int main()
{
/// First step is to move over to the FRC w/ PLL clock from the default FRC clock.
// Set the clock to 79.84MHz.
PLLFBD = 63; // M = 65
CLKDIVbits.PLLPOST = 0; // N1 = 2
CLKDIVbits.PLLPRE = 1; // N2 = 3
// Initiate Clock Switch to FRM oscillator with PLL.
__builtin_write_OSCCONH(0x01);
__builtin_write_OSCCONL(OSCCON | 0x01);
// Wait for Clock switch to occur.
while (OSCCONbits.COSC != 1);
// And finally wait for the PLL to lock.
while (OSCCONbits.LOCK != 1);
// Initialize ADCs for reading voltage and temperature sensors
ImuNodeInit(F_OSC);
// Set up a timer at 100.0320Hz, where F_timer = F_CY / 256 / prescalar.
Timer2Init(SetTaskFlag, F_OSC / 2 / 256 / 100);
// Run system tasks when a timer interrupt has been triggered.
while (true) {
if (runTasks) {
Run100HzTasks();
runTasks = false;
}
RunContinuousTasks();
}
}
void main()
{
UART_T1_Init();
P3M0 = 0x00; P3M1 = 0x00;
Timer2Init();
Interrput_Init();
DoorNotCloseFlag = P33;
P34 = ~P33;
WDT_CONTR = 0x37;
while(1)
{
WDT_CONTR |= 0x10;
Delay100ms();
UART_Driver();
}
}
// frequency (in hertz) and duration (in milliseconds).
void MeBuzzer::tone(uint16_t frequency, uint32_t duration)
{
uint8_t prescalarbits = 0b001;
long toggle_count = 0;
uint32_t ocr = 0;
timer2_pin_port = portOutputRegister(digitalPinToPort(buzzer_pin));
timer2_pin_mask = digitalPinToBitMask(buzzer_pin);
// Set the pinMode as OUTPUT
pinMode(buzzer_pin, OUTPUT);
// Calculate the toggle count
if (duration > 0)
{
toggle_count = 2 * frequency * duration / 1000;
}
else
{
toggle_count = -1;
}
timer2_toggle_count = toggle_count;
Timer2Init(frequency);
}
void HilNodeInit(void)
{
// Set a unique node ID for this node.
nodeId = CAN_NODE_HIL;
// And configure the Peripheral Pin Select pins:
PPSUnLock;
// To enable ECAN1 pins: TX on 7, RX on 4
PPSOutput(OUT_FN_PPS_C1TX, OUT_PIN_PPS_RP7);
PPSInput(PPS_C1RX, PPS_RP4);
// To enable UART1 pins: TX on 11, RX on 13
PPSOutput(OUT_FN_PPS_U1TX, OUT_PIN_PPS_RP11);
PPSInput(PPS_U1RX, PPS_RP13);
// Configure SPI1 so that:
// * (input) SPI1.SDI = B8
PPSInput(PPS_SDI1, PPS_RP10);
// * SPI1.SCK is output on B9
PPSOutput(OUT_FN_PPS_SCK1, OUT_PIN_PPS_RP9);
// * (output) SPI1.SDO = B10
PPSOutput(OUT_FN_PPS_SDO1, OUT_PIN_PPS_RP8);
PPSLock;
// Enable pin A4, the amber LED on the CAN node, as an output. We'll blink this at 1Hz. It'll
// stay lit when in HIL mode with it turning off whenever packets are received.
_TRISA4 = 0;
// Initialize communications for HIL.
HilInit();
// Set Timer4 to be a 4Hz timer. Used for blinking the amber status LED.
Timer4Init(HilNodeBlink, 39062);
// Set up Timer2 for a 100Hz timer. This triggers CAN message transmission at the same frequency
// that the sensors actually do onboard the boat.
