void main(void)
{
//variables
unsigned char i;
//inputs and outputs
TRISA = 0;
TRISB = 0;
TRISC = 0;
TRISD = 0;
TRISE = 0;
ADCON1 = 0x0F;
LCD_Init();
LCD_Move(0,0); for (i=0; i<20; i++) LCD_Write(MSG0[i]);
Wait_ms(3000);
LCD_Inst(1);
// set up Timer0 for PS = 1
T0CS = 0;
T0CON = 0x88;
TMR0ON = 1;
TMR0IE = 1;
TMR0IP = 1;
PEIE = 1;
// set up Timer1 for 1ms
TMR1CS = 0;
T1CON = 0x81;
TMR1ON = 1;
TMR1IE = 1;
TMR1IP = 1;
PEIE = 1;
// set up Timer3 for 1ms
TMR3CS = 0;
T3CON = 0x81;
TMR3ON = 1;
TMR3IE = 1;
TMR3IP = 1;
PEIE = 1;
//Turn on all interrupts
GIE = 1;
while(1){
LCD_Move(1,0); LCD_Out(Timer0, 3);
}
}
//%%%%%%%%%%%%%%%%%%%%%%%% Main %%%%%%%%%%%%%%%%%%%%%%%%
void main(void)
{
// Initialize the SPI port
SSPIE = 0;
TRISC5 = 0;
TRISC4 = 1;
TRISC3 = 0;
TRISC6 = 0;
SSPSTAT = 0x40;
SSPCON1 = 0x22;
// Turn on Timer0
T0CON = 0x88;
TMR0ON = 1;
TMR0IE = 1;
TMR0IP = 1;
TMR0 = -3150;
// Turn on TMR1
TMR1ON = 1;
// Turn on Timer3
T3CON = 0x81;
TMR3ON = 1;
TMR3IE = 1;
TMR3IP = 1;
TMR3 = -2500;
// Capture on RC1 for rising edge
TRISC1 = 1;
CCP2CON = 0x05;
CCP2IE = 1;
CCP2IP=1;
// Capture on RC2 for falling edge
TRISC2 = 1;
CCP1CON = 0x04;
CCP1IE = 1;
CCP1IP=1;
// initialize INT0 interrupts
TRISB0 = 1;
INT0IE = 1;
//INT0IP = 1;
INTEDG0 = 1; // rising edges
// initialize INT0 interrupts
INT1IE = 1;
INT1IP = 1;
TRISB1 = 1;
INTEDG1 = 1; // rising edges
PEIE = 1;
GIE = 1;
ADCON1 = 0x0F;
// PORTD assignments (not used)
TRISD=0x00;
// PORTC assignments
TRISC0 = 0; // RF Signal Output
TRISC1 = 1; // Capture IR edges
TRISC2 = 1; // Capture IR edges
TRISC3 = 0; // EEPROM SCK
TRISC4 = 1; // EEPROM SO
TRISC5 = 0; // EEPROM SI
TRISC6 = 0; // EEPROM CS
TRISC7 = 0; // LED Program Indicator Light
// PORTB assignments
TRISB0 = 1; // Right Button (Forward: single press & Enter: double press)
TRISB1 = 1; // Left Button (Backward: single press & Cancel: double press)
TRISB2 = 1; // Program Button (Red)
TRISB3 = 1; // IR Out Button !!!!REMOVE LATER
TRISB4 = 1; // RF Out Button !!!!REMOVE LATER
TRISB5 = 0; // Enclosure Red LED
TRISB6 = 0; // Enclosure Green LED
TRISB7 = 0; // Enclosure Blue LED
// PORTA assignments
TRISA0 = 0;
TRISA1 = 0; // IR Singal Output
TRISA2 = 0; // Voice Chip
TRISA3 = 0; // Voice Chip
TRISA4 = 1; // Voice Chip
TRISA5 = 1; // Voice Chip
// PORTE assignments
TRISE0 = 1; // Radio
TRISE1 = 0; // Radio
// Assign values to variables
Time = 0;
x = 0;
Color = 0;
RED = 1;
GREEN = 0;
BLUE = 0;
Count = 0;
R=0;
B=0;
G=0;
Dnr=0;
Dnb=0;
Dng=0;
soothing = 0;
glower = 0;
z0=0;
z1=2;
Move=0;
Menu=1;
Sub=0;
Cat=0;
Com=0;
Module = 0x0000;
LED = 1;
DO=0;
// Ports
RA1 = 0;
RC7 = 0;
PORTD=0x00;
RA2=0;
RC0 = 0;
LCD_Init();
while(1) {
if (LED==0){RB7=0; RB6=0; RB5=0;}
else if (LED==1){Soothing();}
else if (LED==2){Glower();}
//%%%%%%%%%%%%%%%% TEST %%%%%%%%%%%%%%%%
if(RB4) {RF_output(A2, A2_ON[18], A2_OFF[18]); A2=(A2+1)%2;} // RF {IR_output(0);}
if(RB2) {IR_Program(0);} // IR Program Button
if(RB3) {IR_output(0);} // IR Transmit Button
if(RA5) Set_Play(0x1B, 0x28);
// Radio
if (RE0==1){RE1=1;} //
else{RE1=0;}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
// Control States
if((z0!=0)|(z1!=0)){
Move=1;
if(Menu==1){
