//Slave Mode
void slave(void){
while(1){
WriteUSART(27);
putrsUSART (ClrScr);
putrsUSART (Menu1_4);
manmode();
}
return;
}
void main(void)
{
uartInit();
putrsUSART("UART initialized\r\n");
plaInit();
putrsUSART("PLA initialized\r\n");
fifosInit();
putrsUSART("FIFOs initialized\r\n");
usbInit();
putrsUSART("USB initialized\r\n");
for (;;) {
processCy7c4xxFifo();
processUsbCommands();
}
}
void main(void) {
char msg[6];
int counter=0;
initSquareWear();
// open USART, default baud rate 57600 (defined in SquareWear.h)
openUSART();
putrsUSART("Begin.\r\n"); // write a constant string
while(1) {
itoa(counter, msg);
putsUSART(msg); // write a string
putrsUSART("\r\n");
latC7 = !latC7;
delaySeconds(1);
counter++;
}
}
//Encapsulates the whole testing process
u8 testPart() {
PartSS = 0;
diff = 0;
part_unit = 'm'; //mV by default
pins[0] = 'X';
pins[1] = 'X';
pins[2] = 'X';
//returns the number of conducting directions between all 3 pins
//On return tList, nC, diff, and other variables hold the results
testConduct();
//gets the ID of the part that is most probable
PartSS = getPartSS();
//switches depending on the PartSS value, here is where all the part specific functions all called
part_val = switchPart(PartSS);
#ifdef HAS_SERIAL_PORT
putrsUSART("\n\n");
tListPrint_serial();
putrsUSART("\nPartSS: ");
putINT_serial(PartSS);
putcUSART('\n');
printPart_serial();
#endif
#ifdef HAS_USB_CDC
if (terminalF) {
puts_cdc("\n\n");
tListPrint_cdc();
puts_cdc("\nPartSS: ");
putINT_cdc(PartSS);
putc_cdc('\n');
printPart_cdc();
}
#endif
#ifdef HAS_LCD
printPart_lcd();
#endif
if (PartSS) return 1;
return 0;
}
void printPart_serial() {
putrsUSART(type_descs[PartSS]);
if(PartSS == ERROR || PartSS >= NOID) return;
putINT_serial(part_val);
putcUSART(part_unit);
putcUSART(' ');
putrsUSART("1:");
putcUSART(pins[0]);
putcUSART(' ');
putrsUSART("2:");
putcUSART(pins[1]);
putcUSART(' ');
putrsUSART("3:");
putcUSART(pins[2]);
putcUSART(' ');
}
static void processCy7c4xxFifo(void)
{
unsigned char c;
static unsigned char *cy7c4xx_buf_ptr = InDataPacket;
static unsigned char len = 0;
if (cy7c4xxPull(&c) != 0)
return;
if (len) {
*cy7c4xx_buf_ptr = c;
++cy7c4xx_buf_ptr;
--len;
if (len == 0) {
#if DEBUG
if (usbfifo_debug_operation.dump_fifo_out == 1) {
unsigned char l = cy7c4xx_buf_ptr-InDataPacket, i;
unsigned char b[12];
putrsUSART("FIFO IN: '");
for (i=0;i<l;++i) {
if (i != 0) {
while (BusyUSART());
putcUSART(' ');
}
sprintf(b, "%02x", InDataPacket[i]);
putsUSART(b);
}
sprintf(b, "' len=%3d\r\n", l);
putsUSART(b);
}
if (usbfifo_debug_operation.fifo_loopback == 1) {
unsigned char l = cy7c4xx_buf_ptr-InDataPacket, i; /* length of incoming packet _must_ not exceed the length of outgoing */
fifo9403aPush(l, 1);
for (i=0;i<l;++i)
fifo9403aPush(InDataPacket[i], 1);
}
#endif
/* FIXME: use real ping-pong */
while (USBHandleBusy(UsbInDataHandle)); // should not loop, anyway ...
UsbInDataHandle = USBGenWrite(USBGEN_DATA_EP_NUM, (BYTE*)&InDataPacket, cy7c4xx_buf_ptr-InDataPacket);
while (USBHandleBusy(UsbInDataHandle)); // have to wait here as full ping-pong is not implemented
// and thus we don't want data from FIFO override the data being sent here
cy7c4xx_buf_ptr = InDataPacket;
}
} else {
len = c;
}
}
void main(void) {
char msg[1];
int value;
initSquareWear();
latC7 = 0;
openUSART();
putrsUSART("Type a single digit number:\r\n");
while(1) {
getsUSART(msg, 1);
if(msg[0]>='0' && msg[0]<='9') {
value = msg[0]-'0';
if (value<10) {
putrsUSART("On for ");
WriteUSART(msg[0]);
putrsUSART(" seconds.\r\n");
latC7 = 1;
delaySeconds(value);
latC7 = 0;
}
}
}
}
void interrupcao()
{
if (serial_interrompeu) { serial_interrompeu=0; avisa_interrompeu=1;
inputstr[str_pos] = getcUSART(); //ou le_serial - vai buscar a inputstr à porta série caracter a caracter (em cada iterada)
str_pos++;//incrementa a posição de escrita na string de destino
if(str_pos == 30){str_pos = 0;} //verifica se a string de 80 caracteres
//está cheia e caso o esteja faz reset da posição de escrita na string a 0
//comando = le_serial();//apenas um byte
switch (inputstr[0]) //teste da comunicacao serial no Terminal
{
case 'L' : {pisca=0; nivel_alto(pin_b7);putrsUSART ( (const far rom char *) " Ligado\r\n");while (envia_byte());} //Recebe A e Transmite byte B para teste
break;
case 'D' : {pisca=0; nivel_baixo(pin_b7);putrsUSART ( (const far rom char *) " Desligado");while (envia_byte());}
break;
case 'P' : {pisca=1; printf_text(Txdata); printf_data(10);
}
break;
}
}
}
// Master Mode
void master(void){
while(1){
WriteUSART(27);
putrsUSART (ClrScr);
putrsUSART (Menu1);
while(!DataRdyUSART()); //wait for data
key = ReadUSART(); //read data
putcUSART(key);
switch (key) {
case '1':
{
WriteUSART(27);
putrsUSART (ClrScr);
putrsUSART (Menu1_1);
while(!DataRdyUSART()); //wait for data
key = ReadUSART(); //read data
break;
}
case '2':
{
trackmode();
break;
}
case '3':
{
WriteUSART(27);
putrsUSART (ClrScr);
putrsUSART (Menu1_3);
manmode();
break;
}
case '4':
{
blink();
}
default:
{
putrsUSART (BadKey);
break;
}
}
}
}
// main application code
void main()
{
u8 counter=0;
char str[20];
// TRISBbits.TRISB7=0;
init_picstar();
init_buzzer();
init_bPous;
// Configure Hardware USART
OpenUSART( USART_TX_INT_OFF &
USART_RX_INT_OFF &
USART_ASYNCH_MODE &
USART_EIGHT_BIT &
USART_CONT_RX &
USART_BRGH_LOW,
BAUD19200); //check the uard_baud.h file for available baud rates.
