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();
}
/*********************************************************************
* Function: void InitSymbolTimer()
*
* PreCondition: none
*
* Input: none
*
* Output: none
*
* Side Effects: TMR0 for PIC18 is configured for calculating
* the correct symbol times. TMR2/3 for PIC24/dsPIC
* is configured for calculating the correct symbol
* times
*
* Overview: This function will configure the UART for use at
* in 8 bits, 1 stop, no flowcontrol mode
*
* Note: The timer interrupt is enabled causing the timer
* roll over calculations. Interrupts are required
* to be enabled in order to extend the timer to
* 4 bytes in PIC18. PIC24/dsPIC version do not
* enable or require interrupts
********************************************************************/
void InitSymbolTimer()
{
#if defined(__18CXX)
TMR_CON = 0b00000000 | CLOCK_DIVIDER_SETTING;
TMR_IP = 1;
TMR_IF = 0;
TMR_IE = 1;
TMR_ON = 1;
timerExtension1 = 0;
timerExtension2 = 0;
#elif defined(__dsPIC30F__) || defined(__dsPIC33F__) || defined(__PIC24F__) || defined(__PIC24FK__) || defined(__PIC24H__)
T2CON = 0b0000000000001000 | CLOCK_DIVIDER_SETTING;
T2CONbits.TON = 1;
#elif defined(__PIC32MX__)
#if defined (SECOND_PROTOTYPE) //Timer 3 freed for ADC rjk
CloseTimer4();
WriteTimer4(0x00);
WriteTimer5(0x00);
WritePeriod5(0xFFFF);
OpenTimer4((T4_ON|T4_32BIT_MODE_ON|CLOCK_DIVIDER_SETTING),0xFFFFFFFF);
#else
CloseTimer2();
WriteTimer2(0x00);
WriteTimer3(0x00);
WritePeriod3(0xFFFF);
OpenTimer2((T2_ON|T2_32BIT_MODE_ON|CLOCK_DIVIDER_SETTING),0xFFFFFFFF);
#endif
#else
#error "Symbol timer implementation required for stack usage."
#endif
}
extern void timerStop(timer * pTimer)
{
switch(pTimer->m_TimerNumber) {
case 1: CloseTimer1(); break;
case 2: CloseTimer2(); break;
case 3: CloseTimer3(); break;
case 4: CloseTimer4(); break;
case 5: CloseTimer5(); break;
}
}
/****************************************************************************
Function
PWM_end
Parameters
None.
Returns
None
Description
Disables the PWM sub-system.
Notes
Simply releases the lines and disables the timer
Author
Max Dunne, 2011.11.14
****************************************************************************/
void PWM_end(void) {
CloseTimer2();
CloseOC1();
CloseOC2();
CloseOC3();
CloseOC4();
CloseOC5();
usedChannels=0;
}
void closeTimer(int timer)
{
switch(timer)
{
case 1:
CloseTimer1();
break;
case 2:
CloseTimer2();
break;
case 3:
CloseTimer3();
break;
case 4:
CloseTimer4();
break;
}
}
// This thread is responsible for all the code not involving the TFT Display, it handled discharging and charging the capacitor and calculating the
// capacitance of the capacitor.
static PT_THREAD(protothread_cap(struct pt *pt)){
PT_BEGIN(pt);
while(1){
// Discharge Capacitor
// Set pin as output
mPORTBSetPinsDigitalOut(BIT_3);
// Drive RB3 low so capacitor can discharge into the pin
mPORTBClearBits(BIT_3);
// Yield until discharge is complete
PT_YIELD_TIME_msec(2); // 2ms is given for the capacitor to discharge and for the display to update if needed
Comp1Setup();
// Charge Capacitor
// Set RB3 as an input to detect capacitor's current charge
mPORTBSetPinsDigitalIn(BIT_3);
// Set up the timer for charging the capcitor
capTimerSetup();
// Set up the input capture to capture when the capacitor voltage reaches the reference voltage
IC1setup();
// Yield while waiting for event from comparator
PT_YIELD_UNTIL(pt, charged);
CloseTimer2();
// Reset thread wait variable
charged = 0;
// Calculate capacitance in nF
capacitance = (((charge_time*-1)/1000000)/(log(1-(VREF / VDD)) * RESISTOR))*1000000000;
CMP1Close();
PT_YIELD_TIME_msec(20);
}
PT_END(pt);
}
/*********************************************************************
* Function: void InitSymbolTimer()
*
* PreCondition: none
*
* Input: none
*
* Output: none
*
* Side Effects: TMR0 for PIC18 is configured for calculating
* the correct symbol times. TMR2/3 for PIC24/dsPIC
* is configured for calculating the correct symbol
* times
*
* Overview: This function will configure the UART for use at
* in 8 bits, 1 stop, no flowcontrol mode
*
* Note: The timer interrupt is enabled causing the timer
* roll over calculations. Interrupts are required
* to be enabled in order to extend the timer to
* 4 bytes in PIC18. PIC24/dsPIC version do not
* enable or require interrupts
********************************************************************/
void InitSymbolTimer()
{
#if defined(__18CXX)
T0CON = 0b00000000 | CLOCK_DIVIDER_SETTING;
INTCON2bits.TMR0IP = 1;
INTCONbits.TMR0IF = 0;
INTCONbits.TMR0IE = 1;
T0CONbits.TMR0ON = 1;
timerExtension1 = 0;
timerExtension2 = 0;
#elif defined(__dsPIC30F__) || defined(__dsPIC33F__) || defined(__PIC24F__) || defined(__PIC24FK__) || defined(__PIC24H__)
T2CON = 0b0000000000001000 | CLOCK_DIVIDER_SETTING;
T2CONbits.TON = 1;
#elif defined(__PIC32MX__)
CloseTimer2();
WriteTimer2(0x00);
WriteTimer3(0x00);
WritePeriod3(0xFFFF);
OpenTimer2((T2_ON|T2_32BIT_MODE_ON|CLOCK_DIVIDER_SETTING),0xFFFFFFFF);
#else
#error "Symbol timer implementation required for stack usage."
