P.S. К предыдущему. В коде есть место, где надо прописать, сто плате выводить на COM-порт. Если кто знает как правильно прописать , что бы машина вывела в терминал, то что нужно, обучите пожалуйста.
А вот и болванка:
#include<p30f4011.h>
#include<stdio.h>
#include<math.h>
#include<float.h>
#include"libpic30.h"
#include "user_defi.h"
_FOSC(CSW_FSCM_OFF & XT_PLL8);
_FWDT(WDT_OFF);
unsigned char flag = 0x00, i = 0, init = 1, f = 1, traffic_data, y = 1;
unsigned int ch = 0, w = 0, pwm = 0x0200, test = 0xd356, temp, flag1;
float sl3, /* AN0, stripe sensor -> left 3 */
sl2, /* AN1, stripe sensor -> left 2 */
sl1, /* AN2, stripe sensor -> left 1 */
sc, /* AN3, stripe sensor -> centre black stip on/off */
sr1, /* AN4, stripe sensor -> right 1 */
sr2, /* AN5, stripe sensor -> right 2 */
sr3, /* AN6, stripe sensor -> right 3 */
ss, /* AN7, stripe sensor -> stop */
/* */
fl, /* AN8, left front distance sensor */
fr, /* AN9, right front distance sensor */
rl, /* AN10, left rear distance sensor */
rr; /* AN11, right rear distance sensor */
unsigned char h,l;
unsigned int received_data [0x0a] = {0};
unsigned char transmitted_data [0x0c] = {0};
unsigned char a2d_channels [0x0c] = {0x86, 0x8e, 0x96, 0x9e, 0xa6, 0xae, 0xb6, 0xbe, 0xc6, 0xce, 0xd6, 0xde};
unsigned int a2d_data [0x0c] = {0};
void initialization (void);
void a2d_sensors (void);
void SPI1_A2D_init (void);
void uart1A_IrDA_init (void);
void uart2_rs232_init (void);
void putch (char byte);
/*======================================================*/
void initialization (void)
{
/* Interrupt control register */
SRbits.IPL = 1; /* CPU Interrupt Priority Level Status bits, 100 = CPU interrupt priority level is 4 (12) */
CORCONbits.IPL3 = 1; /* CPU interrupt priority level is 7 or less */
INTCON1 = 0x0000;
INTCON2 = 0x0000;
/* init TMR1 */
TMR1 = 0x0000; /* Timer1 register for the Timer0 module */
PR1 = 0x30; /* Period register for the Timer1 module */
T1CON = 0x8030; /* 16-bit 1:1 prescale value */
IPC0bits.T1IP = 2; /* Priority */
IEC0bits.T1IE = 1; /* Enables the TMR1 overflow interrupt */
IFS0bits.T1IF = 0; /* TMR1 Overflow Interrupt Flag bit */
/* init TMR2 */
T2CON = 0x8000;
TMR2 = 0x0000;
PR2 = 0x3ff;
IPC1bits.T2IP = 2; /* Priority */
IEC0bits.T2IE = 1; /* Enables the TMR2 overflow interrupt */
IFS0bits.T2IF = 0; /* TMR2 Overflow Interrupt Flag bit */