Timer2Init(HilNodeTimer100Hz, 1562);
// Initialize ECAN1
Ecan1Init();
// Set a schedule for outgoing CAN messages
// Transmit the rudder angle at 10Hz
if (!AddMessageRepeating(&sched, SCHED_ID_RUDDER_ANGLE, 10)) {
FATAL_ERROR();
}
// Transmit the rudder status at 10Hz
if (!AddMessageRepeating(&sched, SCHED_ID_RUDDER_LIMITS, 10)) {
FATAL_ERROR();
}
// Transmit the throttle status at 100Hz
if (!AddMessageRepeating(&sched, SCHED_ID_THROTTLE_STATUS, 10)) {
FATAL_ERROR();
}
// Transmit the RC status at 2Hz
if (!AddMessageRepeating(&sched, SCHED_ID_RC_STATUS, 2)) {
FATAL_ERROR();
}
// Transmit latitude/longitude at 5Hz
if (!AddMessageRepeating(&sched, SCHED_ID_LAT_LON, 5)) {
FATAL_ERROR();
}
// Transmit heading & speed at 5Hz
if (!AddMessageRepeating(&sched, SCHED_ID_COG_SOG, 5)) {
FATAL_ERROR();
}
// Transmit heading & speed at 5Hz
if (!AddMessageRepeating(&sched, SCHED_ID_GPS_FIX, 5)) {
FATAL_ERROR();
}
}
int main() {
char t[2];
char pos[2];
DelayInit(); //initializations and state resets
OledInit();
Timer2Init();
initLEDs();
initButtons();
initRotary();
setLEDstate(0);
unsigned int time = 0;
OledClearBuffer(); //the OLED is cleared
OledSetCursor(0, 0); //OLED cursor reset to first line
OledPutString("ECE 2534 Lab 2"); //message displayed
OledSetCursor(0, 1); //cursor moves to second line
OledPutString("Thomas Yu"); //message displayed
OledSetCursor(0, 2); //cursor moves to third
OledPutString("LOCKED"); //message displayed
OledSetCursor(0, 3); //cursor moves to third
OledPutString("0"); //message displayed
OledUpdate();
while (1)
{
OledSetCursor(0, 3); //cursor moves to third
sprintf(pos, "%-2d", state); //state(int) converted to string
OledPutString(pos); //message displayed
OledUpdate();
if (go == 1)
{
sec1000 = 0; //time reset
while (sec1000 < 15000) //increments for 15000 ms, or 15 secs
{
OledSetCursor(0, 3); //cursor moves to third
sprintf(pos, "%-2d", state);
OledPutString(pos); //current state updated
OledUpdate();
OledSetCursor(14,3); //the countdown is updated
sprintf(t, "%-2u", (15 - (sec1000/1000))); //the current time left in seconds is the
OledPutString(t); //elapsed ms subtracted from 15000
OledUpdate();
if (unlocked == 1)
{
setLEDstate(1); //if unlocked then the led is turned on
OledSetCursor(14,3);
OledPutString(" "); //the countdown is cleared
OledSetCursor(0,2);
OledPutString("OPEN "); //open is displayed
OledUpdate();
while (!getButtonState()) //this runs until button1 is pressed
{
OledSetCursor(0, 3); // this block of code continues to update
sprintf(pos, "%-2d", state); //the rotary position as it is moved
OledPutString(pos);
OledUpdate();
}
OledSetCursor(0,2); //after button1 is pressed, the lock is reset
OledPutString("LOCKED");
setLEDstate(0);
go = 0;
unlocked = 0;
r1 = 0;
lock = 0;
}
}
if ( go != 0) //if go was never set back to zero, then the
{ //correct combination was never entered
unsigned int a = sec1000; //and the timer ran out
while (sec1000 < a + 1000) //this while loop runs for 1 second
{
OledSetCursor(7,3); //Time Out! is displayed for the duration
OledPutString("Time Out!");
OledUpdate();
}
OledSetCursor(7,3); //Time Out! is cleared and the lock is reset
OledPutString(" ");
OledUpdate();
go = 0;
r1 = 0;
lock = 0;
}
}
}
return 0;
}
