/* --- 1-wire functions --- */
unsigned char OneWire_Reset() {
/*
- held low for more than 480µs
- release for 480 us
-- slave waits 15-60 us
-- presence pulse 60-240 us
*/
//PE0 - VCC - PushPull out Slow
PE_DDR_bit.DDR0 = 1;
PE_CR1_bit.C10 = 1;
PE_CR2_bit.C20 = 0;
PE_ODR_bit.ODR0 = 1;
//PE1 as OpenDrain output fast mode
PE_DDR_bit.DDR1 = 1;
PE_CR1_bit.C11 = 0;
PE_CR2_bit.C21 = 1;
//PE2 - GND - PushPull out Slow
PE_DDR_bit.DDR2 = 1;
PE_CR1_bit.C12 = 1;
PE_CR2_bit.C22 = 0;
PE_ODR_bit.ODR2 = 0;
//reset impulse
PE_ODR_bit.ODR1 = 0;
Delayus(500);
PE_ODR_bit.ODR1 = 1;
Delayus(100);
unsigned char presence = PE_IDR_bit.IDR1;
Delayus(400);
return presence;
}
void ClockWise(uint16_t ID,uint16_t speed,uint16_t angle) /* 舵机模式 0<= speed<= 100 0<= angle<=1023 */
{
uint16_t buf2,buf1;
buf1=speed;
speed_H=(uint8_t)(buf1>>8);
speed_L=(uint8_t)buf1;
buf2=angle;
angle_H=(u8)(buf2>>8);
angle_L=(u8)buf2;
USART1_Config();
Delayus(10000);
Send(0xFF);
Send(0xFF);
Send(ID);
Send(0x07);
Send(0x03);
Send(0x1E);
Send(angle_L);
Send(angle_H);
Send(speed_L);
Send(speed_H);
Sum=~(ID+0x07+0x03+0x1E + angle_H+angle_L+speed_L+speed_H);
Send(Sum);
RECEIVE_Config();
Delayus(10000);
}
u8 CTMU_isPressed(u8 channel)
{
u16 Vread; //storage for reading
CTMU_init();
CTMUCONHbits.CTMUEN = 1; // Enable the CTMU
CTMUCONLbits.EDG1STAT = 0; // Set Edge status bits to zero
CTMUCONLbits.EDG2STAT = 0;
CTMUCONHbits.IDISSEN = 1; // Drain charge on the circuit
Delayus(ETIME); // Wait 125us
CTMUCONHbits.IDISSEN = 0; // End drain of circuit
CTMUCONLbits.EDG1STAT = 1; // Begin charging the circuit using CTMU current source
Delayus(ETIME); // Wait 125us
CTMUCONLbits.EDG1STAT = 0; // Stop charging circuit
Vread = analogread(channel);
/*
PIR1bits.ADIF = 0; // make sure A/D Int not set
ADCON0bits.GO=1; // and begin A/D conv.
while(!PIR1bits.ADIF); // Wait for A/D convert complete
Vread = ADRES; // Get the value from the A/D
PIR1bits.ADIF = 0; // Clear A/D Interrupt Flag
*/
if (Vread < OPENSW - TRIP)
{
return PRESSED;
}
else if (Vread > OPENSW - TRIP + HYST)
{
return UNPRESSED;
}
}
void Baud_Config(uint16_t ID,uint32_t baud) /* 前六个波特率断电保存 */
{
uint32_t rate;
rate=baud;
switch(rate)
{
case 1000000 : baud=1;break;
case 500000 : baud=3;break;
case 250000 : baud=7;break;
case 115200 : baud=16;break;
case 57600 : baud=34;break;
case 19200 : baud=103;break;
default:baud=2000000/rate-1;break;
}
USART1_Config();
Delayus(10000);
Send(0xFF);
Send(0xFF);
Send(ID);
Send(0x03);
Send(0x03);
Send(0x04);
Send(baud);
Sum=~(0x03+0x07+ID+baud);
Send(Sum);
RECEIVE_Config();
Delayus(10000);
}
float CTMU_getVoltage(u8 channel)
{
u8 j;
u16 VTot = 0, Vread = 0;
float Vavg, Vcal;
CTMU_init();
for(j=0;j<10;j++)
{
CTMUCONHbits.IDISSEN = 1; // drain charge on the circuit
Delayus(ETIME); // Wait 125us
CTMUCONHbits.IDISSEN = 0; // end drain of circuit
CTMUCONLbits.EDG1STAT = 1; // Begin charging the circuit
Delayus(ETIME); // Wait 125us
CTMUCONLbits.EDG1STAT = 0; // Stop charging circuit using CTMU current source
Vread = analogread(channel);
/*
PIR1bits.ADIF = 0; // make sure A/D Int not set
ADCON0bits.GO=1; // and begin A/D conv.