bip();
// let's wait until we powered the PICKIT2
delay_ms(2000);
// print from ROM
putrsUSART( "\r\nHello World!\r\n" );
// main loop
while(1)
{
if(bPous==0)
{
// bip();
// print from variable string
sprintf(str,"counter= %u \r\n", counter++);
putsUSART(str);
delay_ms(1000);
}
} // end of main loop
}
void main()
{
unsigned char c;
unsigned char column;
TRISA=0;
TRISC=0;
LATCbits.LATC4=1;
// PORTA=1;
// PORTB=0xFF;
// PORTC=0xFF;
OSCCON=0b01100000; //Internal 4MHZ Oscillator
ADCON1=0x7F;//Make all ports Digital
OpenUSART(USART_TX_INT_OFF &// Initialize USART, Transmit interrupt off
USART_RX_INT_ON &// Receive interrupt ON
USART_ASYNCH_MODE & // Use USART in asynchronous mode
USART_EIGHT_BIT &// Eight bit data
USART_CONT_RX &// Enable continous receiving
USART_BRGH_LOW,// Do not use baud rate multiplication
12);// For a baud rate of 9600 value of SPBRGH:SPBRG register pair
INTCONbits.PEIE=1;// Enable peripheral interrupts
INTCONbits.GIEH=1;// Enable all interrupts
// putrsUSART ("\nPlease type a S to Start");
OpenSPI(SPI_FOSC_4,MODE_01,SMPMID);
// SSPCON |= SPI_FOSC_64;
while(1) {
putrsUSART(0x1);
// WriteSPI(0x01);
//UARTIntPutChar(0xa);
// __delay_ms(500);
// __delay_ms(50);
}
}
void testaColisao(void)
{
unsigned char data;
signed char status;
do
{
status = WriteI2C( 0xB8 | 0x00 ); //write the address of slave
if(status == -1) //check if bus collision happened
{
while(BusyUSART());
putrsUSART("\n\rColisao.\n\r");
LED_VERM=1;
data = SSPBUF; //upon bus collision detection clear the buffer,
SSPCON1bits.WCOL=0; // clear the bus collision status bit
}
}
while (status!=0); //write untill successful communication
LED_VERM=0;
}
//Manual Mode
void manmode(void){
while(1){
while(!DataRdyUSART()); //wait for data
key = ReadUSART(); //read data
switch (key) {
case 'A':
{
while(!DataRdyUSART()); //wait for data
percent[0] = ReadUSART(); //read data
while(!DataRdyUSART()); //wait for data
percent[1] = ReadUSART(); //read data
PWMA2=atoi(percent); //convert the string to an integer
PWMA2=PWM_Conv*PWMA2; //convert to appropriate Duty Cycle value
break;
}
case 'B':
{
while(!DataRdyUSART()); //wait for data
percent[0] = ReadUSART(); //read data
while(!DataRdyUSART()); //wait for data
percent[1] = ReadUSART(); //read data
PWMB1= atoi(percent); //convert the string to an integer
PWMB1=PWM_Conv*PWMB1; //convert to appropriate Duty Cycle value
break;
}
case 'C':
{
while(!DataRdyUSART()); //wait for data
percent[0] = ReadUSART(); //read data
while(!DataRdyUSART()); //wait for data
percent[1] = ReadUSART(); //read data
PWMC0= atoi(percent); //convert the string to an integer
PWMC0=PWM_Conv*PWMC0; //convert to appropriate Duty Cycle value
break;
}
case 'D':
{
while(!DataRdyUSART()); //wait for data
percent[0] = ReadUSART(); //read data
while(!DataRdyUSART()); //wait for data
percent[1] = ReadUSART(); //read data
PWMD3= atoi(percent); //convert the string to an integer
PWMD3=PWM_Conv*PWMD3; //convert to appropriate Duty Cycle value
break;
}
case ' ':
{
PWMA2=PWM_Stop;
PWMB1=PWM_Stop;
PWMC0=PWM_Stop;
PWMD3=PWM_Stop;
break;
}
case 27:
{
return;
break;
}
default:
{
putrsUSART ("-");
break;
}
}
//Upate the PWM signals
Update_PWMs();
}
return;
}
static void processUsbCommands(void)
{
#if defined(USB_POLLING)
// Check bus status and service USB interrupts.
