void bsp_init(void)
{
set_tris_c(0xff);
set_tris_e(0xff);
set_tris_a(0x00);
output_a(0);
set_tris_a(0);//configurado como salida
set_tris_e(1); //configurado como entrada
SETUP_ADC_PORTS(sAN5); // este pin es analogo
SET_ADC_CHANNEL(5); // el canal que usaremos y de cual obtendremos la señal es el 5
setup_adc(ADC_CLOCK_DIV_32);
lcd_init();
}
//=============================================================================
void init_prog(void)
{
setup_wdt(WDT_OFF);
setup_adc_ports(NO_ANALOGS|VSS_VDD);
setup_adc(ADC_OFF);
setup_psp(PSP_DISABLED);
setup_spi(SPI_SS_DISABLED);
setup_timer_0(RTCC_INTERNAL|RTCC_DIV_16|RTCC_8_BIT);// TIMER0
setup_timer_1(T1_DISABLED);
setup_timer_2(T2_DISABLED,0,1);
setup_timer_3(T3_DISABLED|T3_DIV_BY_1);
setup_comparator(NC_NC_NC_NC);
setup_vref(FALSE);
setup_low_volt_detect(FALSE);
setup_oscillator(OSC_32MHZ);
set_tris_a(0xFF);//7F
set_tris_b(0xFF); //FF
set_tris_c(0x94);//94
set_tris_d(0xFF); //02
set_tris_e(0xF0); //f0
set_tris_f(0xFF);//ff
set_tris_g(0xFC); //04
output_a(0x00);
output_b(0x00);
output_c(0x00);
output_d(0x00);
output_e(0x00);
output_f(0x00);
output_g(0x00);
}
void main()
{
setup_adc_ports(NO_ANALOGS|VSS_VDD);
setup_adc(ADC_OFF|ADC_TAD_MUL_0);
setup_psp(PSP_DISABLED);
setup_spi(SPI_SS_DISABLED);
setup_wdt(WDT_OFF);
setup_timer_0(RTCC_INTERNAL|RTCC_DIV_16|RTCC_8_bit);
setup_timer_1(T1_DISABLED);
setup_timer_2(T2_DISABLED,0,1);
setup_comparator(NC_NC_NC_NC);
setup_vref(FALSE);
enable_interrupts(INT_RTCC);
enable_interrupts(INT_EXT);
enable_interrupts(INT_EXT1);
enable_interrupts(GLOBAL);
set_tris_a (0b11110000);
set_tris_b (0b00000000);
set_tris_c (0b00000000);
cubeLevelC0 = 0xFF;
cubeLevelC1 = 0x00;
cubeLevelC2 = 0xFF;
cubeLevelC3 = 0x00;
cubeLevelD0 = 0x00;
cubeLevelD1 = 0xFF;
cubeLevelD2 = 0x00;
cubeLevelD3 = 0xFF;
}
void main()
{
setup_adc_ports(NO_ANALOGS|VSS_VDD);
setup_adc(ADC_OFF|ADC_TAD_MUL_0);
setup_psp(PSP_DISABLED);
setup_spi(SPI_SS_DISABLED);
setup_wdt(WDT_OFF);
setup_timer_0(RTCC_INTERNAL|RTCC_DIV_32|RTCC_8_bit); //RTCC_DIV_32 -> 122 Hz ou 30 Hz por nivel
setup_timer_1(T1_INTERNAL|T1_DIV_BY_8);
setup_timer_2(T2_DISABLED,0,1);
setup_comparator(NC_NC_NC_NC);
setup_vref(FALSE);
enable_interrupts(INT_RTCC);
enable_interrupts(INT_TIMER1);
enable_interrupts(INT_EXT);
enable_interrupts(INT_EXT1);
enable_interrupts(GLOBAL);
set_tris_a (0b11110000);
set_tris_c (0b00000000);
set_tris_d (0b00000000);
while(1){
delay_ms(10);
}
}
// ** Grundinitialisierung **
void coldstart ()
{
setup_adc_ports(sAN0|sAN1|sAN2|sAN3|sAN4|VSS_VDD);
setup_adc(ADC_CLOCK_INTERNAL|ADC_TAD_MUL_0);
setup_oscillator(OSC_8MHZ|OSC_INTRC);
setup_comparator(NC_NC_NC_NC);
output_a (0b00001000);
output_b (0);
output_c (0);
output_d (0);
output_e (0);
set_tris_a (TRISA_INIT); // Datenrichtung Port A
set_tris_b (TRISB_INIT); // Datenrichtung Port B
set_tris_c (TRISC_INIT);
set_tris_d (TRISD_INIT);
set_tris_e (TRISE_INIT);
port_b_pullups(TRUE);
setup_timer_0(RTCC_INTERNAL|RTCC_DIV_32|RTCC_8_BIT);
// Timer0 intern, Takt 20.00/4/64 = 78.125 KHz
// Interrupt alle 256/15.625 = 3.2768 ms (305Hz)
// Korrekturwert für 10 ms: 156 Timerclicks
// -> Timer wird auf 256-156=100 vorgestellt
set_timer0 (Timerstartwert_K); // Timerwert auf Startwert setzen
enable_interrupts(INT_TIMER0);
setup_timer_1(T1_DISABLED); // Nur Timer0 Interrupt
delay_ms (200);
}
void main ()
{
set_tris_a(0xff);//se pone el puerto RA analogo de entrada
set_tris_d(0x00);//se pone el puerto RD en salida para prender los led
setup_adc_ports(ALL_ANALOG);//configuracion de los puertos analogos
setup_adc(ADC_CLOCK_DIV_32);//el osilador del ADC
while (true)
{
set_adc_channel(0);
delay_us(10);
valor = read_adc();
if(valor){
output_d(0x01);
}else{
output_d(0x00);
}
set_adc_channel(1);
delay_us(10);
valor = read_adc();
if{
output_d(0x02);
}else{
output_d(0x00);
}
}
void init()
{
// Inicializa puertos
set_tris_a(0b11100101);
set_tris_b(0b11100110);
// Variable para hacer el reset
reset = false;
return;
}
void init_device ()
{
set_tris_a (0x18); /* 0b11000 */
set_tris_b (0);
output_b (0);
output_a (0);
out_of_game = 1;
output_high (LED_OUT);
}
void main()
{
set_tris_a(0xFE);
output_low(PIN_A0);
setup_counters(RTCC_INTERNAL,RTCC_DIV_16);
set_timer0(6);
enable_interrupts(GLOBAL);
enable_interrupts(INT_TIMER0);
do
{
}while(TRUE);
}
void main(){
set_tris_a(0x01);
set_tris_b(0x00);
setup_adc(adc_clock_internal);
setup_adc_ports(AN0);
Servo_init(48); //Coloca a +-90° los servos declarados
while(true){
set_adc_channel(0); //RA0 sensor del dedo pulgar
delay_us(20);
sensor_pulgar = getc_adc();
sensor_pulgar = map(sensor_pulgar, 511, 1023, 0, 180);
Servo_PWM(SERVO_DEDO_PULGAR, sensor_pulgar);
}
}
void Encoder(char state)
{
if (state){ // if state is true then we are activating quadrature
// set_tris_a(0xfb); // disable index pin by making it an output
// DFLTCON = 0x3C;
// QEICON = 0x88; // 2X clocks
QEICON = 0x98; // 4X clocks
POSCNT = 0;
MAXCNT = 0xFFFF;
} else {
set_tris_a(0xff); // make all port a pins inputs
DFLTCON = 0x00; // shut off filters
QEICON = 0x9C; // disable quad counter
}
}
void main(void)
{
int8 leds;
set_tris_c(0xff);
set_tris_e(0xff);
set_tris_a(0);
while(1)
{
leds = lee_microsw();
output_a(leds);
delay_ms(200);
}
}
void main()
{
setup_adc_ports(NO_ANALOGS);
setup_adc(ADC_OFF);
setup_psp(PSP_DISABLED);
setup_spi(SPI_SS_DISABLED);
setup_wdt(WDT_OFF);
setup_timer_0(RTCC_INTERNAL);
setup_timer_1(T1_DISABLED);
setup_timer_2(T2_DISABLED,0,1);
setup_timer_3(T3_DISABLED|T3_DIV_BY_1);
setup_comparator(NC_NC_NC_NC);
setup_vref(FALSE);
enable_interrupts(INT_RDA);
enable_interrupts(GLOBAL);
setup_low_volt_detect(FALSE);
//Setup_Oscillator parameter not selected from Intr Oscillotar Config tab
//intitSerie(31);
set_tris_a(0b00101111);
set_tris_c(0b11111101);
Set_tris_D(0b11100000); // port D : Led
lectureTrame();
while(true){
if(truc=='c'){
clignotement();
}
if(truc=='j'){
johnson();
}
if(truc=='t'){
compteur();
}
if(truc=='h'){
chenillard();
}
}
}
// Frequency of interrupt (clock/(4*divisor)) / (256-reload)
void mcu_init()
{
setup_oscillator(OSC_16MHZ);
setup_adc_ports(NO_ANALOGS);
setup_adc(ADC_OFF);
setup_comparator(NC_NC_NC_NC);
// Setup the TIMER0 Interrupt
set_timer0(0);
setup_timer_0(RTCC_INTERNAL | RTCC_8_BIT | RTCC_DIV_4);
enable_interrupts(INT_TIMER0);
enable_interrupts(GLOBAL);
set_tris_a(0);
set_tris_b(0);
set_tris_c(0);
}
void main()
{
setup_psp(PSP_DISABLED);
setup_timer_1(T1_DISABLED);
setup_timer_2(T2_DISABLED,0,1);
setup_adc_ports(NO_ANALOGS);
setup_adc(ADC_OFF);
setup_CCP1(CCP_OFF);
setup_CCP2(CCP_OFF);
set_tris_b(0x00);
set_tris_d(0b00000001);
set_tris_a(0x00);
output_b(0x00);
start:
if (input(pin_a0)==true)
{
while(1==1){
for(a=pin_b0; a<=pin_b5; a++)
{
output_high(a);
delay_ms(100);
output_low(a);
}
for( b=a; b>=pin_b0; b--)
{
output_high(b);
delay_ms(100);
output_low(b);
}
}
a=0;
b=0;
}
goto start;
}
void main( void )
{
setup_adc_ports( NO_ANALOGS );
set_tris_a(0b00000000 );
set_tris_b( 0b11110000 );
set_tris_c( 0x00 );
set_tris_d( 0x00 );
set_tris_e( 0x03 );
portc = 0;
//Habilito os displays
output_low( PIN_B2 );
//Faço o setup do timer1 para clock interno e com prescaler de 8. A base de tempo é de 1/( 20MHz/4/8 )= 1.6uS
setup_timer_1( T1_INTERNAL | T1_DIV_BY_8 );
//Carrego o timer com 34285 de forma que ele conte ( 65535 - 34285 ) = 31250*1.6uS = 50ms.
