int main( void ) {
initPMP();
initLCD(7);
initSerial2();
// initSPI();
cmdLCD(0b00000010); //return home??
//writeLCD("hello");
writeLCD("Begin");
// int tempStepperCounts[5];
// int heading_fp; // remember this is in fixed point from spi; 2,14
// double heading;
// int i=0;
while(1) {
if(newMSG) {
cmdLCD(0b00000010); //return home??
writeLCD(" ");
cmdLCD(0b00000010); //return home??
writeLCD(msg);
txSerial("ASS!");
newMSG = 0;
}
// writeLCD("FWD...");
// writeSlave(MOTOR_DRIVER,SPI_MOTOR,(MOTOR_FWD SPI_MOTOR_RIGHT_DIR) |
// (MOTOR_FULL_SPEED SPI_MOTOR_RIGHT_SPEED));
// writeSlave(STEPPER_DRIVER,SPI_STEPPER_DIR,'F');
// writeSlave(STEPPER_DRIVER,SPI_STEPPER_SPEED,30000);
// writeSlave(STEPPER_DRIVER,SPI_STEPPER_STEPS,1500);
// for(i=1;i<5000;i+=500)
// writeSlave(STEPPER_DRIVER,SPI_STEPPER_SPEED,30000-i);
// msDelay(1500);
// writeSlave(MOTOR_DRIVER,SPI_MOTOR,(MOTOR_REV SPI_MOTOR_RIGHT_DIR) |
// (MOTOR_STOP SPI_MOTOR_RIGHT_SPEED));
// msDelay(1500);
// writeLCD("REV...");
// writeSlave(MOTOR_DRIVER,SPI_MOTOR,(MOTOR_REV SPI_MOTOR_RIGHT_DIR) |
// (MOTOR_FULL_SPEED SPI_MOTOR_RIGHT_SPEED));
// writeSlave(STEPPER_DRIVER,SPI_STEPPER_DIR,'R');
// writeSlave(STEPPER_DRIVER,SPI_STEPPER_SPEED,25000);
// writeSlave(STEPPER_DRIVER,SPI_STEPPER_STEPS,1000);
// msDelay(500);
// tempStepperCounts[0] = readSlave(STEPPER_DRIVER,SPI_STEPPER_INPROG);
// tempStepperCounts[1] = readSlave(STEPPER_DRIVER,SPI_STEPPER_INPROG);
// tempStepperCounts[2] = readSlave(STEPPER_DRIVER,SPI_STEPPER_INPROG);
// msDelay(100);
// tempStepperCounts[3] = readSlave(STEPPER_DRIVER,SPI_STEPPER_INPROG);
// msDelay(100);
// tempStepperCounts[4] = readSlave(STEPPER_DRIVER,SPI_STEPPER_INPROG);
// msDelay(1500);
// writeSlave(MOTOR_DRIVER,SPI_MOTOR,(MOTOR_REV SPI_MOTOR_RIGHT_DIR) |
// (MOTOR_STOP SPI_MOTOR_RIGHT_SPEED));
// msDelay(1500);
//// heading_fp = readSlave(COMPASS,COMPASS_HEADING);
//// heading = ((double) heading_fp) / FIXEDPOINT_13BIT;
// cmdLCD(0b00000010); //return home??
// writeLCD(" ");
// cmdLCD(0b00000010); //return home??