USBDeviceTasks(); // Interrupt or polling method. If using polling, must call
// this function periodically. This function will take care
// of processing and responding to SETUP transactions
// (such as during the enumeration process when you first
// plug in). USB hosts require that USB devices should accept
// and process SETUP packets in a timely fashion. Therefore,
// when using polling, this function should be called
// regularly (such as once every 1.8ms or faster** [see
// inline code comments in usb_device.c for explanation when
// "or faster" applies]) In most cases, the USBDeviceTasks()
// function does not take very long to execute (ex: <100
// instruction cycles) before it returns.
#endif
// Note: The user application should not begin attempting to read/write over the USB
// until after the device has been fully enumerated. After the device is fully
// enumerated, the USBDeviceState will be set to "CONFIGURED_STATE".
if ((USBDeviceState < CONFIGURED_STATE)||(USBSuspendControl==1))
return;
// As the device completes the enumeration process, the UsbCbInitEP() function will
// get called. In this function, we initialize the user application endpoints (in this
// example code, the user application makes use of endpoint 1 IN and endpoint 1 OUT).
// The USBGenRead() function call in the UsbCbInitEP() function initializes endpoint 1 OUT
// and "arms" it so that it can receive a packet of data from the host. Once the endpoint
// has been armed, the host can then send data to it (assuming some kind of application software
// is running on the host, and the application software tries to send data to the USB device).
// If the host sends a packet of data to the endpoint 1 OUT buffer, the hardware of the SIE will
// automatically receive it and store the data at the memory location pointed to when we called
// USBGenRead(). Additionally, the endpoint handle (in this case UsbOutCmdHandle) will indicate
// that the endpoint is no longer busy. At this point, it is safe for this firmware to begin reading
// from the endpoint buffer, and processing the data. In this example, we have implemented a few very
// simple commands. For example, if the host sends a packet of data to the endpoint 1 OUT buffer, with the
// first byte = 0x80, this is being used as a command to indicate that the firmware should "Toggle LED(s)".
if (!USBHandleBusy(UsbOutCmdHandle)) { // Check if the endpoint has received any data from the host.
#if DEBUG
unsigned char l = USBHandleGetLength(UsbOutCmdHandle);
if (usbfifo_debug_operation.dump_usb_out == 1) {
unsigned char b[16];
unsigned char i;
putrsUSART("USB OUT: '");
for (i=0;i<l;++i) {
if (i != 0) {
while (BusyUSART());
putcUSART(' ');
}
sprintf(b, "%02x", OutCmdPacket[i]);
putsUSART(b);
}
sprintf(b, "' len=%3d\r\n", l);
putsUSART(b);
}
if (usbfifo_debug_operation.usb_loopback == 1) {
unsigned char i;
// Now check to make sure no previous attempts to send data to the host are still pending. If any attemps are still
// pending, we do not want to write to the endpoint 1 IN buffer again, until the previous transaction is complete.
// Otherwise the unsent data waiting in the buffer will get overwritten and will result in unexpected behavior.
while (USBHandleBusy(UsbInCmdHandle));
for (i=0;i<l;++i)
InCmdPacket[i] = OutCmdPacket[i];
// The endpoint was not "busy", therefore it is safe to write to the buffer and arm the endpoint.
// The USBGenWrite() function call "arms" the endpoint (and makes the handle indicate the endpoint is busy).
// Once armed, the data will be automatically sent to the host (in hardware by the SIE) the next time the
// host polls the endpoint. Once the data is successfully sent, the handle (in this case UsbInCmdHandle)
// will indicate the the endpoint is no longer busy.
UsbInCmdHandle = USBGenWrite(USBGEN_CMD_EP_NUM, (BYTE*)&InCmdPacket, l);
}
#endif
switch (OutCmdPacket[0]) {
#if DEBUG
case USBFIFO_CMD_DUMP_USB_OUT:
usbfifo_debug_operation.dump_usb_out ^= 1;
break;
case USBFIFO_CMD_DUMP_FIFO_OUT:
usbfifo_debug_operation.dump_fifo_out ^= 1;
break;
case USBFIFO_CMD_FIFO_LOOPBACK:
usbfifo_debug_operation.fifo_loopback ^= 1;
break;
case USBFIFO_CMD_USB_LOOPBACK:
usbfifo_debug_operation.usb_loopback ^= 1;
break;
#endif
default:
{
unsigned char b[8];
putrsUSART("Unexpected cmd=");
sprintf(b, "0x%2X\r\n", OutCmdPacket[0]);
putsUSART(b);
}
break;
}
// Re-arm the OUT endpoint for the next packet:
// The USBGenRead() function call "arms" the endpoint (and makes it "busy"). If the endpoint is armed, the SIE will
// automatically accept data from the host, if the host tries to send a packet of data to the endpoint. Once a data
// packet addressed to this endpoint is received from the host, the endpoint will no longer be busy, and the application
// can read the data which will be sitting in the buffer.
