Esempio n. 1
0
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)
{
//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;
}
//********************************
//********************************
//********** 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
	}

}
Esempio n. 4
0
//******************************************************************************
//******************************************************************************
// Main
//******************************************************************************
//******************************************************************************
int main (void)
{
	BYTE i;
	DWORD temp;

	int  value;

	value = SYSTEMConfigWaitStatesAndPB( GetSystemClock() );

	mJTAGPortEnable(DEBUG_JTAGPORT_OFF);

	// Enable the cache for the best performance
	CheKseg0CacheOn();

	value = OSCCON;
	while (!(value & 0x00000020))
	{
		value = OSCCON;    // Wait for PLL lock to stabilize
	}

	InitKeyboardDriver();

	INTEnableSystemMultiVectoredInt();

	// Init status LED
	mPORTCSetBits(BIT_0);
	mPORTCSetPinsDigitalOut(BIT_0);

	//DBINIT();

	// Initialize USB layers
	USBInitialize(0);

	while (1)
	{
		USBTasks();
		App_Detect_Device();
		switch (App_State_Keyboard)
		{
			case DEVICE_NOT_CONNECTED:
				mPORTCSetBits(BIT_0);
				USBTasks();
				if (DisplayDeatachOnce == FALSE)
				{
					DBPRINTF("Device Detached\n");
					DisplayDeatachOnce = TRUE;
				}
				if (USBHostHID_ApiDeviceDetect()) /* True if report descriptor is parsed with no error */
				{
					DBPRINTF("Device Attached\n");
					App_State_Keyboard = DEVICE_CONNECTED;
					DisplayConnectOnce = FALSE;
				}
				break;
			case DEVICE_CONNECTED:
				mPORTCClearBits(BIT_0);
				App_State_Keyboard = READY_TO_TX_RX_REPORT;
				if (DisplayConnectOnce == FALSE)
				{
					DisplayConnectOnce = TRUE;
					DisplayDeatachOnce = FALSE;
				}
				InitializeTimer(); // start 10ms timer to schedule input reports

				break;
			case READY_TO_TX_RX_REPORT:
				if (!USBHostHID_ApiDeviceDetect())
				{
					App_State_Keyboard = DEVICE_NOT_CONNECTED;
					//                                DisplayOnce = FALSE;
				}
				break;
			case GET_INPUT_REPORT:
				if (USBHostHID_ApiGetReport(Appl_raw_report_buffer.Report_ID, Appl_ModifierKeysDetails.interfaceNum,
																		Appl_raw_report_buffer.ReportSize, Appl_raw_report_buffer.ReportData))
				{
					/* Host may be busy/error -- keep trying */
				}
				else
				{
					App_State_Keyboard = INPUT_REPORT_PENDING;
				}
				USBTasks();
				break;
			case INPUT_REPORT_PENDING:
				if (USBHostHID_ApiTransferIsComplete(&ErrorDriver, &NumOfBytesRcvd))
				{
					if (ErrorDriver || (NumOfBytesRcvd !=     Appl_raw_report_buffer.ReportSize ))
					{
						ErrorCounter++ ;
						if (MAX_ERROR_COUNTER <= ErrorDriver)
							App_State_Keyboard = ERROR_REPORTED;
						else
							App_State_Keyboard = READY_TO_TX_RX_REPORT;
					}
					else
					{
						ErrorCounter = 0;
						ReportBufferUpdated = TRUE;
						App_State_Keyboard = READY_TO_TX_RX_REPORT;

						if (DisplayConnectOnce == TRUE)
						{
							for (i = 0; i < Appl_raw_report_buffer.ReportSize; i++)
							{
								if (Appl_raw_report_buffer.ReportData[i] != 0)
								{
									//LCDClear();
									//LCDL1Home();
									DisplayConnectOnce = FALSE;
								}
							}
						}

						App_ProcessInputReport();
						App_PrepareOutputReport();
					}
				}
				break;

			case SEND_OUTPUT_REPORT: /* Will be done while implementing Keyboard */
				if (USBHostHID_ApiSendReport(Appl_LED_Indicator.reportID, Appl_LED_Indicator.interfaceNum, Appl_LED_Indicator.reportLength,
																		(BYTE*) & Appl_led_report_buffer))
				{
					/* Host may be busy/error -- keep trying */
				}
				else
				{
					App_State_Keyboard = OUTPUT_REPORT_PENDING;
				}
				USBTasks();

				break;
			case OUTPUT_REPORT_PENDING:
				if (USBHostHID_ApiTransferIsComplete(&ErrorDriver, &NumOfBytesRcvd))
				{
					if (ErrorDriver)
					{
						ErrorCounter++ ;
						if (MAX_ERROR_COUNTER <= ErrorDriver)
							App_State_Keyboard = ERROR_REPORTED;

						//                                App_State_Keyboard = READY_TO_TX_RX_REPORT;
					}
					else
					{
						ErrorCounter = 0;
						App_State_Keyboard = READY_TO_TX_RX_REPORT;
					}
				}
				break;

			case ERROR_REPORTED:
				break;
			default:
				break;
		}
	}
}