set_timer1( TIMER_CONFIGURATIONS );
//Habilito as interrupções do timer1 e da porta b
enable_interrupts( global );
enable_interrupts( int_timer1 );
enable_interrupts( int_rb );
printf("Hello Asfalto\n\r");
//dois semaforos em vermelho
output_high( vermSem1 );
output_low( amarSem1 );
output_low( verdeSem1 );
output_high( vermSem2 );
output_low( amarSem2 );
output_low( verdeSem2 );
via1.sema.enable = 1;
via2.sema.enable = 0;
while( 1 )
{
handlerControleVel();
handlerSemaforo();
delay_ms(50);
}
}
//======================================
//Chuong trinh chinh
//======================================
void main()
{
enable_interrupts(int_rda); //Cai datngattruyen thong
ext_int_edge( H_TO_L );
setup_timer_1(T1_INTERNAL | T1_DIV_BY_8); //Cai dat bo chia Timer 1
enable_interrupts(INT_TIMER1); //Timer1 65536
set_timer1(3036); //Cai dat Timer 1 ngat trong 0.1s
enable_interrupts(INT_EXT);
enable_interrupts(global);
//Datcac gia tri ban dau cho cacbien
xung = 0;
vantoc = 0;
Vdat = 0;
kp = 0;
ki = 0;
kpi = 0;
kii = 0;
kd = 0; //Bien TG khoi dong
//Cai dat vao ra
set_tris_a(0xFF);
set_tris_b(0xFF);
set_tris_c(0xc0);
set_tris_d(0x00);
delay_ms(50);
//Cai dat ADC
setup_adc(ADC_CLOCK_INTERNAL);
setup_adc_ports(RA0_ANALOG);
set_adc_channel(0);
setup_comparator(NC_NC_NC_NC);
setup_vref(FALSE);
delay_ms(50);
while(1)
{
//Do dong dien
do_dong();
delay_ms(50);
do_dong();
delay_ms(50);
//Xuat len may tinh
printf("!%4.0f|%1.3f@",(float)vantoc,(float)ampe);
}
}
// see usb_hw_layer.h for documentation
void usb_detach(void)
{
UCON = 0; //disable USB hardware
UIE = 0; //disable USB interrupts
UCFG = __UCFG_VAL_DISABLED__;
// set D+/D- to inputs
#if defined(__USB_87J50__)
set_tris_f(get_tris_f() | 0x18);
#elif defined(__USB_K50__)
set_tris_a(get_tris_a() | 0x3);
#else
set_tris_c(get_tris_c() | 0x30);
#endif
usb_state = USB_STATE_DETACHED;
usb_token_reset(); //clear the chapter9 stack
//__usb_kbhit_status=0;
}
void main ()
{
set_tris_a(0xff);
set_tris_c(0x00);
set_tris_b(0x00);
output_c(0x00);
output_b(0x00);
setup_adc_ports(RA0_ANALOG);
set_adc_channel(0);
setup_adc(ADC_CLOCK_DIV_32);
enable_interrupts(int_rtcc);
enable_interrupts(GLOBAL);
set_timer0(0);
setup_timer_0(RTCC_INTERNAL|RTCC_DIV_16);
while (true)
{
if(con==9){
cif = read_adc();
cif *= .488281; //por que Vref / 1024 = 0.004882 x 100
aux=floor(cif); //floor me regresa el entero de cif en aux
dec=cif-aux;
d1=floor(aux/10);
aux-=d1*10;
d2=floor(aux);
d3=floor(dec/0.1);
d4=(floor(dec/0.01))-(d3*10);
con=0;
}
}
}
//------------------------------------------------------------------------------
void init_prog(void)
{
setup_wdt(WDT_OFF);
setup_adc_ports(NO_ANALOGS|VSS_VDD);
setup_adc(ADC_OFF);
setup_psp(PSP_DISABLED);
setup_spi(SPI_SS_DISABLED);
setup_timer_0(RTCC_INTERNAL|RTCC_DIV_16|RTCC_8_BIT);// TIMER0
setup_timer_1(T1_DISABLED);
setup_timer_2(T2_DISABLED,0,1);
setup_timer_3(T3_DISABLED|T3_DIV_BY_1);
setup_comparator(NC_NC_NC_NC);
setup_vref(FALSE);
setup_low_volt_detect(FALSE);
setup_oscillator(OSC_32MHZ);
set_tris_a(0x00);
set_tris_b(0x24);
set_tris_c(0x80);
set_tris_d(0x00);
set_tris_e(0x15);
set_tris_f(0x58);
set_tris_g(0x10);
output_a(0x00);
output_b(0x00);
output_c(0x00);
output_d(0x00);
output_e(0x00);
output_f(0x00);
output_g(0x00);
// RF Modul and PA/LNA activation
IOpin.modulepower=0;
IOpin.moduleCTX=1;
IOpin.moduleCPS=0;
IOpin.modulePWRUP=1;
}
//-----------------------------------------------------------------//
// Programa Principal ---------------------------------------------//
//-----------------------------------------------------------------//
void main() {
int i;
set_tris_a(0xFF); // Puerto A todo entradas
port_b_pullups(FALSE); // Resistencias de polarización
set_tris_b(0x38); //
set_tris_c(0x00); // Puerto C todo salidas
set_tris_d(0x00); // Puerto D todo salidas
//Configuro los canales del ADC
SETUP_ADC_PORTS(AN0_AN1_AN2_AN3_AN4);
SETUP_ADC(ADC_CLOCK_DIV_8 );
SETUP_VREF(VREF_HIGH | 6 );
//Habilito interrupciones
//enable_interrupts(int_rda);
//enable_interrupts(global);
while(1){
realizar_ensayo();
//printf("%4ld \r",md);
}
}
void main()
{
setup_adc_ports(NO_ANALOGS); //TODO : vérifier s'il existe des entrées analogiques pour le TdB
set_tris_a(0b00110001);
set_tris_c(0b00010100);
set_tris_d(0b01110001);
set_tris_e(0b00000001);
enable_interrupts(INT_TIMER2);
enable_interrupts(INT_TIMER1);
enable_interrupts(GLOBAL);
setup_timer_2(T2_DIV_BY_4,79,16); //Le Timer 2 reprend à zéro toutes les millisecondes environ.
can_init();
can_set_baud();
// BOUCLE DE TRAVAIL
while(TRUE)
{
internalLogic();
manageCAN();
}
}
//*****************************************************************************************
//*****************************************************************************************
//P RO G R A M A P R I N C I P A L
//*****************************************************************************************
//*****************************************************************************************
void main(){
float32* fltPtr;
float32 varX,varY,varZ;
float32 Xp,Yp;
float32 fx,fy,fz;
float incX;
float incY;
char x,y,z;
char posicion;
setup_adc_ports(NO_ANALOGS|VSS_VDD);
setup_adc(ADC_OFF|ADC_TAD_MUL_0);
setup_psp(PSP_DISABLED);
setup_spi(SPI_SS_DISABLED);
setup_spi2(SPI_SS_DISABLED);
setup_wdt(WDT_OFF);
setup_timer_0(RTCC_INTERNAL);
setup_timer_1(T1_DISABLED);
setup_timer_2(T2_DISABLED,0,1);
setup_timer_3(T3_DISABLED|T3_DIV_BY_1);
setup_timer_4(T4_DISABLED,0,1);
setup_comparator(NC_NC_NC_NC);
setup_vref(FALSE);
set_tris_a(0x00);
set_tris_b(0x00);
set_tris_c(0xC0);
set_tris_d(0x00);
set_tris_e(0x00);
DELAY_MS(200);
output_b(0xFF);
GLCD_init(1);
DELAY_MS(500);
output_b(0x00);
//Setear propiedades de la grafica.