#endif
}
void ClearExternalIO(void) {
int i;
// GS I2C Start
i2c_disable();
i2c_slave_disable();
// GS I2C End
if (SerialConsole != 1) SerialClose(1);
if (SerialConsole != 2) SerialClose(2);
if (SerialConsole != 3) SerialClose(3);
if (SerialConsole != 4) SerialClose(4);
// stop the sound
SoundPlay = 0;
CloseTimer2();
#ifdef OLIMEX
CloseOC1();
#else
CloseOC2();
#endif
inttbl[NBRPINS + 2].intp = NULL; // disable the tick interrupt
for (i = 1; i < NBRPINS + 1; i++) {
inttbl[i].intp = NULL; // disable all interrupts
#ifdef OLIMEX
#ifdef OLIMEX_DUINOMITE_EMEGA
if (ExtCurrentConfig[i] != EXT_CONSOLE_RESERVED && i != 35 ) { // don't reset the serial console
#else
if (ExtCurrentConfig[i] != EXT_CONSOLE_RESERVED && i != 21 ) { // don't reset the serial console
#endif
#else
if (ExtCurrentConfig[i] != EXT_CONSOLE_RESERVED) { // don't reset the serial console
#endif
ExtCfg(i, EXT_NOT_CONFIG); // all set to unconfigured
ExtSet(i, 0); // all outputs (when set) default to low
}
}
InterruptReturn = NULL;
}
/****************************************************************************************************************************
Initialise the I/O pins
*****************************************************************************************************************************/
void initExtIO(void) {
int i;
for (i = 1; i < NBRPINS + 1; i++) {
ExtCfg(i, EXT_NOT_CONFIG); // all set to unconfigured
ExtSet(i, 0); // all outputs (when set) default to low
}
#ifndef OLIMEX
CNCONbits.ON = 1; // turn on Change Notification module
CNPUEbits.CNPUE1 = 1; // turn on the pullup for pin C13 also called CN1
#endif
ExtCurrentConfig[0] = EXT_DIG_IN; // and show that we can read from it
P_LED_TRIS = P_OUTPUT; // make the LED pin an output
ExtSet(0, 0); // and turn it off
#ifdef OLIMEX
#ifdef OLIMEX_DUINOMITE_EMEGA
ExtCurrentConfig[35] = EXT_ANA_IN;
#else
ExtCurrentConfig[21] = EXT_ANA_IN;
#endif
#endif
// setup the analog (ADC) function
AD1CON1 = 0x00E0; // automatic conversion after sampling
AD1CSSL = 0; // no scanning required
AD1CON2 = 0; // use MUXA, use AVdd & AVss as Vref+/-
AD1CON3 = 0x203; //0x1F3F; // Tsamp = 32 x Tad;
AD1CON1bits.ADON = 1; // turn on the ADC
}
/****************************************************************************************************************************
Configure an I/O pin
Returns true if all is OK
*****************************************************************************************************************************/
int ExtCfg(int pin, int cfg) {
int tris, ana, oc;
if (pin < 0 || pin > NBRPINS) return false; // initial sanity check
// make sure that interrupts are disabled in case we are changing from an interrupt input
#ifdef OLIMEX
// if (pin == 5) ConfigINT2(EXT_INT_PRI_2 | RISING_EDGE_INT | EXT_INT_DISABLE);
// if (pin == 6) ConfigINT3(EXT_INT_PRI_2 | RISING_EDGE_INT | EXT_INT_DISABLE);
#ifdef OLIMEX_DUINOMITE_EMEGA
#else
if (pin == 7) ConfigINT4(EXT_INT_PRI_2 | RISING_EDGE_INT | EXT_INT_DISABLE);
#endif
#else
if (pin == 11) ConfigINT1(EXT_INT_PRI_2 | RISING_EDGE_INT | EXT_INT_DISABLE);
if (pin == 12) ConfigINT2(EXT_INT_PRI_2 | RISING_EDGE_INT | EXT_INT_DISABLE);
if (pin == 13) ConfigINT3(EXT_INT_PRI_2 | RISING_EDGE_INT | EXT_INT_DISABLE);
if (pin == 14) ConfigINT4(EXT_INT_PRI_2 | RISING_EDGE_INT | EXT_INT_DISABLE);
#endif
inttbl[pin].intp = NULL; // also disable a software interrupt on this pin
switch (cfg) {
case EXT_NOT_CONFIG:
// #ifdef OLIMEX
// if (pin == 5) {P_E5_TRIS = 1; P_E5_OC = 1;}
// if (pin == 6) {P_E6_TRIS = 1; P_E6_OC = 1;}
// if (pin == 11) {P_E11_TRIS = 1; P_E11_OC = 1;}
// if (pin == 12) {P_E12_TRIS = 1; P_E12_OC = 1;}
// #endif
tris = 1; ana = 1; oc = 1;
break;
case EXT_ANA_IN:
// #ifdef OLIMEX
if (pin > 6 && pin < 19) return false;
// if (pin == 5) {P_E5_TRIS = 1; P_E5_OC = 1;}
// if (pin == 6) {P_E6_TRIS = 1; P_E6_OC = 1;}
// #else
// if (pin > 10) return false;
// #endif
tris = 1; ana = 0; oc = 1;
break;
case EXT_FREQ_IN: // same as counting, so fall through
case EXT_PER_IN: // same as counting, so fall through
case EXT_CNT_IN:
// #ifdef OLIMEX
// #else
// if (pin == 11) {
// INT1Count = INT1Value = 0;
// ConfigINT1(EXT_INT_PRI_2 | RISING_EDGE_INT | EXT_INT_ENABLE);
// tris = 1; ana = 1; oc = 1;
// break;
// }
// #endif
// #ifdef OLIMEX
// if (pin == 5) {
// P_E5_TRIS = 1;
// P_E5_OC = 1;
// #else
// if (pin == 12) {
// #endif
// INT2Count = INT2Value = 0;
// ConfigINT2(EXT_INT_PRI_2 | RISING_EDGE_INT | EXT_INT_ENABLE);
// tris = 1; ana = 1; oc = 1;
// break;
// }
// #ifdef OLIMEX
// if (pin == 6) {
// P_E6_TRIS = 1;
// P_E6_OC = 1;
// #else
// if (pin == 13) {
// #endif
// INT3Count = INT3Value = 0;
// ConfigINT3(EXT_INT_PRI_2 | RISING_EDGE_INT | EXT_INT_ENABLE);
// tris = 1; ana = 1; oc = 1;
// break;
// }
#ifdef OLIMEX_DUINOMITE_EMEGA
break;
#else
#ifdef OLIMEX
if (pin == 7) {
#else
if (pin == 14) {
#endif
INT4Count = INT4Value = 0;
ConfigINT4(EXT_INT_PRI_2 | RISING_EDGE_INT | EXT_INT_ENABLE);
tris = 1; ana = 1; oc = 1;
break;
}
return false; // not an interrupt enabled pin
#endif
case EXT_INT_LO: // same as digital input, so fall through
case EXT_INT_HI: // same as digital input, so fall through
case EXT_DIG_IN:
#ifdef OLIMEX
// if (pin == 5) {P_E5_TRIS = 1; P_E5_OC = 1;}
// if (pin == 6) {P_E6_TRIS = 1; P_E6_OC = 1;}
// if (pin == 11) {P_E11_TRIS = 1; P_E11_OC = 1;}
// if (pin == 12) {P_E12_TRIS = 1; P_E12_OC = 1;}
#endif
tris = 1; ana = 1; oc = 1;
break;
case EXT_DIG_OUT:
#ifdef OLIMEX
// if (pin == 11) {P_E11_TRIS = 1; P_E11_OC = 1;} //return false;
// if (pin == 5) {P_E5_TRIS = 1; P_E5_OC = 1;}
// if (pin == 6) {P_E6_TRIS = 1; P_E6_OC = 1;}
// if (pin == 12) {P_E12_TRIS = 1; P_E12_OC = 1;}
#endif
tris = 0; ana = 1; oc = 0;
break;
case EXT_OC_OUT:
#ifdef OLIMEX
// if (pin == 11) {P_E11_TRIS = 1; P_E11_OC = 1;} //return false;
// if (pin == 5) {P_E5_TRIS = 1; P_E5_OC = 1;}
// if (pin == 6) {P_E6_TRIS = 1; P_E6_OC = 1;}
// if (pin == 12) {P_E12_TRIS = 1; P_E12_OC = 1;}
#else
if (pin < 11) return false;
#endif
tris = 0; ana = 1; oc = 1;
break;
case EXT_COM_RESERVED:
case EXT_CONSOLE_RESERVED:
ExtCurrentConfig[pin] = cfg; // don't do anything except set the config type
#ifdef OLIMEX
// if (pin == 5) {P_E5_TRIS = 1; P_E5_OC = 1; P_E5_ANALOG = 1;}
// if (pin == 6) {P_E6_TRIS = 1; P_E6_OC = 1; P_E6_ANALOG = 1;}
// if (pin == 11) {P_E11_TRIS = 1; P_E11_OC = 1;}
// if (pin == 12) {P_E12_TRIS = 1; P_E12_OC = 1;}
#endif
return true;
default:
return false;
}
ExtCurrentConfig[pin] = cfg;
// set the TRIS and analog characteristics
switch (pin) {
case 1: P_E1_TRIS = tris; P_E1_OC = oc; P_E1_ANALOG = ana; break;
case 2: P_E2_TRIS = tris; P_E2_OC = oc; P_E2_ANALOG = ana; break;
case 3: P_E3_TRIS = tris; P_E3_OC = oc; P_E3_ANALOG = ana; break;
case 4: P_E4_TRIS = tris; P_E4_OC = oc; P_E4_ANALOG = ana; break;
case 5: P_E5_TRIS = tris; P_E5_OC = oc; P_E5_ANALOG = ana; break;
case 6: P_E6_TRIS = tris; P_E6_OC = oc; P_E6_ANALOG = ana; break;
#ifdef OLIMEX
#ifdef OLIMEX_DUINOMITE_EMEGA
case 7: P_E7_TRIS = tris; P_E7_OC = oc; P_E7_ANALOG = ana; break;
case 8: P_E8_TRIS = tris; P_E8_OC = oc; break;
case 9: P_E9_TRIS = tris; P_E9_OC = oc; break;
case 10: P_E10_TRIS = tris; P_E10_OC = oc; break;
#else
case 7: P_E7_TRIS = tris; P_E7_OC = oc; break;
case 8: if (!S.SDEnable) { P_E8_TRIS = tris; P_E8_OC = oc;} break;
case 9: if (!S.SDEnable) { P_E9_TRIS = tris; P_E9_OC = oc;} break;
case 10: if (!S.SDEnable) { P_E10_TRIS = tris; P_E10_OC = oc;} break;
#endif
#else
case 7: P_E7_TRIS = tris; P_E7_OC = oc; P_E7_ANALOG = ana; break;
case 8: P_E8_TRIS = tris; P_E8_OC = oc; P_E8_ANALOG = ana; break;
case 9: P_E9_TRIS = tris; P_E9_OC = oc; P_E9_ANALOG = ana; break;
case 10: P_E10_TRIS = tris; P_E10_OC = oc; P_E10_ANALOG = ana; break;
#endif
case 11: P_E11_TRIS = tris; P_E11_OC = oc; break;
case 12: P_E12_TRIS = tris; P_E12_OC = oc; break;
case 13: P_E13_TRIS = tris; P_E13_OC = oc; break;
case 14: P_E14_TRIS = tris; P_E14_OC = oc; break;
case 15: P_E15_TRIS = tris; P_E15_OC = oc; break;
case 16: P_E16_TRIS = tris; P_E16_OC = oc; break;
case 17: P_E17_TRIS = tris; P_E17_OC = oc; break;
