/****************************************************************************/ /* Copyright 2016 MBARI. */ /* MBARI Proprietary Information. All rights reserved. * Change log * 18MAY BDJ * -Adding rotational maintenance function * 19AUG16 BDJ v1.2b * -switch baud to 19200 so straight through programming comms * -integrate "advance" function * * 30NOV2023 move position to eeprom */ /****************************************************************************/ //#include //#include #include #include #include #include "uart1.h" #include "timer.h" #include "eeprom.h" #include "crc.h" #include "CN.h" #include "i2c1.h" #include "ABP2.h" #define VER "2.3" /* general definitions */ #include "typedefs.h" //True/False, UINT16, etc... // Configuration Bits to make the part run from Internal FRCDIV // Oscillator. // PIC24FV16KM202 Configuration Bit Settings // 'C' source line config statements // FBS #pragma config BWRP = OFF // Boot Segment Write Protect (Disabled) #pragma config BSS = OFF // Boot segment Protect (No boot program flash segment) // FGS #pragma config GWRP = OFF // General Segment Write Protect (General segment may be written) #pragma config GSS0 = OFF // General Segment Code Protect (No Protection) // FOSCSEL #pragma config FNOSC = FRC // Oscillator Select (Fast RC Oscillator (FRC)) #pragma config SOSCSRC = DIG // SOSC Source Type (Analog Mode for use with crystal) //#pragma config SOSCSRC = ANA // SOSC Source Type (Analog Mode for use with crystal) #pragma config LPRCSEL = LP // LPRC Oscillator Power and Accuracy (Low Power, Low Accuracy Mode) #pragma config IESO = OFF // Internal External Switch Over bit (Internal External Switchover mode enabled (Two-speed Start-up enabled)) //#pragma config IESO = ON // Internal External Switch Over bit (Internal External Switchover mode enabled (Two-speed Start-up enabled)) // FOSC #pragma config POSCMOD = HS // Primary Oscillator Configuration bits (Primary oscillator disabled) //#pragma config POSCMOD = NONE // Primary Oscillator Configuration bits (Primary oscillator disabled) #pragma config OSCIOFNC = 1 // CLKO Enable Configuration bit (CLKO output signal enabled) #pragma config POSCFREQ = HS // Primary Oscillator Frequency Range Configuration bits (Primary oscillator/external clock input frequency greater than 8MHz) #pragma config SOSCSEL = SOSCHP // SOSC Power Selection Configuration bits (Secondary Oscillator configured for high-power operation) #pragma config FCKSM = CSDCMD // Clock Switching and Monitor Selection (Both Clock Switching and Fail-safe Clock Monitor are disabled) // FWDT #pragma config WDTPS = PS32768 // Watchdog Timer Postscale Select bits (1:32768) #pragma config FWPSA = PR128 // WDT Prescaler bit (WDT prescaler ratio of 1:128) #pragma config FWDTEN = OFF // Watchdog Timer Enable bits (WDT enabled in hardware) #pragma config WINDIS = OFF // Windowed Watchdog Timer Disable bit (Standard WDT selected(windowed WDT disabled)) // FPOR #pragma config BOREN = BOR3 // Brown-out Reset Enable bits (Brown-out Reset enabled in hardware, SBOREN bit disabled) //#pragma config RETCFG = 1 // (Retention regulator is not available) #pragma config PWRTEN = ON // Power-up Timer Enable bit (PWRT enabled) #pragma config I2C1SEL = PRI // Alternate I2C1 Pin Mapping bit (Use Default SCL1/SDA1 Pins For I2C1) //#pragma config BORV = V18 // Brown-out Reset Voltage bits (Brown-out Reset set to lowest voltage (1.8V)) #pragma config MCLRE = ON // MCLR Pin Enable bit (RA5 input pin disabled, MCLR pin enabled) // FICD #pragma config ICS = PGx3 // ICD Pin Placement Select bits (EMUC/EMUD share PGC3/PGD3) //globals unsigned long AlarmCnt;//Global incremented in AlarmISR //Globally accessible FIFO for UART port2 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 val = 9999; uint16_t gPORTA_CN_status; uint16_t gPORTB_CN_status; unsigned short revs; unsigned short CNticks; unsigned short ABP2Data[8]; int main(void) { //unsigned int i; CHAR ch; int position=-1; int i = 0; // Set up output pin for LED TRISAbits.TRISA0 = 0; //turn on max322 converter TRISBbits.TRISB14=0; LATBbits.LATB14 = 1; vInitTimer1(); // Initialization