void enableCNModule(int userIsWatchingTV)
{
if(userIsWatchingTV)
{
//do not enable PIR input during TV operation it is useless
mCNOpen(CN_ON | CN_IDLE_CON, CN16_ENABLE, CN16_PULLUP_ENABLE | CN4_PULLUP_ENABLE);
}
else
{
mCNOpen(CN_ON | CN_IDLE_CON, CN16_ENABLE | CN4_ENABLE, CN16_PULLUP_ENABLE | CN4_PULLUP_ENABLE);
}
mCNIntEnable(1);
}
/**********************************************************************
* Function: Override_init
* @return None
* @remark Initializes the override board and the interrupt to detect
* when the receiver comes online.
* @author Darrel Deo
* @date 2013.04.01
**********************************************************************/
void Override_init() {
// Initialize override board pins to give Micro control
ENABLE_OUT_TRIS = OUTPUT; // Set pin to be an output (fed to the AND gates)
ENABLE_OUT_LAT = MICRO_HAS_CONTROL; // Initialize control for Microcontroller
// Let override timer expire to disable override
Timer_new(TIMER_OVERRIDE, 1);
while (Override_isTriggered()) {
asm("nop");
}
//Enable the interrupt for the override feature
mPORTBSetPinsDigitalIn(BIT_0); // CN2
mCNOpen(CN_ON | CN_IDLE_CON , CN2_ENABLE , CN_PULLUP_DISABLE_ALL);
uint16_t value = mPORTDRead(); //?
ConfigIntCN(CHANGE_INT_ON | CHANGE_INT_PRI_2);
//CN2 J5-15
//DBPRINT("Override Function has been Initialized\n");
Override_giveMicroControl();
INTEnable(INT_CN,1);
}
void InitCRModule(void){
WORD TiempoT4 = 1; //En mseg;
WORD Prescaler = 32; //Selecciono el prescaler, si lo
//cambio revisar opentimer.
WORD CuentaT4 = (TiempoT4)*(CLOCK_FREQ/((1<<mOSCGetPBDIV())*Prescaler*1000));
OpenTimer4(T4_ON | T1_IDLE_CON | T4_GATE_OFF | T4_PS_1_32 | T4_32BIT_MODE_OFF | T4_SOURCE_INT, CuentaT4);
/*Pongo la int de nivel 3 porque de nivel 4 fastidia las interrupciones del transceptor. Dentro de nivel 3
le doy maxima subprioridad.*/
ConfigIntTimer4(T4_INT_ON | T4_INT_PRIOR_3 | T4_INT_SUB_PRIOR_3);
mCNOpen(CN_ON | CN_IDLE_CON, CN14_ENABLE, CN_PULLUP_DISABLE_ALL);
PORTSetPinsDigitalIn(IOPORT_D, BIT_5);
mPORTDRead();
ConfigIntCN(CHANGE_INT_ON | CHANGE_INT_PRI_3);//6);
CRM_Optm_Init();
CRM_Poli_Init();
CRM_AccCtrl_Init();
//Creamos una entrada en la tabla de permisos.
ACCCTRL_MSSG_RCVD PeticionCrearEntrada;
PeticionCrearEntrada.Action = ActAddEntry;
#if defined NODE_1
//BYTE EUI_Permiso[] = {0x01, EUI_1, EUI_2, EUI_3, EUI_4, EUI_5, EUI_6, EUI_7};
BYTE EUI_Permiso[] = {EUI_0, EUI_1, EUI_2, EUI_3, EUI_4, EUI_5, EUI_6, 0x22};
#elif defined NODE_2
//BYTE EUI_Permiso[] = {0x05, EUI_1, EUI_2, EUI_3, EUI_4, EUI_5, EUI_6, EUI_7};
BYTE EUI_Permiso[] = {EUI_0, EUI_1, EUI_2, EUI_3, EUI_4, EUI_5, EUI_6, 0x11};
#endif
PeticionCrearEntrada.DirecOrigen = EUI_Permiso;
CRM_Message(NMM, SubM_AccCtrl, &PeticionCrearEntrada);
//Fin de la creacion de entrada de la tabal de permisos.
NodoCerrado = FALSE; //Para que pueda aceptar peticiones de acciones de otros nodos.