if(z0==1) {Module=(Module+0x1000); z0=0;
switch(Module){
case 0x7000: Module=0x0000; break;}
}
else if(z1==1){Module=(Module-0x1000); z1=0;
switch(Module){
case 0xF000: Module=0x6000; break;}
}
else if(z0==2){z0=0; Menu=0; Sub=1;}
else if(z1==2){z1=0;}
}
else if(Sub==1){
if(z0==1) {Module=(Module+0x0100); z0=0;
switch(Module){
case 0x0400: Module=0x0000; break;
case 0x1500: Module=0x1000; break;
case 0x2300: Module=0x2000; break;
case 0x3300: Module=0x3000; break;
case 0x4200: Module=0x4000; break;
case 0x5500: Module=0x5000; break;
case 0x6C00: Module=0x6000; break;}
}
else if(z1==1){Module=(Module-0x0100); z1=0;
switch(Module){
case 0xFF00: Module=0x0300; break;
case 0x0F00: Module=0x1400; break;
case 0x1F00: Module=0x2200; break;
case 0x2F00: Module=0x3100; break;
case 0x3F00: Module=0x4100; break;
case 0x4F00: Module=0x5400; break;
case 0x5F00: Module=0x6B00; break;}
}
else if(z0==2){
switch(Module){
case 0x0000: DO=1;
case 0x0100: DO=1;
case 0x0400: DO=1;
case 0x0500: DO=1;
case 0x1000: DO=0;
case 0x1100: DO=0;
case 0x1200: DO=0;
case 0x1300: DO=0;
case 0x1400: DO=0;
case 0x2000: DO=0;
case 0x2100: DO=0;
case 0x2200: DO=0;
case 0x3000: DO=0;
case 0x3100: DO=0;
case 0x3200: DO=0;
case 0x4000: DO=0;
case 0x4100: DO=0;
case 0x5000: DO=0;
case 0x5100: DO=0;
case 0x5200: DO=0;
case 0x5300: DO=0;
case 0x5400: DO=0;
default: z0=0; Sub=0; Cat=1;
}
}
else if(z1==2){z1=0; Sub=0; Menu=1; Module=(Module & 0xF000);}
}
else if(Cat==1){
if(z0==1) {Module=(Module+0x0010); z0=0;
switch(Module){
case 0x0240: Module=0x0200; break;
case 0x03A0: Module=0x0300; break;}
}
else if(z1==1){Module=(Module-0x0010); z1=0;
switch(Module){
case 0x01F0: Module=0x0230; break;
case 0x02F0: Module=0x0390; break;}
}
else if(z0==2){
switch(Module){
case 0x0300: DO=1;
case 0x0310: DO=1;
case 0x0320: DO=1;
case 0x0330: DO=1;
case 0x0340: DO=1;
case 0x0350: DO=1;
case 0x0360: DO=1;
case 0x0370: DO=1;
case 0x0380: DO=1;
case 0x0390: DO=1;
default: z0=0; Cat=0; Com=1;
}
}
else if(z1==2){z1=0; Cat=0; Sub=1; Module=(Module & 0xFF00);}
}
else if(Com==1){
if(z0==1) {Module=(Module+0x0001); z0=0;
switch(Module & 0x020F){
case 0x0205: Module=Module & 0x02F0; break;}
}
else if(z1==1){Module=(Module-0x0001); z1=0;
switch(Module & 0x000F){
case 0x000F: Module=((Module+0x0010) & 0x00F0)+0x0204; break;}
}
else if(z0==2){z0=0; DO=1;}
else if(z1==2){z1=0; Com=0; Cat=1; Module=(Module & 0xFFF0);}
}
}
// Output voice and maybe function
if(Move==1){
Move=0;
LCD_Move(3,0); LCD_Out(Module); /// REMOVE LATER!!!!!!!!
if(Menu==1){
switch(Module){
case 0x0000: // TV
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG[i]); break;
case 0x1000: // X-10
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG1[i]); break;
case 0x2000: // Radio
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG2[i]); break;
case 0x3000: // LED Control
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG3[i]); break;
case 0x4000: // Volume
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG4[i]); break;
case 0x5000: // Comments
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG5[i]); break;
case 0x6000: // IR Programing
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG49[i]); break;
