void timer_delay_test()
{
while(1)
{
mPORTEWrite(BIT_4);
timer1_delay_ms(1000);
mPORTEWrite(0);
timer1_delay_ms(500);
}
}
void timer_delaymeasure_test()
{
float tmr_value;
char buffer[80];
while(1)
{
mPORTEWrite(BIT_4);
timer1_start_us();
delay(SYS_CLK/4);
tmr_value = timer1_end_us()/1000000.0;
sprintf(buffer, "delay(%d)\r\ntmr_value = %f s\r\n", SYS_CLK/4, tmr_value);
U1_write(buffer);
mPORTEWrite(0);
delay(SYS_CLK/4);
}
}
void timer1ms_test()
{
// test LED output (e4) on osciliscope for rising edge to falling edge of 1ms
while (1) {
// turn on LED
mPORTEWrite(BIT_4);
// start TIMER1
T1CONSET = BIT_15; // start timer
// when timer1 = 50 000 (1ms) turn off led
while(TMR1 < 50000);
mPORTEWrite(0);
// wait some time
delay(SYS_CLK/4);
// reset timer
T1CONCLR = BIT_15; // turn off timer
TMR1 = 0x0; // reset timer value
}
}
void SSD1351::writeData(uint8_t c) {
while(mIsPMPBusy()); // Wait for PMP to be free
// digitalWrite(SSD1351_DC, 1); // High -- data mode
mPORTCSetBits(OLED_DC); // Hight -- command mode
// PMPMasterWrite( c ); // write character
mPORTEWrite( (uint16_t)c ); // Setup data
mPORTDClearBits(OLED_RW); // RW# 0 (write mode)
mPORTDSetBits(OLED_EN); // EN 1 (enable)
mPORTDClearBits(OLED_CS); // CS active
// delay(1);
mPORTDSetBits(OLED_CS); // CS inactive
mPORTDClearBits(OLED_EN); // EN 0 (disable)
}
void display_write_data (BYTE data)
{
mPORTEWrite(data);
DISPLAY_CS(0);
DISPLAY_CONTROL_DATA(1);
DISPLAY_WR(0);
DISPLAY_BUS_ACCESS_DELAY;
DISPLAY_WR(1);
}
/*
* rfcomm_disconnected():
*
* Called by RFCOMM when the remote RFCOMM protocol or upper layer was disconnected.
* Disconnects the PPP protocol.
*
*/
err_t rfcomm_disconnected(void *arg, struct rfcomm_pcb *pcb, err_t err)
{
err_t ret = ERR_OK;
LWIP_DEBUGF(BT_SPP_DEBUG, ("rfcomm_disconnected: CN = %d\n", rfcomm_cn(pcb)));
if(rfcomm_cn(pcb) != 0) {
; //ppp_lp_disconnected(pcb);
}
rfcomm_close(pcb);
#if defined(__PIC24FJ64GB002__)
mPORTAWrite(0);
#elif defined(__PIC24FJ256GB106__)
mPORTEWrite(0);
#endif
return ret;
}
/************ PROCEDURES ********************/
void step (unsigned char data, unsigned char motorNumber) {
data = data & 0x0F; // make sure only the LS-nibble will be overwritten
unsigned int lectura;
switch (motorNumber) {
case 1:
lectura = mPORTDRead() & (~(0xF << 4));
mPORTDWrite(lectura | (data << 4));
break;
case 2:
lectura = mPORTCRead() & (~(0xF << 1));
mPORTCWrite(lectura | (data << 1));
break;
case 3:
case 4:
motorNumber -= 3;
lectura = mPORTERead() & (~(0xF << motorNumber*4));
mPORTEWrite(lectura | (data << motorNumber*4));
break;
}
}
err_t spp_recv(void *arg, struct rfcomm_pcb *pcb, struct pbuf *p, err_t err)
