| /PIC Stuff/PICX_16F1825_Sabertooth/INTERRUPTS.c |
|---|
| 1,6 → 1,7 |
| #include "defines.h" |
| #include "INTERRUPTS.h" |
| #include "I2C1.h" |
| #include "UART.h" |
| void Interrupt_Init() { |
| } |
| 31,4 → 32,27 |
| return; |
| } |
| if (PIR1bits.RCIF) { |
| // Call the handler |
| UART_RX_Interrupt_Handler(); |
| // Clear the interrupt flag |
| PIR1bits.RCIF = 0; |
| return; |
| } |
| if (PIR1bits.TXIF) { |
| // Call the handler |
| UART_TX_Interrupt_Handler(); |
| // Clear the interrupt flag |
| PIR1bits.TXIF = 0; |
| return; |
| } |
| } |
| /PIC Stuff/PICX_16F1825_Sabertooth/UART.c |
|---|
| 0,0 → 1,106 |
| #include <xc.h> |
| #include "defines.h" |
| #include "UART.h" |
| static UART_DATA *data_ptr; |
| void UART_Init(UART_DATA *data) { |
| data_ptr = data; |
| APFCON0bits.RXDTSEL = 1; // Change RX from RB5 to RC5 |
| APFCON0bits.TXCKSEL = 1; // Change TX from RB7 to RC4 |
| UART_RX_TRIS = 1; |
| UART_TX_TRIS = 0; |
| SPBRG = 16; // Set baud rate to 115200 @ 32MHz |
| BAUDCONbits.BRG16 = 0; // 8-bit baud rate generator |
| TXSTAbits.BRGH = 1; // High baud rate select |
| TXSTAbits.SYNC = 0; // Async operation |
| RCSTAbits.CREN = 1; // Enable reception module |
| TXSTAbits.TXEN = 1; // Enable transmission module |
| RCSTAbits.SPEN = 1; // Enable EUSART module |
| PIE1bits.RCIE = 1; // UART RX interrupt starts enabled |
| PIE1bits.TXIE = 0; // UART TX interrupt starts disabled |
| // Initialize local variables |
| data_ptr->buffer_in_read_ind = 0; |
| data_ptr->buffer_in_write_ind = 0; |
| data_ptr->buffer_in_len = 0; |
| data_ptr->buffer_out_ind = 0; |
| data_ptr->buffer_out_len = 0; |
| } |
| void UART_TX_Interrupt_Handler(void) { |
| // Send more data when transmit buffer is empty |
| if (data_ptr->buffer_out_ind != data_ptr->buffer_out_len) { |
| TXREG = data_ptr->buffer_out[data_ptr->buffer_out_ind]; |
| data_ptr->buffer_out_ind++; |
| } else { |
| // Stop processing TX interrupts if there is no more data to send |
| while (!TXSTAbits.TRMT); |
| PIE1bits.TXIE = 0; |
| data_ptr->buffer_out_ind = 0; |
| data_ptr->buffer_out_len = 0; |
| } |
| } |
| void UART_RX_Interrupt_Handler(void) { |
| char c = RCREG; |
| // Read received data into buffer |
| data_ptr->buffer_in[data_ptr->buffer_in_write_ind] = c; |
| if (data_ptr->buffer_in_write_ind == UART_BUFFER_SIZE - 1) { |
| data_ptr->buffer_in_write_ind = 0; |
| } else { |
| data_ptr->buffer_in_write_ind++; |
| } |
| // Increment read counter to keep only the latest data |
| if (data_ptr->buffer_in_len < UART_BUFFER_SIZE) { |
| data_ptr->buffer_in_len++; |
