int main()
{
PINSEL0 = 0x00000000; //P0.6 como GPIO
PINSEL1 = 0x00000000; //P0.28 como ADC0
IODIR0 = 0x00020000; //P0.6 como salida
configTimer();
configExcepcion();
T0TCR = 0x01;
while(1);
}
void main(void) {
//setupOsc();
//RD2 = 1;
configSystem();
configSoftPWM();
configTimer();
configI2C();
// configADC();
//adcOff();
while (1) {
//**PID Current control**
// Read current on channel
// 1. Read ADC value
// 2. Scale to voltage
// 3. V*100=I
// Calculate Error between current I(current) and setpoint
// 1. Scale setpoint to 0 - Max current
// 1. Get Max Current (This needs to be done on init)
// 2. Err = Setpoint - Current Current
// 3. Err * Pi = Pterm
// dutyCycle += Pterm
//Operate on received command
if(newData){
switch(i2c_rx_buff[0]){
/****** Set Motor 1 Speed ********/
case 0x00:
if (i2c_rx_buff[1] > 32) {
dutyCycle2 = i2c_rx_buff[1] - 32;
dutyCycle1 = 0;
}
else{
dutyCycle1 = 32 - i2c_rx_buff[1];
dutyCycle2 = 0;
}
newData = 0;
break;
/****** Set Motor 2 Speed ********/
case 0x01:
if (i2c_rx_buff[1] > 32) {
dutyCycle4 = i2c_rx_buff[1] - 32;
dutyCycle3 = 0;
}
else{
dutyCycle3 = 32 - i2c_rx_buff[1];
dutyCycle4 = 0;
}
newData = 0;
break;
/****** Read Motor 1 Speed ********/
case 0x10:
i2c_tx_buff[0] = dutyCycle1;
break;
/****** Read Motor 2 Speed ********/
case 0x20:
i2c_tx_buff[0] = dutyCycle2;
break;
/********* Read ADC ***************/
case 100:
i2c_tx_buff[0] = readADC();
break;
/****** Enable ADC ****************/
case 0x99:
potEnabled = i2c_rx_buff[1];
break;
default:
//RB4 = 1;
newData = 0;
break;
}
}
//Unsupported command
//else RB4 = 1;
//dutyCycle1 = i2c_rx_buff[0];
}
}
int main(int argc, char** argv) {
unsigned short x = 0; //Blinking led counter
SerialFrame frame;
/* Port and interupts configurations */
configClock();
configPorts();
configInterruptPriority();
configTimer();
/* Initialize the serial port */
Serial_configSerialPort();
/* Preparing the frame */
CyclicBitBuffer_init();
RF433_init();
/* The frame content is assigned with the cyclicBitBuffer */
frame.content = CyclicBitBuffer_getBuffer();
/* The micro initilisation is over, let's begin the main loop */
while(1) {
while( 0 == Serial_readFrame(&frame)) {
x++;
if(CyclicBitBuffer_flags.recordOver) {
frame.content = CyclicBitBuffer_getBuffer();
frame.lenght = CyclicBitBuffer_size();
Serial_sendFrame(&frame);
CyclicBitBuffer_flags.recordOver = 0;
}
if(0 == x) {
PIN_DEBUG_OUTPUT ^= 1;
}
}
disableInterupts();
CyclicBitBuffer_clearEvent();
/* Realise the frame management */
if(DOM_RECORD == frame.header) {//record
//Delay1KTCYx(255);
frame.header = DOM_RECORD;
RF433_receive(&(frame.lenght));
} else if(DOM_TRANSMIT == frame.header) { //transmit;
RF433_transmit();
frame.header = DOM_TRANSMIT;
frame.lenght = 0;
Serial_sendFrame(&frame);
} else if(DOM_ECHO == frame.header) {
frame.header = DOM_ECHO_REPLY;