{
struct pbuf *q = NULL;
char cm1[3];
char cm2[3];
u8_t m;
static int lm1;
static int lm2;
int m1;
int m2;
LWIP_DEBUGF(BT_SPP_DEBUG, ("spp_recv: p->len == %d p->tot_len == %d\n", p->len, p->tot_len));
q = pbuf_alloc(PBUF_RAW, p->tot_len, PBUF_RAM);
if(p->tot_len != 0)
{
u8_t *data = p->payload;
*((u8_t*)q->payload) = *((u8_t *)p->payload);
if(*data == 'm')
{
m = 0x10;
cm1[0] = *(data+2);
cm1[1] = *(data+3);
cm1[2] = 0x00;
m1 = atoi(cm1);
if(m1 == 0){
m |= 0x03;
}else if(*(data+1) == '+'){
m |= 0x01;
}else if(*(data+1) == '-'){
m |= 0x02;
}
lm1 = m1;
cm2[0] = *(data+5);
cm2[1] = *(data+6);
cm2[2] = 0x00;
m2 = atoi(cm2);
if(m2 == 0){
m |= 0x0c;
}else if(*(data+4) == '+'){
m |= 0x04;
}else if(*(data+4) == '-'){
m |= 0x08;
}
lm2 = m2;
LWIP_DEBUGF(BT_SPP_DEBUG, ("spp_recv: m1 %d m2 %d\n", m1, m2));
SetDCOC1PWM((0xffff/10)*m1,0);
SetDCOC2PWM((0xffff/10)*m2,0);
#if defined(__PIC24FJ64GB002__)
mPORTAWrite(m);
#elif defined(__PIC24FJ256GB106__)
mPORTEWrite(m);
#endif
}else{
if(*data == 'a')
{
#if defined(__PIC24FJ64GB002__)
#elif defined(__PIC24FJ256GB106__)
mPORTEWrite(0x1f);
#endif
DelayMs(3);
#if defined(__PIC24FJ64GB002__)
#elif defined(__PIC24FJ256GB106__)
mPORTEWrite(0x15);
#endif
}else if(*data == 's')
{
#if defined(__PIC24FJ64GB002__)
#elif defined(__PIC24FJ256GB106__)
mPORTEWrite(0x1f);
#endif
DelayMs(3);
#if defined(__PIC24FJ64GB002__)
#elif defined(__PIC24FJ256GB106__)
mPORTEWrite(0x1a);
#endif
}else if(*data == 'd')
{
#if defined(__PIC24FJ64GB002__)
#elif defined(__PIC24FJ256GB106__)
mPORTEWrite(0x1f);
#endif
DelayMs(3);
#if defined(__PIC24FJ64GB002__)
#elif defined(__PIC24FJ256GB106__)
mPORTEWrite(0x19);
#endif
}else if(*data == 'f')
{
#if defined(__PIC24FJ64GB002__)
#elif defined(__PIC24FJ256GB106__)
mPORTEWrite(0x1f);
#endif
DelayMs(3);
#if defined(__PIC24FJ64GB002__)
#elif defined(__PIC24FJ256GB106__)
mPORTEWrite(0x16);
#endif
}else if(*data == 'g')
{
#if defined(__PIC24FJ64GB002__)
#elif defined(__PIC24FJ256GB106__)
mPORTEWrite(0x10);
#endif
}else{
}
}
}
if(rfcomm_cl(pcb)) {
rfcomm_uih_credits(pcb, PBUF_POOL_SIZE - rfcomm_remote_credits(pcb), q);
} else {
rfcomm_uih(pcb, rfcomm_cn(pcb), q);
}
pbuf_free(q);
pbuf_free(p);
return ERR_OK;
}
//********************************
//********************************
//********** INITIALISE **********
//********************************
//********************************
void initialise (void)
{
BYTE data;
//##### GENERAL NOTE ABOUT PIC32'S #####
//Try and use the peripheral libraries instead of special function registers for everything (literally everything!) to avoid
//bugs that can be caused by the pipeline and interrupts.