CRM_Repo_Init();
}
void setup_spi() {
// TODO move it out of here
INTDisableInterrupts();
mCNOpen(CN_ON | CN_IDLE_CON, CN1_ENABLE, CN1_PULLUP_ENABLE);
mPORTCRead();
mCNSetIntPriority(6); // same as below
mCNClearIntFlag();
mCNIntEnable(1);
INTEnableInterrupts();
}
void DeviceInit()
{
// Configure left motor direction pin and set default direction.
trisMtrLeftDirSet = ( 1 << bnMtrLeftDir );
prtMtrLeftDirSet = ( 1 << bnMtrLeftDir ); // forward
// Configure right motor diretion pin and set default direction.
trisMtrRightDirClr = ( 1 << bnMtrRightDir ); //modify for JD
prtMtrRightDirClr = ( 1 << bnMtrRightDir ); // forward
// Configure Output Compare 2 to drive the left motor.
OC2CON = ( 1 << 2 ) | ( 1 << 1 ); // pwm
OC2R = dtcMtrStopped;
OC2RS = dtcMtrStopped;
// Configure Output Compare 3.
OC3CON = ( 1 << 3 ) | ( 1 << 2 ) | ( 1 << 1 ); // pwm
OC3R = dtcMtrStopped;
OC3RS = dtcMtrStopped;
// Configure Timer 2.
TMR2 = 0; // clear timer 2 count
PR2 = 9999;
// Configure Timer 3.
TMR3 = 0;
PR3 = 9999;
// Start timers and output compare units.
T2CON = ( 1 << 15 ) | ( 1 << TCKPS20 )|(1 << TCKPS21); // timer 2 prescale = 8
OC2CONSET = ( 1 << 15 ); // enable output compare module 2
OC3CONSET = ( 1 << 15 ); // enable output compare module 3
T3CON = ( 1 << 15 ) | ( 1 << TCKPS31 ) | ( 1 << TCKPS30); //timer3 prescale = 8
// Configure Timer 5.
TMR5 = 0;
PR5 = 99; // period match every 100 us
IPC5SET = ( 1 << 4 ) | ( 1 << 3 ) | ( 1 << 2 ) | ( 1 << 1 ) | ( 1 << 0 ); // interrupt priority level 7, sub 3
IFS0CLR = ( 1 << 20);
IEC0SET = ( 1 << 20);
// Start timers.
T5CON = ( 1 << 15 ) | ( 1 << 5 ) | ( 1 << 4 ); // fTimer5 = fPb / 8
// Setup light sensor pins
PORTSetPinsDigitalIn(IOPORT_B, BIT_0 | BIT_3);
// Change notice configured for CN 2 through 5 for light sensors.
mCNOpen(CN_ON, (CN2_ENABLE | CN3_ENABLE | CN4_ENABLE | CN5_ENABLE), CN_PULLUP_DISABLE_ALL);
ConfigIntCN(CHANGE_INT_OFF | CHANGE_INT_PRI_2);
// Enable multi-vector interrupts.