Serial_sendFrame(&frame);
} else {
frame.header = DOM_ERROR;
frame.lenght = 0;
Serial_sendFrame(&frame);
}
}
}
void main(void){
TRISDbits.TRISD3 = 0;
TRISDbits.TRISD4 = 0;
//timer
configTimer();
//ad
configADInterrupt();
configAD();
//usart
configRS232();
configUSARTInterrupts();
//I2C
InitI2C_Master();
//interrupts
selectChanel(channel);
for(int i = 0; i < 100; i++)
__delay_ms(10);
PORTDbits.RD4 = 0;
for(int i = 0; i < 100; i++)
__delay_ms(10);
PORTDbits.RD4 = 1;
for(int i = 0; i < 100; i++)
__delay_ms(10);
PORTDbits.RD4 = 0;
for(int i = 0; i < 100; i++)
__delay_ms(10);
PORTDbits.RD4 = 1;
for(int i = 0; i < 100; i++)
__delay_ms(10);
PORTDbits.RD4 = 0;
srand(TMR0);
//generate secret number between maxCont and minCont
contTimer0 = (rand() % (maxCont + minCont)) + minCont;
write_RTC_I2c();
while (1){
if(contLedRD4 == TIMER0_INTERRUPTS_PER_SECOND){
val++;
if(val == contTimer0){
ADCON0bits.GO_DONE = 1;
//Leitura de Posição de data no DS-1307.
read_RTC_I2c(0x04);
dia = leitura;
__delay_ms(10);
//Leitura de Posição de mês no DS-1307.
read_RTC_I2c(0x05);
mes = leitura;
__delay_ms(10);
//Leitura de Posição de ano no DS-1307.
read_RTC_I2c(0x06);
ano = leitura;
__delay_ms(10);
//Leitura de Posição da Hora no DS-1307.
read_RTC_I2c(0x02);
hora = leitura;
__delay_ms(10);
//Leitura de Posição de Minuto no DS-1307.
read_RTC_I2c(0x01);
minuto = leitura;
__delay_ms(10);
//Leitura de Posição de Segundo no DS-1307.
read_RTC_I2c(0x00);
segundo = leitura;
//"id&valor&ano-mes-dia hora:minuto:segundo"
printf("%u&%u&20%02X-%02X-%02X %02X:%02X:%02X", id, data_ADC, ano, mes, dia, hora, minuto, segundo);
__delay_ms(10);
//TODO tirar daqui
printf("\n");
val = 0;
contTimer0 = (rand() % (maxCont + minCont)) + minCont;
}
led1 = changing;
contLedRD4 = 0;
}
}
}
void main(void){
TRISDbits.TRISD3 = 0;
//timer
configTimer();
//ad
configADInterrupt();
configAD();
//usart
configRS232();
configUSARTInterrupts();
//I2C
InitI2C_Master();
//interrupts
selectChanel(channel);
ADCON0bits.GODONE = 1;
write_RTC_I2c();
//ligando o timer 0
TMR0ON = 1;
while (1){
if(val == 30){
//Leitura de Posição de data no DS-1307.
read_RTC_I2c(0x04);
dia = leitura;
__delay_ms(10);
//Leitura de Posição de mês no DS-1307.
read_RTC_I2c(0x05);
mes = leitura;
__delay_ms(10);
//Leitura de Posição de ano no DS-1307.
read_RTC_I2c(0x06);
ano = leitura;
__delay_ms(10);
//Leitura de Posição da Hora no DS-1307.
read_RTC_I2c(0x02);
hora = leitura;
__delay_ms(10);
//Leitura de Posição de Minuto no DS-1307.
read_RTC_I2c(0x01);
minuto = leitura;
__delay_ms(10);
//Leitura de Posição de Segundo no DS-1307.
read_RTC_I2c(0x00);
segundo = leitura;
//"id&valor&ano-mes-dia hora:minuto:segundo"
printf("%u&%u&20%02X-%02X-%02X %02X:%02X:%02X", id, data_ADC, ano, mes, dia, hora, minuto, segundo);
__delay_ms(10);
//TODO tirar daqui
printf("\n");
val = 0;
}
}
}