UsbOutCmdHandle = USBGenRead(USBGEN_CMD_EP_NUM, (BYTE*)&OutCmdPacket, USBGEN_EP_SIZE);
}
if (!USBHandleBusy(UsbOutDataHandle)) {
#if USBGEN_EP_SIZE > FIFO_9403A_MAX_MSG_LEN
#error "Transfer of more than FIFO_9403A_MAX_MSG_LEN not implemented"
#endif
unsigned char l = USBHandleGetLength(UsbOutDataHandle);
unsigned char i;
#if DEBUG
if (usbfifo_debug_operation.dump_usb_out == 1) {
unsigned char b[16];
putrsUSART("USB OUT: '");
for (i=0;i<l;++i) {
if (i != 0) {
while (BusyUSART());
putcUSART(' ');
}
sprintf(b, "%02x", OutDataPacket[i]);
}
sprintf(b, "' len=%3d\r\n", l);
putsUSART(b);
}
if (usbfifo_debug_operation.usb_loopback == 1) {
while (USBHandleBusy(UsbInDataHandle)); // ensure that FIFO data left the device
for (i=0;i<l;++i)
InDataPacket[i] = OutDataPacket[i];
/* FIXME: use real ping-pong */
UsbInDataHandle = USBGenWrite(USBGEN_DATA_EP_NUM, (BYTE*)&InDataPacket, l);
while (USBHandleBusy(UsbInDataHandle)); // have to wait here as full ping-pong is not implemented
// and thus we don't want data from FIFO override the data being sent here
}
#endif
fifo9403aPush(l, 1);
for (i=0;i<l;++i)
fifo9403aPush(OutDataPacket[i], 1);
UsbOutDataHandle = USBGenRead(USBGEN_DATA_EP_NUM, (BYTE*)&OutDataPacket, USBGEN_EP_SIZE);
}
}
void TaskTxSerial(void *pdata)
{
#if OS_CRITICAL_METHOD == 3
OS_CPU_SR cpu_sr;
#endif
struct AdcMsg *Sensores;
INT8U err;
INT16S Sensor1;
INT16S Sensor2;
INT16S Sensor3;
INT16U Acumulador1;
INT16U Acumulador2;
INT16U Acumulador3;
INT8U contador;
INT16U ValorTeclado;
INT8S strTx1[5];
INT8S strTx2[5];
INT8S strTx3[5];
for(;;)
{
OSSemPend(STaskTxSerial,0,&err);
Acumulador1=0;
Acumulador2=0;
Acumulador3=0;
for(contador=0 ; contador<10 ; contador++) {
Sensores = (struct AdcMsg *) OSQPend(QueueADC0, 0, &err);
Acumulador1+=Sensores->adc0;
Acumulador2+=Sensores->adc1;
Acumulador3+=Sensores->adc2;
OSMemPut(dMemory,Sensores);
}
OSSemPend(STeclado,0,&err);
ValorTeclado=NumeroSensores;
OSSemPost(STeclado);
Sensor1=0;
Sensor2=0;
Sensor3=0;
switch(ValorTeclado){
case 3:
Sensor3 = (INT16S) Acumulador3/10;
case 2:
Sensor2 = (INT16S) Acumulador2/10;
case 1:
Sensor1 = (INT16S) Acumulador1/10;
default:
break;
}
/*
itoa(Sensor1,strTx1);
putsUSART(strTx1);
putrsUSART(SPACE);
itoa(Sensor2,strTx2);
putsUSART(strTx2);
putrsUSART(SPACE);
itoa(Sensor3,strTx3);
putsUSART(strTx3);
putrsUSART(CRLF);
*/
if(NumeroSensores > 0){
itoa(Sensor1,strTx1);
putsUSART(strTx1);
putrsUSART(SPACE);
if(NumeroSensores > 1){
itoa(Sensor2,strTx2);
putsUSART(strTx2);
putrsUSART(SPACE);
}
if(NumeroSensores > 2){
itoa(Sensor3,strTx3);
putsUSART(strTx3);
}
putrsUSART(CRLF);
}
//OSSemPost(STask1);
OSTimeDly(10);
}
}
// Track Mode
// Assume motor A and B are front left and right, motor C and D are back left and right
// Num pad controls A/C and B/D
void trackmode(void){
WriteUSART(27);
putrsUSART (ClrScr);
putrsUSART (Menu1_2);
while(1){
while(!DataRdyUSART()); //wait for data
key = ReadUSART(); //read data
switch (key) {
case 'W':
{
if(PWMA2+PWM_Step<=PWM_DC_Max)PWMA2=PWMA2+PWM_Step;
else PWMA2=PWM_DC_Max;
if(PWMB1+PWM_Step<=PWM_DC_Max)PWMB1=PWMB1+PWM_Step;
else PWMB1=PWM_DC_Max;
// PWMA2+=PWM_Step;
// PWMB1+=PWM_Step;
break;
}
case 'S':
{
if(PWMA2-PWM_Step>=PWM_DC_Min) PWMA2=PWMA2-PWM_Step;
else PWMA2=PWM_DC_Min;
if(PWMB1-PWM_Step>=PWM_DC_Min) PWMB1=PWMB1-PWM_Step;
else PWMB1=PWM_DC_Min;
// PWMA2-=PWM_Step;
// PWMB1-=PWM_Step;
break;
}
case 'A':
{
if(PWMA2-PWM_Step>=PWM_DC_Min) PWMA2=PWMA2-PWM_Step;
else PWMA2=PWM_DC_Min;
if(PWMB1+PWM_Step<=PWM_DC_Max) PWMB1=PWMB1+PWM_Step;
else PWMB1=PWM_DC_Max;
// PWMA2-=PWM_Step;
// PWMB1+=PWM_Step;
break;
}
case 'D':
{
if(PWMA2+PWM_Step<=PWM_DC_Max) PWMA2=PWMA2+PWM_Step;
else PWMA2=PWM_DC_Max;
if(PWMB1-PWM_Step>=PWM_DC_Min) PWMB1=PWMB1-PWM_Step;
else PWMB1=PWM_DC_Min;
// PWMA2+=PWM_Step;
// PWMB1-=PWM_Step;
break;
}
case 'N':
{
RC=0;
RD=0;
break;
}
case 'K':
{
RC=1;
RD=1;
break;
}
