/******************************************************************************* Main Source File Company: Microchip Technology Inc. File Name: main.c Summary: This file contains the "main" function for a project. Description: This file contains the "main" function for a project. The "main" function calls the "SYS_Initialize" function to initialize the state machines of all modules in the system *******************************************************************************/ // ***************************************************************************** // ***************************************************************************** // Section: Included Files // ***************************************************************************** // ***************************************************************************** #include // Defines NULL #include // Defines true #include // Defines EXIT_FAILURE #include "definitions.h" // SYS function prototypes #include "timer.h" #include "ABP2.h" #include "i2c1.h" #include "uart1.h" #include "maxon.h" #include "eeprom.h" #define VER "PIC32 v1.0" unsigned long AlarmCnt = 0; unsigned short ABP2Data[8]; unsigned char RxFifo[RxFifoSz]; // The statically allocated FIFO buffer (500 bytes) // SCI1 FIFO routines are slightly modified versions from // "Embedded Microcomputer Systems: Real Time Interfacing", // Jonathan W. Valvano 9/7/00 unsigned char *RxPutPt; // Pointer of where to put next char in SCI1 FIFO unsigned char *RxGetPt; // Pointer of where to get next char from SCI1 FIFO // FIFO is empty if PutPt=GetPt // FIFO is full if PutPt+1=GetPt unsigned short revs; unsigned short CNticks; //#define APP_FLASH_ADDRESS (NVM_FLASH_START_ADDRESS + (NVM_FLASH_SIZE / 2)) #define APP_FLASH_ADDRESS (NVM_FLASH_START_ADDRESS + (NVM_FLASH_SIZE - NVM_FLASH_PAGESIZE)) // Allocate buffer in RAM for eeprom uint8_t CACHE_ALIGN rowBuffer[NVM_FLASH_ROWSIZE]; //eeprom variables uint8_t eePosition = 0; uint16_t eePump = 500; uint16_t eePurge = 100; uint16_t eeHome = 0; uint16_t eeOffset = 3900; int main ( void ) { unsigned char ch; unsigned short val; char str[15]; uint32_t data; /* Initialize all modules */ SYS_Initialize ( NULL ); TMR2_Start(); GPIO_RE5_Set(); //debug //GPIO_RF1_Set(); //Turn on ABP2 diff pducer i2c1_init(); (void)__builtin_disable_interrupts(); CNENB = 0x100; //enable CN irq on RB8 (void)__builtin_enable_interrupts(); read_eeprom(); if(WaitForEpos(5000)) { printf("0x3000:04 now 0x%08lX\n",ReadObject32(MotionDir,MotionDirSubIndex)); EnableDrive(3000); } else { printf("EPOS4 not ready - check power and RS232\n"); } printf("\n%s\n",VER); while ( true ) { printf("S>"); ch = getchar(); printf("%c\r\n",ch); //printf("TMR2 = %d, AlarmCnt = %lu\n",TMR2_CounterGet(),AlarmCnt); //GPIO_RE5_Clear(); //msWait(100); //GPIO_RE5_Set(); //printf("TMR2 = %d, AlarmCnt = %lu\n",TMR2_CounterGet(),AlarmCnt); /* Maintain state machines of all polled MPLAB Harmony modules. */ //SYS_Tasks ( ); switch(ch) //==================================================== { // and depending upon the ch, do the appropriate action ======= case '?' : break; // causes directory prompt to be displayed case ' ' : break; // wait for another character case -1 : break; // wait for another character case 'G' : //Get motor position //UART1_Write(VER,10); //vPutStrMaxon ( VER, 10, 1 ); //RxStr(12,str,1000,1000); //printf("str = %s\n",str); val = 99; val = GetPosition(); printf("Position = %d\n",val); break; case 'A' : GPIO_RF1_Set(); //Turn on ABP2 diff pducer msWait(10); ABP2_read(); printf("P = %f, T = %f\r\n",ABP2_P_psi(),ABP2_T_degC()); GPIO_RF1_Clear(); break; case 'O' : PumpOn(); break; case 'F' : PumpOff(); break; case 'H' : Home(MAXHOMETIME); break; case 'S' : sample(); break; case 'E' : change_eeprom(10000); break; case 'C' : eePosition = 0; write_eeprom(); break; case '+' : eePosition = eePosition + 1; write_eeprom(); break; case '-' : eePosition = eePosition -1; write_eeprom(); break; case 'D' : eePosition = 0; eePump = 500; eePurge = 100; eeHome = 0; eeOffset = 3900; write_eeprom(); break; case '1' : EnableDrive(3000); break; case 'M' : //instrumented single relative move { long tgt = -3900; unsigned short sw; int t; printf("Before: SW = 0x%04X, Pos = %ld\n", ReadObject(Statusword,0x00),GetPosition32()); if(!MoveCntsRelative(tgt)) { printf("move not accepted\n"); break; } for(t=0; t<10000; t+=200) { msWait(200); sw = ReadObject(Statusword,0x00); printf("t=%5d SW=0x%04X Pos=%ld Demand=%ld\n", t,sw,GetPosition32(),(long)ReadObject32(0x6062,0x00)); if(GETBIT(sw,10)){ printf("target reached\n"); break; } } } break; case 'W' : PrintDriveState(); break; case 'V' : printf("Power supply = %u (0.1V)\n", ReadObject(0x2200,0x01)); printf("Logic supply ok= %u\n", ReadObject(0x2200,0x02)); printf("STO inputs = 0x%02X\n",ReadObject(0x3202,0x01)); PrintDriveState(); break; case 'R' : RotateSampler(); break; case 'U' : //show menu and pump times printf("CANON SAMPLER MAXON %s\r\n",VER); printf(" S.ample : W.Drv Stat : M.otion test\r\n"); printf(" E.eprom vals : T.est code : C.lear position\r\n"); printf(" +.inc pos : -.dec pos : P.osition\r\n"); printf(" O.n Pump : F. off Pump: G.etMotor Position\r\n"); printf(" R.otate tst : H.ome : \r\n"); printf(" D.efault eeprom \r\n"); printf(" A.BP2 reading: \r\n"); printf("Purge revs = %d : Pump revs = %d \r\n",eeRead(ePURGE),eeRead(ePUMP)); printf("HOME offset = %d cnts : Bag offset = %d cnts\r\n",eeRead(eHOME),eeRead(eOFFSET)); printf("Last position = %d\n",eeRead(ePOS)); break; default : printf(" input unknown \r\n"); } //============================================================== //GPIO_RF1_Set(); //Turn on ABP2 diff pducer //msWait(10); //ABP2_read(); //printf("P = %f, T = %f\r\n",ABP2_P_psi(),ABP2_T_degC()); //GPIO_RF1_Clear(); } /* Execution should not come here during normal operation */ return ( EXIT_FAILURE ); } /******************************************************************************* End of File */