/*********************************************************************
* Function: void TouchLoadCalibration(void)
*
* PreCondition: EEPROMInit() must be called before
*
* Input: none
*
* Output: none
*
* Side Effects: none
*
* Overview: loads calibration parameters from EEPROM
*
* Note: none
*
********************************************************************/
void TouchLoadCalibration(void){
#if ((GRAPHICS_PICTAIL_VERSION == 2) || (GRAPHICS_PICTAIL_VERSION == 250))
_calXMin = EEPROMReadWord(ADDRESS_XMIN);
_calXMax = EEPROMReadWord(ADDRESS_XMAX);
_calYMin = EEPROMReadWord(ADDRESS_YMIN);
_calYMax = EEPROMReadWord(ADDRESS_YMAX);
#else
_calXMin = SST25ReadWord(ADDRESS_XMIN);
_calXMax = SST25ReadWord(ADDRESS_XMAX);
_calYMin = SST25ReadWord(ADDRESS_YMIN);
_calYMax = SST25ReadWord(ADDRESS_YMAX);
#endif
}
//---------------------------------------------------------------------------------------------------------------
// Public functions
//---------------------------------------------------------------------------------------------------------------
void MotorInit(void)
{
// Configure PWM pins as outputs
trisc.MOTOR_LEFT_PIN = 0;
trisc.MOTOR_RIGHT_PIN = 0;
// Stop motors
portc.MOTOR_LEFT_PIN = 0;
portc.MOTOR_RIGHT_PIN = 0;
// Check if the EEPROM contains the duty cycle values
Motor_Left_Duty_Cycle_Forward = EEPROMReadWord(MOTOR_LEFT_EEPROM_ADDRESS_DUTY_CYCLE_FORWARD);
// Is the EEPROM memory empty ?
if (Motor_Left_Duty_Cycle_Forward == 0xFFFF)
{
// Write default duty cycles to EEPROM
EEPROMWriteWord(MOTOR_LEFT_EEPROM_ADDRESS_DUTY_CYCLE_FORWARD, MOTOR_LEFT_DEFAULT_DUTY_CYCLE_FORWARD);
EEPROMWriteWord(MOTOR_LEFT_EEPROM_ADDRESS_DUTY_CYCLE_BACKWARD, MOTOR_LEFT_DEFAULT_DUTY_CYCLE_BACKWARD);
EEPROMWriteWord(MOTOR_RIGHT_EEPROM_ADDRESS_DUTY_CYCLE_FORWARD, MOTOR_RIGHT_DEFAULT_DUTY_CYCLE_FORWARD);
EEPROMWriteWord(MOTOR_RIGHT_EEPROM_ADDRESS_DUTY_CYCLE_BACKWARD, MOTOR_RIGHT_DEFAULT_DUTY_CYCLE_BACKWARD);
// Use default values
Motor_Left_Duty_Cycle_Forward = MOTOR_LEFT_DEFAULT_DUTY_CYCLE_FORWARD;
Motor_Left_Duty_Cycle_Backward = MOTOR_LEFT_DEFAULT_DUTY_CYCLE_BACKWARD;
Motor_Right_Duty_Cycle_Forward = MOTOR_RIGHT_DEFAULT_DUTY_CYCLE_FORWARD;
Motor_Right_Duty_Cycle_Backward = MOTOR_RIGHT_DEFAULT_DUTY_CYCLE_BACKWARD;
}
else
{
// Load values from EEPROM
Motor_Left_Duty_Cycle_Backward = EEPROMReadWord(MOTOR_LEFT_EEPROM_ADDRESS_DUTY_CYCLE_BACKWARD);
Motor_Right_Duty_Cycle_Forward = EEPROMReadWord(MOTOR_RIGHT_EEPROM_ADDRESS_DUTY_CYCLE_FORWARD);
Motor_Right_Duty_Cycle_Backward = EEPROMReadWord(MOTOR_RIGHT_EEPROM_ADDRESS_DUTY_CYCLE_BACKWARD);
}
// Set the PWM period to 4.44 ms (it is the longuest we can achieve with a 3.6864 MHz clock)
pr2 = 255;
t2con = 0x06; // Enable timer 2 and set a 16x prescaler
}
/*********************************************************************
* Function: void TouchLoadCalibration(void)
*
* PreCondition: EEPROMInit() must be called before
*
* Input: none
*
* Output: none
*
* Side Effects: none
*
* Overview: loads calibration parameters from EEPROM
*
* Note: none
*
********************************************************************/
void TouchLoadCalibration(void){
_calXMin = EEPROMReadWord(EEPROM_XMIN);
_calXMax = EEPROMReadWord(EEPROM_XMAX);
_calYMin = EEPROMReadWord(EEPROM_YMIN);
_calYMax = EEPROMReadWord(EEPROM_YMAX);
}
int main(void)
{
GOL_MSG msg; // GOL message structure to interact with GOL
Nop();
#if defined(PIC24FJ256DA210_DEV_BOARD)
_ANSG8 = 0; /* S1 */
_ANSE9 = 0; /* S2 */
_ANSB5 = 0; /* S3 */
#else
/////////////////////////////////////////////////////////////////////////////
// ADC Explorer 16 Development Board Errata (work around 2)
// RB15 should be output
/////////////////////////////////////////////////////////////////////////////
#ifndef MULTI_MEDIA_BOARD_DM00123
LATBbits.LATB15 = 0;
TRISBbits.TRISB15 = 0;
#endif
#endif
/////////////////////////////////////////////////////////////////////////////