case 18: P_E18_TRIS = tris; P_E18_OC = oc; break;
#ifdef OLIMEX
// SPP +
#ifdef OLIMEX_DUINOMITE_EMEGA // edit for DuinoMite eMega
case 19: P_E19_TRIS = tris; P_E19_OC = oc; break;
case 20: P_E20_TRIS = tris; P_E20_OC = oc; break;
case 21: P_E21_TRIS = tris; P_E21_OC = oc; break;
case 22: P_E22_TRIS = tris; P_E22_OC = oc; break;
case 23: P_E23_TRIS = tris; P_E23_OC = oc; break;
case 24: P_E24_TRIS = tris; P_E24_OC = oc; break;
case 25: P_E25_TRIS = tris; P_E25_OC = oc; break;
case 26: P_E26_TRIS = tris; P_E26_OC = oc; break;
case 27: P_E27_TRIS = tris; P_E27_OC = oc; break;
case 28: P_E28_TRIS = tris; P_E28_OC = oc; break;
case 29: P_E29_TRIS = tris; P_E29_OC = oc; break;
case 30: P_E30_TRIS = tris; P_E30_OC = oc; break;
case 31: P_E31_TRIS = tris; P_E31_OC = oc; P_E31_ANALOG = ana; break;
case 32: P_E32_TRIS = tris; P_E32_OC = oc; P_E31_ANALOG = ana; break;
case 33: P_E33_TRIS = tris; P_E33_OC = oc; break;
case 34: P_E34_TRIS = tris; P_E34_OC = oc; break;
case 35: P_E35_TRIS = tris; P_E35_OC = oc; P_E31_ANALOG = ana; break;
case 36: P_E36_TRIS = tris; P_E36_OC = oc; break;
case 37: P_E37_TRIS = tris; P_E37_OC = oc; break;
case 38: P_E38_TRIS = tris; P_E38_OC = oc; break;
case 39: P_E39_TRIS = tris; P_E39_OC = oc; break;
#else // original by Geoff Graham for DuinoMite Mega
case 19: //if (!S.VideoMode) {
P_E19_TRIS = tris; P_E19_OC = oc; P_E19_ANALOG = ana;//}
break;
case 20: if (!S.VideoMode || P_VGA_COMP) {P_E20_TRIS = tris; P_E20_OC = oc; P_E20_ANALOG = ana;} break;
case 21: P_E21_TRIS = tris; P_E21_OC = oc; P_E21_ANALOG = ana; break;
case 22: P_E22_TRIS = tris; P_E22_OC = oc; break;
case 23: P_E23_TRIS = tris; P_E23_OC = oc; break;
#endif
// SPP -
#else
case 19: P_E19_TRIS = tris; P_E19_OC = oc; break;
case 20: P_E20_TRIS = tris; P_E20_OC = oc; break;
#endif
#ifdef UBW32
case 21: P_E21_TRIS = tris; P_E21_OC = oc; break;
case 22: P_E22_TRIS = tris; P_E22_OC = oc; break;
case 23: P_E23_TRIS = tris; P_E23_OC = oc; break;
case 24: P_E24_TRIS = tris; P_E24_OC = oc; break;
case 25: P_E25_TRIS = tris; P_E25_OC = oc; break;
case 26: P_E26_TRIS = tris; P_E26_OC = oc; break;
case 27: P_E27_TRIS = tris; P_E27_OC = oc; break;
case 28: P_E28_TRIS = tris; P_E28_OC = oc; break;
case 29: P_E29_TRIS = tris; P_E29_OC = oc; break;
case 30: P_E30_TRIS = tris; P_E30_OC = oc; break;
case 31: P_E31_TRIS = tris; P_E31_OC = oc; break;
case 32: P_E32_TRIS = tris; P_E32_OC = oc; break;
case 33: P_E33_TRIS = tris; P_E33_OC = oc; break;
case 34: P_E34_TRIS = tris; P_E34_OC = oc; break;
case 35: P_E35_TRIS = tris; P_E35_OC = oc; break;
case 36: P_E36_TRIS = tris; P_E36_OC = oc; break;
case 37: P_E37_TRIS = tris; P_E37_OC = oc; break;
case 38: P_E38_TRIS = tris; P_E38_OC = oc; break;
case 39: P_E39_TRIS = tris; P_E39_OC = oc; break;
case 40: P_E40_TRIS = tris; P_E40_OC = oc; break;
case 41: P_E41_TRIS = tris; P_E41_OC = oc; break;
case 42: P_E42_TRIS = tris; P_E42_OC = oc; break;
case 43: P_E43_TRIS = tris; P_E43_OC = oc; break;
case 44: P_E44_TRIS = tris; P_E44_OC = oc; break;
case 45: P_E45_TRIS = tris; P_E45_OC = oc; break;
case 46: P_E46_TRIS = tris; P_E46_OC = oc; break;
case 47: P_E47_TRIS = tris; P_E47_OC = oc; break;
case 48: P_E48_TRIS = tris; P_E48_OC = oc; break;
case 49: P_E49_TRIS = tris; P_E49_OC = oc; break;
case 50: P_E50_TRIS = tris; P_E50_OC = oc; break;
#endif
}
if (cfg == EXT_NOT_CONFIG) ExtSet(pin, 0); // set the default output to low
return true;
}
/****************************************************************************************************************************
Set the output of a digital I/O pin
Returns true if all is OK
*****************************************************************************************************************************/
int ExtSet(int pin, int val){
val = (val != 0); // non zero is on
INTDisableInterrupts(); // setting an output bit is NOT atomic and a bit set operation
// in an interrupt could result in this set corrupting the output
switch (pin) {
#ifdef UBW32
case 0: P_LED_OUT = !val; break; // this is the LED - the UBW32 wired them upside down !!
