void delayus(unsigned t) {
OpenTimer1(T1_ON | T1_PS_1_256, 0xFFFF);
while (t--) { // t x 1ms loop
WriteTimer1(0);
while (ReadTimer1() < SYS_FREQ / 256 / 1000000);
}
CloseTimer1();
}// Delayus
void DelayMs(int cms)
{
int ims;
for (ims=0; ims<cms; ims++) {
WriteTimer1(0);
while (ReadTimer1() < cntMsDelay);
}
}
void delayms(unsigned t)
// This uses Timer 1, can be changed to another timer.
{
OpenTimer1(T1_ON | T1_PS_1_256, 0xFFFF);
while (t--) { // t x 1ms loop
WriteTimer1(0);
while (ReadTimer1() < SYS_FREQ / 256 / 1000);
}
CloseTimer1();
} // Delayms
// A function called by the interrupt handler
// This one does the action I wanted for this program on a timer1 interrupt
void timer1_int_handler()
{
unsigned int result;
// read the timer and then send an empty message to main()
result = ReadTimer1();
ToMainLow_sendmsg(0,MSGT_TIMER1,(void *) 0);
// reset the timer
WriteTimer1(0);
}
void timer1_int_handler() {
unsigned int result;
// read the timer and then send an empty message to main()
#ifdef __USE18F2680
LATBbits.LATB1 = !LATBbits.LATB1;
#endif
result = ReadTimer1();
ToMainLow_sendmsg(0, MSGT_TIMER1, (void *) 0);
// reset the timer
WriteTimer1(0);
}
// ADC interrupt hdlr
// This interrupt is drivin high every time the ADC conversion is complete
void adc_int_handler() {
unsigned char val[3];
// Read ADC, then store the values into message buffer
val[0] = ADRESH;
val[1] = ADRESL;
// Read the timer to determine when the ADC was read
val[2] = ReadTimer1();
ToMainHigh_sendmsg(3, MSGT_ADC, (void *) val); // Send ADC value to ToMainHigh MSGQ
PIR1bits.ADIF = 0; // Reset the ADC interrupt
}
/* Specify interupt priority 1, but stop the interupt once detected */
void __ISR(_EXTERNAL_2_VECTOR, IPL1) _Int2Handler(void) {
uint state = getState();
if(STATE_BEGINING == state)
{
/* STEP 1. configure the Timer1*/
mT1ClearIntFlag();
OpenTimer1(T1_ON | T1_SOURCE_INT | T1_PS_1_1, 64000);
/* STEP 2. set the timer interrupt to prioirty level 2 */
ConfigIntTimer1(T1_INT_ON | T1_INT_PRIOR_2);
writeBit(1);
writeBit(1);
setState(STATE_FIRST_EDGE);
}
else if( STATE_FIRST_EDGE == state)
{
ConfigIntTimer1(T1_INT_OFF);
setEtu(ReadTimer1()/3);
OpenTimer1(T1_ON | T1_SOURCE_INT | T1_PS_1_1, getEtu()/5);
/* STEP 2. set the timer interrupt to prioirty level 2 */
ConfigIntTimer1(T1_INT_ON | T1_INT_PRIOR_2);
/*Stopping the timer 1 and reading the value*/
DisableINT2;
/*the two first bits of ts are sets*/
setState(STATE_TS);
bitIndex = 10 ;
}
else
{
/* state == normal processing or no atr but an etu value is set*/
DisableINT2;
OpenTimer1(T1_ON | T1_SOURCE_INT | T1_PS_1_1, getEtu());
ConfigIntTimer1(T1_INT_ON | T1_INT_PRIOR_2);
}
/* The flag is cleared at the end to avoid stack overflow
* PORTDbits.RD0 is the EXTERNAL_0_VECTOR*/
mINT2ClearIntFlag();
}
void timer1_int_handler() {
unsigned int result;
#ifdef __USE18F26J50
#ifdef DEBUG
LATAbits.LA0 ^= 0x1;//Test to see if the handler works.