of Timer1 vInitCN(); //init change notice counter // init uarts vInitU1(); //main comms to vehicle vInitU2(); //comms to elmo //init I2C bus i2c1_init(); printf("CANON SAMPLER MAXON %s\r\n",VER); //get the last valid position position = eeRead(ePOS); //DelaySecs ( 4 ); //let the elmo boot //check where elmo wants to go printf("Last pos=%d\r\n",position); //for (i=0;i"); //prompt while (!U1STAbits.URXDA); //wait for char ch = cGetCharU(1); //Read one character form UART1 printf("%c\r\n",ch); //echo 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 'P' : // read position position = eeRead(ePOS); printf("EEPROM=%d\r\n",position); break; case 'C' : // clear position position = 0; eeWrite(position,ePOS); printf("EEPROM=%d\r\n",eeRead(ePOS)); //elmo_UI_set(1,position); break; case '+' : //increase position position++; eeWrite(position,ePOS); printf("EEPROM=%d\r\n",eeRead(ePOS)); //elmo_UI_set(1,position); break; case '-' : //decrease position position--; eeWrite(position,ePOS); printf("EEPROM=%d\r\n",eeRead(ePOS)); //elmo_UI_set(1,position); break; case 'S' : //sample!!! sample(); break; case 'E' : //talk directly to the elmo (power cycle to return) //elmo_passthru(); break; case 'R' : //rotate carousel 1x //elmo_rotational_maint(); break; case 'H' : //rotate carousel 1x printf("Homing....\n"); val = Home(MAXHOMETIME); printf("Home = %04x\n",val); break; case '1' : //change pump time eeChange(ePUMP); printf("New pump revs (300revs/100ml) =%d\r\n",eeRead(ePUMP)); break; case '2' : //change purge time eeChange(ePURGE); printf("New purge revs (300revs/100ml) =%d\r\n",eeRead(ePURGE)); break; case '3' : //stop motor motion printf("Stopping motor\r\n"); StopMotor(); break; case '4' : //change Home offset eeChange(eHOME); printf("New HOME offset cnts = %d\r\n",eeRead(eHOME)); break; case '5' : //change cnts between bags eeChange(eOFFSET); printf("New between bags cnts = %d\r\n",eeRead(eOFFSET)); break; case '6' : //init i2c //i2c1_init(); i2c1_restart(); break; case '7' : //read pducer 10x for (i = 0; i<9; i++) { ABP2_read(); //printf("%04x, %04x, %04x, %04x, %04x, %04x, %04x\r\n", // ABP2Data[0],ABP2Data[1],ABP2Data[2],ABP2Data[3], // ABP2Data[4],ABP2Data[5],ABP2Data[6]); //printf("raw P = %lx, raw T = %lx\r\n", ABP2_pressure(),ABP2_temp()); printf("P = %f, T = %f\r\n",ABP2_P_psi(),ABP2_T_degC()); msWait(100); //DelaySecs(1); } break; case 'T' : //test code chunks MoveCntsRelative(0x2710); WaitForMotion(10000); val = GetPosition(); printf("Position = %04x\n",val); //printf("Enter pump time in seconds:"); //val = UI_parse(10000); //printf("new pump time = %d s\n",val); //WriteObject(SetOperationModeIndex,SetOperationModeSubIndex,0); break; case 'M' : //test for motion printf("Counts to move:"); val = UI_parse(10000); printf("\n"); MoveCntsRelative(val); WaitForMotion(MAXHOMETIME); val = GetPosition(); printf("Position = %04x\n",val); break; case 'O' : //turn on Pump PumpOn(); //WriteObject(SetDigOutIndex,SetDigOutSubIndex,0,HomeSensPower); break; case 'G' : //Get Position val = GetPosition(); printf("Position = %04x\n",val); break; case 'F' : //turn off Pump //WriteObject(SetDigOutIndex,SetDigOutSubIndex,0,0); PumpOff(); break; case 'A' : //read ABP2 p ducer ABP2_read(); //printf("%04x, %04x, %04x, %04x, %04x, %04x, %04x\r\n", // ABP2Data[0],ABP2Data[1],ABP2Data[2],ABP2Data[3], // ABP2Data[4],ABP2Data[5],ABP2Data[6]); //printf("raw P = %lx, raw T = %lx\r\n", ABP2_pressure(),ABP2_temp()); printf("P = %f, T = %f\r\n",ABP2_P_psi(),ABP2_T_degC()); break; case 'D' : //make eeprom parameters default eeWrite(0, ePOS); eeWrite(500, ePUMP); eeWrite(150, ePURGE); eeWrite(1400, eHOME); eeWrite(3900, eOFFSET); break; case 'U' : //show menu and pump times printf("CANON SAMPLER MAXON%s\r\n",VER); printf(" S.ample : R.otate : M.otion test\r\n"); printf(" 1.pump time : 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(" 2.purge time : H.ome : 3.Stop motion\r\n"); printf(" 4.HOME ofset : 5.Bag ofset: 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)); break; default : printf(" input unknown \r\n"); } //============================================================== } }