT_INIT(&pt_launch);
PT_INIT(&pt_anim);
// init the display
tft_init_hw();
tft_begin();
tft_fillScreen(ILI9340_BLACK);
tft_setRotation(1); // Use tft_setRotation(1) for 320x240
while (1){
PT_SCHEDULE(protothread_timer(&pt_timer));
PT_SCHEDULE(protothread_adc(&pt_adc));
PT_SCHEDULE(protothread_launch_balls(&pt_launch));
PT_SCHEDULE(protothread_anim_balls(&pt_anim));
}
} // main