/* init TMR3 */
T3CON = 0x8010;
TMR3 = 0x0000;
PR3 = 0x77ff;
IPC1bits.T3IP = 3; /* Priority */
IEC0bits.T3IE = 1; /* Enables the TMR2 overflow interrupt */
IFS0bits.T3IF = 0; /* TMR2 Overflow Interrupt Flag bit */
/* init servo motor control PWM output */
PTCON = 0x8008;
PTMR = 0x0000;
PTPER = 0x47fe;
SEVTCMP = 0x0000;
PWMCON1 = 0x0001;
PWMCON2 = 0x0000;
OVDCON = 0x0101;
/* compare output PWM */
OC1CON = 0x0000;
OC3CON = 0x0006;
IPC4bits.OC3IP = 2;
OC3R = 0x0000;
IEC1bits.OC3IE = 1;
IFS1bits.OC3IF = 0;
/* I/O init */
ADPCFG = 0xffff; /* 1 = Analog input pin in Digital mode */
I2CCON = 0x0000;
TRISE = 0x01fc; /* servo->RE0 pin_38 (output servo_motor) */
PDC1 = 0x0add; /* servo motor PWM */
TRISDbits.TRISD0 = 0; /* dir */
TRISDbits.TRISD2 = 0; /* pwm */
TRISCbits.TRISC13 = 0; /* TX1 */
TRISCbits.TRISC14 = 1; /* RX1 */
TRISFbits.TRISF4 = 1; /* RX2 */
TRISFbits.TRISF5 = 0; /* TX2 */
TRISFbits.TRISF6 = 0; /* sck */
TRISFbits.TRISF3 = 0; /* sdo */
TRISFbits.TRISF2 = 1; /* sdi */
TRISFbits.TRISF0 = 0; /* cs */
TRISFbits.TRISF1 = 1; /* oec */
TRISBbits.TRISB2 = 1; /* run => 1, stop =>0 */
TRISEbits.TRISE1 = 0; /* test point */
PORTEbits.RE1 = 1;
OC3RS = 0x0001; /* DC motor PWM */
}
/*=================================================================================PRINT FUNCTIONS=======================================================================================================================================*/
void _ISR __attribute__((auto_psv)) _T1Interrupt( void)
{
PORTEbits.RE1 = 1;
if( y == 1)
{
printf("Robotraffic 2012, A2D test \n");
y = 0;
}
if( y == 0)
{
uart1A_IrDA_init();
SPI1_A2D_init();
y = 2;
}
if( y== 2)
{
a2d_sensors();
}
if ( flag1 == 0x01ff)
{
// printf( " received_data [0x0a] = {%d} \n",(int)received_data [0]);
// printf( " SL3 = %d \n", a2d_data[0x00]);
// printf( " SL2 = %d \n", a2d_data[0x01]);
// printf( " SL1 = %d \n", a2d_data[0x02]);
// printf( " SC = %d \n", a2d_data[0x03]);
// printf( " SR1 = %d \n", a2d_data[0x04]);
// printf( " SR2 = %d \n", a2d_data[0x05]);
// printf( " SR3 = %d \n", a2d_data[0x06]);
// printf( " SS = %d \n", a2d_data[0x07]);
// printf( " FL = %d \n", a2d_data[0x08]);
// printf( " FR = %d \n", a2d_data[0x09]);
flag1 = 0;
}
if( flag == 0x07)
{
/*
Traffic Light ID;
RED = 0x00,
RED + Yellow = 0x01,
Green = 0x02,
Green + Flash = 0x03,
Yellow = 0x04.