#else
case 0: P_LED_OUT = val; break; // this is the LED
#endif
case 1: P_E1_OUT = val; break;
case 2: P_E2_OUT = val; break;
case 3: P_E3_OUT = val; break;
case 4: P_E4_OUT = val; break;
case 5: P_E5_OUT = val; break;
case 6: P_E6_OUT = val; break;
case 7: P_E7_OUT = val; break;
#ifdef OLIMEX
#ifdef OLIMEX_DUINOMITE_EMEGA
case 8: P_E8_OUT = val; break;
case 9: P_E9_OUT = val; break;
case 10: P_E10_OUT = val; break;
#else
case 8: if (!S.SDEnable) P_E8_OUT = val; break;
case 9: if (!S.SDEnable) P_E9_OUT = val; break;
case 10: if (!S.SDEnable) P_E10_OUT = val; break;
#endif
#else
case 8: P_E8_OUT = val; break;
case 9: P_E9_OUT = val; break;
case 10: P_E10_OUT = val; break;
#endif
case 11: P_E11_OUT = val; break;
case 12: P_E12_OUT = val; break;
case 13: P_E13_OUT = val; break;
case 14: P_E14_OUT = val; break;
case 15: P_E15_OUT = val; break;
case 16: P_E16_OUT = val; break;
case 17: P_E17_OUT = val; break;
case 18: P_E18_OUT = val; break;
#ifdef OLIMEX
#ifdef OLIMEX_DUINOMITE_EMEGA
case 19: P_E19_OUT = val; break;
case 20: P_E20_OUT = val; break;
#else
case 19: P_E19_OUT = val; break;
case 20: if (!S.VideoMode || P_VGA_COMP) P_E20_OUT = val; break;
case 22: P_E22_OUT = val ; break;
case 23: P_E23_OUT = val ; break;
#endif
#else
case 19: P_E19_OUT = val; break;
case 20: P_E20_OUT = val; break;
#endif
#if defined UBW32 || defined OLIMEX_DUINOMITE_EMEGA
case 21: P_E21_OUT = val; break;
case 22: P_E22_OUT = val; break;
case 23: P_E23_OUT = val; break;
case 24: P_E24_OUT = val; break;
case 25: P_E25_OUT = val; break;
case 26: P_E26_OUT = val; break;
case 27: P_E27_OUT = val; break;
case 28: P_E28_OUT = val; break;
case 29: P_E29_OUT = val; break;
case 30: P_E30_OUT = val; break;
case 31: P_E31_OUT = val; break;
case 32: P_E32_OUT = val; break;
case 33: P_E33_OUT = val; break;
case 34: P_E34_OUT = val; break;
case 35: P_E35_OUT = val; break;
case 36: P_E36_OUT = val; break;
case 37: P_E37_OUT = val; break;
case 38: P_E38_OUT = val; break;
case 39: P_E39_OUT = val; break;
#endif
#ifdef UBW32
case 40: P_E40_OUT = val; break;
case 41: P_E41_OUT = val; break;
case 42: P_E42_OUT = val; break;
case 43: P_E43_OUT = val; break;
case 44: P_E44_OUT = val; break;
case 45: P_E45_OUT = val; break;
case 46: P_E46_OUT = val; break;
case 47: P_E47_OUT = val; break;
case 48: P_E48_OUT = val; break;
case 49: P_E49_OUT = val; break;
case 50: P_E50_OUT = val; break;
#endif
default:
INTEnableInterrupts();
return false;
}
INTEnableInterrupts();
return true;
}
static void stopTimerRTT() {
CloseTimer2();
}
static void stopPWM() {
CloseTimer2();
OC1CONbits.OCM = 0; // PWM output disabled
}
*****************************************************************************************************************/void __ISR( _TIMER_4_VECTOR, ipl1) T4Interrupt(void) {
/////////////////////////// count up timers /////////////////////////////////////
//if(ExtCurrentConfig[11] == EXT_PER_IN) INT1Count++; // if we are measuring period increment the count
if(ExtCurrentConfig[5] == EXT_PER_IN) INT2Count++;
if(ExtCurrentConfig[6] == EXT_PER_IN) INT3Count++;
if(ExtCurrentConfig[7] == EXT_PER_IN) INT4Count++;
mSecTimer++; // used by the TIMER function
TickTimer++; // used in the interrupt tick
PauseTimer++; // used by the PAUSE command
IntPauseTimer++; // used by the PAUSE command inside an interrupt
InkeyTimer++; // used to delay on an escape character
if(++CursorTimer > CURSOR_OFF + CURSOR_ON) CursorTimer = 0; // used to control cursor blink rate
// GS I2C Start
if (I2C_Timer) {
if (--I2C_Timer == 0) {
I2C_Status |= I2C_Status_Timeout;
mI2C1MSetIntFlag();
}
}
if (I2C_Status & I2C_Status_MasterCmd) {