graph.x1=0.0;
graph.y1=0.0;
graph.x2=127.0;
graph.y2=63.0;
graph.minX=-1.0;
graph.maxX=1.0;
graph.minY=-1.0;
graph.maxY=1.0;
graph.minViewX=-2.5;
graph.maxViewX=2.5;
graph.minViewY=-1.25;
graph.maxViewY=1.25;
printf("Hecho por Bruno Fascendini @ 2009 para uControl y Todopic\r\ncomo parte de proyecto calculadora cientifica con PIC del foro uControl\r\n");
printf("Parseador version: %s Evaluador version: %s\r\n",ParserVer,EvaluadorVer);
//menú:
printf("Ingrese la superficie a graficar: ");
posicion=0;
do{
EquIn[posicion]=getc();
if(posicion>0 && EquIn[posicion]==8) posicion--; else posicion++; //delete if delete key pressed...
if(posicion==BUFFER_SIZE) break;
}while(EquIn[posicion-1]!=13);
EquIn[posicion]='\0';
printf("Ha pedido que se grafique la ecuacion: %s",EquIn);
printf("Ingrese valor minimo de x: ");
posicion=0;
do{
temp[posicion]=getc();
if(posicion>0 && temp[posicion]==8) posicion--; else posicion++; //delete if delete key pressed...
if(posicion==BUFFER_SIZE) break;
}while(temp[posicion-1]!=13);
temp[posicion]='\0';
graph.minX=atof(temp);
printf("Ingrese valor maximo de x: ");
posicion=0;
do{
temp[posicion]=getc();
if(posicion>0 && temp[posicion]==8) posicion--; else posicion++; //delete if delete key pressed...
if(posicion==BUFFER_SIZE) break;
}while(temp[posicion-1]!=13);
temp[posicion]='\0';
graph.maxX=atof(temp);
printf("Ingrese valor minimo de y: ");
posicion=0;
do{
temp[posicion]=getc();
if(posicion>0 && temp[posicion]==8) posicion--; else posicion++; //delete if delete key pressed...
if(posicion==BUFFER_SIZE) break;
}while(temp[posicion-1]!=13);
temp[posicion]='\0';
graph.minY=atof(temp);
printf("Ingrese valor maximo de y: ");
posicion=0;
do{
temp[posicion]=getc();
if(posicion>0 && temp[posicion]==8) posicion--; else posicion++; //delete if delete key pressed...
if(posicion==BUFFER_SIZE) break;
}while(temp[posicion-1]!=13);
temp[posicion]='\0';
graph.maxY=atof(temp);
graph.minViewX=graph.minX;
graph.maxViewX=graph.maxX;
graph.minViewY=graph.minY;
graph.maxViewY=graph.maxY;
//Calculating centers...
graph.centerX= (graph.x2-graph.x1)/2;
graph.centerY= (graph.y2-graph.y1)/2;
incX=(graph.maxX-graph.minX)/50; //set step cuantity for X axis
incY=(graph.maxY-graph.minY)/50; //set step cuantity for Y axis
printf("Graficando...\r\n");
//////////////////////////////////////////////////
//PROCESO..............
//comienzo del parseado de la ecuacion ingresada...
//////////////////////////////////////////////////
strlwr(EquIn); //1) PASAR EQUACION A MINUSCULAS
//printf("Cadena en minusculas: %s\r\n",EquIn);
strCodificar(EquIn); // 2) REDUCIR ECUACION PARA OPTIMIZAR PROCESADO POSTERIOR
printf("Cadena codificada: %s\r\n",EquIn);
strPosFijar(EquIn,EquIn); // 3) Pasar a notación PostFija
printf("Cadena en notacion postfija: %s\r\n",EquIn);
//cut unuseful zones...
//if(graph.minX<graph.minViewX) graph.minX=graph.minViewX;
//if(graph.maxX>graph.maxViewX) graph.maxX=graph.maxViewX;
//if(graph.minY<graph.minViewY) graph.minY=graph.minViewY;
//if(graph.maxY>graph.maxViewY) graph.maxY=graph.maxViewY;
/*
//Ejes!
varx=0.0;
varz=0.0;
for(vary=0.0;Xp>=0;vary+=0.4){
Xp = RAIZ2SOBRE2 * (varX - varY) + CentroX;
Yp = -(RAIZ2TERCIOS * varZ - UNOSOBRERAIZ6 * (varX + varY)) + CentroY;
GLCD_pixel((int8)Xp,(int8)Yp,1);
}
vary=0.0;
varz=0.0;
for(varx=0.0;Xp<Radius+CentroX;varx+=0.4){
Xp = RAIZ2SOBRE2 * (varX - varY) + CentroX;
Yp = -(RAIZ2TERCIOS * varZ - UNOSOBRERAIZ6 * (varX + varY)) + CentroY;
GLCD_pixel((int8)Xp,(int8)Yp,1);
}
varx=0.0;
vary=0.0;
for(varz=0.0;Yp>0;varz+=1.0){
Xp = RAIZ2SOBRE2 * (varX - varY) + CentroX;
Yp = -(RAIZ2TERCIOS * varZ - UNOSOBRERAIZ6 * (varX + varY)) + CentroY;
GLCD_pixel((int8)Xp,(int8)Yp,1);
}
*/
/*
//2D:
for(varX=graph.minX;varX<graph.maxX;varX+=0.1){
fltPtr=strEvaluar(EquIn,StackNum,&varX,NULL,NULL);
printf("X: %f Y: %f\r\n",varX,*fltPtr);
Xp=varX+graph.centerX;
Yp=graph.centerY-(*fltPtr);
//ensure that pixel belongs to actual graph section...else do not show it!(out of bounds)
if(Xp>=graph.x1 && Xp<=graph.x2 && Yp>=graph.y1 && Yp<=graph.y2) GLCD_pixel((int8)Xp,(int8)Yp,1);
}
printf("HECHO!\r\n");
while(1);
*/
//Proyeccion Isométrica...
for(varY=graph.minY;varY<graph.maxY;varY+=incY){
for(varX=graph.minX;varX<graph.maxX;varX+=incX){
//indicate no error...
errno=0;
fltPtr=strEvaluar(EquIn,StackNum,&varX,&varY,NULL);
//if errors during calculating...do not bother at all..
if(errno) continue;
//calculate isometric proyection
varZ = *fltPtr;
Xp = RAIZ2SOBRE2 * (varX - varY);
Yp = (RAIZ2TERCIOS * varZ - UNOSOBRERAIZ6 * (varX + varY));
//ensure that values are inside drawing zone...
if(Xp>=graph.minViewX && Xp<=graph.maxViewX && Yp>=graph.minViewY && Yp<=graph.maxViewY){
//printf("X: %f Y: %f Z: %f\r\n",varX,varY,varZ);
//now let´s ubicate them inside actual graphic bounds...
Xp=(Xp-graph.minViewX)*(float32)(graph.x2-graph.x1)/(graph.maxViewX-graph.minViewX)+(float32)graph.x1;
Yp=(float32)graph.y2-((Yp-graph.minViewY)*(float32)(graph.y2-graph.y1)/(graph.maxViewY-graph.minViewY))+(float32)graph.y1;
//printf("XP: %f YP: %f\r\n",Xp,Yp);
if(Xp>=graph.x1 && Xp<=graph.x2 && Yp>=graph.y1 && Yp<=graph.y2) GLCD_pixel((int8)Xp,(int8)Yp,1);
}
}
}
printf("Proceso de graficacion finalizado.\r\n");
/*
//polares
for(varY=-PI/2;varY<PI/2;varY+=PI/63){
for(varX=-PI;varX<PI;varX+=2*PI/31){
fX=Radius*cos(varX)*cos(varY);
fY=Radius*cos(varX)*sin(varY);
fZ=Radius*sin(varX);
Xp=Sqrt(2.0) / 2.0 * (fX - fY) * Distance + CentroX;
Yp = (Sqrt(2.0 / 3.0) * fZ - (1.0 / Sqrt(6.0)) * (fX + fY)) * Distance + CentroY;
GLCD_pixel((int8)Xp,(int8)Yp,1);
//printf("Xp: %f Yp: %f\r\n",Xp,Yp);
}
}
*/
//printf("EL resultado de la ecuacion es: %9f\r\n",*fltPtr);
while(1);
}
void analog_config() // Porto An0 analogico
{
setup_adc_ports(an0);
setup_adc(ADC_CLOCK_INTERNAL);
set_tris_a(0b00000001);
}
void main()
{
setup_adc_ports(NO_ANALOGS);
setup_adc(ADC_OFF);
setup_spi(SPI_SS_DISABLED);
setup_timer_0(RTCC_INTERNAL|RTCC_DIV_32);
setup_timer_1(T1_DISABLED);
setup_timer_2(T2_DISABLED,0,1);
setup_comparator(NC_NC_NC_NC);
setup_vref(FALSE);
enable_interrupts(INT_RDA);
enable_interrupts(INT_TIMER0);
enable_interrupts(GLOBAL);
//port_b_pullups(TRUE);
set_timer0(131);
// TODO: USER CODE!!
