// Handle toggling the motor
void taskMotor(void *pvParameters)
{
float cur_speed;
int hz = 1;
while(1)
{
cur_speed = GetCurrentSpeed();
if(cur_speed > 0.0f)
{
hz = (int)floorf(cur_speed / 10.0f);
if(hz < 1)
hz = 1;
mPORTFToggleBits(BIT_8);
}
else
{
hz = 1;
mPORTFClearBits(BIT_8);
}
vTaskDelay((1000 / hz) / portTICK_PERIOD_MS);
}
}
void InitializeSystem()
{
SYSTEMConfigWaitStatesAndPB(CLOCK_FREQ);
mOSCSetPBDIV(OSC_PB_DIV_4); // Set to get 20MHz PB clock
//mOSCSetPBDIV(OSC_PB_DIV_2);
CheKseg0CacheOn();
mJTAGPortEnable(0);
// Initialize the pins to all digital output and driven to ground.
// Exception is RE7 and RE6 which are switch inputs
PORTSetPinsDigitalIn(IOPORT_E, BIT_6);
PORTSetPinsDigitalIn(IOPORT_E, BIT_7);
mPORTASetPinsDigitalOut(0xFFFF);
mPORTBSetPinsDigitalOut(0xFFFF);
mPORTCSetPinsDigitalOut(0xFFFF);
mPORTDSetPinsDigitalOut(0xFFFF);
mPORTESetPinsDigitalOut(0xFF3F);
mPORTFSetPinsDigitalOut(0xFFFF);
mPORTGSetPinsDigitalOut(0xFFFF);
mPORTAClearBits(0xFFFF);
mPORTBClearBits(0xFFFF);
mPORTCClearBits(0xFFFF);
mPORTDClearBits(0xFFFF);
mPORTEClearBits(0xFF3F);
mPORTESetBits(0x000F); // LED latches need to be set high for off
mPORTFClearBits(0xFFFF);
mPORTGClearBits(0xFFFF);
INTEnableSystemMultiVectoredInt();
#ifdef SANITY_CHECK
mLED_Green_On();
#endif
//LCD_Initialize();
//WIFI_Initialize();
//SPRINKLER_Initialize();
//RTCC_Initialize();
//SERIALUSB_Initialize();
SDCARD_Initialize();
TCPIP_Initialize();
}
void InitializeIO(void)
{
//Initializing CSN and CE pins as output
mPORTFSetPinsDigitalOut(BIT_0 | BIT_1);
mPORTFClearBits(BIT_0 | BIT_1);
//Initializing IRQ pin as input
mPORTDSetPinsDigitalIn(BIT_13);
mPORTDClearBits(BIT_13);
//Setting CSN bit active
LATFbits.LATF1 = 1;
//Initializing LEDs
mPORTDSetPinsDigitalOut(BIT_1 | BIT_2);
mPORTDClearBits(BIT_1 | BIT_2);
//Initializing MOSI/SDO1 and SCK as output
mPORTDSetPinsDigitalOut(BIT_10);
mPORTDSetPinsDigitalOut(BIT_0);
//Initializing MISO/SDI1 as input
mPORTCSetPinsDigitalIn(BIT_4);
}
int main()
{
mJTAGPortEnable(DEBUG_JTAGPORT_OFF);
mPORTFClearBits(BIT_0);
// Make all lower 8-bits of PORTA as output
mPORTFSetPinsDigitalOut( BIT_0 );
// Start timer1, Fpb/256, max period
OpenTimer1(T1_ON | T1_PS_1_256 | T1_SOURCE_INT, 0xFFFF);
// The main loop
while( 1)
{
WriteTimer1(0);
while ( TMR1 < LONG_DELAY);
PORTF ^= BIT_0;
}
}
int main()
{
mJTAGPortEnable(DEBUG_JTAGPORT_OFF);
mPORTFClearBits(BIT_0);
// Make all lower 8-bits of PORTA as output
mPORTFSetPinsDigitalOut( BIT_0 );
TRISE=0x0;
PORTE = 0x0f;
// Start timer1, Fpb/256, max period
OpenTimer1(T1_ON | T1_PS_1_256 | T1_SOURCE_INT, 0xFFFF);
// The main loop
PORTSetPinsDigitalIn(IOPORT_D, BIT_5);
mCNOpen(CN_ON, CN14_ENABLE, 0);
// Read the port to clear any mismatch on change notice pins
int dummy = PORTD;
// Clear change notice interrupt flag
ConfigIntCN(CHANGE_INT_ON | CHANGE_INT_PRI_2);
INTEnableSystemMultiVectoredInt();
uart1_init(115200);
setbuf(stdin, NULL); //no input buffer (for scanf)
setbuf(stdout, NULL); //no output buffer (for printf)
printf ("Hello World!\r\n");
while( 1)
{
putchar(getchar());
WriteTimer1(0);
while ( TMR1 < LONG_DELAY);
PORTE+=1;
}
}