}
}
else if(Sub==1){
switch (Module){
// TV
case 0x0000:
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG6[i]);
if(DO==1){IR_output(0);}
break;
case 0x0100:
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG0[i]);
if(DO==1){IR_output(1);}
break;
case 0x0200:
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG7[i]);
break;
case 0x0300:
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG8[i]);
break;
case 0x0400:
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG50[i]);
if(DO==1){IR_output(2);}
break;
case 0x0500:
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG51[i]);
if(DO==1){IR_output(3);}
break;
// X-10
case 0x1000:
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG9[i]);
if(DO==1){RF_output(A1, A1_ON[18], A1_OFF[18]); A1=(A1+1)%2;}
break;
case 0x1100:
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG10[i]);
if(DO==1){RF_output(A2, A2_ON[18], A2_OFF[18]); A2=(A2+1)%2;}
break;
case 0x1200:
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG11[i]);
if(DO==1){RF_output(A3, A3_ON[18], A3_OFF[18]); A3=(A3+1)%2;}
break;
case 0x1300:
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG12[i]);
if(DO==1){RF_output(A4, A4_ON[18], A4_OFF[18]); A4=(A4+1)%2;}
break;
case 0x1400:
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG13[i]);
if(DO==1){RF_output(A5, A5_ON[18], A5_OFF[18]); A5=(A5+1)%2;}
break;
// Radio
case 0x2000:
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG14[i]);
if(DO==1){}
break;
case 0x2100:
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG15[i]);
if(DO==1){}
break;
case 0x2200:
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG16[i]);
if(DO==1){}
break;
// LED Control
case 0x3000:
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG19[i]);
if(DO==1){LED = 0;}
break;
case 0x3100:
if(DO==1){LED = 1;}
break;
case 0x3200:
if(DO==1){LED = 2;}
break;
// Master Volume
case 0x4000:
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG17[i]);
if(DO==1){}
break;
case 0x4100:
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG18[i]);
if(DO==1){}
break;
// Comments
case 0x5000:
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG20[i]);
if(DO==1){}
break;
case 0x5100:
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG21[i]);
if(DO==1){}
break;
case 0x5200:
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG22[i]);
if(DO==1){}
break;
case 0x5300:
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG23[i]);
if(DO==1){}
break;
case 0x5400:
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG24[i]);
if(DO==1){}
break;
}
}
else if(Cat==1){
switch (Module){
// Channel Categories
case 0x0200:
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG25[i]);
break;
case 0x0210:
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG26[i]);
break;
case 0x0220:
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG27[i]);
break;
case 0x0230:
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG28[i]);
break;
// Channel Numbers
case 0x0300:
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG39[i]);
if(DO==1){IR_output(4);}
break;
case 0x0310:
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG40[i]);
if(DO==1){IR_output(5);}
break;
