| 0,0 → 1,170 |
|---|
| // <editor-fold defaultstate="collapsed" desc="Configuration Bits"> |
| // PIC16F1825 Configuration Bit Settings |
| |
| // CONFIG1 |
| #pragma config FOSC = INTOSC // Oscillator Selection (INTOSC oscillator: I/O function on CLKIN pin) |
| #pragma config WDTE = OFF // Watchdog Timer Enable (WDT enabled) |
| #pragma config PWRTE = OFF // Power-up Timer Enable (PWRT disabled) |
| #pragma config MCLRE = OFF // MCLR Pin Function Select (MCLR/VPP pin function is digital input) |
| #pragma config CP = OFF // Flash Program Memory Code Protection (Program memory code protection is disabled) |
| #pragma config CPD = OFF // Data Memory Code Protection (Data memory code protection is disabled) |
| #pragma config BOREN = ON // Brown-out Reset Enable (Brown-out Reset enabled) |
| #pragma config CLKOUTEN = OFF // Clock Out Enable (CLKOUT function is disabled. I/O or oscillator function on the CLKOUT pin) |
| #pragma config IESO = ON // Internal/External Switchover (Internal/External Switchover mode is enabled) |
| #pragma config FCMEN = ON // Fail-Safe Clock Monitor Enable (Fail-Safe Clock Monitor is enabled) |
| |
| // CONFIG2 |
| #pragma config WRT = OFF // Flash Memory Self-Write Protection (Write protection off) |
| #pragma config PLLEN = ON // PLL Enable (4x PLL enabled) |
| #pragma config STVREN = ON // Stack Overflow/Underflow Reset Enable (Stack Overflow or Underflow will cause a Reset) |
| #pragma config BORV = LO // Brown-out Reset Voltage Selection (Brown-out Reset Voltage (Vbor), low trip point selected.) |
| #pragma config LVP = OFF // Low-Voltage Programming Enable (High-voltage on MCLR/VPP must be used for programming) |
| // </editor-fold> |
| |
| #include "defines.h" |
| #include "INTERRUPTS.h" |
| #include "PWM.h" |
| #include "I2C1.h" |
| #include "CONTROLLER.h" |
| |
| void Pins_Init(void) { |
| // Set all pins to digital I/O |
| ANSELA = 0x0; |
| ANSELC = 0x0; |
| |
| // // Enable weak pull-up if WPU bit is set |
| // OPTION_REGbits.nWPUEN = 0; |
| |
| // CCP2 on RC3 |
| APFCON1bits.CCP2SEL = 0; |
| |
| LED_1_LAT = 1; |
| LED_1_TRIS = 0; |
| LED_2_LAT = 0; |
| LED_2_TRIS = 0; |
| |
| CCP_1_LAT = 0; |
| CCP_1_TRIS = 0; |
| CCP_2_LAT = 0; |
| CCP_2_TRIS = 0; |
| |
| } |
| |
| void LED_1_On(void) { |
| LED_1_LAT = 0; |
| } |
| |
| void LED_1_Off(void) { |
| LED_1_LAT = 1; |
| } |
| |
| void LED_2_On(void) { |
| LED_2_LAT = 1; |
| } |
| |
| void LED_2_Off(void) { |
| LED_2_LAT = 0; |
| } |
| |
| int main(void) { |
| // Set internal oscillator speed to 32MHz |
| OSCCONbits.SPLLEN = 1; // 4x PLL enable (overwritten by config bits) |
| OSCCONbits.IRCF = 0xE; // Base frequency @ 8MHz |
| OSCCONbits.SCS = 0b00; // System clock determined by config bits |
| |
| // Initialize I/O |
| Pins_Init(); |
| |
| // Initialize PWM |
| PWM_1_Init(); |
| PWM_2_Init(); |
| |
| // Initialize I2C |
| I2C1_DATA i2c_data; |
| I2C1_Init(&i2c_data); |
| I2C1_Configure_Master(I2C_100KHZ); |
| |
| Controller_Init(); |
| |
| // Initialize interrupts |
| Interrupt_Init(); |
| Interrupt_Enable(); |
| |
| PWM_1_Set(PWM_NOMINAL); |
| PWM_2_Set(PWM_NOMINAL); |
| |
| LED_1_On(); |
| LED_2_On(); |
| |
| __delay_ms(1000); |
| |
| LED_1_Off(); |
| LED_2_Off(); |
| |
| 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; |
| |
| while (1) { |
| if (!Controller_Read(&ctrl)) { |
| median = ctrl.REF / 2; |
| L_X = (int16_t)median - (int16_t)ctrl.L_X_CH; |
| L_Y = (int16_t)median - (int16_t)ctrl.L_Y_CH; |
| R_X = (int16_t)median - (int16_t)ctrl.R_X_CH; |
| R_Y = (int16_t)median - (int16_t)ctrl.R_Y_CH; |
| |
| // Left stick = throttle, Right stick = steering |
| // if (L_X > -5 && L_X < 5 && |
| // R_Y > -5 && R_Y < 5) { |
| // pwm_left = PWM_NOMINAL; |
| // pwm_right = PWM_NOMINAL; |
| // } else { |
| // pwm_left = PWM_NOMINAL + (L_X * 4); |
| // pwm_right = PWM_NOMINAL + (L_X * 4); |
| // |
| // pwm_left += R_Y * 4; |
| // pwm_right -= R_Y * 4; |
| // } |
| |
| // Left stick = left control, Right stick = right control |
| if (L_X > -5 && L_X < 5 && |
| R_X > -5 && R_X < 5) { |
| pwm_left = PWM_NOMINAL; |
| pwm_right = PWM_NOMINAL; |
| } else { |
| pwm_left = PWM_NOMINAL + (R_X * 4); |
| pwm_right = PWM_NOMINAL + (L_X * 4); |
| } |
| |
| if (L_X < -5 || L_X > 5) LED_2_On(); |
| else LED_2_Off(); |
| |
| if (R_X < -5 || R_X > 5) 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_left); |
| PWM_2_Set(pwm_right); |
| } else { |
| PWM_1_Set(PWM_NOMINAL); |
| PWM_2_Set(PWM_NOMINAL); |
| |
| LED_1_Off(); |
| LED_2_Off(); |
| } |
| } |
| } |