while(!PIR1bits.ADIF); // Wait for A/D convert complete
Vread = ADRES; // Get the value from the A/D
PIR1bits.ADIF = 0; // Clear A/D Interrupt Flag
*/
VTot += Vread; // Add the reading to the total
}
Vavg = (float)VTot / 10.000; // Average of 10 readings
Vcal = (float)(Vavg / ADSCALE * ADREF);
return Vcal;
}
int main(void)
{
Init();
Init_port();
Init_buzzer();
while(1)
{
PR3=10;
while(PR3<0x2000)
{
OC4RS = PR3/2;
PR3++;
Delayus(1000);
}
while(PR3>10)
{
OC4RS = PR3/2;
PR3--;
Delayus(1000);
}
}
Delayms(1000);
}
void Delayms(unsigned int msec){
if (msec <= 65) {
Delayus(msec*1000);
} else {
unsigned int cycles = msec /64;
unsigned int finale = msec %64;
for (unsigned int i=0; i < cycles ; i++) Delayus(64000);
Delayus(finale*1000);
}
}
unsigned char OneWire_ReadBit() {
/*
- low for 10 us
- release and read
- wait 50 us
*/
PE_ODR_bit.ODR1 = 0;
Delayus(10);
PE_ODR_bit.ODR1 = 1;
Delayus(1);
unsigned char ow_bit = PE_IDR_bit.IDR1;
Delayus(60);
return ow_bit;
}
//#=============================================================================
//# Delayms
//#-----------------------------------------------------------------------------
void Delayms(unsigned int t) {
unsigned int T = 0;
while ( (T++) < t )
{
Delayus(999);
}
} //Delayms
void Shift(unsigned char* pixel) {
unsigned char i = 0;
for (i = 0; i < 192; i++) {
if (pixel[i] & 0x01) SHIFT_DATA = 1;
else SHIFT_DATA = 0;
SHIFT_CLOCK = 1;
Delayus(1);
SHIFT_CLOCK = 0;
}
/* Latch after 192 clock pulses */
SHIFT_STROBE = 1;
Delayus(1);
SHIFT_STROBE = 0;
}
int Fpc1020_init(void)
{
unsigned char Ret=0xff;
unsigned char Hw_id[2] = {0};
Fpc1020_reset(); //复位FPC1020
Ret = 0x55;
Fpc1020Select(); //Chip select signal to sensor Active (low)
Fpc1020Transfer(20);
Ret = Fpc1020Transfer(0);
Fpc1020UnSelect(); //Chip select back up.
Delayus(100);
Fpc1020Select(); //Chip select signal to sensor Active (low)
Fpc1020Transfer(252); //Send command for reading the interrupt ID
Hw_id[0]= Fpc1020Transfer(0);
Hw_id[1]= Fpc1020Transfer(0);
Fpc1020UnSelect(); //Chip select back up.
if(Hw_id[0]==0x02&&Hw_id[1]==0x0a)
Ret = ERR_OK;
Fpc1020_write_sensor_setup();
return Ret;
}
void Eraseleds(void) {
unsigned char g = 0;
for (g = 0; g < 192; g++) {
SHIFT_DATA = 0;
SHIFT_CLOCK = 1;
Delayus(1);
SHIFT_CLOCK = 0;
Delayus(1);
}
SHIFT_DATA = 0;
SHIFT_STROBE = 1;
Delayus(1);
SHIFT_STROBE = 0;
Delayms(1);
}
void MainLoop()
{
width = 1;
char data[width]; //register to hold letter sent and received
int i = 0;
while (1)
{
PORTD;
while (!(nrf24l01_irq_pin_active()));
while (!nrf24l01_irq_rx_dr_active());
LED2 = ~LED2;
nrf24l01_read_rx_payload(data, width); //get the payload into data
nrf24l01_irq_clear_all(); //clear interrupts again
for (i = 0; i < width; i++)
{
sprintf(RS232_Out_Buffer, "%c", data[i]);
putsUART1(RS232_Out_Buffer);
}
putsUART1("\r\n");
Delayus(130); //wait for receiver to come from standby to RX
LED3 = ~LED3;
}
}
void OneWire_WriteBit(unsigned char ow_bit) {
/*
60+ us slot + 1+ us recovery
1: release in 15 us (prefer 10)
0: hold low whole time
*/
PE_ODR_bit.ODR1 = 0;
Delayus(10);
if (ow_bit == 0) {
Delayus(50);
PE_ODR_bit.ODR1 = 1;
} else {
PE_ODR_bit.ODR1 = 1;
Delayus(50);
}
}
/******************************************************************************
* Function: void SetupADCToReadVddAndVpp(void)
*
* Overview: Setup Analog to Digital converter to read Vdd and Vpp.