case 0x0320:
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG41[i]);
if(DO==1){IR_output(6);}
break;
case 0x0330:
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG42[i]);
if(DO==1){IR_output(7);}
break;
case 0x0340:
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG43[i]);
if(DO==1){IR_output(8);}
break;
case 0x0350:
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG44[i]);
if(DO==1){IR_output(9);}
break;
case 0x0360:
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG45[i]);
if(DO==1){IR_output(10);}
break;
case 0x0370:
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG46[i]);
if(DO==1){IR_output(11);}
break;
case 0x0380:
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG47[i]);
if(DO==1){IR_output(12);}
break;
case 0x0390:
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG48[i]);
if(DO==1){IR_output(13);}
break;
}
}
else if(Com==1){
switch (Module){
// Sports
case 0x0200:
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG29[i]);
if(DO==1){
IR_output(10);
for(i=0;i<10000;i++);
IR_output(9);
for(i=0;i<10000;i++);
IR_output(13);
}
break;
case 0x0201:
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG30[i]);
if(DO==1){
IR_output(10);
for(i=0;i<10000;i++);
IR_output(9);
for(i=0;i<10000;i++);
IR_output(13);
}
break;
case 0x0202:
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG31[i]);
if(DO==1){
IR_output(10);
for(i=0;i<10000;i++);
IR_output(9);
for(i=0;i<10000;i++);
IR_output(13);
}
break;
case 0x0203:
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG32[i]);
if(DO==1){
IR_output(10);
for(i=0;i<10000;i++);
IR_output(9);
for(i=0;i<10000;i++);
IR_output(13);
}
break;
case 0x0204:
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG33[i]);
if(DO==1){
IR_output(10);
for(i=0;i<10000;i++);
IR_output(9);
for(i=0;i<10000;i++);
IR_output(13);
}
break;
// Cartoons
case 0x0210:
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG34[i]);
if(DO==1){
IR_output(10);
for(i=0;i<10000;i++);
IR_output(9);
for(i=0;i<10000;i++);
IR_output(13);
}
break;
case 0x0211:
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG35[i]);
if(DO==1){
IR_output(10);
for(i=0;i<10000;i++);
IR_output(9);
for(i=0;i<10000;i++);
IR_output(13);
}
break;
case 0x0212:
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG36[i]);
if(DO==1){
IR_output(10);
for(i=0;i<10000;i++);
IR_output(9);
for(i=0;i<10000;i++);
IR_output(13);
}
break;
case 0x0213:
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG37[i]);
if(DO==1){
IR_output(10);
for(i=0;i<10000;i++);
IR_output(9);
for(i=0;i<10000;i++);
IR_output(13);
}
break;
case 0x0214:
LCD_Move(0,0);for (i=0; i<5; i++) LCD_Write(MSG38[i]);
if(DO==1){
IR_output(10);
for(i=0;i<10000;i++);
IR_output(9);
for(i=0;i<10000;i++);
IR_output(13);
}
break;
}
}
}
}
}
int main(void) {
// Cache on, min flash wait, interrupts on, LED/button init, UART init
NU32_Startup();
// Setup LCD and create message to be sent
LCD_Setup();
char message[MAX_MESSAGE_LENGTH];
// Local variables for determining and setting Timer interrupts based on FPS
int Time1_Side = 0, N_Side = 0, PR_Side = 0, TCKPS_Side = 0;
int Time1_Top = 0, N_Top = 0, PR_Top = 0, TCKPS_Top = 0;
