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312 Kevin 1 
// <editor-fold defaultstate="collapsed" desc="Configuration Bits">
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// PIC16F1825 Configuration Bit Settings
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// CONFIG1
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#pragma config FOSC = INTOSC    // Oscillator Selection (INTOSC oscillator: I/O function on CLKIN pin)
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#pragma config WDTE = OFF       // Watchdog Timer Enable (WDT enabled)
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#pragma config PWRTE = OFF      // Power-up Timer Enable (PWRT disabled)
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#pragma config MCLRE = OFF      // MCLR Pin Function Select (MCLR/VPP pin function is digital input)
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#pragma config CP = OFF         // Flash Program Memory Code Protection (Program memory code protection is disabled)
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#pragma config CPD = OFF        // Data Memory Code Protection (Data memory code protection is disabled)
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#pragma config BOREN = ON       // Brown-out Reset Enable (Brown-out Reset enabled)
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#pragma config CLKOUTEN = OFF   // Clock Out Enable (CLKOUT function is disabled. I/O or oscillator function on the CLKOUT pin)
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#pragma config IESO = ON        // Internal/External Switchover (Internal/External Switchover mode is enabled)
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#pragma config FCMEN = ON       // Fail-Safe Clock Monitor Enable (Fail-Safe Clock Monitor is enabled)
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// CONFIG2
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#pragma config WRT = OFF        // Flash Memory Self-Write Protection (Write protection off)
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#pragma config PLLEN = ON       // PLL Enable (4x PLL enabled)
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#pragma config STVREN = ON      // Stack Overflow/Underflow Reset Enable (Stack Overflow or Underflow will cause a Reset)
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#pragma config BORV = LO        // Brown-out Reset Voltage Selection (Brown-out Reset Voltage (Vbor), low trip point selected.)
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#pragma config LVP = OFF        // Low-Voltage Programming Enable (High-voltage on MCLR/VPP must be used for programming)
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// </editor-fold>
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#include "defines.h"
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#include "INTERRUPTS.h"
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#include "STEPPER.h"
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#include "IOC.h"
315 Kevin 28 
#include "SPI.h"
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#include "OLED_SSD1306.h"
312 Kevin 30 
 
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void Pins_Init(void) {
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    // RA0 and RA1 pins as analog input
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    ANSELA = 0x3;
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    ANSELC = 0x0;
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//    // Enable weak pull-up if WPU bit is set
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//    OPTION_REGbits.nWPUEN = 0;
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    // SDO1 on RC2
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    APFCON0bits.SDOSEL = 0;
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    STEP_TRIS = 0;
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    STEP_LAT = 0;
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    M0_TRIS = 0;
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    M0_LAT = 0;
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    M1_TRIS = 0;
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    M1_LAT = 0;
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    M2_TRIS = 0;
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    M2_LAT = 0;
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    SW_1_TRIS = 1;
315 Kevin 55 
    SW_1_INLVL = 1;
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312 Kevin 57 
    SW_2_TRIS = 1;
315 Kevin 58 
    SW_2_INLVL = 1;
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312 Kevin 60 
    STEP_CURRENT_TRIS = 1;
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    POT_CURRENT_TRIS = 1;
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    SPI_MOSI_TRIS = 0;
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    SPI_CLK_TRIS = 0;
315 Kevin 65 
    SPI_DC_SELECT_TRIS = 0;
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    SPI_DC_SELECT_LAT = 0;
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    SPI_RESET_TRIS = 0;
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    SPI_RESET_LAT = 0;
312 Kevin 69 
}
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OPERATING_MODE currMode;
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int main(void) {
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    // Set internal oscillator speed to 32MHz
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    OSCCONbits.SPLLEN = 1;  // 4x PLL enable (overwritten by config bits)
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    OSCCONbits.IRCF = 0xE;  // Base frequency @ 8MHz
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    OSCCONbits.SCS = 0b00;  // System clock determined by config bits
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    // Initialize I/O
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    Pins_Init();
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    IOC_Init();
315 Kevin 83 
 
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    SPI_DATA spi_data;
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    SPI_Init(&spi_data, SPI2_FOSC_16);
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    SSD1306_DATA ssd1306_data;
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    SSD1306_Init(&ssd1306_data);
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312 Kevin 90 
    Interrupt_Init();
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    Interrupt_Enable();
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    currMode = SINGLE_STEP;
315 Kevin 94 
 
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    SSD1306_Begin(SSD1306_SWITCHCAPVCC);
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312 Kevin 97 
    while(1) {
315 Kevin 98 
 
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        Update_OLED();
312 Kevin 100 
 