//---------------------------------
//----- CONFIGURE PERFORMANCE -----
//---------------------------------
//----- SETUP EVERYTHING FOR OPTIMUM PERFORMANCE -----
SYSTEMConfigPerformance(80000000ul); //Note this sets peripheral bus to '1' max speed (regardless of configuration bit setting)
//Use PBCLK divider of 1:1 to calculate UART baud, timer tick etc
//----- SET PERIPHERAL BUS DIVISOR -----
//To minimize dynamic power the PB divisor should be chosen to run the peripherals at the lowest frequency that provides acceptable system performance
mOSCSetPBDIV(OSC_PB_DIV_2); //OSC_PB_DIV_1, OSC_PB_DIV_2, OSC_PB_DIV_4, OSC_PB_DIV_8,
//----- SETUP INTERRUPTS -----
INTEnableSystemMultiVectoredInt();
//-------------------------
//----- SETUP IO PINS -----
//-------------------------
//(Device will powerup with all IO pins as inputs)
//----- TURN OFF THE JTAG PORT -----
//(JTAG is on by default)
//mJTAGPortEnable(0); //Must be on for Microchip Multimedia Development board
#define PORTA_IO 0xc2ff //Setup the IO pin type (0 = output, 1 = input)
mPORTAWrite(0xc033); //Set initial ouput pin states
mPORTASetPinsDigitalIn(PORTA_IO); //(Sets high bits as input)
mPORTASetPinsDigitalOut(~PORTA_IO); //(Sets high bits as output)
#define PORTB_IO 0xfbff //Setup the IO pin type (0 = output, 1 = input)
mPORTBWrite(0x6d13); //Set initial ouput pin states
mPORTBSetPinsDigitalIn(PORTB_IO); //(Sets high bits as input)
mPORTBSetPinsDigitalOut(~PORTB_IO); //(Sets high bits as output)
mPORTBSetPinsDigitalIn(BIT_0 | BIT_1 | BIT_3 | BIT_4 | BIT_15); //Joystick inputs
#define PORTC_IO 0xf01e //Setup the IO pin type (0 = output, 1 = input)
mPORTCWrite(0x3018); //Set initial ouput pin states
mPORTCSetPinsDigitalIn(PORTC_IO); //(Sets high bits as input)
mPORTCSetPinsDigitalOut(~PORTC_IO); //(Sets high bits as output)
#define PORTD_IO 0x7bfe //Setup the IO pin type (0 = output, 1 = input)
mPORTDWrite(0xbdaf); //Set initial ouput pin states
mPORTDSetPinsDigitalIn(PORTD_IO); //(Sets high bits as input)
mPORTDSetPinsDigitalOut(~PORTD_IO); //(Sets high bits as output)
mPORTDSetPinsDigitalOut(BIT_2 | BIT_1); //LED's 2 and 3
mPORTDSetPinsDigitalIn(BIT_9);
#define PORTE_IO 0x03ff //Setup the IO pin type (0 = output, 1 = input)
mPORTEWrite(0x02a2); //Set initial ouput pin states
mPORTESetPinsDigitalIn(PORTE_IO); //(Sets high bits as input)
mPORTESetPinsDigitalOut(~PORTE_IO); //(Sets high bits as output)
#define PORTF_IO 0x111f //Setup the IO pin type (0 = output, 1 = input)
mPORTFWrite(0x0039); //Set initial ouput pin states
mPORTFSetPinsDigitalIn(PORTF_IO); //(Sets high bits as input)
mPORTFSetPinsDigitalOut(~PORTF_IO); //(Sets high bits as output)
#define PORTG_IO 0xd3cf //Setup the IO pin type (0 = output, 1 = input)
mPORTGWrite(0xf203); //Set initial ouput pin states
mPORTGSetPinsDigitalIn(PORTG_IO); //(Sets high bits as input)
mPORTGSetPinsDigitalOut(~PORTG_IO); //(Sets high bits as output)
//Read pins using:
// mPORTAReadBits(BIT_0);
//Write pins using:
// mPORTAClearBits(BIT_0);
// mPORTASetBits(BIT_0);
// mPORTAToggleBits(BIT_0);
//----- INPUT CHANGE NOTIFICATION CONFIGURATION -----
//EnableCN0();
ConfigCNPullups(CN2_PULLUP_ENABLE | CN3_PULLUP_ENABLE | CN5_PULLUP_ENABLE | CN6_PULLUP_ENABLE | CN12_PULLUP_ENABLE); //Joystick pins
//----- SETUP THE A TO D PINS -----
ENABLE_ALL_DIG;
//---------------------
//----- SETUP USB -----
//---------------------
//The USB specifications require that USB peripheral devices must never source current onto the Vbus pin. Additionally, USB peripherals should not source
//current on D+ or D- when the host/hub is not actively powering the Vbus line. When designing a self powered (as opposed to bus powered) USB peripheral
//device, the firmware should make sure not to turn on the USB module and D+ or D- pull up resistor unless Vbus is actively powered. Therefore, the
//firmware needs some means to detect when Vbus is being powered by the host. A 5V tolerant I/O pin can be connected to Vbus (through a resistor), and
//can be used to detect when Vbus is high (host actively powering), or low (host is shut down or otherwise not supplying power). The USB firmware
//can then periodically poll this I/O pin to know when it is okay to turn on the USB module/D+/D- pull up resistor. When designing a purely bus powered
//peripheral device, it is not possible to source current on D+ or D- when the host is not actively providing power on Vbus. Therefore, implementing this
//bus sense feature is optional. This firmware can be made to use this bus sense feature by making sure "USE_USB_BUS_SENSE_IO" has been defined in the
//HardwareProfile.h file.