// =============================================================================================
// Change Notification Digital Input Interrupt from PPOD
// =============================================================================================
CNPUEbits.CNPUE17 = 0; // CN17/RF4 input has no internal pull-up
oldF = PORTF; // all pins of port F are inputs, by default
__builtin_disable_interrupts(); // step 1: disable interrupts
CNCONbits.ON = 1; // step 2: configure peripheral: turn on CN
CNENbits.CNEN17 = 1; // listen to CN17/RF4
IPC6bits.CNIP = 3; // step 3: set interrupt priority
IPC6bits.CNIS = 2; // step 4: set interrupt subpriority
IFS1bits.CNIF = 0; // step 5: clear the interrupt flag
IEC1bits.CNIE = 1; // step 6: enable the _CN interrupt
__builtin_enable_interrupts(); // step 7: CPU enabled for mvec interrupts
// =============================================================================================
// PWM and digital output for piezoelectric droplet generator
// =============================================================================================
OC1CONbits.OCTSEL = 1; // Select Timer3 for comparison
T3CONbits.TCKPS = 0; // Timer3 prescaler N=1 (1:1)
PR3 = 3999; // period = (PR3+1) * N * 12.5 ns = 20 kHz
TMR3 = 0; // initial TMR3 count is 0
OC1CONbits.OCM = 0b110; // PWM mode with no fault pin; other OC1CON bits are defaults
OC1RS = 0; // duty cycle = OC1RS/(PR3+1) = 75%
OC1R = 0; // initialize before turning OC1 on; afterward it is read-only
T3CONbits.ON = 1; // turn on Timer3
OC1CONbits.ON = 1; // turn on OC1
// Set A10/A2 to digital output pins
TRISAbits.TRISA10 = 0; // RA10 is an output pin
TRISAbits.TRISA2 = 0; // RA2 is an output pin
//-Vcc: set L1 to HIGH, L2 to LOW, PWMA to >0
OC1RS = 4000;
LATAbits.LATA10 = 1;
LATAbits.LATA2 = 0;
// =============================================================================================
// TrackCam ExSync Trigger - Side (A3), Top (A4)
// =============================================================================================
// Digital output pin
TRISAbits.TRISA3 = 0;
TRISAbits.TRISA4 = 0;
// Set to HIGH
LATAbits.LATA3 = 1;
LATAbits.LATA4 = 1;
// =============================================================================================
// Keep program running to look for command from master to start record procedure
// =============================================================================================
while(1) {
// Get message from computer
NU32_ReadUART1(message, MAX_MESSAGE_LENGTH);
//Serial message: [NUMIMAGES_Side, FPS_Side, NUMIMAGES_Top, FPS_Top, PULSETIME, DELAYTIME]
sscanf(message, "%d%*c %d%*c %d%*c %d%*c %d%*c %f", &NUMIMAGES_Side, &FPS_Side, &NUMIMAGES_Top, &FPS_Top, &PULSETIME, &DELAYTIME); //%*c reads in comma and ignores it
// -------------------------------------------------------------------------------------------
// Side Camera Interrupt - NUMIMAGES_Side Hz - Timer2
// -------------------------------------------------------------------------------------------
// Calculate pre-scaler based on FPS_Side
Time1_Side = (((1.0/FPS_Side*1.0)*1e9)/12.5);
N_Side = ceil( (Time1_Side*1.0/65535.0) );