INTEnableSystemMultiVectoredInt();
}
void setupCNModuleAndPIRInput()
{
//PIR Input and notification A1
mPORTBSetPinsDigitalIn(BIT_2); //A1 PIR Input (CN4 module)
mCNOpen(CN_OFF | CN_IDLE_CON | CN_IDLE_CON, CN4_ENABLE, CN4_PULLUP_ENABLE);
// read port(s) to clear mismatch
mPORTBReadBits(BIT_2);
// configure interrupts and clear change notice interrupt flag
ConfigIntCN(CHANGE_INT_ON | CHANGE_INT_PRI_3);
mCNClearIntFlag(); // Clear interrupt flag
}
/**
* Function: Override_init()
* @return None
* @remark Initializes interrupt for Override functionality
* @author Darrel Deo
* @date 2013.04.01 */
void Override_init(){
//Enable the interrupt for the override feature
mPORTBSetPinsDigitalIn(BIT_0); // CN2
mCNOpen(CN_ON | CN_IDLE_CON , CN2_ENABLE , CN_PULLUP_DISABLE_ALL);
uint16_t value = mPORTDRead();
ConfigIntCN(CHANGE_INT_ON | CHANGE_INT_PRI_2);
//CN2 J5-15
INTEnableSystemMultiVectoredInt();
printf("Override Function has been Initialized\n\n");
//INTEnableInterrupts();
INTEnable(INT_CN,1);
}
void buttonInit(void) {
TRISBbits.TRISB2 = 1;
TRISBbits.TRISB0 = 1;
TRISBbits.TRISB3 = 1;
TRISBbits.TRISB4 = 1;
TRISBbits.TRISB5 = 1;
AD1PCFG = BIT_0 | BIT_2 | BIT_3 | BIT_4 | BIT_5;
//AD1PCFG = 0xFF;
mCNOpen(CONFIG, PINS, PULLUPS);
ConfigCNPullups(CN2_PULLUP_ENABLE);
ConfigCNPullups(CN3_PULLUP_ENABLE);
ConfigCNPullups(CN5_PULLUP_ENABLE);
ConfigCNPullups(CN6_PULLUP_ENABLE);
ConfigCNPullups(CN7_PULLUP_ENABLE);
}
int main()
{
mJTAGPortEnable(DEBUG_JTAGPORT_OFF);
mPORTFClearBits(BIT_0);
// Make all lower 8-bits of PORTA as output
mPORTFSetPinsDigitalOut( BIT_0 );
TRISE=0x0;
PORTE = 0x0f;
// Start timer1, Fpb/256, max period
OpenTimer1(T1_ON | T1_PS_1_256 | T1_SOURCE_INT, 0xFFFF);
// The main loop
PORTSetPinsDigitalIn(IOPORT_D, BIT_5);
mCNOpen(CN_ON, CN14_ENABLE, 0);
// Read the port to clear any mismatch on change notice pins
int dummy = PORTD;
// Clear change notice interrupt flag
ConfigIntCN(CHANGE_INT_ON | CHANGE_INT_PRI_2);
INTEnableSystemMultiVectoredInt();
uart1_init(115200);
setbuf(stdin, NULL); //no input buffer (for scanf)
setbuf(stdout, NULL); //no output buffer (for printf)
printf ("Hello World!\r\n");
while( 1)
{
putchar(getchar());
WriteTimer1(0);
while ( TMR1 < LONG_DELAY);
PORTE+=1;
}
}
void setupCNModuleAnd_IR_PIR_Input()
{
//T2 used to sample IR Input signals
setupTimer2();
//IR INPUT
mPORTDSetPinsDigitalIn(BIT_7); //D5 IR Input (CN16 module, RD7)
//PIR input
mPORTBSetPinsDigitalIn(BIT_2); //A1 PIR Input (CN4 module, RB2)
// setup the change notice options
//(ensure that CN continues working in sleep mode)
mCNOpen(CN_OFF | CN_IDLE_CON, CN16_ENABLE | CN4_ENABLE, CN16_PULLUP_ENABLE | CN4_PULLUP_ENABLE);
// read port(s) to clear mismatch
mPORTDReadBits(BIT_7);
mPORTBReadBits(BIT_2);
mPORTBReadBits(BIT_4);
// configure interrupts and clear change notice interrupt flag
ConfigIntCN(CHANGE_INT_ON | CHANGE_INT_PRI_3);
mCNClearIntFlag(); // Clear interrupt flag
}
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() ---------------------------------------------------------------------
//
int main(void)
{
int pbClk; // Peripheral bus clock
// Configure the device for maximum performance, but do not change
// the PBDIV clock divisor. Given the options, this function will
// change the program 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.
pbClk = SYSTEMConfig(CPU_HZ, SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE);
// The pic32 has 2 programming i/f's: ICD/ICSP and JTAG. The
// starter kit uses JTAG, whose pins are muxed w/ RA0,1,4 & 5.
// If we wanted to disable JTAG to use those pins, we'd need:
#if defined M4557_DUINOMITE
DDPCONbits.JTAGEN = 0; // Disable the JTAG port.
#endif
// Pins that share ANx functions (analog inputs) will default to
// analog mode (AD1PCFG = 0x0000) on reset. To enable digital I/O
// Set all ones in the ADC Port Config register. (I think it's always
// PORTB that is shared with the ADC inputs). PORT B is NOT 5v tolerant!
// Also, RB6 & 7 are the ICD/ICSP lines.
AD1PCFG = 0xffff; // Port B as digital i/o.