| } else { |
| if (data_ptr->buffer_in_read_ind == UART_BUFFER_SIZE - 1) { |
| data_ptr->buffer_in_read_ind = 0; |
| } else { |
| data_ptr->buffer_in_read_ind++; |
| } |
| } |
| // Reset receiver module on overrun error |
| if (RCSTAbits.OERR == 1) { |
| RCSTAbits.CREN = 0; |
| RCSTAbits.CREN = 1; |
| } |
| } |
| void UART_Write(char *data, char length) { |
| // Ensure that no transmission is currently running |
| while (PIE1bits.TXIE); |
| data_ptr->buffer_out_len = length; |
| data_ptr->buffer_out_ind = 0; |
| for (char i = 0; i < length; i++) { |
| data_ptr->buffer_out[i] = data[i]; |
| } |
| // Start transmission |
| PIE1bits.TXIE = 1; |
| } |
| char UART_Read(char *buffer) { |
| PIE1bits.RCIE = 0; // Disable receiver interrupt |
| char length = data_ptr->buffer_in_len; |
| for (char i = 0; i < length; i++) { |
| buffer[i] = data_ptr->buffer_in[data_ptr->buffer_in_read_ind]; |
| if (data_ptr->buffer_in_read_ind == UART_BUFFER_SIZE - 1) { |
| data_ptr->buffer_in_read_ind = 0; |
| } else { |
| data_ptr->buffer_in_read_ind++; |
| } |
| } |
| data_ptr->buffer_in_len -= length; |
| PIE1bits.RCIE = 1; // Re-enable receiver interrupt |
| return length; |
| } |
| /PIC Stuff/PICX_16F1825_Sabertooth/UART.h |
|---|
| 0,0 → 1,25 |
| #ifndef UART_H |
| #define UART_H |
| #define UART_BUFFER_SIZE 30 |
| typedef struct { |
| char buffer_in[UART_BUFFER_SIZE]; |
| char buffer_in_read_ind; |
| char buffer_in_write_ind; |
| char buffer_in_len; |
| char buffer_out[UART_BUFFER_SIZE]; |
| char buffer_out_ind; |
| char buffer_out_len; |
| } UART_DATA; |
| void UART_Init(UART_DATA *data); |
| void UART_Write(char *data, char length); |
| char UART_Read(char *buffer); |
| void UART_TX_Interrupt_Handler(void); |
| void UART_RX_Interrupt_Handler(void); |
| #endif /* UART_H */ |
| /PIC Stuff/PICX_16F1825_Sabertooth/defines.h |
|---|
| 4,6 → 4,9 |
| #include <xc.h> |
| #include <stdint.h> |
| //#define CONTROL_FROM_CONTROLLER |
| #define CONTROL_FROM_UART |
| // <editor-fold defaultstate="collapsed" desc="I/O Pins"> |
| #define LED_1_TRIS TRISCbits.TRISC2 |
| #define LED_1_LAT LATCbits.LATC2 |
| 19,6 → 22,9 |
| #define I2C_1_CLK_TRIS TRISCbits.TRISC0 |
| #define I2C_1_DAT_TRIS TRISCbits.TRISC1 |
| #define UART_RX_TRIS TRISAbits.TRISA1 |
| #define UART_TX_TRIS TRISAbits.TRISA0 |
| // </editor-fold> |
| #define _XTAL_FREQ 32000000 |
| 27,4 → 33,13 |
| #define PWM_MAX 1950 |
| #define PWM_MIN 1050 |
| #define UART_STATE_READ_CMD 0x1 |
| #define UART_STATE_READ_DATA 0x2 |
| #define UART_CMD_RESET 0x1 |
