void init_pic()
{
setup_adc_ports(AN0);
setup_adc(ADC_CLOCK_DIV_32);
setup_psp(PSP_DISABLED);
setup_spi(FALSE);
setup_counters( RTCC_INTERNAL, RTCC_DIV_1 | RTCC_8_BIT);
setup_timer_1(T1_DISABLED);
setup_timer_2(T2_DISABLED,0,1);
setup_comparator(NC_NC_NC_NC);
setup_vref(FALSE);
enable_interrupts(INT_RTCC);
enable_interrupts(INT_EXT);
enable_interrupts(GLOBAL);
EXT_INT_EDGE(L_TO_H);
OUTPUT_B(0);
OUTPUT_C(0);
SET_TRIS_B(0b01000111); //pins B0, B1, B2 and B6 are set to give inputs. B0 is the external interuupt pin
//B0, B1 & B2 are used for people counting. B6 for zero crossing detection in fan controlling
SET_TRIS_C(0b00000000);
SET_TRIS_D(0b00000000); //D port except D0 pin, is used for lcd panel
set_adc_channel(0); //the next read_adc call will read channel 0
}
// Setup ports and ADC config
void setup()
{
SET_TRIS_C(0); // Sets PORT C to output only
setup_adc_ports(sAN2);
setup_adc(adc_clock_internal);
set_adc_channel(2);
}
void init_pic()
{
setup_adc_ports(AN0);
setup_adc(ADC_CLOCK_DIV_32);
setup_psp(PSP_DISABLED);
setup_spi(FALSE);
setup_counters( RTCC_INTERNAL, RTCC_DIV_1 | RTCC_8_BIT);
setup_timer_1(T1_DISABLED);
setup_timer_2(T2_DISABLED,0,1);
setup_comparator(NC_NC_NC_NC);
setup_vref(FALSE);
enable_interrupts(INT_RTCC);
enable_interrupts(INT_EXT);
enable_interrupts(GLOBAL);
EXT_INT_EDGE(L_TO_H);
OUTPUT_B(0);
OUTPUT_C(0);
SET_TRIS_B(0b01000111); //pins B0, B1 and B2 are set to give inputs. b0 is the external interuupt pin
SET_TRIS_C(0b00000000);
SET_TRIS_D(0b00000000);
set_adc_channel(0); //the next read_adc call will read channel 0
}
void Ini_USART(){
// Son necesarios definir los bits
/* *****
// Transmicion
#BYTE TXSTA = 0x98
#BYTE SPBRG = 0x99
#BYTE TXREG = 0x19
// Recepcion
#BYTE RCREG = 0x1A
#BYTE RCSTA = 0x18
***** */
TXSTA = 0x20;
SPBRG = 15; // V=9766 BAUD XTAL=10MHz
RCSTA = 0x90;
TXREG = 0x00;
RCREG = 0x00;
SET_TRIS_C(0x80);
}
main() {
/*
Vista frontal, motor detras de la barra
|------|------|------|------|------|------|------|------|
0 128 256 384 512 640 768 896 1024
*/
SET_TRIS_A( 0xFF );
SET_TRIS_B( 0x00 );
SET_TRIS_C( 0x00 );
inicializar();
while(true) {
leer();
if(lectura < 128) {
giro_derecha100();
} else if(lectura < 256) {
giro_derecha75();
} else if(lectura < 384) {
giro_derecha50();
} else if(lectura < 512) {
giro_derecha25();
} else if(lectura < 640) {
giro_izquierda25();
} else if(lectura < 768) {
giro_izquierda50();
} else if(lectura < 896) {
giro_izquierda75();
} else if(lectura < 1024) {
giro_izquierda100();
}
}
}