Traffic signal ID;
Pedestrian crossing = 0x05,
Stop = 0x06,
Go Straight = 0x07, *
Go Left = 0x08, *
Go Right = 0x09. *
*/
switch (received_data [0])
{
}
flag = 0x0;
}
flag1++;
PORTEbits.RE1 = 0;
IFS0bits.T1IF = 0;
}
/*==============================================================================PID FUNCTION==========================================================================================================================================*/
void _ISR __attribute__((auto_psv)) _T2Interrupt( void)
{
IFS0bits.T2IF = 0;
}
/*================================================================================TRAFIC FUNCTIONS========================================================================================================================================*/
void _ISR __attribute__((auto_psv)) _T3Interrupt( void)
{
IFS0bits.T3IF = 0;
}
/*======================================================*/
void _ISR __attribute__((auto_psv)) _U1RXInterrupt( void)
{
if(flag == 0x00)
{
for(i=0;i<0x01;i++)
{
while(!IFS0bits.U1RXIF) /* set when register is not empty */
continue;
received_data
= U1RXREG;
f4++;
}
flag = 0x07;
}
IFS0bits.U1RXIF = 0;
}
/*======================================================*/
/*======================================================*/
void uart2_rs232_init (void)
{
/* Fcy 7.3728 MHZ */
U2MODE = 0x8000; /* Transmit status and control register */
U2STA = 0x84c0; /* Receve status and control register */
U2BRG = 0x0007; /* Baund rate control register 115200 bps */
IPC6bits.U2RXIP = 2; /* Receiver Interrupt Priority bits */
IEC1bits.U2RXIE = 1; /* Enable RS232 interrupts */
IFS1bits.U2RXIF = 0;
}
/*======================================================*/
void uart1A_IrDA_init (void)
{
/* Fcy 7.3728 MHZ */
U1MODE = 0x8400; /* U1ATX Transmit status and control register */
U1STA = 0x8400; /* Receve status and control register */
U1BRG = 0x0007; /* Baund rate control register 115200 bps */
IPC2bits.U1RXIP = 3; /* Receiver Interrupt Priority bits */
IEC0bits.U1RXIE = 1; /* Enable RS232 interrupts */
IFS0bits.U1RXIF = 0;
}
/*======================================================*/
void putch (char byte)
{
while(!IFS1bits.U2TXIF)
continue;
U2TXREG = byte;
IFS1bits.U2TXIF = 0;
}
/*======================================================*/
void a2d_sensors (void)
{
/***** R E A D Ch_ 0 ************************************/
for(ch=0;ch<0xc;ch++)
{
/***********************************/
SPI1CON = 0x0323;
SPI1CONbits.MODE16 = 0;
PORTFbits.RF0 = 0; //cs = 0;
SPI1BUF = 0x18;
while(!IFS0bits.SPI1IF)
continue;
temp = SPI1BUF;
IFS0bits.SPI1IF = 0;
PORTFbits.RF0 = 1; // cs = 1;
for(w=0;w<0xb;w++) { asm("NOP"); }
/***********************************/
SPI1CON = 0x0323;
SPI1CONbits.MODE16 = 1;
PORTFbits.RF0 = 0; // cs = 0;
SPI1BUF = 0x6a00;
while(!IFS0bits.SPI1IF)
continue;
temp = SPI1BUF;
IFS0bits.SPI1IF = 0;
PORTFbits.RF0 = 1; // cs = 1;
for(w=0;w<0xb;w++) { asm("NOP"); }
/***********************************/
SPI1CON = 0x0323;
SPI1CONbits.MODE16 = 0;
PORTFbits.RF0 = 0; // cs = 0;
SPI1BUF = a2d_channels[ch];
while(!IFS0bits.SPI1IF)
continue;
temp = SPI1BUF;
IFS0bits.SPI1IF = 0;
PORTFbits.RF0 = 1; // cs = 1;
for(w=0;w<0xb;w++) { asm("NOP"); }
SPI1CON = 0x0323;
SPI1CONbits.MODE16 = 1;
