| 0,0 → 1,133 |
|---|
| // <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 "STEPPER.h" |
| #include "IOC.h" |
| |
| void Pins_Init(void) { |
| // RA0 and RA1 pins as analog input |
| ANSELA = 0x3; |
| ANSELC = 0x0; |
| |
| // // Enable weak pull-up if WPU bit is set |
| // OPTION_REGbits.nWPUEN = 0; |
| |
| // SDO1 on RC2 |
| APFCON0bits.SDOSEL = 0; |
| |
| STEP_TRIS = 0; |
| STEP_LAT = 0; |
| |
| DIR_TRIS = 0; |
| DIR_LAT = 0; |
| |
| M0_TRIS = 0; |
| M0_LAT = 0; |
| |
| M1_TRIS = 0; |
| M1_LAT = 0; |
| |
| M2_TRIS = 0; |
| M2_LAT = 0; |
| |
| SW_1_TRIS = 1; |
| SW_2_TRIS = 1; |
| STEP_CURRENT_TRIS = 1; |
| POT_CURRENT_TRIS = 1; |
| |
| SPI_MOSI_TRIS = 0; |
| SPI_D_C_TRIS = 0; |
| SPI_CLK_TRIS = 0; |
| } |
| |
| OPERATING_MODE currMode; |
| STEPPER_MICROSTEP currStep; |
| |
| 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(); |
| |
| IOC_Init(); |
| |
| Interrupt_Init(); |
| Interrupt_Enable(); |
| |
| currMode = SINGLE_STEP; |
| currStep = STEP_1_1; |
| |
| while(1) { |
| |
| } |
| |
| } |
| |
| void Set_Next_Mode() { |
| switch (currMode) { |
| case SINGLE_STEP: |
| currMode = AUTO_STEP; |
| break; |
| case AUTO_STEP: |
| currMode = SET_MICROSTEP; |
| break; |
| case SET_MICROSTEP: |
| default: |
| currMode = SINGLE_STEP; |
| break; |
| } |
| } |
| |
| OPERATING_MODE Get_Cur_Mode(void) { |
| return currMode; |
| } |
| |
| void Set_Next_Step() { |
| switch (currStep) { |
| case STEP_1_1: |
| currStep = STEP_1_2; |
| break; |
| case STEP_1_2: |
| currStep = STEP_1_4; |
| break; |
| case STEP_1_4: |
| currStep = STEP_1_8; |
| break; |
| case STEP_1_8: |
| currStep = STEP_1_16; |
| break; |
| case STEP_1_16: |
| currStep = STEP_1_32; |
| break; |
| case STEP_1_32: |
| default: |
| currStep = STEP_1_1; |
| break; |
| } |
| STEPPER_Set_Microstep(currStep); |
| } |