if (!(I2C1STAT & _I2C1STAT_S_MASK)) {
I2C_Status &= ~I2C_Status_MasterCmd;
I2C_State = I2C_State_Start;
I2C1CONSET =_I2C1CON_SEN_MASK;
}
}
// GS I2C End
#ifdef MAXIMITE
if(SDActivityLED) {
P_SD_LED_SET_HI;
SDActivityLED--;
} else
P_SD_LED_SET_LO;
#endif
if(SD_CD) SDCardRemoved = true;
// check if the sound has expired
if(SoundPlay > 0) { // if we are still playing the sound
SoundPlay--;
if(SoundPlay == 0) {
CloseTimer2();
#ifdef MAXIMITE
CloseOC2();
#endif
#ifdef OLIMEX
CloseOC1();
#endif
}
}
//////////////////////////////// keep track of the date and time ////////////////////////////////
////////////////////////////////// this code runs once a second /////////////////////////////////
if(++SecondsTimer >= 1000) {
SecondsTimer = 0; // reset every second
if(S.ScreenSave){ //if screen saver is enabled count it down
if(ScreenSaveTime >0)
ScreenSaveTime--;
else
mT3IntEnable(0); // turn off video int
}
//if(ExtCurrentConfig[11] == EXT_FREQ_IN) { INT1Value = INT1Count; INT1Count = 0; }
if(ExtCurrentConfig[5] == EXT_FREQ_IN) { INT2Value = INT2Count; INT2Count = 0; }
if(ExtCurrentConfig[6] == EXT_FREQ_IN) { INT3Value = INT3Count; INT3Count = 0; }
if(ExtCurrentConfig[7] == EXT_FREQ_IN) { INT4Value = INT4Count; INT4Count = 0; }
#ifdef MAXMITE
if(++second >= 60) { // keep track of the time and date
second = 0 ;
if(++minute >= 60) {
minute = 0;
if(++hour >= 24) {
hour = 0;
if(++day > DaysInMonth[month + ((month == 2 && (year % 4) == 0)?1:0)]) {
day = 1;
if(++month > 12) {
month = 1;
year++;
}
}
}
}
}
#endif
}
// Clear the interrupt flag
mT4ClearIntFlag();
//return;
}
int main(int argc, char** argv) {
/*Configuring POSC with PLL, with goal FOSC = 80 MHZ */
// Configure PLL prescaler, PLL postscaler, PLL divisor
// Fin = 8 Mhz, 8 * (40/2/2) = 80
PLLFBD = 18; // M=40 // change to 38 for POSC 80 Mhz - this worked only on a single MCU for uknown reason
CLKDIVbits.PLLPOST = 0; // N2=2
CLKDIVbits.PLLPRE = 0; // N1=2
// Initiate Clock Switch to Primary Oscillator with PLL (NOSC=0b011)
//__builtin_write_OSCCONH(0x03);
// tune FRC
OSCTUN = 23; // 23 * 0.375 = 8.625 % -> 7.37 Mhz * 1.08625 = 8.005Mhz
// Initiate Clock Switch to external oscillator NOSC=0b011 (alternative use FRC with PLL (NOSC=0b01)
__builtin_write_OSCCONH(0b011);
__builtin_write_OSCCONL(OSCCON | 0x01);
// Wait for Clock switch to occur
while (OSCCONbits.COSC!= 0b011);
// Wait for PLL to lock
while (OSCCONbits.LOCK!= 1);
// local variables in main function
int status = 0;
int i = 0;
int ax = 0, ay = 0, az = 0;
int statusProxi[8];
int slowLoopControl = 0;
UINT16 timerVal = 0;
float timeElapsed = 0.0;
//extern UINT8 pwmMotor;
extern UINT16 speakerAmp_ref;
extern UINT16 speakerFreq_ref;
extern UINT8 proxyStandby;
UINT16 dummy = 0x0000;
setUpPorts();
delay_t1(50);
PWMInit();
delay_t1(50);
ctlPeltier = 0;
PeltierVoltageSet(ctlPeltier);
FanCooler(0);
diagLED_r[0] = 100;
diagLED_r[1] = 0;
diagLED_r[2] = 0;
LedUser(diagLED_r[0], diagLED_r[1],diagLED_r[2]);
// Speaker initialization - set to 0,1
spi1Init(2, 0);
speakerAmp_ref = 0;
speakerAmp_ref_old = 10;
speakerFreq_ref = 1;
speakerFreq_ref_old = 10;
int count = 0;
UINT16 inBuff[2] = {0};
UINT16 outBuff[2] = {0};
while (speakerAmp_ref != speakerAmp_ref_old) {
if (count > 5 ) {
// Error !
//LedUser(100, 0, 0);
break;
}
inBuff[0] = (speakerAmp_ref & 0x0FFF) | 0x1000;
chipSelect(slaveVib);
status = spi1TransferWord(inBuff[0], outBuff);
chipDeselect(slaveVib);
chipSelect(slaveVib);
status = spi1TransferWord(inBuff[0], &speakerAmp_ref_old);
chipDeselect(slaveVib);
count++;
}
count = 0;
while (speakerFreq_ref != speakerFreq_ref_old) {
if (count > 5 ) {
// Error !