//Initialize the DB_UTILS IO channel
DBINIT();
#if defined ST7565_M4557_PROTOTYPE_STARTERKIT
// Enable pullup resistors for Starter Kit's 3 switches.
//CNPUE = (CN15_PULLUP_ENABLE | CN16_PULLUP_ENABLE | CN19_PULLUP_ENABLE);
mCNOpen(CN_ON, CN15_ENABLE | CN16_ENABLE,
CN15_PULLUP_ENABLE | CN16_PULLUP_ENABLE | CN19_PULLUP_ENABLE);
// Read the port to clear any mismatch on change notice pins
dummy = mPORTDRead();
// Clear change notice interrupt flag
ConfigIntCN(CHANGE_INT_ON | CHANGE_INT_PRI_2);
// Ok now to enable multi-vector interrupts
INTEnableSystemMultiVectoredInt();
// Display the introduction
DBPUTS("SW1:Set contrast; SW2:Halt display\n");
//DBPRINTF("DBPRINTF: The build date and time is (" __DATE__ "," __TIME__ ")\n");
// Init ports for ST7565 parallel prototype setup (using pic32 starter kit
// and i/o expansion board): TODO: This belongs somewhere else!!
//
// PIC32 NHD Display
// RB10 /CS1, /RES, A0, /WR, /RD
// RE0..7 D0..7
LATBSET = 0x7C00; // Set the control bits high (inactive)
TRISBCLR = 0x7C00; // Set the control bits as outputs.
// Init ESI touch-screen controller's (TSC2046) CS line as output
LATFSET = BIT_5; // Set CSn inactive...
TRISFCLR = BIT_5; // and set as output
// Data is on port E. The LCD controller (ST7565) uses its parallel
// mode on port E, RE0..7. The touch screen controller shares port
// shares a serial interface on some of these bits.
TRISECLR = 0x00ff; // Set the cmd/data bits as outputs.
#elif defined M4557_DUINOMITE
// Init ports for the M4557.
//
// Control bits are on port B:
//
// bit M4557 function
// ---- --------------
// 3 /CS1 - LCD Chip sel (ST7565 controller)
// 4 /RES - Reset
// 6 A0 -
// 7 /WR - Write
// 9 /RD - Read
// 10 /TPCS - Touch panel Chip Sel (TSC2046)
//
// Set the control bits low, and enable as outputs.
LATBSET = (BIT_3|BIT_4|BIT_6|BIT_7|BIT_9|BIT_10);
TRISBCLR = (BIT_3|BIT_4|BIT_6|BIT_7|BIT_9|BIT_10);
// Data is on port E. The LCD controller (ST7565) uses its parallel
// mode on port E, RE0..7. The touch screen controller shares port
// shares a serial interface on some of these bits.
TRISECLR = 0x00ff; // Set the cmd/data bits as outputs.
#else
#error Need product defined
#endif
Nop();
lcdInit(5,35); // Init lcd controller
Nop();
// Output Compare (PWM) pins
//
// OCn 64pin 100pin/port SKII-J11- Duinomite
// --- ----- ----------- -------------- ----------
// OC1 46 72/RD0 19 (LED1,Red) SOUND
// OC2 49 76/RD1 20 (LED2,Yel) D13,SD_CLK
// OC3 50 77/RD2 17 (LED3,Grn) D12,SD_MISO
// OC4 51 78/RD3 18 D11,SD_MOSI
// OC5 52 81 15 vga_hsync
//
// Init Timer 2 for use by the OC (PWM) module(s).
// This will set the PWM frequency, f = pbClk/reloadValue.
// Examples (pcClk = 40MHz):
// f = pbClk/100000 = 400Hz
// f = pbClk/10000 = 4kHz
// f = pbClk/2500 = 20kHz
//
//OpenTimer2(T2_ON | T2_32BIT_MODE_ON, 100000); // f = pbClk/100000 = 400Hz
//OpenTimer2(T2_ON | T2_32BIT_MODE_ON, 10000); // f = pbClk/10000 = 4kHz
OpenTimer2(T2_ON | T2_32BIT_MODE_ON, 2500); // f = pbClk/2500 = 16kHz
// I tried the uChip example using "OpenOC2", and as is ofter the
// case, I can't get it to work, the documentation is lacking, and
// it's easier to just read the datasheet and program the bloody
// OCxCON register directly.