// Select best pre-scaler of 1, 2, 4, 8, 16, 32, 64, or 256
if( N_Side == 1 ) {
N_Side = 1;
TCKPS_Side = 0;
}
else if( N_Side <= 2 ) {
N_Side = 2;
TCKPS_Side = 1;
}
else if( N_Side <= 4 ) {
N_Side = 4;
TCKPS_Side = 2;
}
else if( N_Side <= 8 ) {
N_Side = 8;
TCKPS_Side = 3;
}
else if( N_Side <= 16 ) {
N_Side = 16;
TCKPS_Side = 4;
}
else if( N_Side <= 32 ) {
N_Side = 32;
TCKPS_Side = 5;
}
else if( N_Side <= 64 ) {
N_Side = 64;
TCKPS_Side = 6;
}
else {
N_Side = 256;
TCKPS_Side = 7;
}
// Calculate period register based on selected prescaler
PR_Side = (Time1_Side / N_Side) - 1;
__builtin_disable_interrupts(); // INT step 2: disable interrupts at CPU
// INT step 3: setup TMR2 to call ISR at frequency of 5 kHz
PR2 = PR_Side; // set period register to 16,000
TMR2 = 0; // initialize count to 0
T2CONbits.TCKPS = TCKPS_Side; // set prescaler to 1:1
T2CONbits.ON = 1; // turn on Timer2
IPC2bits.T2IP = 5; // INT step 4: priority 5
IPC2bits.T2IS = 2; // subpriority 2
IFS0bits.T2IF = 0; // INT step 5: clear interrupt flag
IEC0bits.T2IE = 1; // INT step 6: enable interrupt
__builtin_enable_interrupts(); // INT step 7: enable interrupts at CPU
// -------------------------------------------------------------------------------------------
// Top Camera Interrupt - NUMIMAGES_Top Hz - Timer4
// -------------------------------------------------------------------------------------------
// Calculate pre-scaler based on FPS_Top
Time1_Top = (((1.0/FPS_Top)*1e9)/12.5);
N_Top = ceil( (Time1_Top/65535.0) );
// Select best pre-scaler of 1, 2, 4, 8, 16, 32, 64, or 256
if( N_Top == 1 ) {
N_Top = 1;
TCKPS_Top = 0;
}
else if( N_Top <= 2 ) {
N_Top = 2;
TCKPS_Top = 1;
}
else if( N_Top <= 4 ) {
N_Top = 4;
TCKPS_Top = 2;
}
else if( N_Top <= 8 ) {
N_Top = 8;
TCKPS_Top = 3;
}
else if( N_Top <= 16 ) {
N_Top = 16;
TCKPS_Top = 4;
}
else if( N_Top <= 32 ) {
N_Top = 32;
TCKPS_Top = 5;
}
else if( N_Top <= 64 ) {
N_Top = 64;
TCKPS_Top = 6;
}
else {
N_Top = 256;
TCKPS_Top = 7;
}
// Calculate period register based on selected prescaler
PR_Top = (Time1_Top / N_Top) - 1;
__builtin_disable_interrupts(); // INT step 2: disable interrupts at CPU
// INT step 3: setup TMR2 to call ISR at frequency of 5 kHz
PR4 = PR_Top; // set period register to 16,000
TMR4 = 0; // initialize count to 0
T4CONbits.TCKPS = TCKPS_Top; // set prescaler to 1:1
T4CONbits.ON = 1; // turn on Timer2
IPC4bits.T4IP = 5; // INT step 4: priority 5
IPC4bits.T4IS = 0; // subpriority 0
IFS0bits.T4IF = 0; // INT step 5: clear interrupt flag
IEC0bits.T4IE = 1; // INT step 6: enable interrupt
__builtin_enable_interrupts(); // INT step 7: enable interrupts at CPU
// Convert DELAYTIME to DelayFrames
//DelayFrames_Side = DELAYTIME*FPS_Side;
// Turn RecordFlag ON since we have received from master
RecordFlag = 1;
// Display properties on LCD
LCD_Clear();
LCD_Move(0,0);
sprintf(message, "%d, %d, %d", NUMIMAGES_Side, FPS_Side, FPS_Top);
//sprintf(message, "%d, %d, %d", PR2, N_Side, T2CONbits.TCKPS);
LCD_WriteString(message);
LCD_Move(1,0);
sprintf(message, "%d, %f", PULSETIME, DELAYTIME);
//sprintf(message, "%d, %d, %d", PR4, N_Top, T4CONbits.TCKPS);
LCD_WriteString(message);
}
return 0;
}
int main(void) {