* The original PK2 code used an timer interrupt (every
* 125usecs) to read Vdd (the ADC was set up to read Vdd
* before the interrupt and the ADC complete interrupt was
* diabled). So, when timer1 happened, the ADRESH contained
* the (left justified) 8 MSBs of the Vdd. Then at the end of
* the timer 1 interrupt we set the ADC to read Vpp and enabled
* the interrupt on completion. When the ADC interrupted, the
* Vpp value was available in ADRESH. So effectively, every
* 125 usecs we got both a sample of Vdd and Vpp.
*
* In PK3 to avoid using an extra timer for this we use the
* alternating input selection. We select Vdd as one channel
* and then the ADC will switch to measuring the second
* channel (Vpp). Also, to mimic the 125 usec interval in PK2,
* we setup the ADC to give us an interrupt at the end of the
* sampling of Vdd and Vpp. Since the ADC is fast, we ask the
* ADC to also sample more than once each voltage.
*
* PreCondition: None
*
* Input: None
*
* Output: None
*
* Side Effects: None
*
* Note: None
*****************************************************************************/
void SetupADCToReadVddAndVpp(void)
{
AD1CON1 = 0x0000; // SAMP bit = 0 ends sampling, select integer format
// and starts converting
AD1CHS0 = 0x0302; // AN2 (Vdd)->channel A, AN3 (Vpp)->channel B, use AVss as Vr-
AD1CON2 = 0x0005; // Select AVdd and AVss for Vr+ and Vr-, no channel scan on mux A,
// use a single 16 word buffer, interrupt after 2 conversions (one for
// Vdd and one for Vpp), use alternate sampling.
// We want to convert 2 samples every 125 usecs
// So, for each sample:
// 62.5usecs = 12TAD + SAMP*TAD. SAMP is the AD1CON3<SAMC4:SAMC0> bits.
// And we have that TAD = ADCS*TCY where ADCS is the AD1CON3<ADCS7:ADCS0> bits.
// 62.5usecs = 12*ADCS*TCY + SAMP*ADCS*TCY
// 62.5usecs = ADCS*TCY*(12 + SAMP)
// If we fix the SAMP to say 16 (we let ADCS be the 'variable' since it has a bigger
// range). And Tcy = 62.5nsecs (1/16MIPS)
// 62.5usecs = ADCS*62.5nsecs*28
// Then ADCS = 62.5e-6/(62.5e-9*28) = 36 = 0x24
AD1CON3 = 0x1024; // Autosample every 16 TADs and a TAD is 36*TCy
AD1CON1 = 0x00E0; // Integer format, use internal counter to finish sampling,
_AD1IF = 0;
_AD1IE = 0; // No interrupts until SetVdd or SetVpp are called
_AD1IP = 6; // High priority to avoid damaging HW // INTERRUPT PRIORITY LEVEL
AD1CON1bits.ASAM = 1; //automatically start sampling after the last conversion)
AD1CON1bits.ADON = 1;// turn ADC ON
// Give the A2D time to boot up
Delayus(200);
}
void Delayms(UINT32 ms)
{
do
{
Delayus(1000); // 1 ms
}
while(--ms);
}
void Ds18b20_CopyScratchpad() {
OneWire_Reset();
Ds18b20_SendByte(SKIP_ROM);
Delayus(100);
Ds18b20_SendByte(COPY_SCRATCHPAD);
//TODO: wait for 1
Delayms(1000);
}
//====================================================================================
int Read_Y(void)
{
int i;
WR_CMD(CHY);
//while(TP_BUSY);
Delayus(10);
i=RD_AD();
return i;
}
//====================================================================================
static void WR_CMD (unsigned char cmd)
{
unsigned char buf;
unsigned char i;
TP_CS(1);
TP_DIN(0);
TP_DCLK(0);
TP_CS(0);
for(i=0;i<8;i++)
{
buf=(cmd>>(7-i))&0x1;
TP_DIN(buf);
Delayus(5);
TP_DCLK(1);
Delayus(5);
TP_DCLK(0);
}
}
void Reset_Config(uint8_t ID) /* 复位一个舵机 从电机模式后要复位 */
{
USART1_Config();
Delayus(10000);
Send(0xFF);
Send(0xFF);
Send(ID);
Send(0x02);
Send(0x06);
Sum=~(ID+0x02+0x06);
Send(Sum);
RECEIVE_Config();
Delayus(10000);
}
void timer_test(){
Delayus(1000);