315 Kevin 101 
        switch (STEPPER_Get_Auto()) {
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            case DELAY_1000MS:
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                STEPPER_Step();
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                __delay_ms(1000);
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                break;
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            case DELAY_500MS:
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                STEPPER_Step();
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                __delay_ms(500);
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                break;
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            case DELAY_333MS:
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                STEPPER_Step();
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                __delay_ms(333);
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                break;
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            case DELAY_250MS:
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                STEPPER_Step();
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                __delay_ms(250);
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                break;
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            case DELAY_100MS:
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                STEPPER_Step();
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                __delay_ms(100);
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                break;
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            case DELAY_50MS:
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                STEPPER_Step();
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                __delay_ms(50);
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                break;
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            case DELAY_25MS:
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                STEPPER_Step();
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                __delay_ms(25);
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                break;
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            case DELAY_10MS:
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                STEPPER_Step();
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                __delay_ms(10);
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                break;
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            case DELAY_5MS:
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                STEPPER_Step();
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                __delay_ms(5);
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                break;
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            case DELAY_1MS:
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                STEPPER_Step();
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                __delay_ms(1);
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                break;
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            case DELAY_STOPPED:
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                break;
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        }
312 Kevin 145 
    }
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}
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void Set_Next_Mode() {
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    switch (currMode) {
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        case SINGLE_STEP:
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            currMode = AUTO_STEP;
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            break;
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        case AUTO_STEP:
315 Kevin 154 
            currMode = SET_DELAY;
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            break;
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        case SET_DELAY:
312 Kevin 157 
            currMode = SET_MICROSTEP;
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            break;
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        case SET_MICROSTEP:
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        default:
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            currMode = SINGLE_STEP;
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            break;
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    }
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}
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OPERATING_MODE Get_Cur_Mode(void) {
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    return currMode;
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}
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315 Kevin 170 
void Update_OLED(void) {
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    SSD1306_Clear_Display();
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    SSD1306_Set_Text_Size(2);
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    SSD1306_Set_Text_Wrap(0);
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    switch (currMode) {
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        case SINGLE_STEP:
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            Draw_Manual_Text(1);
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            Draw_Auto_Text(0);
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            Draw_Step_Text(STEPPER_Get_Cur_Step(), 0);
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            Draw_Speed_Text(STEPPER_Get_Cur_Speed(), 0);
312 Kevin 180 
            break;
315 Kevin 181 
        case AUTO_STEP:
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            Draw_Manual_Text(0);
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            Draw_Auto_Text(1);
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            Draw_Step_Text(STEPPER_Get_Cur_Step(), 0);
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            Draw_Speed_Text(STEPPER_Get_Cur_Speed(), 0);
312 Kevin 186 
            break;
315 Kevin 187 
        case SET_DELAY:
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            Draw_Manual_Text(0);
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            Draw_Auto_Text(0);
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            Draw_Step_Text(STEPPER_Get_Cur_Step(), 1);
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            Draw_Speed_Text(STEPPER_Get_Cur_Speed(), 0);
312 Kevin 192 
            break;
315 Kevin 193 
        case SET_MICROSTEP:
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            Draw_Manual_Text(0);
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            Draw_Auto_Text(0);
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            Draw_Step_Text(STEPPER_Get_Cur_Step(), 0);
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            Draw_Speed_Text(STEPPER_Get_Cur_Speed(), 1);
312 Kevin 198 
            break;
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    }
315 Kevin 200 
    SSD1306_Display();
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}
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203 
void Draw_Manual_Text(uint8_t selected) {
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    uint8_t stringManual[] = "MANUAL";
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    if (selected) {
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        SSD1306_Fill_Rect(0, 0, 75, 16, 1);
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        SSD1306_Set_Text_Color(0);
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    } else {
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        SSD1306_Set_Text_Color(1);
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    }
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    SSD1306_Set_Cursor(3, 1);
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    SSD1306_Write_String(stringManual, 6);
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}
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215 
void Draw_Auto_Text(uint8_t selected) {
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    uint8_t stringAuto[] = "AUTO";
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    if (selected) {
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        SSD1306_Fill_Rect(76, 0, 53, 16, 1);
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        SSD1306_Set_Text_Color(0);
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    } else {
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        SSD1306_Set_Text_Color(1);
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    }
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    SSD1306_Set_Cursor(79, 1);
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    SSD1306_Write_String(stringAuto, 4);
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}
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227 
void Draw_Speed_Text(STEPPER_SPEED speed, uint8_t selected) {
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    uint8_t stringSpeed[] = "1000Hz";
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    if (selected) {
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        SSD1306_Fill_Rect(53, 16, 76, 16, 1);
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        SSD1306_Set_Text_Color(0);
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    } else {
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        SSD1306_Set_Text_Color(1);
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    }
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    SSD1306_Set_Cursor(55, 17);
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    SSD1306_Write_String(stringSpeed, 6);
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}
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239 
void Draw_Step_Text(STEPPER_MICROSTEP step, uint8_t selected) {
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    uint8_t stringStepping[] = "1/32";
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    if (selected) {
242 
        SSD1306_Fill_Rect(0, 16, 52, 16, 1);
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        SSD1306_Set_Text_Color(0);
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    } else {
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        SSD1306_Set_Text_Color(1);
246 
    }
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    SSD1306_Set_Cursor(2, 17);
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    SSD1306_Write_String(stringStepping, 4);
312 Kevin 249 
}