/*******************************************************************************
* FUNCTION NAME: main
* PURPOSE: Main program function.
* CALLED FROM: ifi_startup.c
* ARGUMENTS: none
* RETURNS: void
* DO NOT DELETE THIS FUNCTION
*******************************************************************************/
void main (void)
{
#ifdef UNCHANGEABLE_DEFINITION_AREA
IFI_Initialization (); /* DO NOT CHANGE! */
#endif
statusflag.NEW_SPI_DATA = 0; /* DO NOT CHANGE! */
User_Initialization(); /* You edit this in user_routines.c */
#if ENABLE_AUTONOMOUS_MODE
txdata.user_cmd = 0x02; /* Tell master you want to be in auton mode. */
#endif
while (1) /* This loop will repeat indefinitely. */
{
#ifdef _SIMULATOR
statusflag.NEW_SPI_DATA = 1;
#endif
if (statusflag.NEW_SPI_DATA) /* 18.5ms loop area */
{ /* I'm slow! I only execute every 18.5ms because */
/* that's how fast the Master uP gives me data. */
Process_Data_From_Master_uP(); /* You edit this in user_routines.c */
// Haha I changed it.
// Pressing 5 up on the OI makes this happen. This is not desired.
// if (autonomous_mode) /* DO NOT CHANGE! */
// {
// User_Autonomous_Code(); /* You edit this in user_routines_fast.c */
// }
}
Process_Data_From_Local_IO(); /* You edit this in user_routines_fast.c */
/* I'm fast! I execute during every loop.*/
} /* while (1) */
} /* END of Main */
/*
* INITIALIZATION AND MISC
*/
void setup_1(void)
{
uint8_t i;
IFI_Initialization();
/* Initialize serial port communication. */
statusflag.b.NEW_SPI_DATA = 0;
usart1_open(USART_TX_INT_OFF
& USART_RX_INT_OFF
& USART_ASYNCH_MODE
& USART_EIGHT_BIT
& USART_CONT_RX
& USART_BRGH_HIGH,
kBaud115);
delay1ktcy(50);
/* Make the master control all PWMs (for now) */
txdata.pwm_mask.a = 0xFF;
for (i = IX_DIGITAL(1); i <= IX_DIGITAL(CT_DIGITAL); ++i) {
digital_setup(i, false);
}
/* Init ADC */
/* Setup the number of analog sensors. The PIC defines a series of 15
* ADC constants in mcc18/h/adc.h that are all of the form 0b1111xxxx,
* where x counts the number of DIGITAL ports. In total, there are
* sixteen ports numbered from 0ANA to 15ANA.
*/
if (NUM_ANALOG_VALID(USER_CT_ANALOG) && USER_CT_ANALOG > 0) {
/* ADC_FOSC: Based on a baud_115 value of 21, given the formula
* FOSC/(16(X + 1)) in table 18-1 of the PIC18F8520 doc the
* FOSC is 40Mhz.
* Also according to the doc, section 19.2, the
* ADC Freq needs to be at least 1.6us or 0.625MHz. 40/0.625=64
* (Also, see table 19-1 in the chip doc)
*/
#if defined(MCC18)
OpenADC( ADC_FOSC_64 & ADC_RIGHT_JUST &
( 0xF0 | (16 - USER_CT_ANALOG) ) ,
ADC_CH0 & ADC_INT_OFF & ADC_VREFPLUS_VDD &
ADC_VREFMINUS_VSS );
#elif defined(SDCC)
adc_open(
ADC_CHN_0,
ADC_FOSC_64,
ADC_CFG_16A,
ADC_FRM_RJUST | ADC_INT_OFF | ADC_VCFG_VDD_VSS );
#else
#error "Bad Comp"
#endif
} else {
/* TODO: Handle the error. */
puts("ADC is disabled");
}
}
/*
* INITIALIZATION AND MISC
*/
void setup_1(void) {
uint8_t i;
IFI_Initialization();
/* Prevent the "slow loop" from executing until data has been received
* from the master processor.
*/
statusflag.NEW_SPI_DATA = 0;
/* Enable autonomous mode. FIXME: Magic Number (we need an enum of valid "user_cmd"s) */
/* txdata.user_cmd = 0x02; */
/* Make the master control all PWMs (for now) */
txdata.pwm_mask.a = 0xFF;
/* Initialize all pins as inputs unless overridden.
*/
for (i = 0; i < 16; ++i) {
pin_set_io( i, kInput);
}
/* Initialize Serial */
Open1USART(USART_TX_INT_OFF &
USART_RX_INT_OFF &
USART_ASYNCH_MODE &
USART_EIGHT_BIT &
USART_CONT_RX &
USART_BRGH_HIGH,
kBaud115);
Delay1KTCYx( 50 ); /* Settling time (5K Clock ticks) */
/* Init ADC */
/* Setup the number of analog sensors. The PIC defines a series of 15
* ADC constants in mcc18/h/adc.h that are all of the form 0b1111xxxx,
* where x counts the number of DIGITAL ports. In total, there are
* sixteen ports numbered from 0ANA to 15ANA.
*/
if ( NUM_ANALOG_VALID(kNumAnalogInputs) && kNumAnalogInputs > 0 ) {
/* ADC_FOSC: Based on a baud_115 value of 21, given the formula
* FOSC/(16(X + 1)) in table 18-1 of the PIC18F8520 doc the FOSC
* is 40Mhz.
* Also according to the doc, section 19.2, the
* ADC Freq needs to be at least 1.6us or 0.625MHz. 40/0.625=64
* (Also, see table 19-1 in the chip doc)
*/
OpenADC(
ADC_FOSC_64 & ADC_RIGHT_JUST &
( 0xF0 | (16 - kNumAnalogInputs) ) ,
ADC_CH0 & ADC_INT_OFF & ADC_VREFPLUS_VDD &
ADC_VREFMINUS_VSS
);
}
}