case 'O':
{
RC=1;
RD=0;
break;
}
case 'M':
{
RE=0;
RF=0;
break;
}
case 'L':
{
RE=1;
RF=1;
break;
}
case 'P':
{
RE=1;
RF=0;
break;
}
case ' ':
{
PWMA2=PWM_Stop;
PWMB1=PWM_Stop;
PWMC0=PWM_Stop;
PWMD3=PWM_Stop;
RC=0;
RD=0;
break;
}
case 27:
{
return;
break;
}
default:
{
putrsUSART (BadKey);
break;
}
}
//Set Channels C and D from Channels A and B, respectivley
PWMC0=PWMA2;
PWMD3=PWMB1;
//Upate the PWM signals
Update_PWMs();
}
return;
}
void tListPrint_serial() {
u8 i, t1;
u16 t2;
putrsUSART("\nVcc:");
putINT_serial(VCC);
putrsUSART("\nnC:");
putcUSART(nC + '0');
putrsUSART("\ndiff:");
putcUSART(diff + '0');
for (i = 0; i < 12; i++) {
putrsUSART("\nCP");
putcUSART(i + '1');
putrsUSART(": ");
t1 = (u8) tList[i][0];
putcUSART(t1 + '0');
putrsUSART("->");
t1 = (u8) tList[i][1];
putcUSART(t1 + '0');
putrsUSART(" Value: ");
t2 = tList[i][2];
putINT_serial(t2);
}
for (i = 0; i < 3; i++) {
putrsUSART("\ntIN");
putcUSART(i + '1');
putrsUSART(": ");
putcUSART(tIN[i] + '0');
}
for (i = 0; i < 3; i++) {
putrsUSART("\ntOUT");
putcUSART(i + '1');
putrsUSART(": ");
putcUSART(tOUT[i] + '0');
}
for (i = 0; i < 3; i++) {
putrsUSART("\ntC");
putcUSART(i + '1');
putrsUSART(": ");
putcUSART(tC[i] + '0');
}
for (i = 0; i < 8; i++) {
putrsUSART("\ntN");
putcUSART(i + '1');
putrsUSART(": ");
putcUSART(tN[i] + '0');
}
}
void bucket(void){
WriteUSART(27);
putrsUSART (ClrScr);
putrsUSART (Menu1_2);
while(1){
while(!DataRdyUSART()); //wait for data
key = ReadUSART(); //read data
switch (key) {
case 'P':
{
if(PWMA2+PWM_Step<=PWM_DC_Max)PWMA2=PWMA2+PWM_Step;
else PWMA2=PWM_DC_Max;
// PWMA2+=PWM_Step;
// PWMB1+=PWM_Step;
break;
}
case 'L':
{
if(PWMA2-PWM_Step>=PWM_DC_Min) PWMA2=PWMA2-PWM_Step;
else PWMA2=PWM_DC_Min;
// PWMA2-=PWM_Step;
// PWMB1-=PWM_Step;
break;
}
case 'O':
{
if(PWMD3-PWM_Step>=PWM_DC_Min) PWMD3=PWMD3-PWM_Step;
else PWMD3=PWM_DC_Min;
// PWMA2-=PWM_Step;
// PWMB1+=PWM_Step;
break;
}
case 'K':
{
if(PWMD3+PWM_Step<=PWM_DC_Max) PWMD3=PWMD3+PWM_Step;
else PWMD3=PWM_DC_Max;
// PWMA2+=PWM_Step;
// PWMB1-=PWM_Step;
break;
}
case ' ':
{
PWMA2=PWM_Stop;
PWMB1=PWM_Stop;
PWMC0=PWM_Stop;
PWMD3=PWM_Stop;
break;
}
case 27:
{
return;
break;
}
default:
{
putrsUSART (BadKey);
break;
}
}
//Upate the PWM signals
Update_PWMs();
}
return;
}
void terminalSendPString(char *str) {
while(BusyUSART());
putrsUSART(str);
}
void main(void)
{
// Configuracao das portas com LEDs
TRISCbits.TRISC0=0; // LED Amarelo para simples sinalizacao
TRISCbits.TRISC1=0; // LED Verde para simples sinalizacao
TRISCbits.TRISC2=0; // LED Vermelho para simples sinalizacao
// Configuracao do pino TX da porta serial EUSART / para RS232
TRISCbits.TRISC6=1; // TX da EUSART
// O programa ira informar na porta serial o status
// e logs de funcionamento da coleta de dados I2C
// agora a CHAMADA para configuracao GLOBAL da PIC
configuracao_PIC();
// Preparacao para configuracao do modulo MSSP I2C (com Errata aplicada)
/* 17. Module: MSSP (ERRATA for PIC18F4550 and PIC18F2525, etc)
* ================
*
* It has been observed that following a Power-on Reset, I2C mode may not
* initialize properly by just configuring the SCL and SDA pins as either
* inputs or outputs. This has only been seen in a few unique system
* environments. A test of a statistically significant sample of pre-
* production systems, across the voltage and current range of the
* application's power supply, should indicate if a system is
* susceptible to this issue.
*
* Work around = Before configuring the module for I2C operation:
* 1. Configure the SCL and SDA pins as outputs by clearing
* their corresponding TRIS bits.
* 2. Force SCL and SDA low by clearing the corresponding LAT bits.
* 3. While keeping the LAT bits clear, configure SCL and SDA as
* inputs by setting their TRIS bits.
*
* Once this is done, use the SSPCON1 and SSPCON2 registers to
* configure the proper I2C mode as before.