//OpenOC2( OC_ON | OC_TIMER_MODE32 | OC_TIMER2_SRC | OC_CONTINUE_PULSE | OC_LOW_HIGH , 40000, 30000 );
SetDCOC2PWM(0);
OC2CON = 0x8026; // OC on; 32bit-mode; PWM mode.
SetDCOC3PWM(0);
OC3CON = 0x8026; // OC on; 32bit-mode; PWM mode.
/*
int testOnly = 1;
uint32_t loadVal = 0;
int i;
while(testOnly)
{
// Try the dimmer's 16 levels (0..15)
for(i=0; i<16; i++)
{
loadVal = pwmTable1[i];
SetDCOC2PWM(loadVal);
delay_ms(300);
}
}
CloseOC2();
*/
// Do ESI M4557 demo application (dimmer-control type demo w/ touchscreen)
esi_M4557();
return 0;
}
int main(void)
{
DBINIT();
DBPRINTF("MAIN.... \n");
unsigned int temp;
int POWER;
//bool RELAY;
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//STEP 1. Configure cache, wait states and peripheral bus clock
SYSTEMConfig(SYS_FREQ, SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE);
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// STEP 2. configure the port registers
mPORTDSetPinsDigitalOut(BIT_0 | BIT_1 | BIT_2 | BIT_9);
mPORTESetPinsDigitalOut(BIT_0 | BIT_1 | BIT_2);
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// STEP 3. initialize the port pin states = outputs low
mPORTDClearBits(BIT_0 | BIT_1 | BIT_2);
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// STEP 4. enable change notice, enable discrete pins and weak pullups
mCNOpen(CONFIG, PINS, PULLUPS);
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// STEP 5. read port(s) to clear mismatch on change notice pins
temp = mPORTDRead();
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// STEP 6. clear change notice interrupt flag
ConfigIntCN(INTERRUPT);
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// STEP 7. enable multi-vector interrupts
INTEnableSystemMultiVectoredInt();
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// STEP 8. configure SPI port and MCP3909
OpenSPI1(FRAME_ENABLE_ON | ENABLE_SDO_PIN | SPI_MODE32_ON | SPI_CKE_ON | SLAVE_ENABLE_OFF | CLK_POL_ACTIVE_LOW | MASTER_ENABLE_ON , SPI_ENABLE | SPI_FRZ_CONTINUE | SPI_IDLE_STOP | SPI_RX_OVFLOW_CLR);
CONFIG_3909();
DBPRINTF("CONFIGURED.... \n");
while(1)
{
// Toggle LED's to signify code is looping
mPORTDToggleBits(BIT_0); // toggle LED1 (same as LATDINV = 0x0002)
SAMPLE();
POWER = MEASURE_POWER();
DBPRINTF("power measured! \n");
DelayMs(1000);
/************************
*ETHERNET COMMUNICATIONS*
************************/
};
}
int main( void )
{
DWORD dataLength;
BYTE temp,fileName[FILE_NAME_SIZE];
BYTE fileDescription[FILE_DESCRIPTION_SIZE];
DWORD i;
WORD result;
UARTxInit();
_TRISD6 = 1;
_RD6 = 0;
mCNOpen(CONFIG, PINS, PULLUPS);
temp = mPORTDRead();
ConfigIntCN(INTERRUPT);
SYSTEMConfigPerformance(GetSystemClock());
INTEnableSystemMultiVectoredInt();
UARTxPrintString( "\r\nOBEX PDA.\r\n" );
while (1)
{
UARTxPutChar( '-' );
if (sendCard)
{
sendCard = 0;
UARTxPrintString( "\r\nSending vCard...\r\n" );
#ifdef USE_MY_READ
result = IrDA_SendOBEX( "Microchip", "PIC24.vcf", myDataRead, NULL, sizeof( vcf_info ) );
#else
result = IrDA_SendOBEX( "Microchip", "PIC24.vcf", NULL, vcf_info, sizeof( vcf_info ) );
#endif
if (result)
{