andares[0] = 0;
andares[1] = 0;
andares[2] = 0;
andares[3] = 0;
sinal = 0;
set_tris_a(0x00); //saída de dados
set_tris_b(0xfe); //entrada de dados,menos bit 0
set_tris_c(0xbf); //saída de dados, menos bit 6
while(TRUE){
conta = 0;
if(andares[0] != 0){
if(andares[0] == 1) TMP1 = 0;
if(andares[0] == 2) TMP1 = 100;
if(andares[0] == 3) TMP1 = 200;
if(andares[0] == 4) TMP1 = 300;
if(TMP2 < TMP1) motor_passo_frente(TMP1-TMP2);
else motor_passo_tras(TMP2-TMP1);
conta = 0;
sinal = 1;
parar_motor_passo();
printf("Você está no andar %d",andares[0]);
tira_andar(andares);
while(conta != 125);
sinal = 0;
}else{
parar_motor_passo();
sinal = 1;
}
TMP2 = TMP1;
if(!parada){
while(!parada){
delay_ms(30);
parou = 1;
}
}
if(parou){
printf("Opa!parada de emergência");
sinal = 0;
TMP2 = TMP1;
do{
parar_motor_passo();
if(!parada){
while(!parada){
delay_ms(30);
parou = 0;
}
}while(!parou);
printf("Prosseguindo...");
sinal = 1;
}
if(!andar1 || !andar2 || !andar3 || !andar4){
while(!andar1 || !andar2 || !andar3 || !andar4){
delay_ms(30);
if(!andar1) botao = 1;
if(!andar2) botao = 2;
if(!andar3) botao = 3;
if(!andar4) botao = 4;
insere_andar(andares,i);
ordena(andares);
}
}
debug();
}
}
}
void main()
{
int1 flag = 0;
porta = 0;//all ports are zero
portb = 0;
portc = 0;
setup_adc_ports(no_analogs|vss_vdd); //digital functions selected
setup_adc(adc_off); //internal rc oscillator disabled for adc
setup_wdt(wdt_off); //watch dog timer disabled
setup_timer_0(rtcc_off); //all timers disabled
setup_timer_1(t1_disabled);
setup_timer_2(t2_disabled,0,1);
setup_timer_3(t3_disabled|t3_div_by_1);
setup_comparator(nc_nc_nc_nc); //comparators disabled
setup_vref(false); //no reference voltage in ra2
setup_ccp1(ccp_off); //disable ccp1
setup_ccp2(ccp_off); //disable ccp2
enable_interrupts(int_rda); //uart rx interruption enabled
enable_interrupts(global); //global interruptions enabled
usb_cdc_init();
usb_init(); //initialize hardware usb and wait for PC conection
set_tris_a(0b00111111);
set_tris_b(0b11111011);//rb2 output mclr dspic
port_b_pullups(false);
set_tris_c(0b10111111);
stateDspic = running;
counterReset = 0;
delay_ms(500);//wait for supply stabilization
while(true)
{
usb_task();
manage_conection();
if (usb_cdc_kbhit())
{
data_rx_usb=usb_cdc_getc();//read buffer and save in data_rx
printf("%c",data_rx_usb);//send through uart
if (data_rx_usb == rstKeyword[0])
{
if (counterReset == 0)
counterReset++;
}
else if (data_rx_usb == rstKeyword[1])
{
if (counterReset == 1)
counterReset++;
else
counterReset = 0;
}
else if (data_rx_usb == rstKeyword[2])
{
if (counterReset == 2)
counterReset++;
else
counterReset = 0;
}
else if (data_rx_usb == rstKeyword[3])
{
if (counterReset == 3)
counterReset++;
else
counterReset = 0;
}
else if (data_rx_usb == rstKeyword[4] && counterReset == 4)//here, all requirements were met
{
counterReset = 0;
flag = 0; //reset flag
for(i = 0; i < 10000; i++) //wait for the next byte
{
if (usb_cdc_kbhit()) //if a new byte is received
{
data_rx_usb = usb_cdc_getc();//read buffer and save in data_rx
printf("%c",data_rx_usb);//send through uart
flag = 0;
break;
}
flag = 1;
}
if (flag == 1) //apply reset when no characters were received
{
stateDspic = stop;
delay_ms(50);
stateDspic = running;
}
}
else
counterReset = 0;
}
}
}
void main()
{
setup_adc_ports(NO_ANALOGS|VSS_VDD);
setup_adc(ADC_CLOCK_DIV_2);
setup_psp(PSP_DISABLED);
setup_spi(SPI_SS_DISABLED);
setup_wdt(WDT_OFF);
setup_timer_0(RTCC_INTERNAL);
setup_timer_1(T1_DISABLED);
setup_timer_2(T2_DISABLED,0,1);
setup_timer_3(T3_DISABLED|T3_DIV_BY_1);
setup_comparator(NC_NC_NC_NC);
setup_vref(FALSE);
enable_interrupts(INT_TIMER0);
enable_interrupts(GLOBAL);
//Setup_Oscillator parameter not selected from Intr Oscillator Config tab
set_tris_a(0b00000011);
set_tris_b(0b00000000);
set_tris_c(0b10110011);
set_tris_d(0b11110000);
set_tris_e(0b00000100);
while(1)
{
// waits for B1 to go high
while ( !input(PIN_B1) )
{}
//PE-
playSound(NOTE_SOL3,TEMPS_NOIRE);
delay_us(WAIT);
//--------------------------------
//tit
playSound(NOTE_DO4,TEMPS_NOIRE);
delay_us(WAIT);
//pa-
playSound(NOTE_DO4,TEMPS_NOIRE);
delay_us(WAIT);
//pa
playSound(NOTE_DO4,TEMPS_NOIRE);
delay_us(WAIT);
//Noe-
playSound(NOTE_RE4,TEMPS_NOIRE);
delay_us(WAIT);
//--------------------------------
//el
playSound(NOTE_DO4,TEMPS_BLANCHE);
playSound(NOTE_DO4,TEMPS_NOIRE);
delay_us(WAIT);
//Quand
playSound(NOTE_DO4,TEMPS_CROCHE);
delay_us(WAIT);
//tu
playSound(NOTE_RE4,TEMPS_CROCHE);
delay_us(WAIT);
//--------------------------------
//Des-
playSound(NOTE_MI4,TEMPS_NOIRE);
delay_us(WAIT);
//cen-
playSound(NOTE_MI4,TEMPS_NOIRE);
delay_us(WAIT);
//dras
playSound(NOTE_MI4,TEMPS_NOIRE);
delay_us(WAIT);
//du
playSound(NOTE_FA4,TEMPS_NOIRE);
delay_us(WAIT);
//--------------------------------
//ciel
playSound(NOTE_MI4,TEMPS_BLANCHE);
playSound(NOTE_MI4,TEMPS_NOIRE);
delay_us(WAIT);
//A-
playSound(NOTE_RE4,TEMPS_NOIRE);
delay_us(WAIT);
//--------------------------------
//vec
playSound(NOTE_DO4,TEMPS_NOIRE);
playSound(NOTE_DO4,TEMPS_CROCHE);
delay_us(WAIT);
//tes
playSound(NOTE_DO4,TEMPS_CROCHE);
delay_us(WAIT);
//jou-
playSound(NOTE_DO4,TEMPS_CROCHE);
delay_us(WAIT);
//ets
playSound(NOTE_DO4,TEMPS_CROCHE);
delay_us(WAIT);
//par
playSound(NOTE_SI3,TEMPS_CROCHE);
delay_us(WAIT);
//mi-
playSound(NOTE_LA3,TEMPS_CROCHE);
delay_us(WAIT);
//--------------------------------
//liers
playSound(NOTE_SOL3,TEMPS_BLANCHE);
playSound(NOTE_SOL3,TEMPS_NOIRE);
delay_us(WAIT);
//N'ou-
playSound(NOTE_SOL3,TEMPS_CROCHE);
delay_us(WAIT);
//blie
playSound(NOTE_SOL3,TEMPS_CROCHE);
delay_us(WAIT);
//--------------------------------
//pas
playSound(NOTE_DO4,TEMPS_BLANCHE);
delay_us(WAIT);
//mon
playSound(NOTE_DO4,TEMPS_CROCHE);
delay_us(WAIT);
//pet-
playSound(NOTE_DO4,TEMPS_CROCHE);
delay_us(WAIT);
//tit
playSound(NOTE_SI3,TEMPS_CROCHE);
delay_us(WAIT);
//pa-
playSound(NOTE_DO4,TEMPS_CROCHE);
delay_us(WAIT);
//--------------------------------
//nier
playSound(NOTE_RE4,TEMPS_BLANCHE);