*/
TRISCbits.TRISC3=0; // SCL do I2C colocado como saida por causa de bug*
TRISCbits.TRISC4=0; // SDA do I2C colocado como saida por causa de bug*
LATC3=0; // bug* pede que zere-se o LAT das portas SCL e SDA
LATC4=0; // durante inicializacao do I2C para evitar flutuacoes
// eletricas que ficariam nas portas antes de liga-las
Delay10KTCYx(10); // simples pausa para troca de estado na SDA e SCL
TRISCbits.TRISC3=1; // SCL do I2C, agora corretamente como saida
TRISCbits.TRISC4=1; // SDA do I2C, agora corretamente como saida
// here ends "errata workaround"
// entao a CHAMADA para diversas configuracoes referentes ao I2C (MSSP)
configuracao_I2C();
// e a inicializacao da porta serial EUSART
configuracao_EUSART();
while(BusyUSART());
putrsUSART("\n\r_INIT SERIAL.\n\r");
/*************************
*
* INICIO DO PROGRAMA
*
*************************/
LED_AMAR=0;
LED_VERM=1;
LED_VERD=0;
// Inicializacao do MSSP I2C
CloseI2C(); // simplesmente fechando qualquer possibilidade de I2C anterior
// comando nao necessario no boot da PIC
//macro = #define CloseI2C() SSPCON1 &=0xDF
while(BusyUSART());
putrsUSART("SSPAD=");
putsUSART( itoa(NULL,SSPADD,10) );
putrsUSART(" (hex=0x");
putrsUSART( itoa(NULL,SSPADD,16) );
putrsUSART("); Abrindo MSSP I2C (Master,Slew_off)\n\r");
OpenI2C(MASTER,SLEW_OFF); // configuracao implicita da SSPCON1 e SSPSTAT
while (1)
{
testaColisao();
getDS1307();
//testaColisao();
getTemperaturaHumidade();
pausa(10);
}
}
void main(void) {
char mensagem[]="Pronto > ";
ADCON1=0xF; // torna todas portas AN0 a AN12 como digitais
// na PIC18F2525 somente AN0 a AN4 e AN8 a AN12
// nas PICs com 40 pinos, todos ANs de 0 a 12
//
// PCFG3:PCFG0: A/D Port Configuration Control bits
// Note 1:
// The POR value of the PCFG bits depends on the value of
// the PBADEN Configuration bit. When PBADEN = 1,
// PCFG<2:0> = 000; when PBADEN = 0, PCFG<2:0> = 111.
TRISB=0; // output do LCD na PORTB / LCD output in PORTB
initLCD(); // inicia comandos de configuracao do LCD
// LCD init commands
/*
* obs: a biblioteca XLCD.H da PLIB para PIC18, considera como default o LCD
* conectado na PORTB com as seguintes pinagens:
*
Lower Nibble = LCD DATA in PORT B0, B1, B2, B3 (DATA_PORT)
RW_PIN in B6 ( PORT for LCD RW , can also be grounded)
RS_PIN in B5 ( PORT for LCD RS )
E_PIN in B4 ( PORT for LCD Enable Pin )
*/
TRISA2=1; // entrada do BOTAO / push-BOTTON input
TRISC0=0; // led verde 1
TRISC1=0; // led verde 2
TRISC2=0; // led verde 3
TRISC3=0; // led verde 4
TRISC4=0; //buzzer
TRISC5=0; //led vermelho
LED_VERMELHO=1;
LED1=1;
Delay10KTCYx(1000);
while(BusyXLCD());
WriteCmdXLCD(0x01); // comando para limpar LCD / command to clear LCD
while(BusyXLCD());
putrsXLCD ("Serial IO EUSART"); // somente logotipo / just a start logo
SetDDRamAddr(0x40); // Linha 2 do Display LCD / second line of LCD
while(BusyXLCD());
putrsXLCD ("RS232 PIC18F2525"); // somente logotipo / just a start logo
SetDDRamAddr(0x00); // volta cursor para linha 0 e posicao 0 do LCD
// put cursor in position 0,0 of LCD
contadorDisplay=0; // zerando a posicao de caracteres do LCD
// reseting the LCD character count
// Habilitacao dos pinos C6 e C7 para uso da EUSART (explicacao abaixo):
// Enabling pins C6 and C7 for EUSART (explanation bellow):
TRISC6=1;
TRISC7=1;
RCSTAbits.SPEN=1;
/*
The pins of the Enhanced USART are multiplexed
with PORTC. In order to configure RC6/TX/CK and
RC7/RX/DT as a USART:
? SPEN bit (RCSTA<7>) must be set (= 1)
? TRISC<7> bit must be set (= 1)
? TRISC<6> bit must be set (= 1)
Note:
The EUSART control will automatically
reconfigure the pin from input to output as
needed.
*/
LED1=1;
LED2=0;
LED_VERMELHO=0;
CloseUSART(); // fecha qualquer USART que estaria supostamente aberta antes
// just closes any previous USART open port
Delay10KTCYx(1); //Passing 0 (zero) results in a delay of 2,560,000 cycles
Delay10KTCYx(1000);
//PORTC=1; Delay10TCYx(50); PORTC=0;
OpenUSART( USART_TX_INT_OFF &
USART_RX_INT_ON &
USART_ASYNCH_MODE &
USART_EIGHT_BIT &
USART_CONT_RX &
USART_BRGH_LOW,
51
);
// Baud Rate "51" para 2400bps @ 8mhz em modo assincrono
// de acordo com DS39626E-page 207 do Datasheet em PDF da PIC18F2525
// These are common comands for 2400 bps running at 8 mhz, assyncronous mode
// just as being showed in PIC18F2525 Datasheet (DS39626E-page 207)
//baudUSART (BAUD_8_BIT_RATE | BAUD_AUTO_OFF);
// page 1158 do pic18_plib.pdf (capitulo 8.17.1.3.3 baud_USART)
// Set the baud rate configuration bits for enhanced usart operation
// These functions are only available for processors with
// enhanced usart capability (EUSART)
/*
The Enhanced Universal Synchronous Asynchronous
Receiver Transmitter (EUSART) module is one of the
two serial I/O modules. (Generically, the USART is also
known as a Serial Communications Interface or SCI.)
The EUSART can be configured as a full-duplex
asynchronous system that can communicate with
peripheral devices, such as CRT terminals and
personal computers. It can also be configured as a half-
duplex synchronous system that can communicate
with peripheral devices, such as A/D or D/A integrated
circuits, serial EEPROMs, etc.