#endif
#endif
ADCON0bits.GO_NOT_DONE = 1;////////////////////////////////////Needed to activate the A/D converter interupt
// read the timer and then send an empty message to main()
#ifdef __USE18F2680
LATBbits.LATB1 = !LATBbits.LATB1;
#endif
result = ReadTimer1();
ToMainLow_sendmsg(0, MSGT_TIMER1, (void *) 0);
// reset the timer
WriteTimer1(0);
}
void updateStatusOfSensor(Sensor sensor)
{
UINT8 byte3;
UINT8 i;
SensorStatus res;
if(!isSensorReadReady)
{
prepareForSensorRead();
}
res.sensor = sensor;
CLOCK_PORT = 1;
SPI_TIME_OFFSET
readTime = ReadTimer1();
selectSensor(sensor);
// Waiting 500 ns for sensor to be ready (Period = 83 ns => about 7 cycles, waiting 20)
SPI_TIME_OFFSET
res.position = 0;
for(i=0 ; i<13 ; i++)
{
res.position <<= 1;
CLOCK_PORT = 1;
SPI_TIME_OFFSET_UP
CLOCK_PORT = 0;
SPI_TIME_OFFSET
res.position += DATA_IN;
}
byte3 = 0;
for(i=0 ; i<6 ; i++)
{
byte3 <<= 1;
CLOCK_PORT = 1;
SPI_TIME_OFFSET_UP
CLOCK_PORT = 0;
SPI_TIME_OFFSET
byte3 += DATA_IN;
}
SPI_TIME_OFFSET
LATA |= 0x3F; // Return to waiting state
SPI_TIME_OFFSET
CLOCK_PORT = 1;
res.error = 0;
if(OCF)
{
res.error += SENSOR_ERROR_OCF_NOT_FINISHED;
}
if(COF)
{
res.error += SENSOR_ERROR_OVERFLOW;
}
if(LIN)
{
res.error += SENSOR_ERROR_LINEARITY;
}
if(MAGDEC)
{
res.error += SENSOR_ERROR_MAG_DEC;
}
if(MAGINC)
{
res.error += SENSOR_ERROR_MAG_INC;
}
if(!checkParity(res.position,byte3))
{
res.error += SENSOR_ERROR_PARITY;
}
if(res.error == 0 || res.error == 48)
{
updateSensorStatus(res,sensor);
}
}
static unsigned char CheckButton(unsigned char ButtonIdx)
{
DWORD TimerHighByte;
DWORD CurrentTime;
BYTE ButtonValue;
BYTE EventBase;
static DWORD lastCurrentTime = 0;
// if(LEFT_BUTTON == 1)
// LOG((ROMCHAR)"!! %d, %d, %d, %d, %d\r\n", UP_BUTTON, DN_BUTTON, LEFT_BUTTON, RIGHT_BUTTON, OK_BUTTON);
//LOG((ROMCHAR)"!! %d, %d, %d, %d, %d\r\n", UP_BUTTON, DN_BUTTON, LEFT_BUTTON, RIGHT_BUTTON, OK_BUTTON);
// read the IO bit attached to the selected button
switch(ButtonIdx)
{
case UP_BUTTON_IDX:
ButtonValue = UP_BUTTON;
EventBase = EVENT_UP_BUTTON_BASE;
break;
case DN_BUTTON_IDX:
ButtonValue = DN_BUTTON;
EventBase = EVENT_DN_BUTTON_BASE;
break;
case LEFT_BUTTON_IDX:
ButtonValue = LEFT_BUTTON;
EventBase = EVENT_LEFT_BUTTON_BASE;
break;
case RIGHT_BUTTON_IDX:
ButtonValue = RIGHT_BUTTON;
EventBase = EVENT_RIGHT_BUTTON_BASE;
break;
case OK_BUTTON_IDX:
ButtonValue = OK_BUTTON;
EventBase = EVENT_OK_BUTTON_BASE;
break;
case MENU_BUTTON_IDX:
ButtonValue = MENU_BUTTON;
EventBase = EVENT_MENU_BUTTON_BASE;
break;
}
// check if nothing is going on (waiting for button to go down and it's not pressed)
if ((ButtonState[ButtonIdx].State == WAITING_FOR_BUTTON_DOWN) && (ButtonValue == 0))
{
return(EVENT_NOTHING); // return no new event
}
// something is going on, read the time
TimerHighByte = ReadTimer1();
CurrentTime = TimerHighByte;
//LOG((ROMCHAR)"algo pressionado %d, %d, %d, %ld\r\n", ButtonValue, ButtonState[ButtonIdx].State, ButtonIdx, TimerHighByte);
// FIX: se o timer rodar preciso corrigir o start senao nao dispara nunca