playSound(NOTE_RE4,TEMPS_NOIRE);
delay_us(WAIT);
//Mais
playSound(NOTE_SOL3,TEMPS_NOIRE);
delay_us(WAIT);
//--------------------------------
//a-
playSound(NOTE_DO4,TEMPS_NOIRE);
delay_us(WAIT);
//vant
playSound(NOTE_DO4,TEMPS_NOIRE);
delay_us(WAIT);
//de
playSound(NOTE_DO4,TEMPS_NOIRE);
delay_us(WAIT);
//par-
playSound(NOTE_RE4,TEMPS_NOIRE);
delay_us(WAIT);
//--------------------------------
//tir
playSound(NOTE_DO4,TEMPS_BLANCHE);
playSound(NOTE_DO4,TEMPS_NOIRE);
delay_us(WAIT);
//il
playSound(NOTE_DO4,TEMPS_CROCHE);
delay_us(WAIT);
//fau-
playSound(NOTE_RE4,TEMPS_CROCHE);
delay_us(WAIT);
//--------------------------------
//dra
playSound(NOTE_MI4,TEMPS_NOIRE);
delay_us(WAIT);
//bien
playSound(NOTE_MI4,TEMPS_NOIRE);
delay_us(WAIT);
//te
playSound(NOTE_MI4,TEMPS_NOIRE);
delay_us(WAIT);
//cou-
playSound(NOTE_FA4,TEMPS_NOIRE);
delay_us(WAIT);
//--------------------------------
//vrir
playSound(NOTE_MI4,TEMPS_BLANCHE);
playSound(NOTE_MI4,TEMPS_NOIRE);
delay_us(WAIT);
//De-
playSound(NOTE_RE4,TEMPS_NOIRE);
delay_us(WAIT);
//--------------------------------
//hors
playSound(NOTE_DO4,TEMPS_NOIRE);
playSound(NOTE_DO4,TEMPS_CROCHE);
delay_us(WAIT);
//il
playSound(NOTE_DO4,TEMPS_CROCHE);
delay_us(WAIT);
//fait
playSound(NOTE_DO4,TEMPS_CROCHE);
delay_us(WAIT);
//dé-
playSound(NOTE_DO4,TEMPS_CROCHE);
delay_us(WAIT);
//jà
playSound(NOTE_SI3,TEMPS_CROCHE);
delay_us(WAIT);
//bien
playSound(NOTE_LA3,TEMPS_CROCHE);
delay_us(WAIT);
//--------------------------------
//froid
playSound(NOTE_SOL3,TEMPS_BLANCHE);
playSound(NOTE_SOL3,TEMPS_NOIRE);
delay_us(WAIT);
//C'est
playSound(NOTE_SOL3,TEMPS_CROCHE);
delay_us(WAIT);
//un
playSound(NOTE_SOL3,TEMPS_CROCHE);
delay_us(WAIT);
//--------------------------------
//peu
playSound(NOTE_DO4,TEMPS_BLANCHE);
delay_us(WAIT);
//a
playSound(NOTE_DO4,TEMPS_CROCHE);
delay_us(WAIT);
//cau-
playSound(NOTE_DO4,TEMPS_CROCHE);
delay_us(WAIT);
//se
playSound(NOTE_RE4,TEMPS_CROCHE);
delay_us(WAIT);
//de
playSound(NOTE_RE4,TEMPS_CROCHE);
delay_us(WAIT);
//--------------------------------
//Moi
playSound(NOTE_DO4,TEMPS_RONDE);
delay_us(WAIT);
//--------------------------------
//Il
playSound(NOTE_LA3,TEMPS_CROCHE);
delay_us(WAIT);
//me
playSound(NOTE_LA3,TEMPS_CROCHE);
delay_us(WAIT);
//tar-
playSound(NOTE_LA3,TEMPS_CROCHE);
delay_us(WAIT);
//de
playSound(NOTE_LA3,TEMPS_CROCHE);
delay_us(WAIT);
//tant
playSound(NOTE_LA3,TEMPS_NOIRE);
delay_us(WAIT);
//que
playSound(NOTE_LA3,TEMPS_CROCHE);
delay_us(WAIT);
//le
playSound(NOTE_SI3,TEMPS_CROCHE);
delay_us(WAIT);
//--------------------------------
//jour
playSound(NOTE_DO4,TEMPS_NOIRE);
playSound(NOTE_DO4,TEMPS_CROCHE);
delay_us(WAIT);
//se
playSound(NOTE_LA3,TEMPS_CROCHE);
delay_us(WAIT);
//lè-
playSound(NOTE_LA3,TEMPS_NOIRE);
delay_us(WAIT);
//ve
playSound(NOTE_SOL3,TEMPS_NOIRE);
delay_us(WAIT);
//--------------------------------
//Pour
playSound(NOTE_DO4,TEMPS_CROCHE);
delay_us(WAIT);
//voir
playSound(NOTE_DO4,TEMPS_CROCHE);
delay_us(WAIT);
//si
playSound(NOTE_DO4,TEMPS_CROCHE);
delay_us(WAIT);
//tu
playSound(NOTE_DO4,TEMPS_CROCHE);
delay_us(WAIT);
//m'as
playSound(NOTE_DO4,TEMPS_NOIRE);
delay_us(WAIT);
//ap-
playSound(NOTE_SI3,TEMPS_CROCHE);
delay_us(WAIT);
//por-
playSound(NOTE_DO4,TEMPS_CROCHE);
delay_us(WAIT);
//--------------------------------
//té
playSound(NOTE_RE4,TEMPS_RONDE);
delay_us(WAIT);
//--------------------------------
//tous
playSound(NOTE_MI4,TEMPS_CROCHE);
delay_us(WAIT);
//les
playSound(NOTE_MI4,TEMPS_CROCHE);
delay_us(WAIT);
//beaux
playSound(NOTE_MI4,TEMPS_CROCHE);
delay_us(WAIT);
//jou-
playSound(NOTE_MI4,TEMPS_CROCHE);
delay_us(WAIT);
//joux
playSound(NOTE_MI4,TEMPS_NOIRE);
delay_us(WAIT);
//que
playSound(NOTE_RE4,TEMPS_CROCHE);
delay_us(WAIT);
//je
playSound(NOTE_MI4,TEMPS_CROCHE);
delay_us(WAIT);
//--------------------------------
//vois
playSound(NOTE_FA4,TEMPS_NOIRE);
playSound(NOTE_FA4,TEMPS_CROCHE);
delay_us(WAIT);
//en
playSound(NOTE_RE4,TEMPS_CROCHE);
delay_us(WAIT);
//re-
playSound(NOTE_DO4,TEMPS_NOIRE);
delay_us(WAIT);
//ve
playSound(NOTE_SI3,TEMPS_NOIRE);
delay_us(WAIT);
//--------------------------------
//et
playSound(NOTE_MI4,TEMPS_CROCHE);
delay_us(WAIT);
playSound(NOTE_MI4,TEMPS_CROCHE);
delay_us(WAIT);
//que
playSound(NOTE_MI4,TEMPS_CROCHE);
delay_us(WAIT);
//je
playSound(NOTE_MI4,TEMPS_CROCHE);
delay_us(WAIT);
//t'ai
playSound(NOTE_FA4,TEMPS_NOIRE);
delay_us(WAIT);
//com-
playSound(NOTE_FA4,TEMPS_CROCHE);
delay_us(WAIT);
//man-
playSound(NOTE_FA4,TEMPS_CROCHE);
delay_us(WAIT);
//--------------------------------
//de
playSound(NOTE_SOL4,TEMPS_BLANCHE);
playSound(NOTE_SOL4,TEMPS_BLANCHE);
delay_us(WAIT);
//PE-
playSound(NOTE_SOL3,TEMPS_NOIRE);
delay_us(WAIT);
//--------------------------------
//tit
playSound(NOTE_DO4,TEMPS_NOIRE);
delay_us(WAIT);
//pa-
playSound(NOTE_DO4,TEMPS_NOIRE);
delay_us(WAIT);
//pa
playSound(NOTE_DO4,TEMPS_NOIRE);
delay_us(WAIT);
//Noe-
playSound(NOTE_RE4,TEMPS_NOIRE);
delay_us(WAIT);
//--------------------------------
//el
playSound(NOTE_DO4,TEMPS_BLANCHE);
playSound(NOTE_DO4,TEMPS_NOIRE);
delay_us(WAIT);
//Quand
playSound(NOTE_DO4,TEMPS_CROCHE);
delay_us(WAIT);
//tu
playSound(NOTE_RE4,TEMPS_CROCHE);
delay_us(WAIT);
//--------------------------------
//Des-
playSound(NOTE_MI4,TEMPS_NOIRE);
delay_us(WAIT);
//cen-
playSound(NOTE_MI4,TEMPS_NOIRE);
delay_us(WAIT);
//dras
playSound(NOTE_MI4,TEMPS_NOIRE);
delay_us(WAIT);
//du
playSound(NOTE_FA4,TEMPS_NOIRE);
delay_us(WAIT);
//--------------------------------
//ciel
playSound(NOTE_MI4,TEMPS_BLANCHE);
playSound(NOTE_MI4,TEMPS_NOIRE);
delay_us(WAIT);
//A-
playSound(NOTE_RE4,TEMPS_NOIRE);
delay_us(WAIT);
//--------------------------------
//vec
playSound(NOTE_DO4,TEMPS_NOIRE);
playSound(NOTE_DO4,TEMPS_CROCHE);
delay_us(WAIT);
//tes
playSound(NOTE_DO4,TEMPS_CROCHE);
delay_us(WAIT);
//jou-
playSound(NOTE_DO4,TEMPS_CROCHE);
delay_us(WAIT);
//ets
playSound(NOTE_DO4,TEMPS_CROCHE);
delay_us(WAIT);
//par
playSound(NOTE_SI3,TEMPS_CROCHE);