The Enhanced USART module implements additional
features, including automatic baud rate detection and
calibration, automatic wake-up on Sync Break recep-
tion and 12-bit Break character transmit. These make it
ideally suited for use in Local Interconnect Network bus
(LIN bus) systems. (DS39626E-page 201)
*/
INTCONbits.PEIE = 1; // interrupcoes para perifericos
INTCONbits.GIE = 1; // interrupcoes globais
while(BusyUSART());
putrsUSART("\n\rLed1 e LedVermelho = Interrupcao; Led2 = while wait; Led3/4 = Err");
while(BusyUSART());
putrsUSART("\n\rComandos ^E (echo), ^P (lcd), ^L (cls), ^S (status)");
while(BusyUSART());
putrsUSART("\n\rTerminal Serial: ");
while(BusyUSART());
putsUSART(mensagem);
LED_VERMELHO=0;
LED1=1;
LED2=1;
//LED4=1;
while (1){
//LED4=RCIF;
// o LED4 mostra o status da Interrupcao da RX Serial
// Led4 shows the status of RX interrupt
//LED3=TXIF;
// o LED3 mostra o status da suposta interrupcao de TX
// Led3 shows the suposed TX interrupt state
LED3=OERR;
LED4=FERR;
/*
bit 2 FERR: Framing Error bit
1 = Framing error (can be cleared by reading RCREG register and receiving next valid byte)
0 = No framing error
*
bit 1 OERR: Overrun Error bit
1 = Overrun error (can be cleared by clearing bit, CREN)
0 = No overrun error
*/
LED2=~LED2;
Delay10KTCYx(10);
// quando esta no modo de espera de tecla* (interrupcao), fica piscando
// os tres leds para demonstrar a despreocupacao do loop while
// *na verdade essa espera de tecla eh o RX da serial
// when being in wait mode (for interrupt *keypress )just flashes the tree
// leds to demonstrate the un-commitment of while loop to keypress
// * this keypress event is the serial RX
// Check for overrun error condition
if (OERR == 1)
{
// Clear the overrun error condition
BUZZ=1;
CREN = 0;
CREN = 1;
Delay100TCYx(10); BUZZ=0;
}
LED_VERMELHO = RCIF; // buffer de recepcao cheio
}
return;
}
void getTemperaturaHumidade (void)
{
unsigned char TEMPL=0, TEMPH=0, HUMIDL=0, HUMIDH=0;
unsigned char DUMMY=0, OP=0, BT=0;
float humidade, temperatura;
char msg[55];
LED_AMAR=1;
//#define StartI2C() SSPCON2bits.SEN=1;while(SSPCON2bits.SEN)
StartI2C(); // ACORDAR DEVICE
__delay_us(16);
WriteI2C(0xB8); // endereco Slave do AM2315
__delay_us(135);
StopI2C();
//#define StopI2C() SSPCON2bits.PEN=1;while(SSPCON2bits.PEN)
// com clock de 4 mhz:
// 10K (100) = 1000 ms
// 1K (100) = 100 ms
// 1K (10) = 10 ms
// 1K (2) = 2 ms
// Delay100TCYx();
__delay_us(25);
RestartI2C(); // REQUISITAR PEDIDO DE BYTES
__delay_us(16);
WriteI2C(0xB8); // endereco Slave do AM2315
__delay_us(60); // manual do AM2315 recomenda minimo de 30us
WriteI2C(0x03); // byte que simboliza a temperatura
__delay_us(60);
WriteI2C(0x00); // start byte para leitura
__delay_us(60);
WriteI2C(0x04); // quantidades de bytes a serem lidos;
//AckI2C();
__delay_us(16);
StopI2C();
//#define StopI2C() SSPCON2bits.PEN=1;while(SSPCON2bits.PEN)
__delay_ms(10); // manual do AM2315 recomenda esperar no minimo 10ms
RestartI2C();
WriteI2C(0xB9); // endereco Slave do AM2315
//AckI2C(); // retirado por nao necessitar (?)
__delay_us(60); // manual do AM2315 recomenda minimo de 30us
IdleI2C();
OP = ReadI2C(); // 1o byte
AckI2C();
IdleI2C();
BT = ReadI2C(); // 2o byte
AckI2C();
IdleI2C();
HUMIDL = ReadI2C(); // 3o byte
AckI2C();
IdleI2C();
HUMIDH = ReadI2C(); // 4o byte
AckI2C();
IdleI2C();
TEMPL = ReadI2C(); // 5o byte
AckI2C();
IdleI2C();
TEMPH = ReadI2C(); // 6o byte
AckI2C();
IdleI2C();
DUMMY = ReadI2C(); // 7o byte
AckI2C();
IdleI2C();
DUMMY = ReadI2C(); // 8 byte
//__delay_us(16);
StopI2C();
//#define StopI2C() SSPCON2bits.PEN=1;while(SSPCON2bits.PEN)
LED_VERM=0;
LED_AMAR=0;
LED_VERD=1;
// Calculos obtidos do exemplo do Arduino
humidade = HUMIDL;
humidade *= 256;
humidade += HUMIDH;
humidade /= 10;
temperatura = TEMPL;
temperatura *= 256;
temperatura += TEMPH;
temperatura /= 10;
/* ou ainda
RH = RHH << 8;
RH |= RHL;
TEMP = TEMPH << 8;
TEMP |= TEMPL;
*/
sprintf (msg, "Temp= %0.2f, Humid= %0.2f .", temperatura, humidade);
while(BusyUSART());
putsUSART(msg);
while(BusyUSART());
putrsUSART("\n\r");
LED_VERD=0;
}
void interrupt Interrupcao(void){
char buffer[4];
/* a string buffer ira guardar um numero decimal (0 a 32) traduzido pela
* funcao itoa, onde ira transformar o numero inteiro em string com apontador
* o tamanho poderia ser 3, mas o inteiro vai ate 3 posicoes + null
*
* the buffer string variable will hold a decimal number (0 to 32) that was
* converted by the itoa function, changing a integer number into a string
* pointer
* its size could be only 3, but the interger goes up to 3 positions + null end
*/
// LED_VERMELHO = ~LED_VERMELHO;
// muda o status do LED_VERMELHO quando a MCU entrar em interrupcao
// changes the LED_VERMELHO when the MCU interrupts
// BUZZ=1; Delay100TCYx(10); BUZZ=0;
// toca o buzzer para cada interrupcao
// plays the buzzer for each interrupt
if (RCIF) // se existe interrupcao aguardando...