};
return (EXIT_SUCCESS);
}
/** Main **/
int main(void){
/** Declare Local Variables **/
/** Initialize State Variables **/
myBOOLs.mainMenuTrue = TRUE; // want program to enter into the main menu
myBOOLs.mainDecide = TRUE; // want program to enter into the main menu
myBOOLs.modeMenuTrue = FALSE;
myBOOLs.modeDecide = FALSE;
myBOOLs.rpmMenuTrue = FALSE;
myBOOLs.rpmDecide = FALSE;
/** Initialize Value Variables **/
rpm = 60;
/** Configure Analog Ports **/
AD1PCFGbits.PCFG5 = HIGH; // disable analog functionality for AN5 (Encoder Pin A)
AD1PCFGbits.PCFG0 = HIGH; // disable analog functionality for AN0 (SPI - SS)
AD1PCFGbits.PCFG2 = HIGH; // disable analog functionality for AN2 (SPI - SDI)
AD1PCFGbits.PCFG4 = HIGH; // disable analog functionality for AN4 (SPI - SCK)
/** Configure Pin Directions **/
TRISAbits.TRISA2 = OUTPUT; // *output* Stepper Motor Dir
TRISAbits.TRISA4 = OUTPUT; // *output* Red LED Sink
TRISBbits.TRISB3 = INPUT; // *input* (Encoder Pin A) ~interrupt
TRISBbits.TRISB4 = INPUT; // *input* (Encoder Pin B)
TRISBbits.TRISB9 = INPUT; // *input* (Encoder PUSH) ~interrupt
TRISAbits.TRISA0 = OUTPUT; // *output* (SS for Thermo)
TRISBbits.TRISB0 = INPUT; // *input* (SPI - SDI)
TRISBbits.TRISB2 = OUTPUT; // *output* (SPI - SCK)
/** Initialize Pin States **/
LATAbits.LATA2 = LOW; // Set direction to CW
LATAbits.LATA4 = LOW; // Set Red LED ON (sink current)
LATAbits.LATA0 = HIGH; // Set SS high
TRISBbits.TRISB2 = LOW; // Set SCK low
/** Configure Peripheral Pin Selects **/
__builtin_write_OSCCONL(OSCCON & 0xBF); // unlock registers to configure PPS
RPINR0bits.INT1R = 3; // configure RP3 as Ext. Int. 1
RPINR1bits.INT2R = 9; // configure RP9 as Ext. Int. 2
RPOR7bits.RP15R = 18; // configure RP15 as OC1 (PWM for EasyDriver)
RPOR5bits.RP10R = 19; // configure RP11 as OC2 (PWM for buzzer)
__builtin_write_OSCCONL(OSCCON | 0x40); // lock registers
/** Configure PWMs **/
period = ((8000000*60)/(1600*rpm)); // calculate PR based on desired PRM
duty = period/2; // duty cycle of 50%
initPWM(period, duty); // PWM initialization function
initPWMbuzz();
/** Configure PMP & LCD **/
initPMP();
initLCD();
setLCDG(0);
putLCD(0b00000);
putLCD(0b01100);
putLCD(0b01100);
putLCD(0b01100);
putLCD(0b11110);
putLCD(0b11110);
putLCD(0b01100);
putLCD(0);
/** Configure Interrupts **/
INTCON2bits.ALTIVT = 0; //use primary IVT
//EXT1 interrupt
INTCON2bits.INT1EP = 1; // interrupt on falling edge
IPC5bits.INT1IP = 4; //set priority level to 4
IFS1bits.INT1IF = 0; //initialize INT1 flag to zero
IEC1bits.INT1IE = 1; //enable the interrupt source
//EXT2 interrupt
INTCON2bits.INT2EP = 1; // interrupt on falling edge
IPC7bits.INT2IP = 7; //set priority level to 4
IFS1bits.INT2IF = 0; //initialize INT2 flag to zero
IEC1bits.INT2IE = 1; //enable the interrupt source
/** LCD Splash Screen **/
clearLCD();
setCursor(1,0);
putsLCD(" Stir Plate ");
setCursor(2,0);
putsLCD(" 9000 ");
delay_ms(3000);
clearLCD();
OC2CON = 0x0000;
/*------------------INFINITE LOOP------------------*/
while(1)
{
menuDecision();
}
return (EXIT_SUCCESS);
}
/*------------------MAIN FUNCTION------------------*/
int main(void)
{
__builtin_write_OSCCONL(2); // Enable secondary oscillator with unlock sequence
T1CON = 0x8012; // Enable T1 from external oscillator (SECONDARY), pre-scaler of 8)
T2CON = 0x8000;
PR1 = 410; // this value generates an interrupt every 100 milliseconds (Primary)
/*------------------CONFIGURE INTERRUPTS------------------*/
INTCON2bits.INT0EP = 0; // interrupt on positive edge
INTCON2bits.ALTIVT = 0; // use primary IVT
IPC0bits.T1IP = 4; // set priority level to 4 (100)
IFS0bits.T1IF = 0; // initialize T1 flag to zero
IEC0bits.T1IE = 1; // enable the T1 timer interrupt source
TRISBbits.TRISB2 = 0; // Used as Register Select for LCD