delay_us(WAIT);
//mi-
playSound(NOTE_LA3,TEMPS_CROCHE);
delay_us(WAIT);
//--------------------------------
//liers
playSound(NOTE_SOL3,TEMPS_BLANCHE);
playSound(NOTE_SOL3,TEMPS_NOIRE);
delay_us(WAIT);
//N'ou-
playSound(NOTE_SOL3,TEMPS_CROCHE);
delay_us(WAIT);
//blie
playSound(NOTE_SOL3,TEMPS_CROCHE);
delay_us(WAIT);
//--------------------------------
//pas
playSound(NOTE_DO4,TEMPS_BLANCHE);
delay_us(WAIT);
//mon
playSound(NOTE_DO4,TEMPS_CROCHE);
delay_us(WAIT);
//pet-
playSound(NOTE_DO4,TEMPS_CROCHE);
delay_us(WAIT);
//tit
playSound(NOTE_SI3,TEMPS_CROCHE);
delay_us(WAIT);
//pa-
playSound(NOTE_DO4,TEMPS_CROCHE);
delay_us(WAIT);
//--------------------------------
//nier
playSound(NOTE_RE4,TEMPS_BLANCHE);
playSound(NOTE_RE4,TEMPS_NOIRE);
delay_us(WAIT);
//Mais
playSound(NOTE_SOL3,TEMPS_NOIRE);
delay_us(WAIT);
//--------------------------------
//a-
playSound(NOTE_DO4,TEMPS_NOIRE);
delay_us(WAIT);
//vant
playSound(NOTE_DO4,TEMPS_NOIRE);
delay_us(WAIT);
//de
playSound(NOTE_DO4,TEMPS_NOIRE);
delay_us(WAIT);
//par-
playSound(NOTE_RE4,TEMPS_NOIRE);
delay_us(WAIT);
//--------------------------------
//tir
playSound(NOTE_DO4,TEMPS_BLANCHE);
playSound(NOTE_DO4,TEMPS_NOIRE);
delay_us(WAIT);
//il
playSound(NOTE_DO4,TEMPS_CROCHE);
delay_us(WAIT);
//fau-
playSound(NOTE_RE4,TEMPS_CROCHE);
delay_us(WAIT);
//--------------------------------
//dra
playSound(NOTE_MI4,TEMPS_NOIRE);
delay_us(WAIT);
//bien
playSound(NOTE_MI4,TEMPS_NOIRE);
delay_us(WAIT);
//te
playSound(NOTE_MI4,TEMPS_NOIRE);
delay_us(WAIT);
//cou-
playSound(NOTE_FA4,TEMPS_NOIRE);
delay_us(WAIT);
//--------------------------------
//vrir
playSound(NOTE_MI4,TEMPS_BLANCHE);
playSound(NOTE_MI4,TEMPS_NOIRE);
delay_us(WAIT);
//De-
playSound(NOTE_RE4,TEMPS_NOIRE);
delay_us(WAIT);
//--------------------------------
//hors
playSound(NOTE_DO4,TEMPS_NOIRE);
playSound(NOTE_DO4,TEMPS_CROCHE);
delay_us(WAIT);
//il
playSound(NOTE_DO4,TEMPS_CROCHE);
delay_us(WAIT);
//fait
playSound(NOTE_DO4,TEMPS_CROCHE);
delay_us(WAIT);
//dé-
playSound(NOTE_DO4,TEMPS_CROCHE);
delay_us(WAIT);
//jà
playSound(NOTE_SI3,TEMPS_CROCHE);
delay_us(WAIT);
//bien
playSound(NOTE_LA3,TEMPS_CROCHE);
delay_us(WAIT);
//--------------------------------
//froid
playSound(NOTE_SOL3,TEMPS_BLANCHE);
playSound(NOTE_SOL3,TEMPS_NOIRE);
delay_us(WAIT);
//C'est
playSound(NOTE_SOL3,TEMPS_CROCHE);
delay_us(WAIT);
//un
playSound(NOTE_SOL3,TEMPS_CROCHE);
delay_us(WAIT);
//--------------------------------
//peu
playSound(NOTE_DO4,TEMPS_BLANCHE);
delay_us(WAIT);
//a
playSound(NOTE_DO4,TEMPS_CROCHE);
delay_us(WAIT);
//cau-
playSound(NOTE_DO4,TEMPS_CROCHE);
delay_us(WAIT);
//se
playSound(NOTE_RE4,TEMPS_CROCHE);
delay_us(WAIT);
//de
playSound(NOTE_RE4,TEMPS_CROCHE);
delay_us(WAIT);
//--------------------------------
//Moi
playSound(NOTE_DO4,TEMPS_BLANCHE);
playSound(NOTE_DO4,TEMPS_NOIRE);
delay_us(WAIT);
playSound(NOTE_SOL3,TEMPS_NOIRE);
delay_us(WAIT);
//--------------------------------
playSound(NOTE_LA3,TEMPS_NOIRE);
delay_us(WAIT);
playSound(NOTE_DO4,TEMPS_NOIRE);
delay_us(WAIT);
playSound(NOTE_RE4,TEMPS_NOIRE);
delay_us(WAIT);
playSound(NOTE_FA4,TEMPS_NOIRE);
delay_us(WAIT);
//--------------------------------
playSound(NOTE_SOL4,TEMPS_RONDE);
delay_us(WAIT);
}
}
void init()
{
// Inicializa puertos
set_tris_a(0b11111111);
set_tris_b(trisB_value);
// ***ADC***
setup_port_a(sAN0);
setup_adc(ADC_CLOCK_INTERNAL);
set_adc_channel(0);
setup_adc_ports(sAN0);
setup_vref(VREF_HIGH | 8);
// Seteo el Timer1 como fuente interna
setup_timer_1(T1_INTERNAL | T1_DIV_BY_8);
set_timer1(26786);
// Interrupcion sobre el Timer1
enable_interrupts(INT_TIMER1);
// Seteo el pin RB0 - Sensor de ultrasonido :)
ext_int_edge(L_TO_H);
enable_interrupts(INT_EXT);
// Habilito las interrupciones
enable_interrupts(GLOBAL);
// Variable para hacer el reset
reset = false;
// Apaga todos los sensores
sensor1 = SENSOR_OFF;
sensor2 = SENSOR_OFF;
sensor3 = SENSOR_OFF;
sensor4 = SENSOR_OFF;
sensor5 = SENSOR_OFF;
// Inicializa los valores
values[0] = 0x0000;
values[1] = 0x0000;
values[2] = 0x0000;
values[3] = 0x0000;
values[4] = 0x0000;
values[5] = 0x0000;
// Muestras iniciales
samples = SAMPLES_DEFAULT;
// Inicializa la mascara -> todos habilitados (0x3F)
sensorMask = DEFAULT_MASK;
//Determina el estado actual
state = STATE_FREE;
// Sin lectura temprana
readSensor = 0x00;
bufferedReadSensor = 0x00;
actalTO = 0x00;
requestFrom = 0x00;
bufferedFrom = 0x00;
actalCmd = 0x00;
requestCmd = 0x00;
bufferedCmd = 0x00;
alarmType = 0x00;
triggerAlarm = 0;
#if TRIGGER_TYPE == SWITCH_SENSOR
disable_interrupts(INT_EXT);
#endif
#if TRIGGER_TYPE == LED
// TRIGGER como escritura
bit_clear(trisB_value, 0);
set_tris_b(trisB_value);
#endif
return;
}
void main ()
{
disable_interrupts(GLOBAL); //общее запрещение прерываний
setup_oscillator(OSC_8MHZ); //|OSC_INTRC
set_tris_a(0x00); //выходы
set_tris_b(0xff); //входы
set_tris_c(0x10); //выходы, RC4-вход(данные от STM)
//output_c(0x4f);
portc=0x4f;
porta=0x7f;
portb=0xff;
//set_tris_c(0x10); //выходы, RC4-вход(данные от STM)
//output_a(0x7f);
//output_b(0xff);
pit_bykl();
pr_wkl_pit=0; //пр. вкл. питания (исп. для 1-го нажатия кн. "Питание")
delay_ms(1000); //для настройки STM
//Инициализация модуля MSSP(режим SPI)
SSPCON1=0x31;
SSPSTAT=0; //0x80;
SSPBUF=0x55;
//иниц. таймеров:
//t0con=0xc8; //8-ми разр
t0con=0x88; //16-ми разр счетчик
T1CON=0x85;
setup_timer_1(T1_INTERNAL|T1_DIV_BY_1);
set_timer1(62286);
set_timer0(64536);
//enable_interrupts(INT_TIMER2);
enable_interrupts(INT_TIMER1);
enable_interrupts(INT_TIMER0);
enable_interrupts(GLOBAL);
//СОСТОЯНИЕ кнопок и ручек по ВКЛЮЧЕНИЮ:
//----------------------------------------
for (ii=0; ii<6;ii++)
{
du_pA=porta&0xc0|mask[ii];
output_a(du_pA);
pr_state_rb[ii] = input_b();
}
while(1)
{
for (ii=0; ii<6;ii++)
{
pr_ruk=0;
// output_a(mask[ii]); //SL... -> PORTA
du_pA=porta&0xc0|mask[ii];
output_a(du_pA);
tek_state_rb[ii] = input_b();
if (pr_state_rb[ii] ^ tek_state_rb[ii])
//возможно нажатие или вращение ?