// teoricamente este RCIF nao precisaria de verificacao
// pois se a rotina de Interrupcao ja foi chamada, entao
// nem seria necessario verifica-la
// mas os LED1 e LED_VERMELHO servem justamente para comprovar
// que o RCIF sempre ira existir, quando mudam juntos (leds)
// Theoretically this RCIF "if" check should never be necessary
// but just to confirm the RCIF, the two leds (LED1 and
// LED_VERMELHO) will always change together.
{
RCIE = 0; // desabilita interrupts de RX para tratar a entrada
// disables RX interrupts to treat input
LED1 = ~LED1;
// muda o status do primeiro LED
// inverts the LED1 status
chRX = ReadUSART();
// le caractere da Serial / read a character from Serial
if ( chRX>31 && chRX<127 && !BOTAO)
// filtra apenas os caracteres texto comuns
// just filter the common readable text characters
{
// Se o Echo Serial esta ativo, entao imprima o caractere na Serial
// If Serial Echo is on, then send the character to Serial Port
if (SerialEcho)
{
while (BusyUSART()); // espera nao ocupado / waits non busy
WriteUSART(chRX); // envia caractere na Porta Serial
// sends the character in Serial Port
}
// Se o LcdDisplay esta ativo, entao imprima o caractere
// If Lcd Display is enabled, print the character in LCD
if (LcdDisplay)
{
while (BusyXLCD());
WriteDataXLCD(chRX);
contadorDisplay++; // contador de caracteres para tabular
// LCD character tabulation count
if (contadorDisplay==16) // se chegar ao final da primeira linha
// if reaches the end of first line
{
SetDDRamAddr(0x40); // comando para pular para segunda linha
// command for going to second line
if (SerialEcho)
{
while (BusyUSART());
putrsUSART("\r\n"); // imprime RETURN e NEWLINE (inicio)
// prints Carriage RETURN and Newline
}
}
if (contadorDisplay==32) // se chegar ao final da segunda linha
// if reaches the end of second line
{
SetDDRamAddr(0x00); // pula novamente para primeira linha
// go again to first line
contadorDisplay=0; // ja na primeira linha, limpa contador
// in first line, clear the char counter
if (SerialEcho)
{
while (BusyUSART());
putrsUSART("\r\n"); // imprime RETURN e NEWLINE (inicio)
// prints Carriage RETURN and Newline
}
}
}
}
else // filtra todos demais Controls e Caracteres Especiais
// this is the state of non-text characters being filtered
if (BOTAO) // se o BOTAO de debug estiver pressionado, nao filtra controle
//if pushBOTTON is pressed, do not filter control characters
{
while (BusyUSART());
WriteUSART(chRX);
}
else
switch (chRX)
{
case 0x05 : // Caractere ^E
SerialEcho=!SerialEcho;
while(BusyUSART());
putrsUSART("\r\n[ECHO ");
if (SerialEcho) putrsUSART("ON]"); else putrsUSART("OFF]");
break;
/*
* Control-E:
* Rotina para ligar e desligar o ECHO na porta serial
* Routine to turn on and off the ECHO in serial port
*/
case 0x10 : // Caractere ^P
LcdDisplay=!LcdDisplay;
while(BusyUSART());
putrsUSART("\r\n[LCD ");
if (LcdDisplay) putrsUSART("ON]"); else putrsUSART("OFF]");
break;
/*
* Contro-P:
* Rotina para ligar e desligar a amostragem de Caractere no LCD
* Routine to turn on and off the display of characters in LCD
*/
case 0x0C : // Caractere ^L (FormFeed)
putrsUSART("\r\n[LCD CLS]");
while(BusyXLCD());
WriteCmdXLCD(0x01); // Comando para limpar o LCD
contadorDisplay=0;
break;
/*
* Control-L: (LimpaTela / FormFeed)
* Rotina para Limpar a Tela
* Routine to CLear Screen (CLS)
*/
case 0x13 : // Caractere ^S
putrsUSART("\r\n[Status Lcd:");
if (LcdDisplay) putrsUSART("On"); else putrsUSART("Off");
putrsUSART(" Echo:");
if (SerialEcho) putrsUSART("On"); else putrsUSART("Off");
putrsUSART(" charLCD:");
itoa ( buffer, contadorDisplay, 10);
// itoa necessita da biblioteca <stdlib.h>
// itoa needs the include stdlib.h
putrsUSART( buffer );
putrsUSART("]\r\n");
/*
* Control-S:
* Mostra o Status do Echo, do LCD, e da quantidade de caracteres
* no LCD
* Shows the Status of Echo, LCD and characteres number in LCD
*/
break;
default:
;
}
// two Peripheral Interrupt Request (Flag) registers (PIR1 and PIR2)
// RCIF: EUSART Receive Interrupt Flag bit
//PIR1bits.RCIF = 0; // PIR1 no registro RCIF
RCIE = 1; // Re-Habilita a Interrupcao de Recepcao
// Re-Enable RX Interrupts
RCIF = 0; // PIR1 no registro RCIF
// limpa o registrador de interrupcao, e sai da interrupcao
// clear the interrupt register, and quits it
}
}