| #define UART_CMD_LEFT_FORWARD 0x2 |
| #define UART_CMD_LEFT_BACKWARD 0x3 |
| #define UART_CMD_RIGHT_FORWARD 0x4 |
| #define UART_CMD_RIGHT_BACKWARD 0x5 |
| #endif /* DEFINES_H */ |
| /PIC Stuff/PICX_16F1825_Sabertooth/funclist |
|---|
| 1,28 → 1,31 |
| ___awdiv: CODE, 1543 0 84 |
| _LED_2_On: CODE, 3936 0 3 |
| _LED_2_Off: CODE, 3939 0 3 |
| _I2C1_Init: CODE, 1627 0 78 |
| _I2C1_Interrupt_Slave: CODE, 1070 0 386 |
| _I2C1_Read_Buffer: CODE, 1853 0 65 |
| _I2C1_Master_Restart: CODE, 1781 0 72 |
| _main: CODE, 661 0 409 |
| _Interrupt_Enable: CODE, 2045 0 3 |
| _InterruptHandler: CODE, 4 0 13 |
| _I2C1_Process_Receive: CODE, 3927 0 3 |
| _PWM_1_Set: CODE, 4022 0 37 |
| _Interrupt_Init: CODE, 3 0 1 |
| __initialization: CODE, 3942 0 1 |
| _Controller_Read: CODE, 1456 0 87 |
| _I2C1_Configure_Master: CODE, 1973 0 45 |
| _Controller_Init: CODE, 2 0 1 |
| _PWM_1_Init: CODE, 2018 0 27 |
| _PWM_2_Set: CODE, 4059 0 37 |
| _I2C1_Master_Send: CODE, 1705 0 76 |
| _I2C1_Interrupt_Handler: CODE, 3967 0 24 |
| _PWM_2_Init: CODE, 3991 0 31 |
| _I2C1_Get_Status: CODE, 1918 0 55 |
| _LED_1_On: CODE, 3930 0 3 |
| _I2C1_Interrupt_Master: CODE, 19 0 642 |
| _LED_1_Off: CODE, 3933 0 3 |
| _Pins_Init: CODE, 3946 0 21 |
| Total: 2210 |
| _LED_2_On: CODE, 2041 0 3 |
| _LED_2_Off: CODE, 2038 0 3 |
| _I2C1_Init: CODE, 1681 0 78 |
| _I2C1_Interrupt_Slave: CODE, 677 0 386 |
| _UART_Read: CODE, 1598 0 83 |
| _I2C1_Read_Buffer: CODE, 1907 0 65 |
| _I2C1_Master_Restart: CODE, 1835 0 72 |
| _UART_Init: CODE, 4039 0 57 |
| _main: CODE, 1063 0 359 |
| _Interrupt_Enable: CODE, 2035 0 3 |
| _InterruptHandler: CODE, 4 0 29 |
| _I2C1_Process_Receive: CODE, 3754 0 3 |
| _UART_TX_Interrupt_Handler: CODE, 1972 0 58 |
| _PWM_1_Set: CODE, 3865 0 37 |
| _Interrupt_Init: CODE, 2047 0 1 |
| __initialization: CODE, 2030 0 2 |
| _Controller_Read: CODE, 1512 0 86 |
| _I2C1_Configure_Master: CODE, 3939 0 45 |
| _Controller_Init: CODE, 3 0 1 |
| _PWM_1_Init: CODE, 3807 0 27 |
| _PWM_2_Set: CODE, 3902 0 37 |
| _I2C1_Master_Send: CODE, 1759 0 76 |
| _I2C1_Interrupt_Handler: CODE, 3783 0 24 |
| _UART_RX_Interrupt_Handler: CODE, 1422 0 90 |
| _PWM_2_Init: CODE, 3834 0 31 |
| _I2C1_Get_Status: CODE, 3984 0 55 |
| _LED_1_On: CODE, 3757 0 3 |
| _I2C1_Interrupt_Master: CODE, 35 0 642 |
| _LED_1_Off: CODE, 2044 0 3 |
| _Pins_Init: CODE, 3760 0 23 |
| Total: 2382 |
| /PIC Stuff/PICX_16F1825_Sabertooth/l.obj |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| /PIC Stuff/PICX_16F1825_Sabertooth/main.c |
|---|
| 25,6 → 25,7 |
| #include "INTERRUPTS.h" |
| #include "PWM.h" |