//LedUser(0, 100, 0);
break;
}
inBuff[0] = (speakerFreq_ref & 0x0FFF) | 0x2000;
chipSelect(slaveVib);
status = spi1TransferWord(inBuff[0], outBuff);
chipDeselect(slaveVib);
chipSelect(slaveVib);
status = spi1TransferWord(inBuff[0], &speakerFreq_ref_old);
chipDeselect(slaveVib);
count++;
}
accPin = aSlaveR;
accPeriod = 1.0 / ACC_RATE * 1000000.0; // in us; for ACC_RATE = 3200 Hz it should equal 312.5 us
status = adxl345Init(accPin);
ax = status;
delay_t1(5);
/* Init FFT coefficients */
TwidFactorInit(LOG2_FFT_BUFF, &Twiddles_array[0],0);
delta_freq = (float)ACC_RATE / FFT_BUFF;
// read 100 values to calculate bias
int m;
int n = 0;
for (m = 0; m < 100; m++) {
status = readAccXYZ(accPin, &ax, &ay, &az);
if (status <= 0) {
//
}
else {
ax_b_l += ax;
ay_b_l += ay;
az_b_l += az;
n++;
}
delay_t1(1);
}
ax_b_l /= n;
ay_b_l /= n;
az_b_l /= n;
_SI2C2IE = 0;
_SI2C2IF = 0;
// Proximity sensors initalization
I2C1MasterInit();
status = VCNL4000Init();
// Cooler temperature sensors initalization
status = adt7420Init(0, ADT74_I2C_ADD_mainBoard);
delay_t1(1);
muxCh = I2C1ChSelect(1, 6);
status = adt7420Init(0, ADT74_I2C_ADD_flexPCB);
// Temperature sensors initialization
statusTemp[0] = adt7320Init(tSlaveF, ADT_CONT_MODE | ADT_16_BIT);
delay_t1(5);
statusTemp[1] = adt7320Init(tSlaveR, ADT_CONT_MODE | ADT_16_BIT);
delay_t1(5);
statusTemp[2] = adt7320Init(tSlaveB, ADT_CONT_MODE | ADT_16_BIT);
delay_t1(5);
statusTemp[3] = adt7320Init(tSlaveL, ADT_CONT_MODE | ADT_16_BIT);
delay_t1(5);
// Temperature estimation initialization
for (i = 0; i < 50; i++) {
adt7320ReadTemp(tSlaveF, &temp_f);
delay_t1(1);
adt7320ReadTemp(tSlaveL, &temp_l);
delay_t1(1);
adt7320ReadTemp(tSlaveB, &temp_b);
delay_t1(1);
adt7320ReadTemp(tSlaveR, &temp_r);
delay_t1(1);
}
tempBridge[0] = temp_f;
tempBridge[1] = temp_r;
tempBridge[2] = temp_b;
tempBridge[3] = temp_l;
if (statusTemp[0] != 1)
temp_f = -1;
if (statusTemp[1] != 1)
temp_r = -1;
if (statusTemp[2] != 1)
temp_b = -1;
if (statusTemp[3] != 1)
temp_l = -1;
// CASU ring average temperature
temp_casu = 0;
tempNum = 0;
tempSensors = 0;
for (i = 0; i < 4; i++) {
if (statusTemp[i] == 1 && tempBridge[i] > 20 && tempBridge[i] < 60) {
tempNum++;
temp_casu += tempBridge[i];
tempSensors++;
}
}
if (tempNum > 0)
temp_casu /= tempNum;
else
temp_casu = -1;
temp_casu1 = temp_casu;
temp_wax = temp_casu;
temp_wax1 = temp_casu;
temp_model = temp_wax;
temp_old[0] = temp_f;
temp_old[1] = temp_r;
temp_old[2] = temp_b;
temp_old[3] = temp_l;
temp_old[4] = temp_flexPCB;
temp_old[5] = temp_pcb;
temp_old[6] = temp_casu;
temp_old[7] = temp_wax;
for (i = 0; i < 4; i++) {
uref_m[i] = temp_wax;
}
// Configure i2c2 as a slave device and interrupt priority 5
I2C2SlaveInit(I2C2_CASU_ADD, BB_I2C_INT_PRIORITY);
// delay for 2 sec
for(i = 0; i < 4; i ++) {
delay_t1(500);
ClrWdt();
}
while (i2cStarted == 0) {
delay_t1(200);
ClrWdt();
}
dma0Init();
dma1Init();
CloseTimer4();
ConfigIntTimer4(T4_INT_ON | TEMP_LOOP_PRIORITY);
OpenTimer4(T4_ON | T4_PS_1_256, ticks_from_ms(2000, 256));
CloseTimer5();
ConfigIntTimer5(T5_INT_ON | FFT_LOOP_PRIORITY);
OpenTimer5(T5_ON | T5_PS_1_256, ticks_from_ms(1000, 256));
diagLED_r[0] = 0;
diagLED_r[1] = 0;
diagLED_r[2] = 0;
LedUser(diagLED_r[0], diagLED_r[1],diagLED_r[2]);
start_acc_acquisition();
while(1) {
ConfigIntTimer2(T2_INT_OFF); // Disable timer interrupt
IFS0bits.T2IF = 0; // Clear interrupt flag
OpenTimer2(T2_ON | T2_PS_1_256, 65535); // Configure timer
if (!proxyStandby) {
statusProxi[0] = I2C1ChSelect(1, 2); // Front
proxy_f = VCNL4000ReadProxi();
delay_t1(1);
statusProxi[1] = I2C1ChSelect(1, 4); // Back right
proxy_br = VCNL4000ReadProxi();
delay_t1(1);
statusProxi[2] = I2C1ChSelect(1, 3); // Front right
proxy_fr = VCNL4000ReadProxi();
delay_t1(1);
statusProxi[3] = I2C1ChSelect(1, 5); // Back
proxy_b = VCNL4000ReadProxi();
delay_t1(1);
statusProxi[4] = I2C1ChSelect(1, 0); // Back left
proxy_bl = VCNL4000ReadProxi();
delay_t1(1);
statusProxi[5] = I2C1ChSelect(1, 1); // Front left
proxy_fl = VCNL4000ReadProxi();
delay_t1(1);
}
else {
proxy_f = 0; // Front
proxy_br = 0; // Back right
proxy_fr = 0; // Front right
proxy_b = 0; // Back
proxy_bl = 0; // Back left
proxy_fl = 0; // Front left
}
if (timer4_flag == 1) {
// every 2 seconds
CloseTimer4();
ConfigIntTimer4(T4_INT_ON | TEMP_LOOP_PRIORITY);
timer4_flag = 0;
if (dma_spi2_started == 0) {
OpenTimer4(T4_ON | T4_PS_1_256, ticks_from_ms(2000, 256));