if(lastCurrentTime != 0 && lastCurrentTime > CurrentTime)
ButtonState[ButtonIdx].EventStartTime -= (lastCurrentTime - CurrentTime);
lastCurrentTime = CurrentTime;
// check the state that the button was in last
switch(ButtonState[ButtonIdx].State)
{
// waiting for button to go down
case WAITING_FOR_BUTTON_DOWN:
// check if button is now down
if (ButtonValue == 1)
{
// button down, start timer
ButtonState[ButtonIdx].EventStartTime = TimerHighByte;
ButtonState[ButtonIdx].State = DEBOUNCE_AFTER_BUTTON_DOWN;
// return button "pressed" event
return(EventBase + BUTTON_PUSHED);
}
break;
// waiting for timer after button has gone down
case DEBOUNCE_AFTER_BUTTON_DOWN:
// check if it has been up long enough
if (CurrentTime >= (ButtonState[ButtonIdx].EventStartTime + BUTTON_DEBOUNCE_PERIOD))
{
// debouncing period over, start auto repeat timer
ButtonState[ButtonIdx].EventStartTime = TimerHighByte;
ButtonState[ButtonIdx].State = WAITING_FOR_BUTTON_UP;
}
break;
// waiting for button to go back up
case WAITING_FOR_BUTTON_UP:
// check if button is now up
if (ButtonValue == 0)
{
// button up, start debounce timer
ButtonState[ButtonIdx].EventStartTime = TimerHighByte;
ButtonState[ButtonIdx].State = DEBOUNCE_AFTER_BUTTON_UP;
// return button "released" event
return(EventBase + BUTTON_RELEASED);
}
break;
// waiting for timer after button has gone up
case DEBOUNCE_AFTER_BUTTON_UP:
if (CurrentTime >= (ButtonState[ButtonIdx].EventStartTime + BUTTON_DEBOUNCE_PERIOD))
ButtonState[ButtonIdx].State = WAITING_FOR_BUTTON_DOWN;
break;
}
// return no new event
return(EVENT_NOTHING);
}
void timer1_int_handler() {
unsigned int result;
// read the timer and then send an empty message to main()
//LATBbits.LATB7 = !LATBbits.LATB7;
result = ReadTimer1();
//ToMainLow_sendmsg(0, MSGT_TIMER1, (void *) 0);
#if defined (MOTOR_PIC)
// reset the timer
WriteTimer1(TIMER1_START);
ticks_left++;
if ( executingEncode && ticks_left_C > 0)
ticks_left_C--;
if ( executingEncodeLong && ticks_left_C_Long > 0)
ticks_left_C_Long--;
ticks_left_total++;
if ( ticks_left_C <= 1 && ticks_right_C <= 1 && executingEncode ) {
if ( motor_state == RoverMsgMotorForward)
RoverForward();
else if ( motor_state == RoverMsgMotorLeft2 || motor_state == RoverMsgMotorRight2 ) {
motor_encode_lthread(RoverMsgMotorForwardCMDelim+10);
}
else
RoverStop();
executingEncode = 0;
}
else if ( ticks_right_C_Long <= 1 && ticks_left_C_Long <= 1 && executingEncodeLong ) {
if ( motor_state == RoverMsgMotorLeft2 ) {
motor_encode_lthread(RoverMsgMotorRight2);
}
else if ( motor_state == RoverMsgMotorRight2 )
{
motor_encode_lthread(RoverMsgMotorLeft2);
}
else {
RoverStop();
}
motor_state = RoverMsgMotorStop;
executingEncodeLong = 0;
}
#elif defined(MAIN_PIC)
if ( !i2c_master_busy() )
ToMainHigh_sendmsg(10, MSGT_GET_SENSOR_DATA, (void *) 0);
if ( timer1_extender > 100 && tempWallCorrection == 0 ) {
tempWallCorrection = 1;
}
timer1_extender++;
WriteTimer1(0);
#else
WriteTimer1(0);
#endif
}
INT32U OSProbe_TmrRd (void)
{
return (ReadTimer1());
}