initPMP();
initLCD();
setLCDG(0);
putLCD(0b00000);
putLCD(0b10001);
putLCD(0b00000);
putLCD(0b00100);
putLCD(0b00000);
putLCD(0b10001);
putLCD(0b01110);
putLCD(0);
putLCD(0b00000);
putLCD(0b10001);
putLCD(0b00000);
putLCD(0b00100);
putLCD(0b00000);
putLCD(0b00000);
putLCD(0b11111);
putLCD(0);
putLCD(0b00000);
putLCD(0b10001);
putLCD(0b00000);
putLCD(0b00100);
putLCD(0b00000);
putLCD(0b01110);
putLCD(0b10001);
putLCD(0);
int Buf = 0;
initADC();
//TRISB = 0xFF00; // configure LED port as outputs
char BufString[20];
char BufString2[5];
char BufString3[16];
double voltage, vAvg, avgTime;
int i, time;
unsigned long bufAvg;
int nAvg = 100;
TMR1 = 0;
/*------------------INFINITE LOOP------------------*/
while(1)
{
vAvg = 0;
voltage = 0;
bufAvg = 0;
time = 0;
avgTime = 0;
for(i=0;i<nAvg;i++)
{
TMR2 = 0;
Buf = getADC(0); // read channel 1 of ADC
time = TMR2;
voltage = Buf*3.3/1023;
vAvg = vAvg + voltage;
bufAvg = bufAvg + Buf;
avgTime = avgTime + time;
}
vAvg = vAvg/nAvg;
bufAvg = bufAvg/nAvg;
avgTime = avgTime/nAvg/16/1000;
if(myBOOLs.timer_flag == TRUE)
{
setCursor(1,0);
putsLCD("Voltage: ");
sprintf(BufString,"%.02f",vAvg);
sprintf(BufString2,"%lu",bufAvg);
sprintf(BufString3,"%.05f",avgTime);
setCursor(1,9);
putsLCD(BufString);
setCursor(1,16);
putsLCD(BufString2);
putsLCD(" ");
setCursor(2,0);
putsLCD("Time: ");
setCursor(2,6);
putsLCD(BufString3);
setCursor(2,14);
putsLCD("ms");
setCursor(2,19);
if(bufAvg > 1023*2/3)
putLCD(0);
if(bufAvg < 1023*2/3 && bufAvg > 1023*1/3)
putLCD(1);
if(bufAvg < 1023*1/3 && bufAvg > 0)
putLCD(2);
myBOOLs.timer_flag = FALSE;
}
}
return (EXIT_SUCCESS);
}
///////////////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////// MAIN FUNCTION ////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////////////
int main(void)
{
///////////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////// SETUP ////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////////
// Analog/Digital Pin Configuration
ANSELA = 0x0000;
ANSELB = 0x0000;
ANSELC = 0x0000;
ANSELD = 0x0000;
ANSELG = 0x0000;
ANSELCbits.ANSC1 = 0; // Pin 22 (RC1/AN7) is analog (Trigger)
ANSELAbits.ANSA0 = 1; // Pin 13 (RA0/AN0) is analog (ADC1CH0)
ANSELAbits.ANSA1 = 1; // Pin 14 (RA1/AN1) is analog (ADC1CH1)
ANSELBbits.ANSB0 = 1; // Pin 15 (RB0/AN2) is analog (ADC1CH2)
ANSELBbits.ANSB1 = 1; // Pin 16 (RB1/AN3) is analog (ADC1CH3)
__builtin_write_OSCCONL(OSCCON & 0xBF); // unlock registers to configure PPS
RPOR7bits.RP57R = 0b10000; // configure RP57 as OC1 (PWM Horizontal)
__builtin_write_OSCCONL(OSCCON | 0x40); // lock registers
// Digital I/O Pin Configuration
//TRISCbits.TRISC9 = 0;
TRISEbits.TRISE14 = 0; // Pin 29 (RE14) is a digital output (Chip Select 1)
SPI_CS1_HIGH;
TRISEbits.TRISE15 = 0; // Pin 30 (RE15) is a digital output (Chip Select 2)
SPI_CS2_HIGH;
TRISBbits.TRISB4 = 0; // Pin 32 (RB4) is a digital output (SPI Clock)
SPI_CLK_LOW;
TRISAbits.TRISA8 = 0; // Pin 31 (RA8) is a digital output (SPI Data In)
SPI_DIN_LOW;
TRISGbits.TRISG6 = 0; // Register Select Output for LCD.
// Initializing Main Loop
InitSystemClock133(); // Make sure this matches in the config.h (FOSC 133333332LL)
//InitSystemClock140(); // Make sure this matches in the config.h (FOSC 140000000LL)
_NSTDIS = 0;
GenPurpTimer32();
InitNoTriggerWatchdogTimer();
InitC4TriggerTimer();
InitTrigger();
CaptureFrontTimer();
InitPWM();
initPMP();
initLCD();
InitADC1();
clearLCD();
WritePGA(PGA_gain); // Initializes both PGAs
//homeScreen();
WriteServo(90,90); // Initialize servo positions (whole number degrees from 0 to 180))
while(1)
{
// Infinite Loop:
WriteServo(90,90);
delay_ms(1000);
WriteServo(90+35,90);
delay_ms(1000);
WriteServo(90,90);
delay_ms(1000);
WriteServo(90-35,90);
delay_ms(1000);
}
}