skip_temp_filter++;
tempLoop();
}
else {
OpenTimer4(T4_ON | T4_PS_1_256, ticks_from_ms(50, 256));
}
}
if (dma_spi2_done == 1) {
fftLoop();
dma_spi2_done = 0;
}
if ((timer5_flag == 1) || (new_vibration_reference == 1)) {
// every 1 seconds
CloseTimer5();
ConfigIntTimer5(T5_INT_ON | FFT_LOOP_PRIORITY);
OpenTimer5(T5_ON | T5_PS_1_256, ticks_from_ms(1000, 256));
timer5_flag = 0;
if (new_vibration_reference == 1) {
//if(1){
CloseTimer3();
dma0Stop();
dma1Stop();
spi2Init(2, 0);
dma0Init();
dma1Init();
chipDeselect(aSlaveR);
IFS0bits.DMA0IF = 0;
delay_t1(30); // transient response
}
new_vibration_reference = 0;
start_acc_acquisition();
}
// Cooler fan control
if (fanCtlOn == 1) {
if (temp_pcb >= 25 && fanCooler == FAN_COOLER_OFF)
fanCooler = FAN_COOLER_ON;
else if (temp_pcb <= 24 && fanCooler == FAN_COOLER_ON)
fanCooler = FAN_COOLER_OFF;
// In case of I2C1 fail turn on the fan
if ((proxy_f == 0xFFFF) && (proxy_fr == 0xFFFF) && (proxy_br == 0xFFFF) && (proxy_b == 0xFFFF) && (proxy_bl == 0xFFFF) && (proxy_fl == 0xFFFF))
fanCooler = FAN_COOLER_ON;
}
else if (fanCtlOn == 2)
fanCooler = FAN_COOLER_ON;
else
fanCooler = FAN_COOLER_OFF;
//TEST
// temp_f = temp_model;
// if (temp_ref < 30) {
// temp_r = smc_parameters[0] * 10;
// }
// else {
// temp_r = smc_parameters[0] / 2.0 * 10.0;
// }
// temp_r = alpha*10;
// temp_b = sigma_m * 10;
// temp_l = sigma * 10;
//temp_flexPCB = temp_ref_ramp;
/*
proxy_f = dma_spi2_started;
proxy_fl = dma_spi2_done;
proxy_bl = new_vibration_reference;
proxy_b = timer5_flag;
proxy_br = timer4_flag;
*/
int dummy_filt = 0;
for (i = 0; i < 8; i++) {
if (index_filter[i] > 0){
dummy_filt++;
}
}
if (dummy_filt > 0) {
filtered_glitch = dummy_filt;
//for (i = 0; i< 8; index_filter[i++] = 0);
}
else {
filtered_glitch = 0;
}
updateMeasurements();
timerVal = ReadTimer2();
CloseTimer2();
timeElapsed = ms_from_ticks(timerVal, 256);
//if (timeElapsed < MAIN_LOOP_DUR)
// delay_t1(MAIN_LOOP_DUR - timeElapsed);
ClrWdt(); //Clear watchdog timer
} // end while(1)
return (EXIT_SUCCESS);
}
void stopServos(){
CloseTimer2();
}
void hardwareInit(){
// 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);
SYSTEMConfigPerformance(80000000);
(_TRISF5)=INPUT; // for the reset sw
ATX_DISENABLE();
CloseTimer2();
Pic32_Bowler_HAL_Init();
Bowler_Init();
clearPrint();
println_I("\n\n\nStarting PIC initialization");
FlashGetMac(MyMAC.v);
DelayMs(2000);//This si to prevent runaway during programming
// enable driven to 3.3v on uart 1
mPORTDOpenDrainClose(BIT_3); mPORTFOpenDrainClose(BIT_5);
char macStr[13];
for (i=0;i<6;i++){
macStr[j++]=GetHighNib(MyMAC.v[i]);
macStr[j++]=GetLowNib(MyMAC.v[i]);
}
macStr[12]=0;
println_I("MAC address is =");
print_I(macStr);
char * dev = "BowlerDevice";
println_I(dev);
//This Method calls INTEnableSystemMultiVectoredInt();
usb_CDC_Serial_Init(dev,macStr,0x04D8,0x0001);
addNamespaceToList((NAMESPACE_LIST *)getBcsCartesianNamespace());
addNamespaceToList((NAMESPACE_LIST *)getBcsPidNamespace());
ATX_ENABLE(); // Turn on ATX Supply, Must be called before talking to the Encoders!!
println_I("Starting Encoders");
initializeEncoders();// Power supply must be turned on first
println_I("Starting Heater");
initializeHeater();
println_I("Starting Servos");
initServos();
#if !defined(NO_PID)
println_I("Starting PID");
initPIDLocal();
#endif
initializeCartesianController();
DelayMs(100);
if( GetPIDCalibrateionState(linkToHWIndex(0))!=CALIBRARTION_DONE&&
GetPIDCalibrateionState(linkToHWIndex(1))!=CALIBRARTION_DONE&&
GetPIDCalibrateionState(linkToHWIndex(2))!=CALIBRARTION_DONE
){
for(i=0;i<numPidMotors;i++){
SetPIDEnabled(i,true) ;
}
println_I("Running calibration for kinematics axis");
runPidHysterisisCalibration(linkToHWIndex(0));
runPidHysterisisCalibration(linkToHWIndex(1));
runPidHysterisisCalibration(linkToHWIndex(2));
DelayMs(100);//wait for ISR to fire and update all values
for(i=0;i<3;i++){
setPIDConstants(linkToHWIndex(i),.2,.1,0);
}
OnPidConfigure(0);
}else{
println_W("Axis are already calibrated");
}
pid.MsTime=getMs();
//startHomingLinks();
disableSerialComs(true) ;
(_TRISB0)=1;
SetColor(1,1,1);
HEATER_2_TRIS = OUTPUT;
//HEATER_1_TRIS = OUTPUT; // Causes one of the axies to crawl downward in bursts when enabled and on...
//HEATER_0_TRIS = OUTPUT; // causes device to twitc. These are touched by the USB stack somehow..... and as the reset button
}