| #include "I2C1.h" |
| #include "UART.h" |
| #include "CONTROLLER.h" |
| void Pins_Init(void) { |
| 37,6 → 38,11 |
| // CCP2 on RC3 |
| APFCON1bits.CCP2SEL = 0; |
| // TX/CK function on RA0 |
| APFCON0bits.TXCKSEL = 1; |
| // RX/DT function on RA1 |
| APFCON0bits.RXDTSEL = 1; |
| LED_1_LAT = 1; |
| LED_1_TRIS = 0; |
| 84,6 → 90,9 |
| I2C1_Init(&i2c_data); |
| I2C1_Configure_Master(I2C_100KHZ); |
| UART_DATA uart_data; |
| UART_Init(&uart_data); |
| Controller_Init(); |
| // Initialize interrupts |
| 104,11 → 113,67 |
| CTRL_BTN_STATUS ctrl; |
| Controller_Read(&ctrl); |
| uint8_t median; |
| int16_t L_X, L_Y, R_X, R_Y; |
| uint16_t pwm_left = PWM_NOMINAL; |
| uint16_t pwm_right = PWM_NOMINAL; |
| #ifdef CONTROL_FROM_UART |
| uint8_t buffer[32]; |
| uint8_t length; |
| uint8_t uart_state = UART_STATE_READ_CMD; |
| uint8_t uart_cmd; |
| while(1) { |
| length = UART_Read(buffer); |
| for (uint8_t i = 0; i < length; i++) { |
| if (uart_state == UART_STATE_READ_CMD) { |
| if (buffer[i] == UART_CMD_RESET) { |
| RESET(); |
| } else { |
| // Read and save first byte (command) |
| uart_cmd = buffer[i]; |
| uart_state = UART_STATE_READ_DATA; |
| } |
| } else if (uart_state == UART_STATE_READ_DATA) { |
| uart_state = UART_STATE_READ_CMD; |
| // Process received data |
| if (uart_cmd == UART_CMD_LEFT_FORWARD) { |
| pwm_left = PWM_NOMINAL + (uint16_t)(buffer[i] * 2); |
| if (buffer[i] != 0) LED_2_On(); |
| else LED_2_Off(); |
| } else if (uart_cmd == UART_CMD_LEFT_BACKWARD) { |
| pwm_left = PWM_NOMINAL - (uint16_t)(buffer[i] * 2); |
| if (buffer[i] != 0) LED_2_On(); |
| else LED_2_Off(); |
| } else if (uart_cmd == UART_CMD_RIGHT_FORWARD) { |
| pwm_right = PWM_NOMINAL + (uint16_t)(buffer[i] * 2); |
| if (buffer[i] != 0) LED_1_On(); |
| else LED_1_Off(); |
| } else if (uart_cmd == UART_CMD_RIGHT_BACKWARD) { |
| pwm_right = PWM_NOMINAL - (uint16_t)(buffer[i] * 2); |
| if (buffer[i] != 0) LED_1_On(); |
| else LED_1_Off(); |
| } |
| if (pwm_left > PWM_MAX) |
| pwm_left = PWM_MAX; |
| if (pwm_left < PWM_MIN) |
| pwm_left = PWM_MIN; |
| if (pwm_right > PWM_MAX) |
| pwm_right = PWM_MAX; |
| if (pwm_right < PWM_MIN) |
| pwm_right = PWM_MIN; |
| PWM_1_Set(pwm_right); |
| PWM_2_Set(pwm_left); |
| } |
| } |
| } |
| #endif |
| #ifdef CONTROL_FROM_CONTROLLER |
| uint8_t median; |
| int16_t L_X, L_Y, R_X, R_Y; |
| while (1) { |
| if (!Controller_Read(&ctrl)) { |
| median = ctrl.REF / 2; |
| 167,4 → 232,5 |
| LED_2_Off(); |
| } |
| } |
| #endif |
| } |
| /PIC Stuff/PICX_16F1825_Sabertooth/nbproject/Makefile-default.mk |
|---|
