int main(void) {
NU32_Startup();
//NU32_WriteUART1("HelloWorld\n");
char buf[MESSAGE_MAX];
int c='0';
char state='x';
int n=0;
//allocate struct array of max size
//struct args control_args = (struct args)malloc(N_MAX * sizeof(struct args));
struct args control_args[N_MAX];
while (1) {
NU32_WriteUART1("Press w to write, r to read, and x to swing\r\n");
NU32_ReadUART1(buf,MESSAGE_MAX);
c = buf[0];
if(c=='w'){
NU32_WriteUART1("Input n: \r\n");
NU32_ReadUART1(buf, MESSAGE_MAX);
sscanf(buf,"%d", &n);
write_swing(n, control_args);
}
else if(c=='r'){
read_swing(n,control_args);
}
else if(c=='x'){
//swing robot
}
}
//free(control_args);
}
void write_swing(int n, struct args* control_args){
//Note: this function will be condensed after testing
//get input from user and send to the PIC
int torque, t_swing, t_flight;
char torque_buf[10], swing_buf[10], fly_buf[10];
char message[MESSAGE_MAX];
//struct args control_args[n];
int i;
for (i=0; i<n; i++){
sprintf(message, "Enter data for set %d\r\n", i+1);
NU32_WriteUART1(message);
//Torque
NU32_WriteUART1("Torque: ");
NU32_ReadUART1(torque_buf, 10);
sscanf(torque_buf, "%d", &torque);
sprintf(message, "%d \r\n", torque);
NU32_WriteUART1(message);
control_args[i].torque = torque;
//Time swinging
NU32_WriteUART1("Time to swing: ");
NU32_ReadUART1(swing_buf, 10);
sscanf(swing_buf, "%d", &t_swing);
sprintf(message, "%d \r\n", t_swing);
NU32_WriteUART1(message);
control_args[i].t_swing = t_swing;
//Time in flight
NU32_WriteUART1("Time to fly: ");
NU32_ReadUART1(fly_buf,10);
sscanf(fly_buf, "%d", &t_flight);
sprintf(message, "%d \r\n\n", t_flight);
NU32_WriteUART1(message);
control_args[i].t_flight = t_flight;
}
return 0;
}
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;
}