{
if ((tek_state_rb[ii]&mask_kn[ii])!=mask_kn[ii]) //если это кнопка, то отрабат. дребезг
{ //кнопка
delay_ms(1);
tek1_state_rb = input_b();
delay_ms(1);
tek2_state_rb = input_b();
delay_ms(1);
tek3_state_rb = input_b();
// if (tek_state_rb[ii] == tek3_state_rb) //дребезг зак.-есть нажатие/отжатие или вращение!
}
else //ручка
{
tek3_state_rb=tek_state_rb[ii];
}
if (tek_state_rb[ii] == tek3_state_rb) //дребезг зак.-есть нажатие/отжатие или вращение!
switch(ii) //номер сигнала SL0,SL1,SL2,SL3,SL4,SL5
{
case 0: //SL0
//Кнопки K1, Ser:
if (!(tek3_state_rb & (1 << 0))) { buf_per=0x81; //№1-наж.
do
tek3_state_rb = input_b();
while (!(tek3_state_rb & (1 << 0)));
//отжатие произошло
while (buf_per!=0) {}
buf_per=0x01; //№1-отж.
break;
}
if (!(tek3_state_rb & (1 << 5))) { buf_per=0x82; //№2-наж.
do
tek3_state_rb = input_b();
while (!(tek3_state_rb & (1 << 5)));
//отжатие произошло
while (buf_per!=0) {}
buf_per=0x02; //№2-отж.
break;
}
//Ручки -B_K1, +B_K1 -Sm_K1, +Sm_K1:
//***********************************
if ((tek3_state_rb & 0x02)&&(tek3_state_rb & 0x04)) //RB1 & RB2==1
{
for (ib=0; ib<2;ib++)
{
if ((tek3_state_rb & (0x02 << ib)) && (!(pr_state_rb[ii] & (0x02 << ib))))
switch(ib)
{
case 0:
pr_ruk=1;
buf_per=0x14; //№20-влево
break;
case 1:
pr_ruk=1;
buf_per=0x94; //№20-вправо
break;
}//switch
} //for ib
} //if
// else
// {
if ((tek3_state_rb & 0x08)&&(tek3_state_rb & 0x10)&& (!pr_ruk)) //RB3 & RB4==1 & pr_ruk=0
{
for (ib=0; ib<2;ib++)
{
if ((tek3_state_rb & (0x08 << ib)) && (!(pr_state_rb[ii] & (0x08 << ib))))
switch(ib)
{
case 0:
{
buf_per=0x15; //№21-влево
break;
}
case 1:
{
buf_per=0x95; //№21-вправо
break;
}
}//switch ib
} //for
} //if
// } //else
pr_state_rb[ii]=tek3_state_rb;
pr_ruk=0;
break;
case 1: //SL1
//Кнопки K2, DISP:
if (!(tek3_state_rb & (1 << 0))) { buf_per=0x83; //№3-наж.
do
tek3_state_rb = input_b();
while (!(tek3_state_rb & (1 << 0)));
//отжатие произошло
while (buf_per!=0) {}
buf_per=0x03; //№2-отж.
break;
}
if (!(tek3_state_rb & (1 << 5))) { buf_per=0x84; //№4-наж.
do
tek3_state_rb = input_b();
while (!(tek3_state_rb & (1 << 5)));
//отжатие произошло
while (buf_per!=0) {}
buf_per=0x04; //№4-отж.
break;
}
//Ручки -B_K2, +B_K2 -Sm_K2, +Sm_K2:
//***********************************
if ((tek3_state_rb & 0x02)&&(tek3_state_rb & 0x04)) //RB1 & RB2==1
{
for (ib=0; ib<2;ib++)
{
if ((tek3_state_rb & (0x02 << ib)) && (!(pr_state_rb[ii] & (0x02 << ib))))
switch(ib)
{
case 0:
pr_ruk=1;
buf_per=0x16; //№22-влево
break;
case 1:
pr_ruk=1;
buf_per=0x96; //№22-вправо
break;
}//switch
} //for
} //if
// else
// {
if ((tek3_state_rb & 0x08)&&(tek3_state_rb & 0x10) && (!pr_ruk)) //RB3 & RB4==1 & (!pr_ruk)
{
for (ib=0; ib<2;ib++)
{
if ((tek3_state_rb & (0x08 << ib)) && (!(pr_state_rb[ii] & (0x08 << ib))))
switch(ib)
{
case 0:
{
buf_per=0x17; //№23-влево
break;
}
case 1:
{
buf_per=0x97; //№23-вправо
break;
}
}//switch
} //for
} //if
// } //else
// pr_state_rb[ii]=tek3_state_rb;
pr_ruk=0;
break;
case 2: //SL2
//Кнопки Raz, Pam:
if (!(tek3_state_rb & (1 << 0))) { buf_per=0x85; //№5-наж.
do
tek3_state_rb = input_b();
while (!(tek3_state_rb & (1 << 0)));
//отжатие произошло
while (buf_per!=0) {}
buf_per=0x05; //№5-отж.
break;
}
if (!(tek3_state_rb & (1 << 5))) { buf_per=0x86; //№6-наж.
do
tek3_state_rb = input_b();
while (!(tek3_state_rb & (1 << 5)));
//отжатие произошло
while (buf_per!=0) {}
buf_per=0x06; //№6-отж.
break;
}
//Ручки -T, +T -Del, +Del:
//***********************************
if ((tek3_state_rb & 0x02)&&(tek3_state_rb & 0x04)) //RB1 & RB2==1
{
for (ib=0; ib<2;ib++)
{
if ((tek3_state_rb & (0x02 << ib)) && (!(pr_state_rb[ii] & (0x02 << ib))))
switch(ib)
{
case 0:
pr_ruk=1;
buf_per=0x18; //№24-влево
break;
case 1:
pr_ruk=1;
buf_per=0x98; //№24-вправо
break;
}//switch
} //for
} //if
// else
{
if ((tek3_state_rb & 0x08)&&(tek3_state_rb & 0x10) && (!pr_ruk)) //RB3 & RB4==1 & (!pr_ruk)
{
for (ib=0; ib<2;ib++)
{
if ((tek3_state_rb & (0x08 << ib)) && (!(pr_state_rb[ii] & (0x08 << ib))))
switch(ib)
{
case 0:
{
buf_per=0x19; //№25-влево
break;
}
case 1:
{
buf_per=0x99; //№25-вправо
break;
}
}//switch
} //for
} //if
} //else
// pr_state_rb[ii]=tek3_state_rb;
pr_ruk=0;
break;
case 3: //SL3
//Кнопки Sinch, Pusk, Kurs, Izm:
if (!(tek3_state_rb & (1 << 0))) { buf_per=0x87; //№7-наж.
do
tek3_state_rb = input_b();
while (!(tek3_state_rb & (1 << 0)));
//отжатие произошло
while (buf_per!=0) {}
buf_per=0x07; //№7-отж.
break;
}
if (!(tek3_state_rb & (1 << 3))) { buf_per=0x88; //№8-наж.
do
tek3_state_rb = input_b();
while (!(tek3_state_rb & (1 << 3)));
//отжатие произошло
while (buf_per!=0) {}
buf_per=0x08; //№8-отж.
break;
}
if (!(tek3_state_rb & (1 << 4))) { buf_per=0x89; //№9-наж.
do
tek3_state_rb = input_b();
while (!(tek3_state_rb & (1 << 4)));
//отжатие произошло
while (buf_per!=0) {}
buf_per=0x09; //№9-отж.
break;
}
if (!(tek3_state_rb & (1 << 5))) { buf_per=0x8A; //№10-наж.
do
tek3_state_rb = input_b();
while (!(tek3_state_rb & (1 << 5)));
//отжатие произошло
while (buf_per!=0) {}
buf_per=0x0A; //№10-отж.
break;
}
//Ручки -Ur, +Ur :
//****************
if ((tek3_state_rb & 0x02)&&(tek3_state_rb & 0x04)) //RB1 & RB2==1
{
for (ib=0; ib<2;ib++)
{
if ((tek3_state_rb & (0x02 << ib)) && (!(pr_state_rb[ii] & (0x02 << ib))))
switch(ib)
{
case 0:
buf_per=0x1A; //№26-влево
break;
case 1:
buf_per=0x9A; //№26-вправо
break;
}//switch
} //for
} //if
// pr_state_rb[ii]=tek3_state_rb;
break;
case 4: // SL4
//Кнопки Pit, Sbor:
if (!(tek3_state_rb & (1 << 0))) { buf_per=0x8B; //№11-наж.
if (pr_wkl_pit==0)
{
pit_bkl();
}
break;
}
if (!(tek3_state_rb & (1 << 5))) { buf_per=0x8C; //№12-наж.
do
tek3_state_rb = input_b();
while (!(tek3_state_rb & (1 << 5)));
//отжатие произошло
while (buf_per!=0) {}
buf_per=0x0C; //№12-отж.
break;
}
//Ручки -Ur, +Ur :
//****************
if ((tek3_state_rb & 0x02)&&(tek3_state_rb & 0x04)) //RB1 & RB2==1
{
for (ib=0; ib<2;ib++)
{
if ((tek3_state_rb & (0x02 << ib)) && (!(pr_state_rb[ii] & (0x02 << ib))))
switch(ib)
{
case 0:
buf_per=0x1B; //№27-влево
break;
case 1:
buf_per=0x9B; //№27-вправо
break;
}//switch
} //for
} //if
// pr_state_rb[ii]=tek3_state_rb;
break;
case 5: //SL5
//Кнопки Men,"1", "2", "3", "4", "5":
if (!(tek3_state_rb & (1 << 0))) { buf_per=0x8D; //№13-наж.
