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// <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"#include "SPI.h"#include "ADC.h"#include "OLED_SSD1306.h"#include "TIMER.h"#include <stdio.h>void Pins_Init(void) {// RA0 and RA1 pins as analog inputANSELA = 0x3;ANSELC = 0x0;// // Enable weak pull-up if WPU bit is set// OPTION_REGbits.nWPUEN = 0;// SDO1 on RC2APFCON0bits.SDOSEL = 0;// Stepper DriverSTEP_TRIS = 0;STEP_LAT = 0;M0_TRIS = 0;M0_LAT = 0;M1_TRIS = 0;M1_LAT = 0;M2_TRIS = 0;M2_LAT = 0;// I/OSW_1_TRIS = 1;SW_1_INLVL = 1;SW_2_TRIS = 1;SW_2_INLVL = 1;STEP_CURRENT_TRIS = 1;POT_CURRENT_TRIS = 1;// SPISPI_MOSI_TRIS = 0;SPI_CLK_TRIS = 0;SPI_DC_SELECT_TRIS = 0;SPI_DC_SELECT_LAT = 0;SPI_RESET_TRIS = 0;SPI_RESET_LAT = 0;}OPERATING_MODE currMode;int main(void) {// Set internal oscillator speed to 32MHzOSCCONbits.SPLLEN = 1; // 4x PLL enable (overwritten by config bits)OSCCONbits.IRCF = 0xE; // Base frequency @ 8MHzOSCCONbits.SCS = 0b00; // System clock determined by config bits// Initialize I/OPins_Init();IOC_Init();ADC_Init();TIMER_DATA timer_data;TIMER_Init(&timer_data);SPI_DATA spi_data;SPI_Init(&spi_data, SPI2_FOSC_16);SSD1306_DATA ssd1306_data;SSD1306_Init(&ssd1306_data);Interrupt_Init();Interrupt_Enable();currMode = SINGLE_STEP;SSD1306_Begin(SSD1306_SWITCHCAPVCC);while(1) {Update_OLED();// __delay_ms(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 Update_OLED(void) {SSD1306_Clear_Display();SSD1306_Set_Text_Size(2);SSD1306_Set_Text_Wrap(0);switch (currMode) {case SINGLE_STEP:Draw_Manual_Text(1);Draw_Auto_Text(0);Draw_Step_Text(STEPPER_Get_Cur_Step(), 0);break;case AUTO_STEP:Draw_Manual_Text(0);Draw_Auto_Text(1);Draw_Step_Text(STEPPER_Get_Cur_Step(), 0);break;case SET_MICROSTEP:Draw_Manual_Text(0);Draw_Auto_Text(0);Draw_Step_Text(STEPPER_Get_Cur_Step(), 1);break;}Draw_Stepper_Current();Draw_Pot_Value();SSD1306_Display();}void Draw_Manual_Text(uint8_t selected) {// Draw and/or highlight the stepping mode in the top left corneruint8_t stringManual[] = "MANUAL";if (selected) {SSD1306_Fill_Rect(0, 0, 75, 16, 1);SSD1306_Set_Text_Color(0);} else {SSD1306_Set_Text_Color(1);}SSD1306_Set_Cursor(3, 1);SSD1306_Write_String(stringManual, 6);}void Draw_Auto_Text(uint8_t selected) {// Draw and/or highlight the stepping mode in the top right corneruint8_t stringAuto[] = "AUTO";if (selected) {SSD1306_Fill_Rect(76, 0, 53, 16, 1);SSD1306_Set_Text_Color(0);} else {SSD1306_Set_Text_Color(1);}SSD1306_Set_Cursor(79, 1);SSD1306_Write_String(stringAuto, 4);}void Draw_Stepper_Current() {// Draw the stepper motor current draw in the bottom right corneruint8_t buffer[6] = {0};uint16_t potVoltage = ADC_Read(STEP_ADC_CHANNEL);// Compute current from voltage reading (2x)uint16_t current = potVoltage * 0.3222 * 2;uint8_t preDecimal = current / 100;uint8_t postDecimal = current % 100;sprintf(buffer, "%1d.%02dA", preDecimal, postDecimal);SSD1306_Set_Text_Color(1);SSD1306_Set_Cursor(67, 17);SSD1306_Write_String(buffer, 5);}void Draw_Pot_Value() {// Draw a line indicating auto rotation delayuint8_t potVoltage = ADC_Read(POT_ADC_CHANNEL) >> 4;SSD1306_Draw_Line(127, 31, 127 - potVoltage, 31, 1);}void Draw_Step_Text(STEPPER_MICROSTEP step, uint8_t selected) {// Draw and/or highlight the stepping in the bottom left corneruint8_t stringStepping32[] = "1/32";uint8_t stringStepping16[] = "1/16";uint8_t stringStepping8[] = "1/8";uint8_t stringStepping4[] = "1/4";uint8_t stringStepping2[] = "1/2";uint8_t stringStepping1[] = "1/1";if (selected) {SSD1306_Fill_Rect(0, 16, 52, 16, 1);SSD1306_Set_Text_Color(0);} else {SSD1306_Set_Text_Color(1);}if (step == STEP_1_32) {SSD1306_Set_Cursor(2, 17);SSD1306_Write_String(stringStepping32, 4);} else if (step == STEP_1_16) {SSD1306_Set_Cursor(2, 17);SSD1306_Write_String(stringStepping16, 4);} else if (step == STEP_1_8) {SSD1306_Set_Cursor(8, 17);SSD1306_Write_String(stringStepping8, 3);} else if (step == STEP_1_4) {SSD1306_Set_Cursor(8, 17);SSD1306_Write_String(stringStepping4, 3);} else if (step == STEP_1_2) {SSD1306_Set_Cursor(8, 17);SSD1306_Write_String(stringStepping2, 3);} else if (step == STEP_1_1) {SSD1306_Set_Cursor(8, 17);SSD1306_Write_String(stringStepping1, 3);}}