| 45,17 → 45,17 |
| DISTDIR=dist/${CND_CONF}/${IMAGE_TYPE} |
| # Source Files Quoted if spaced |
| SOURCEFILES_QUOTED_IF_SPACED=main.c INTERRUPTS.c PWM.c I2C1.c CONTROLLER.c |
| SOURCEFILES_QUOTED_IF_SPACED=main.c INTERRUPTS.c PWM.c I2C1.c CONTROLLER.c UART.c |
| # Object Files Quoted if spaced |
| OBJECTFILES_QUOTED_IF_SPACED=${OBJECTDIR}/main.p1 ${OBJECTDIR}/INTERRUPTS.p1 ${OBJECTDIR}/PWM.p1 ${OBJECTDIR}/I2C1.p1 ${OBJECTDIR}/CONTROLLER.p1 |
| POSSIBLE_DEPFILES=${OBJECTDIR}/main.p1.d ${OBJECTDIR}/INTERRUPTS.p1.d ${OBJECTDIR}/PWM.p1.d ${OBJECTDIR}/I2C1.p1.d ${OBJECTDIR}/CONTROLLER.p1.d |
| OBJECTFILES_QUOTED_IF_SPACED=${OBJECTDIR}/main.p1 ${OBJECTDIR}/INTERRUPTS.p1 ${OBJECTDIR}/PWM.p1 ${OBJECTDIR}/I2C1.p1 ${OBJECTDIR}/CONTROLLER.p1 ${OBJECTDIR}/UART.p1 |
| POSSIBLE_DEPFILES=${OBJECTDIR}/main.p1.d ${OBJECTDIR}/INTERRUPTS.p1.d ${OBJECTDIR}/PWM.p1.d ${OBJECTDIR}/I2C1.p1.d ${OBJECTDIR}/CONTROLLER.p1.d ${OBJECTDIR}/UART.p1.d |
| # Object Files |
| OBJECTFILES=${OBJECTDIR}/main.p1 ${OBJECTDIR}/INTERRUPTS.p1 ${OBJECTDIR}/PWM.p1 ${OBJECTDIR}/I2C1.p1 ${OBJECTDIR}/CONTROLLER.p1 |
| OBJECTFILES=${OBJECTDIR}/main.p1 ${OBJECTDIR}/INTERRUPTS.p1 ${OBJECTDIR}/PWM.p1 ${OBJECTDIR}/I2C1.p1 ${OBJECTDIR}/CONTROLLER.p1 ${OBJECTDIR}/UART.p1 |
| # Source Files |
| SOURCEFILES=main.c INTERRUPTS.c PWM.c I2C1.c CONTROLLER.c |
| SOURCEFILES=main.c INTERRUPTS.c PWM.c I2C1.c CONTROLLER.c UART.c |
| CFLAGS= |
| 118,6 → 118,14 |
| @-${MV} ${OBJECTDIR}/CONTROLLER.d ${OBJECTDIR}/CONTROLLER.p1.d |
| @${FIXDEPS} ${OBJECTDIR}/CONTROLLER.p1.d $(SILENT) -rsi ${MP_CC_DIR}../ |
| ${OBJECTDIR}/UART.p1: UART.c nbproject/Makefile-${CND_CONF}.mk |
| @${MKDIR} ${OBJECTDIR} |
| @${RM} ${OBJECTDIR}/UART.p1.d |
| @${RM} ${OBJECTDIR}/UART.p1 |
| ${MP_CC} --pass1 $(MP_EXTRA_CC_PRE) --chip=$(MP_PROCESSOR_OPTION) -Q -G -D__DEBUG=1 --debugger=pickit3 --double=24 --float=24 --opt=default,+asm,+asmfile,-speed,+space,-debug --addrqual=ignore --mode=free -P -N255 --warn=0 --asmlist --summary=default,-psect,-class,+mem,-hex,-file --output=default,-inhx032 --runtime=default,+clear,+init,-keep,-no_startup,+osccal,-resetbits,-download,-stackcall,+clib --output=-mcof,+elf "--errformat=%%f:%%l: error: (%%n) %%s" "--warnformat=%%f:%%l: warning: (%%n) %%s" "--msgformat=%%f:%%l: advisory: (%%n) %%s" -o${OBJECTDIR}/UART.p1 UART.c |
| @-${MV} ${OBJECTDIR}/UART.d ${OBJECTDIR}/UART.p1.d |
| @${FIXDEPS} ${OBJECTDIR}/UART.p1.d $(SILENT) -rsi ${MP_CC_DIR}../ |
| else |
| ${OBJECTDIR}/main.p1: main.c nbproject/Makefile-${CND_CONF}.mk |
| @${MKDIR} ${OBJECTDIR} |
| 159,6 → 167,14 |