// #if defined(USE_USB_BUS_SENSE_IO)
// tris_usb_bus_sense = INPUT_PIN; // See HardwareProfile.h
// #endif
//If the host PC sends a GetStatus (device) request, the firmware must respond and let the host know if the USB peripheral device is currently bus powered
//or self powered. See chapter 9 in the official USB specifications for details regarding this request. If the peripheral device is capable of being both
//self and bus powered, it should not return a hard coded value for this request. Instead, firmware should check if it is currently self or bus powered, and
//respond accordingly. If the hardware has been configured like demonstrated on the PICDEM FS USB Demo Board, an I/O pin can be polled to determine the
//currently selected power source. On the PICDEM FS USB Demo Board, "RA2" is used for this purpose. If using this feature, make sure "USE_SELF_POWER_SENSE_IO"
//has been defined in HardwareProfile.h, and that an appropriate I/O pin has been mapped to it in HardwareProfile.h.
// #if defined(USE_SELF_POWER_SENSE_IO)
// tris_self_power = INPUT_PIN; // See HardwareProfile.h
// #endif
//Enable the USB port now - we will check to see if Vbus is powered at the end of init and disable it if not.
//USBDeviceInit(); //usb_device.c. Initializes USB module SFRs and firmware variables to known states.
//------------------------
//----- SETUP TIMERS -----
//------------------------
//(INCLUDE THE USAGE OF ALL TIMERS HERE EVEN IF NOT SETUP HERE SO THIS IS THE ONE POINT OF
//REFERENCE TO KNOW WHICH TIMERS ARE IN USE AND FOR WHAT).
//----- SETUP TIMER 1 -----
//Used for: Available
//OpenTimer1((T1_ON | T1_IDLE_CON | T1_GATE_OFF | T1_PS_1_4 | T1_SOURCE_INT), 20000);
//----- SETUP TIMER 2 -----
//Used for:
//OpenTimer2((T2_ON | T2_IDLE_CON | T2_GATE_OFF | T2_PS_1_1 | T2_SOURCE_INT), 0xffff); //0xffff = 305Hz
//----- SETUP TIMER 3 -----
//Used for:
//OpenTimer3((T3_ON | T3_IDLE_CON | T3_GATE_OFF | T3_PS_1_1 | T3_SOURCE_INT), PIEZO_TIMER_PERIOD);
//----- SETUP TIMER 4 -----
//Used for:
//OpenTimer4((T4_ON | T4_IDLE_CON | T4_GATE_OFF | T4_PS_1_1 | T4_SOURCE_INT), 20000);
//----- SETUP TIMER 5 -----
//Used for: Heartbeat
OpenTimer5((T5_ON | T5_IDLE_CON | T5_GATE_OFF | T5_PS_1_1 | T5_SOURCE_INT), 40000); //1mS with 80MHz osc and PB_DIV_2
ConfigIntTimer5(T5_INT_ON | T5_INT_PRIOR_7); //1=lowest priority to 7=highest priority. ISR function must specify same value
//---------------------------------
//----- SETUP EVAL BOARD CPLD -----
//---------------------------------
//Graphics bus width = 16
mPORTGSetPinsDigitalOut(BIT_14);
mPORTGSetBits(BIT_14);
//SPI source select = SPI3 (not used)
mPORTGSetPinsDigitalOut(BIT_12);
mPORTGClearBits(BIT_12);
//SPI peripheral destination select = Expansion Slot (not used)
mPORTASetPinsDigitalOut(BIT_7 | BIT_6);
mPORTASetBits(BIT_7);
mPORTAClearBits(BIT_6);
//--------------------------------------
//----- PARALLEL MASTER PORT SETUP -----
//--------------------------------------
PMMODE = 0;
PMAEN = 0;
PMCON = 0;
PMMODE = 0x0610;
PMCONbits.PTRDEN = 1; //Enable RD line
PMCONbits.PTWREN = 1; //Enable WR line
PMCONbits.PMPEN = 1; //Enable PMP
//------------------------------
//----- INITIALISE DISPLAY -----
//------------------------------
display_initialise();
display_test();
//LOAD OUR GLOBAL HTML STYLES FILE READY FOR DISPLAY HTML PAGES
BYTE dummy_styles_count;
DWORD file_size;
if (display_html_setup_read_file(global_css, 0, &file_size))
{
dummy_styles_count = 0;
display_html_read_styles(&file_size, &dummy_styles_count, 1); //1 = this is global styles file
}
}