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R6618 Oncilla Power Management Board Firmware
main.c
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/*
* File: main.c
* Author: tuleu
*
* Created on May 17, 2012, 3:12 PM
*/
/******************************************************************************
* Software License Agreement
*
* Copyright © 2011 Microchip Technology Inc. All rights reserved.
* Microchip licenses to you the right to use, modify, copy and distribute
* Software only when embedded on a Microchip microcontroller or digital
* signal controller, which is integrated into your product or third party
* product (pursuant to the sublicense terms in the accompanying license
* agreement).
*
* You should refer to the license agreement accompanying this Software
* for additional information regarding your rights and obligations.
*
* SOFTWARE AND DOCUMENTATION ARE PROVIDED ìAS ISî WITHOUT WARRANTY OF ANY
* KIND, EITHER EXPRESS OR IMPLIED, INCLUDING WITHOUT LIMITATION, ANY WARRANTY
* OF MERCHANTABILITY, TITLE, NON-INFRINGEMENT AND FITNESS FOR A PARTICULAR
* PURPOSE. IN NO EVENT SHALL MICROCHIP OR ITS LICENSORS BE LIABLE OR
* OBLIGATED UNDER CONTRACT, NEGLIGENCE, STRICT LIABILITY, CONTRIBUTION,
* BREACH OF WARRANTY, OR OTHER LEGAL EQUITABLE THEORY ANY DIRECT OR INDIRECT
* DAMAGES OR EXPENSES INCLUDING BUT NOT LIMITED TO ANY INCIDENTAL, SPECIAL,
* INDIRECT, PUNITIVE OR CONSEQUENTIAL DAMAGES, LOST PROFITS OR LOST DATA,
* COST OF PROCUREMENT OF SUBSTITUTE GOODS, TECHNOLOGY, SERVICES, OR ANY
* CLAIMS BY THIRD PARTIES (INCLUDING BUT NOT LIMITED TO ANY DEFENSE THEREOF),
* OR OTHER SIMILAR COSTS.
*
*****************************************************************************/
#if defined(__PIC24E__)
#include <p24Exxxx.h>
#elif defined (__PIC24F__)
#include <p24Fxxxx.h>
#elif defined(__PIC24H__)
#include <p24Hxxxx.h>
#elif defined(__dsPIC30F__)
#include <p30Fxxxx.h>
#elif defined (__dsPIC33E__)
#include <p33Exxxx.h>
#elif defined(__dsPIC33F__)
#include <p33Fxxxx.h>
#endif
#include <sbcp-uc/sbcp.h>
#include <sbcp-uc/buffers.h>
#include <sbcp-uc/packet.h>
#include "power_sbcp.h"
#include "speaker.h"
#include "buttons.h"
#include "pindefs.h"
#include "spi_led.h"
#include "timer.h"
#include "adc.h"
//Disable watch dog
_FWDT
(
WDTPOST_PS32768
&
WDTPRE_PR128
&
WINDIS_OFF
&
FWDTEN_OFF
)
//pic started by external clock.
_FOSC
(
POSCMD_NONE
&
OSCIOFNC_ON
&
FCKSM_CSECMD
)
//external clock
_FOSCSEL
(
FNOSC_FRC
&
IESO_OFF
)
_FGS
(
GSS_OFF
&
GWRP_OFF
);
// Code Protect off, Write protect disabled
_FPOR
(
FPWRT_PWR1
);
// No PWM off delay, PWM controlled by port configuration at device reset
_FICD
(
JTAGEN_OFF
&
ICS_PGD1
);
// No JTAG, debugging on PGD1 pins
extern
unsigned
int
systime
;
void
clock_init
()
{
// Disable Watch Dog Timer
RCONbits
.
SWDTEN
=
0
;
// Configure PLL prescaler, PLL postscaler, PLL divisor
PLLFBD
=
41
;
// M = 43
CLKDIVbits
.
PLLPOST
=
0
;
// N2 = 2
CLKDIVbits
.
PLLPRE
=
0
;
// N1 = 2
// Initiate Clock Switch to Internal FRC with PLL (NOSC = 0b001)
__builtin_write_OSCCONH
(
0x01
);
__builtin_write_OSCCONL
(
0x01
);
// Wait for Clock switch to occur
while
(
OSCCONbits
.
COSC
!=
0
b001
){};
// Wait for PLL to lock
while
(
OSCCONbits
.
LOCK
!=
1
)
{};
}
/** \brief Entrance point of the program
* The entrance point
*/
int
main
()
{
unsigned
int
i
;
clock_init
();
pin_init
();
timer_init
();
init_spi_led
();
init_speaker
();
init_buttons
();
if
(
SW1
!=
0
)
{
//powerbutton is not pressed
POWER_EN
=
0
;
// switch off own power supply
set_RGB_led
(
LD1
,
1
,
0
,
0
);
// no other stuff to do anymore, wait until charge is drowned
while
(
1
);
}
init_adc
();
//shut down if there is something wrong with the power
adc_update
();
//make sure that sbcp can ask good data immediately
//wait for initializations to take full effect
for
(
i
=
0
;
i
<
4160
;
i
++
)
{
Nop
();
}
sbcp_settings
s
;
gpio
send_enable
=
gpio_create
(
GPIO_PORT_B
,
6
,
GPIO_OUTPUT
);
//gpio receive_disable = gpio_create(GPIO_PORT_B,4,GPIO_OUTPUT);
sbcp_init_settings
(
&
s
,
0xeb
,
0x01
,
0x0001
,
send_enable
,
send_enable
);
s
.
init_register
=
&
(
init_my_registers
);
s
.
init_instruction
=
&
(
init_my_instructions
);
s
.
klass
=
0xeb
;
s
.
id
=
1
;
// mapping everything
map_pin_to_periph_output
(
7
,
RP_U1TX
);
uart_map_rx_input
(
UART_1
,
5
);
sbcp_init
(
&
s
);
unsigned
long
prev_time
=
systime
+
42
;
RGB_led_test
();
beep_hello
();
while
(
1
){
check_buttons
();
adc_update
();
// show status powerboard power supply
if
(
POWER_EN
){
set_RGB_led
(
LD1
,
0
,
1
,
0
);
}
else
{
set_RGB_led
(
LD1
,
1
,
0
,
0
);
}
// show status servo power supply
if
(
SERVO_VOLTAGE_EN
){
set_RGB_led
(
LD2
,
0
,
1
,
0
);
}
else
{
set_RGB_led
(
LD2
,
1
,
0
,
0
);
}
// show status motor power supply
if
(
MOTOR_VOLTAGE_EN
){
set_RGB_led
(
LD3
,
0
,
1
,
0
);
}
else
{
set_RGB_led
(
LD3
,
1
,
0
,
0
);
}
//if timer 1 has interrupted every 1ms
if
(
systime
!=
prev_time
){
prev_time
=
systime
;
sbcp_mark_new_low_latency_data_available
();
}
sbcp_process
();
}
return
(
0
);
}
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