| @-${MV} ${OBJECTDIR}/CONTROLLER.d ${OBJECTDIR}/CONTROLLER.p1.d |
| @${FIXDEPS} ${OBJECTDIR}/CONTROLLER.p1.d $(SILENT) -rsi ${MP_CC_DIR}../ |
| ${OBJECTDIR}/UART.p1: UART.c nbproject/Makefile-${CND_CONF}.mk |
| @${MKDIR} ${OBJECTDIR} |
| @${RM} ${OBJECTDIR}/UART.p1.d |
| @${RM} ${OBJECTDIR}/UART.p1 |
| ${MP_CC} --pass1 $(MP_EXTRA_CC_PRE) --chip=$(MP_PROCESSOR_OPTION) -Q -G --double=24 --float=24 --opt=default,+asm,+asmfile,-speed,+space,-debug --addrqual=ignore --mode=free -P -N255 --warn=0 --asmlist --summary=default,-psect,-class,+mem,-hex,-file --output=default,-inhx032 --runtime=default,+clear,+init,-keep,-no_startup,+osccal,-resetbits,-download,-stackcall,+clib --output=-mcof,+elf "--errformat=%%f:%%l: error: (%%n) %%s" "--warnformat=%%f:%%l: warning: (%%n) %%s" "--msgformat=%%f:%%l: advisory: (%%n) %%s" -o${OBJECTDIR}/UART.p1 UART.c |
| @-${MV} ${OBJECTDIR}/UART.d ${OBJECTDIR}/UART.p1.d |
| @${FIXDEPS} ${OBJECTDIR}/UART.p1.d $(SILENT) -rsi ${MP_CC_DIR}../ |
| endif |
| # ------------------------------------------------------------------------------------ |
| /PIC Stuff/PICX_16F1825_Sabertooth/nbproject/Makefile-genesis.properties |
|---|
| 1,5 → 1,5 |
| # |
| #Sun Apr 06 14:31:06 EDT 2014 |
| #Sun Apr 20 17:21:55 EDT 2014 |
| default.languagetoolchain.dir=C\:\\Program Files (x86)\\Microchip\\xc8\\v1.20\\bin |
| com-microchip-mplab-nbide-embedded-makeproject-MakeProject.md5=1f98a0eed69cb2a45c12981fa9470927 |
| default.languagetoolchain.version=1.20 |
| /PIC Stuff/PICX_16F1825_Sabertooth/nbproject/configurations.xml |
|---|
| 9,6 → 9,7 |
| <itemPath>PWM.h</itemPath> |
| <itemPath>I2C1.h</itemPath> |
| <itemPath>CONTROLLER.h</itemPath> |
| <itemPath>UART.h</itemPath> |
| </logicalFolder> |
| <logicalFolder name="LinkerScript" |
| displayName="Linker Files" |
| 22,6 → 23,7 |
| <itemPath>PWM.c</itemPath> |
| <itemPath>I2C1.c</itemPath> |
| <itemPath>CONTROLLER.c</itemPath> |
| <itemPath>UART.c</itemPath> |
| </logicalFolder> |
| <logicalFolder name="ExternalFiles" |
| displayName="Important Files" |
| 140,7 → 142,7 |
| <property key="memories.programmemory" value="true"/> |
| <property key="memories.programmemory.end" value="0x1fff"/> |
| <property key="memories.programmemory.start" value="0x0"/> |
| <property key="poweroptions.powerenable" value="true"/> |
| <property key="poweroptions.powerenable" value="false"/> |
| <property key="programmertogo.imagename" value=""/> |
| <property key="programoptions.eraseb4program" value="true"/> |
| <property key="programoptions.pgmspeed" value="2"/> |