int main (void) {
primitives();
CPU_PRESCALE(0);
usb_init();
while (!usb_configured()) /* wait */ ;
define_constant("portb", (int)&PORTB);
define_constant("portd", (int)&PORTD);
define_constant("portf", (int)&PORTF);
define_constant("ddrb", (int)&DDRB);
define_constant("ddrd", (int)&DDRD);
define_constant("ddrf", (int)&DDRF);
define_constant("pinb", (int)&PINB);
define_constant("pind", (int)&PIND);
define_constant("pinf", (int)&PINF);
define("pressedkeys", VARIABLE, keyboard_keys);
define("pressedmodifiers", VARIABLE, &keyboard_modifier_keys);
define("reset", PRIMITIVE, &reset);
define("blink", PRIMITIVE, &blink);
define("blinks", PRIMITIVE, &blinks);
define("blinq", PRIMITIVE, &blinq);
define("delaysec", PRIMITIVE, &delaysec);
define("delay", PRIMITIVE, &delay);
define("delayten", PRIMITIVE, &delayten);
define("usbsend", PRIMITIVE, &usbsend);
define_constant("onboard", 1);
delaysec();
input = malloc(81);
#include "inlined.c"
delaysec();
(DDRD |= (1<<6));
blinq(); blinq(); blinq();
reset();
};
int main(void)
{
// initalize global variables
start = 0;
delay1 = 5;
delay2 = 10;
delay3 = 3;
timesec = 0;
startupPIC();
initalizePIC();
setup_counters();
initAnalogInput();
initMagnets();
while(1) {
if(start) {
EMAG2=0;
SetDCOC4PWM(100);
delaysec(delay1);
SetDCOC4PWM(1000);
delaysec(delay2);
SetDCOC4PWM(500);
delaysec(delay3);
EMAG2=1;
SetDCOC4PWM(0);
// EMAG1=0;
// SetDCOC4PWM(900);
// DIR = 0;
// delaysec(delay1);
// SetDCOC4PWM(0);
// delaysec(delay2);
// SetDCOC4PWM(700);
// delaysec(delay1);
// SetDCOC4PWM(1000);
// EMAG1=1;
start=0;
}
}
}
int main(void) {
timesec=0;
// set PIC32 to max computing power
SYSTEMConfig(SYS_FREQ, SYS_CFG_ALL);
INTConfigureSystem(INT_SYSTEM_CONFIG_MULT_VECTOR);
INTEnableSystemMultiVectoredInt();
initLEDs();
LED0 = 1;
LED1 = 1;
initSerialNU32v2();
setup_counters();
CloseADC10();
#define PARAM1 ADC_MODULE_ON | ADC_FORMAT_INTG | ADC_CLK_AUTO | ADC_AUTO_SAMPLING_ON
#define PARAM2 ADC_VREF_AVDD_AVSS | ADC_OFFSET_CAL_DISABLE | ADC_SCAN_ON | ADC_SAMPLES_PER_INT_16 | ADC_ALT_BUF_OFF | ADC_ALT_INPUT_OFF
#define PARAM3 ADC_CONV_CLK_INTERNAL_RC | ADC_SAMPLE_TIME_31
#define PARAM4 ENABLE_AN0_ANA | ENABLE_AN1_ANA | ENABLE_AN2_ANA | ENABLE_AN3_ANA | ENABLE_AN5_ANA | ENABLE_AN15_ANA
OpenADC10( PARAM1, PARAM2, PARAM3, PARAM4,0);
EnableADC10();
// Setup and turn off electromagnets
EMAG1 = 0; EMAG2 = 0;
TRISEbits.TRISE7 = 0; TRISCbits.TRISC1 = 0;
//Direction Output
DIR = 1;
TRISAbits.TRISA9 = 0;
//g-select Outputs
GSEL1 = 0; GSEL2 = 0;
TRISEbits.TRISE2 = 0; TRISCbits.TRISC13= 0;
//0g Inputs
TRISAbits.TRISA0 = 1;
TRISAbits.TRISA4 = 1;
// 20kHz PWM signal, duty from 0-1000, pin D3
OpenTimer2(T2_ON | T2_PS_1_4, 1000);
OpenOC4(OC_ON | OC_TIMER2_SRC | OC_PWM_FAULT_PIN_DISABLE, 0, 0);
HBridgeDuty = 0;
SetDCOC4PWM(HBridgeDuty);
// 20Hz ISR
OpenTimer3(T3_ON | T3_PS_1_256, 15625);
mT3SetIntPriority(1);
mT3ClearIntFlag();
mT3IntEnable(1);
while(1) {
if(start){
EMAG2=0;
SetDCOC4PWM(100);
delaysec(delay1);
SetDCOC4PWM(1000);
delaysec(delay2);
SetDCOC4PWM(500);
delaysec(delay3);
EMAG2=1;
SetDCOC4PWM(0);
// EMAG1=0;
// SetDCOC4PWM(900);
// DIR = 0;
// delaysec(delay1);
// SetDCOC4PWM(0);
// delaysec(delay2);
// SetDCOC4PWM(700);
// delaysec(delay1);
// SetDCOC4PWM(1000);
// EMAG1=1;
start=0;
}
}
}
void blinks(void) {
(PORTD |= (1<<6));
delaysec();
(PORTD &= ~(1<<6));
delaysec();
};