while(1){
if(get_key(27)){
timer2_disable();
return;
}
}
}
int ADC(int c)
{
AD1CHS0bits.CH0NA = 0; // Vref- = negative input
AD1CHS0bits.CH0SA = c; // AN<c> = positive input
AD1CON1bits.SAMP = 1; // start sampling
Delayus(10); // sampling time = 10us
AD1CON1bits.SAMP = 0; // start conversion
while (!AD1CON1bits.DONE);
return (ADC1BUF0);
}
//---- 毫秒级延时程序-----------------------
void Delayms(unsigned int time)
{
unsigned int i;
while(time--)
for(i=900;i>0;i--)
Delayus();
}
void ChangeID(uint8_t ID) /* 改变舵机的ID 断电保存 0<= ID <=255 */
{
USART1_Config();
Delayus(10000);
Send(0xFF);
Send(0xFF);
Send(0xFE);
Send(0x04);
Send(0x03);
Send(0x03);
Send(ID);
Sum=~(0xFE+0x04+ID+0x03+0x03);
Send(Sum);
RECEIVE_Config();
Delayus(10000);
}
//====================================================================================
static unsigned short RD_AD(void)
{
unsigned short buf=0,temp;
unsigned char i;
TP_DIN(0);
TP_DCLK(1);
for(i=0;i<12;i++)
{
Delayus(5);
TP_DCLK(0);
Delayus(5);
temp= (TP_DOUT) ? 1:0;
buf|=(temp<<(11-i));
Delayus(5);
TP_DCLK(1);
}
TP_CS(1);
buf&=0x0fff;
return(buf);
}
void Ds18b20_ReadScratchpad(char* buffer, unsigned char len){
//byte 0 LSBit first
//Init - Read rom - read scratch (up to 9 bytes)
//TODO: len must be <=9
OneWire_Reset();
Ds18b20_SendByte(SKIP_ROM);
Delayus(100);
Ds18b20_SendByte(READ_SCRATCHPAD);
for (unsigned int i = 0; i < len; i++){
buffer[i] = Ds18b20_ReadByte();
}
}
void Ds18b20_WriteScratchpad(char* buffer, unsigned char len){
// Bytes 2(TH), 3(TL), 4(CONF) only, byte 2 LSBit first
// Conf: 0x1F - 9 bit (0.5 C), 0x7F - 12 bit (0.0625 C)
// TODO: len must be <=3
OneWire_Reset();
Ds18b20_SendByte(SKIP_ROM);
Delayus(100);
Ds18b20_SendByte(WRITE_SCRATCHPAD);
for (unsigned int i = 0; i < len; i++){
Ds18b20_SendByte(buffer[i]);
}
}
void Ds18b20_ConvertT(){
/* master can issue “read time slots” after the Convert T command
DS18B20 will respond by transmitting 0 while the temperature conversion
is in progress and 1 when the conversion is done
Does not work with parasite power */
OneWire_Reset();
Ds18b20_SendByte(SKIP_ROM);
Delayus(100);
Ds18b20_SendByte(CONVERT_T);
//TODO: wait for 1
Delayms(1000);
}
int Fpc1020_read_Image(unsigned char *cpImage)
{
unsigned char Ret;
int i;
unsigned char Regit_value[6];
Fpc1020Select(); //Chip select signal to sensor Active (low)
Fpc1020Transfer(28);
Regit_value[1] = Fpc1020Transfer(0); //
Fpc1020UnSelect(); //Chip select back up.
Delayus(100);
Fpc1020Select(); //Chip select signal to sensor Active (low)
Fpc1020Transfer(FPC1020_CMD_CAPTURE_IMAGE); //
Ret = Fpc1020Transfer(0); //
Fpc1020UnSelect(); //Chip select back up.
Delayus(100);
Fpc1020Select(); //Chip select signal to sensor Active (low)
Fpc1020Transfer(FPC1020_CMD_READ_IMAGE); //
Delayus(100);
Fpc1020Transfer(0);
for(i=0;i<192*192;i++)
{
cpImage[i]= Fpc1020Transfer(0); //
}
Fpc1020UnSelect(); //Chip select back up.
memcpy(cpImage,Regit_value,2);
Fpc1020Select(); //Chip select signal to sensor Active (low)
Fpc1020Transfer(52); //
cpImage[1] = Fpc1020Transfer(0); //
Fpc1020UnSelect(); //Chip select back up.
return ERR_OK;
}
//====================================================================================
static u16 RD_AD(void)
{
u16 buf=0;
u8 i;
TP_DIN_L(); //TP_DIN(0);
TP_DCLK_H(); //TP_DCLK(1);
for(i=0; i<12; i++)
{ buf <<= 1;
TP_DCLK_H(); //TP_DCLK(0);
Delayus(5);
TP_DCLK_L(); //TP_DCLK(1);
if(TP_DOUT) buf |= 1;
Delayus(5);
}
TP_CS_H(); //TP_CS(1);
//buf>>=4;//只有12位有效
//buf&=0x0fff;
return(buf);
}