UARTxPutHex(result);
UARTxPrintString( " Error sending.\r\n\r\n" );
}
else
{
UARTxPrintString( "vCard sent.\r\n\r\n" );
}
}
UARTxPutChar( '|' );
if (!IrDA_InitServerOBEX())
{
#ifdef USE_MY_STORE
result = IrDA_ReceiveOBEX( fileDescription, fileName, myDataStore, NULL, DATA_ARRAY_SIZE, &dataLength, 1000 );
#else
result = IrDA_ReceiveOBEX( fileDescription, fileName, NULL, dataArray, DATA_ARRAY_SIZE, &dataLength, 1000 );
#endif
if (!result)
{
UARTxPrintString( "\r\nReceived:\r\n" );
for (i=0; i<dataLength; i++)
{
UARTxPutChar( dataArray[i] );
}
UARTxPrintString( "\r\n\r\n" );
}
IrDA_TerminateOBEX();
}
}
}
int main(void)
{
unsigned int temp;
// 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);
/*PORT CONFIGURATION for UART*/
// Blinky LED for Uart activity
//mPORTAClearBits(BIT_7);
//mPORTASetPinsDigitalOut(BIT_7);
// PINS used for the buttons
PORTSetPinsDigitalIn(IOPORT_B, BIT_2 | BIT_3 | BIT_4);
#define CONFIG (CN_ON | CN_IDLE_CON)
#define INTERRUPT (CHANGE_INT_ON | CHANGE_INT_PRI_2)
mCNOpen(CONFIG, CN4_ENABLE | CN5_ENABLE | CN6_ENABLE,
CN4_PULLUP_ENABLE | CN5_PULLUP_ENABLE | CN6_PULLUP_ENABLE);
temp = mPORTBRead();
//Analog input
CloseADC10();
#define PARAM1 ADC_MODULE_ON | ADC_FORMAT_INTG32 | ADC_CLK_AUTO | ADC_AUTO_SAMPLING_ON
#define PARAM2 ADC_VREF_AVDD_AVSS | ADC_SCAN_ON | ADC_SAMPLES_PER_INT_2 | ADC_BUF_16 | ADC_ALT_INPUT_OFF
#define PARAM3 ADC_CONV_CLK_INTERNAL_RC | ADC_SAMPLE_TIME_5
#define PARAM4 ENABLE_AN0_ANA | ENABLE_AN1_ANA
#define PARAM5 SKIP_SCAN_AN2 | SKIP_SCAN_AN3 | SKIP_SCAN_AN4 | SKIP_SCAN_AN5 | SKIP_SCAN_AN6 | SKIP_SCAN_AN7 | SKIP_SCAN_AN8 | SKIP_SCAN_AN9 | SKIP_SCAN_AN10 | SKIP_SCAN_AN11 | SKIP_SCAN_AN12 | SKIP_SCAN_AN13 | SKIP_SCAN_AN14 | SKIP_SCAN_AN15
SetChanADC10( ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN0);
OpenADC10( PARAM1, PARAM2, PARAM3, PARAM4, PARAM5 );
EnableADC10();
//PORT D for motors
mPORTDClearBits(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); // Turn off PORTD on startup.
mPORTDSetPinsDigitalOut(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); // Make PORTD output.
// Explorer-16 uses 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(), DESIRED_BAUDRATE);
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);
// Congifure Change/Notice Interrupt Flag
ConfigIntCN(INTERRUPT);
// configure for multi-vectored mode
INTConfigureSystem(INT_SYSTEM_CONFIG_MULT_VECTOR);
// enable interrupts
INTEnableInterrupts();
WriteString("*** UART Interrupt-driven Example ***\r\n");
unsigned int channel1, channel2;
unsigned int motor1Time, motor2Time;
// Let interrupt handler do the work
while (1) {
while ( ! mAD1GetIntFlag() );
channel1 = ReadADC10(0);
channel2 = ReadADC10(1);
motor1Time = (channel1*(60000)/(1023) + 80000);
motor2Time = (channel2*(60000)/(1023) + 80000);
//maximo valor de motorTime = 140000
//use motor time for stepping delay
if (MotorsON) {
if (M1forward) {
adelante(1, motor1Time, 1);
} else {
atras(1, motor1Time, 1);
}
if (M2forward) {
adelante(1, motor2Time, 3);
} else {
atras(1, motor2Time, 3);
}
}
mAD1ClearIntFlag();
}
return 0;
}