SPI1CONbits.DISSDO = 1;
PORTFbits.RF0 = 0; // cs = 0;
SPI1BUF = 0x0000;
while(!IFS0bits.SPI1IF)
continue;
a2d_data[ch] = SPI1BUF;
IFS0bits.SPI1IF = 0;
PORTFbits.RF0 = 1; // cs = 1;
asm("NOP"); asm("NOP"); asm("NOP"); asm("NOP");
}
/***********************************************************/
sl3 = a2d_data[0x00] * 0.8571;
sl2 = a2d_data[0x01] * 0.787;
sl1 = a2d_data[0x02] * 1.0714;
sc = a2d_data[0x03] * 0.00122;
sr1 = a2d_data[0x04] * 1.2765;;
sr2 = a2d_data[0x05] * 0.80808;
sr3 = a2d_data[0x06] * 0.9756;
ss = a2d_data[0x07] * 0.00122;
/* */
fl = a2d_data[0x08] * 0.00122;
fr = a2d_data[0x09] * 0.00122;
// rl = a2d_data[0x0a];
// rr = a2d_data[0x0b];
/***********************************************************/
}
/*======================================================*/
void SPI1_A2D_init (void)
{
/***** R E S E T ****************************************/
SPI1STAT = 0x8000;
SPI1CON = 0x0323;
IFS0bits.SPI1IF = 0;
IEC0bits.SPI1IE = 1;
IPC2bits.SPI1IP = 2;
PORTFbits.RF0 = 0; // cs = 0; /* A2D chip select enable */
SPI1BUF = 0x10; /* reset */
while(!IFS0bits.SPI1IF)
continue;
IFS0bits.SPI1IF = 0;
PORTFbits.RF0 = 1; // cs = 1;
/********** S E T U P *********************************************/
SPI1STAT = 0x8000;
SPI1CON = 0x0323;
SPI1CONbits.MODE16 = 1;
IFS0bits.SPI1IF = 0;
IEC0bits.SPI1IE = 1;
IPC2bits.SPI1IP = 2;
PORTFbits.RF0 = 0; // cs = 0;
SPI1BUF = 0x6a00; /* setup */
while(!IFS0bits.SPI1IF)
continue;
IFS0bits.SPI1IF = 0;
PORTFbits.RF0 = 1; // cs = 1;
/********** A V E R A G I N G *******************************************/
SPI1STAT = 0x8000;
SPI1CON = 0x0323;
SPI1CONbits.MODE16 = 0;
IFS0bits.SPI1IF = 0;
IEC0bits.SPI1IE = 1;
IPC2bits.SPI1IP = 2;
PORTFbits.RF0 = 0; // cs = 0;
SPI1BUF = 0x20;
while(!IFS0bits.SPI1IF)
continue;
IFS0bits.SPI1IF = 0;
PORTFbits.RF0 = 1; // cs = 1;
/******** R E S E T F I F O ********************************/
SPI1STAT = 0x8000;
SPI1CON = 0x0323;
IFS0bits.SPI1IF = 0;
IEC0bits.SPI1IE = 1;
IPC2bits.SPI1IP = 2;
PORTFbits.RF0 = 0; // cs = 0;
SPI1BUF = 0x18;
while(!IFS0bits.SPI1IF)
continue;
IFS0bits.SPI1IF = 0;
PORTFbits.RF0 = 1; // cs = 1;
/***********************************************************/
SPI1STAT = 0x8000;
SPI1CON = 0x0323;
IFS0bits.SPI1IF = 0;
IEC0bits.SPI1IE = 1;
IPC2bits.SPI1IP = 2;
PORTFbits.RF0 = 0; // cs = 0;
SPI1BUF = 0x00de;
while(!IFS0bits.SPI1IF)
continue;
temp = SPI1BUF;
IFS0bits.SPI1IF = 0;
PORTFbits.RF0 = 1; // cs = 1;
for(w=0;w<0x80;w++)
{
asm("NOP");
}
SPI1STAT = 0x8000;
SPI1CON = 0x0323;
SPI1CONbits.MODE16 = 1;
PORTFbits.RF0 = 0; // cs = 0;
SPI1CONbits.DISSDO = 1;
PORTFbits.RF3 = 0;
asm ("CLR _SPI1BUF");
while(!IFS0bits.SPI1IF)
continue;
temp = SPI1BUF;
IFS0bits.SPI1IF = 0;
PORTFbits.RF0 = 1; // cs = 1;
/***********************************************************/
IFS0bits.SPI1IF = 0;
IEC0bits.SPI1IE = 1;
IPC2bits.SPI1IP = 2;
}
/*======================================================*/
/*======================================================*/
int main (void)
{
__C30_UART = 2;
initialization ();
uart2_rs232_init ();
while(1)
{}
}
/*======================================================*/
/*======================================================*/
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