do
tek3_state_rb = input_b();
while (!(tek3_state_rb & (1 << 0)));
//отжатие произошло
while (buf_per!=0) {}
buf_per=0x0D; //№13-отж.
break;
}
if (!(tek3_state_rb & (1 << 1))) { buf_per=0x8e; //№14-наж.
do
tek3_state_rb = input_b();
while (!(tek3_state_rb & (1 << 1)));
//отжатие произошло
while (buf_per!=0) {}
buf_per=0x0e; //№14-отж.
break;
}
if (!(tek3_state_rb & (1 << 2))) { buf_per=0x8f; //№15-наж.
do
tek3_state_rb = input_b();
while (!(tek3_state_rb & (1 << 2)));
//отжатие произошло
while (buf_per!=0) {}
buf_per=0x0f; //№15-отж.
break;
}
if (!(tek3_state_rb & (1 << 3))) { buf_per=0x90; //№16-наж.
do
tek3_state_rb = input_b();
while (!(tek3_state_rb & (1 << 3)));
//отжатие произошло
while (buf_per!=0) {}
buf_per=0x10; //№16-отж.
break;
}
if (!(tek3_state_rb & (1 << 4))) { buf_per=0x91; //№17-наж.
do
tek3_state_rb = input_b();
while (!(tek3_state_rb & (1 << 4)));
//отжатие произошло
while (buf_per!=0) {}
buf_per=0x11; //№17-отж.
break;
}
if (!(tek3_state_rb & (1 << 5))) { buf_per=0x92; //№18-наж.
do
tek3_state_rb = input_b();
while (!(tek3_state_rb & (1 << 5)));
//отжатие произошло
while (buf_per!=0) {}
buf_per=0x12; //№18-отж.
break;
}
pr_state_rb[ii]=tek3_state_rb;
break;
}//switch(ii)
pr_state_rb[ii]=tek3_state_rb;
}//if
}//for (ii)
}//while(1)
//output_bit(PIN_C3,1);
//BUF_CAP[i-1]=input(PIN_C4);
//output_bit( PIN_B2, 0); //Ldac в 0
//level = input_state(pin_A3);
} //main
void main()
{
setup_adc_ports(NO_ANALOGS);
setup_adc(ADC_CLOCK_DIV_2);
setup_psp(PSP_DISABLED);
setup_spi(SPI_SS_DISABLED);
setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1);
setup_timer_1(T1_DISABLED);
setup_timer_2(T2_DIV_BY_16,155,1);
setup_ccp1(CCP_PWM);
setup_ccp2(CCP_PWM);
set_pwm1_duty(312); // Inicia el Ciclo de Trabajo PWM1 en 50%.
set_pwm2_duty(312); // Inicia el Ciclo de Trabajo PWM2 en 50%.
setup_comparator(NC_NC_NC_NC);
setup_vref(FALSE);
set_tris_a(0b11100000); //
set_tris_c(0b10000000); //Pone RC7 como input y RC6 como output (y de 5 a 0 también)
set_tris_b(0b00000000); // Habilita como salidas los pines B0, B1,...,B7
set_tris_e(0b010);
// ************************ CONFIGURACIÓN PWM1 y PWM2: ************************
int32 brillo=0;
int32 exposicion=500; //Tiempo de exposición de la cámara en [ms]
int32 der_steps=0;
int32 izq_steps=0;
int32 led=0;
int32 motor=0;
int32 direccion=0;
int32 pasos=0;
int32 velocidad=0;
char leido_pantalla[5];
output_low(PIN_B0);
output_low(PIN_B1);
output_low(PIN_B2);
output_low(PIN_B3);
output_low(PIN_B4);
output_high(PIN_B6); // Siempre en 5V para conectar pull up 10kOhm de RA4 para SLEEP MOTOR 3 (altura)
set_pwm1_duty(0); // Mantiene Ciclos en 0 para reducir consumo al iniciar.
set_pwm2_duty(0);
//*************** INICIO ***************
while(true)
{
char seleccionar=0;
output_low(PIN_A2);
output_low(PIN_A3);
output_low(PIN_A4);
printf("Set parameters: e=exposicion(%Ld), v=velocidad(%Ld)\n\r",exposicion,velocidad);
printf(" b=brillo(%Ld), d=direccion(%Ld), p=pasos(%Ld)\n\r",brillo,direccion,pasos);
printf(" l=led(%Ld), m=motores(%Ld) \n\r",led,motor);
seleccionar=getc();
switch(seleccionar)
{
case 'v':
printf("Ingrese Velocidad en [ms] y [ENTER]\n\r");
fgets(leido_pantalla);
velocidad=atoi32(leido_pantalla);
break;
case 'e':
printf("Ingrese tiempo de exposicion en [ms] y [ENTER]\n\r");
fgets(leido_pantalla);
exposicion=atoi32(leido_pantalla);
break;
case 'b':
printf("Ingrese Ciclo de Trabajo para PWM1 (0-100) (brillo) y [ENTER]:\n\r");
fgets(leido_pantalla);
brillo=atoi(leido_pantalla);
set_pwm1_duty(brillo*20000000/(100*2000*16));
set_pwm2_duty(brillo*20000000/(100*2000*16));
break;
case 'l':
printf("Ingrese Led a encender: 0 a 7 y [ENTER]\n\r");
fgets(leido_pantalla);
led=atoi32(leido_pantalla);
break;
case 'd':
printf("Ingrese direccion 1=Derecha, 0=Izquierda y [ENTER]\n\r");
fgets(leido_pantalla);
direccion = atoi32(leido_pantalla);
break;
case 'p':
printf("Ingrese el numero de pasos a utlizar y [ENTER]\n\r");
fgets(leido_pantalla);
pasos = atoi32(leido_pantalla);
break;
case 'm':
printf("Ingrese el numero de motor a utlizar: 1,2 o 3 y [ENTER]\n\r");
fgets(leido_pantalla);
motor = atoi32(leido_pantalla);
break;
case '1':
led_on(led);
break;
case '2':
led_off();
break;
case '3':
motor_move(motor,pasos,direccion);
break;
case '4':
led_on_off(led,exposicion);
break;
case '5':
int32 pasos_restantes;
int32 steps;
int dir;
dir = direccion;
steps = pasos;
pasos_restantes = pasos;
motor_on(motor);
while(pasos_restantes > 0){
printf("pasos_restantes: %Ld\n\r",pasos_restantes);
delay_us(200);
steps = motores4(pasos_restantes,dir,velocidad);
pasos_restantes = pasos_restantes - steps;
if (pasos_restantes <=0)
break;
delay_us(200);
dir = (dir == 0)?1:0;
motores2(2000,dir);
}
break;
case '6':
int32 pasos_restantes2;
int32 steps2;
int dir2;
dir2 = direccion;
steps2 = pasos;
pasos_restantes2 = pasos;
motor_on(motor);
while(true){
printf("pasos restantes: %Ld\n\r",pasos_restantes2);
delay_us(200);
steps2 = motores4(pasos_restantes2,dir2,velocidad);
delay_us(200);
dir2 = (dir2 == 0)?1:0;
motores2(2000,dir2);
pasos_restantes2 = pasos_restantes2 - steps2;
if (pasos_restantes2 <=0)
pasos_restantes2 = pasos;
}
break;
case '7':
int32 steps3;
motor_on(motor);
steps3 = motores4(pasos,direccion,velocidad);
if (steps3 - pasos < 0){
direccion = (direccion == 0)?1:0;
motores2(2000,direccion);
delay_us(200);
motores3(2147483640,direccion);
direccion = (direccion == 0)?1:0;
motores2(2000,direccion);
}
break;
case '8':
printf("Setup Calibracion Quick\n\r");
motor_on(motor);
motores3(2147483640,DERECHA);
delay_us(200);
motores2(2000,IZQUIERDA);
delay_us(200);
izq_steps = motores3(2147483640,IZQUIERDA);
delay_us(200);
motores2(2000,DERECHA);
delay_us(200);
der_steps = motores3(2147483640,DERECHA);
printf("izq_steps ->%Ld<- \n\r",izq_steps);
printf("der_steps ->%Ld<- \n\r",der_steps);
while(true){
motores2(izq_steps,IZQUIERDA);
delay_us(200);
motores2(der_steps,DERECHA);
delay_us(200);
}
case '9':
printf("Setup Velocidad ...\n\r");
output_high(PIN_A4);
motores2(2000,IZQUIERDA);
delay_us(200);
izq_steps = motores3(2147483640,IZQUIERDA);
delay_us(200);
motores2(2000,DERECHA);
delay_us(200);
der_steps = motores3(2147483640,DERECHA);
printf("izq_steps ->%Ld<- \n\r",izq_steps);
printf("der_steps ->%Ld<- \n\r",der_steps);
motores4(izq_steps,IZQUIERDA,velocidad);
delay_us(200);
motores4(der_steps,DERECHA,200);
delay_us(200);
break;
}
}
} //FIN MAIN