#if defined(__dsPIC33F__) || defined(__PIC24H__)
// Configure Oscillator to operate the device at 40Mhz
// Fosc= Fin*M/(N1*N2), Fcy=Fosc/2
// Fosc= 8M*40(2*2)=80Mhz for 8M input clock
PLLFBD = 38; // M=40
CLKDIVbits.PLLPOST = 0; // N1=2
CLKDIVbits.PLLPRE = 0; // N2=2
OSCTUN = 0; // Tune FRC oscillator, if FRC is used
// Disable Watch Dog Timer
RCONbits.SWDTEN = 0;
// Clock switching to incorporate PLL
__builtin_write_OSCCONH(0x03); // Initiate Clock Switch to Primary
// Oscillator with PLL (NOSC=0b011)
__builtin_write_OSCCONL(0x01); // Start clock switching
while(OSCCONbits.COSC != 0b011);
// Wait for Clock switch to occur
// Wait for PLL to lock
while(OSCCONbits.LOCK != 1)
{ };
// Set PMD0 pin functionality to digital
AD1PCFGL = AD1PCFGL | 0x1000;
#elif defined(__PIC32MX__)
INTEnableSystemMultiVectoredInt();
SYSTEMConfigPerformance(GetSystemClock());
#ifdef MULTI_MEDIA_BOARD_DM00123
CPLDInitialize();
CPLDSetGraphicsConfiguration(GRAPHICS_HW_CONFIG);
CPLDSetSPIFlashConfiguration(SPI_FLASH_CHANNEL);
#endif // #ifdef MULTI_MEDIA_BOARD_DM00123
#endif // #if defined(__dsPIC33F__) || defined(__PIC24H__)
GOLInit(); // initialize graphics library &
// create default style scheme for GOL
#if defined (GFX_PICTAIL_V1) || defined (GFX_PICTAIL_V2)
EEPROMInit(); // initialize Exp.16 EEPROM SPI
BeepInit();
#else
#if defined (USE_SST25VF016)
SST25Init(); // initialize GFX3 SST25 flash SPI
#endif
#endif
TouchInit(); // initialize touch screen
HardwareButtonInit(); // Initialize the hardware buttons
// create default style scheme for GOL
TickInit(); // initialize tick counter (for random number generation)
// create default style scheme for GOL
#if defined(__dsPIC33FJ128GP804__) || defined(__PIC24HJ128GP504__)
// If S3 button on Explorer 16 board is pressed calibrate touch screen
TRISAbits.TRISA9 = 1;
if(PORTAbits.RA9 == 0)
{
TRISAbits.TRISA9 = 0;
TouchCalibration();
TouchStoreCalibration();
}
TRISAbits.TRISA9 = 0;
#else
/**
* Force a touchscreen calibration by pressing the switch
* Explorer 16 + GFX PICTail - S3 (8 bit PMP)
* Explorer 16 + GFX PICTail - S5 (16 bit PMP)
* Starter Kit + GFX PICTail - S0 (8 bit PMP)
* Multimedia Expansion Board - Fire Button
* DA210 Developement Board - S1
* NOTE: Starter Kit + GFX PICTail will switches are shared
* with the 16 bit PMP data bus.
**/
if(GetHWButtonTouchCal() == HW_BUTTON_PRESS)
{
TouchCalibration();
TouchStoreCalibration();
}
#endif
// If it's a new board (EEPROM_VERSION byte is not programed) calibrate touch screen
#if defined (GFX_PICTAIL_V1) || defined (GFX_PICTAIL_V2)
if(GRAPHICS_LIBRARY_VERSION != EEPROMReadWord(ADDRESS_VERSION))
{
TouchCalibration();
TouchStoreCalibration();
}
#else
#if defined (USE_SST25VF016)
if(GRAPHICS_LIBRARY_VERSION != SST25ReadWord(ADDRESS_VERSION))
{
TouchCalibration();
TouchStoreCalibration();
}
#elif defined (USE_SST39LF400)
WORD tempArray[12], tempWord = 0x1234;
SST39LF400Init(tempArray);
tempWord = SST39LF400ReadWord(ADDRESS_VERSION);
SST39LF400DeInit(tempArray);
if(GRAPHICS_LIBRARY_VERSION != tempWord)
{
TouchCalibration();
TouchStoreCalibration();
}
#endif
#endif
// Load touch screen calibration parameters from memory
TouchLoadCalibration();
GDDDemoCreateFirstScreen();
while(1)
{
if(GOLDraw()) // Draw GOL object
{
TouchGetMsg(&msg); // Get message from touch screen
#if (NUM_GDD_SCREENS > 1)
// GDD Readme:
// The following line of code allows a GDD user to touch the touchscreen
// to cycle through different static screens for viewing. This is useful as a
// quick way to view how each screen looks on the physical target hardware.
// This line of code should eventually be commented out for actual development.
// Also note that widget/object names can be found in GDD_Screens.h
if(msg.uiEvent == EVENT_RELEASE) GDDDemoNextScreen();
#endif
GOLMsg(&msg); // Process message
}
}//end while
}