// Cache on, min flash wait, interrupts on, LED/button init, UART init
NU32_Startup();
LCD_Setup();
char message[MAX_MESSAGE_LENGTH];
// =============================================================================================
// Change Notification Digital Input Interrupt from PPOD
// =============================================================================================
CNPUEbits.CNPUE17 = 0; // CN17/RF4 input has no internal pull-up
oldF = PORTF; // all pins of port F are inputs, by default
__builtin_disable_interrupts(); // step 1: disable interrupts
CNCONbits.ON = 1; // step 2: configure peripheral: turn on CN
CNENbits.CNEN17 = 1; // listen to CN17/RF4
IPC6bits.CNIP = 3; // step 3: set interrupt priority
IPC6bits.CNIS = 2; // step 4: set interrupt subpriority
IFS1bits.CNIF = 0; // step 5: clear the interrupt flag
IEC1bits.CNIE = 1; // step 6: enable the _CN interrupt
__builtin_enable_interrupts(); // step 7: CPU enabled for mvec interrupts
// =============================================================================================
// PWM and digital output for piezoelectric droplet generator
// =============================================================================================
OC1CONbits.OCTSEL = 1; // Select Timer3 for comparison
T3CONbits.TCKPS = 0; // Timer3 prescaler N=1 (1:1)
PR3 = 3999; // period = (PR3+1) * N * 12.5 ns = 20 kHz
TMR3 = 0; // initial TMR3 count is 0
OC1CONbits.OCM = 0b110; // PWM mode with no fault pin; other OC1CON bits are defaults
OC1RS = 0; // duty cycle = OC1RS/(PR3+1) = 75%
OC1R = 0; // initialize before turning OC1 on; afterward it is read-only
T3CONbits.ON = 1; // turn on Timer3
OC1CONbits.ON = 1; // turn on OC1
// Set A10/A2 to digital output pins
TRISAbits.TRISA10 = 0; // RA10 is an output pin
TRISAbits.TRISA2 = 0; // RA2 is an output pin
//-Vcc: set L1 to HIGH, L2 to LOW, PWMA to >0
OC1RS = 4000;
LATAbits.LATA10 = 1;
LATAbits.LATA2 = 0;
// =============================================================================================
// TrackCam ExSync Trigger
// =============================================================================================
// Set A3 to digital output pin
TRISAbits.TRISA3 = 0; // RA3 is an output pin
//Set A3 to HIGH
LATAbits.LATA3 = 1;
// =============================================================================================
// Keep program running to look for command from master to start record procedure
// =============================================================================================
while(1) {
// Get message from computer
NU32_ReadUART1(message, MAX_MESSAGE_LENGTH);
//Serial message: [NUMIMAGES, FPS, PULSETIME, DELAYTIME]
sscanf(message, "%d%*c %d%*c %d%*c %f", &NUMIMAGES, &FPS, &PULSETIME, &DELAYTIME); //%*c reads in comma and ignores it
// Convert DELAYTIME to DelayFrames
DelayFrames = DELAYTIME*FPS;
// Turn RecordFlag ON since we have received from master
RecordFlag = 1;
// Display properties on LCD
LCD_Clear();
LCD_Move(0,0);
sprintf(message, "%d, %d", NUMIMAGES, FPS);
LCD_WriteString(message);
sprintf(message, "%d, %f", PULSETIME, DELAYTIME);
LCD_Move(1,0);
LCD_WriteString(message);
}
return 0;
}