Main.c

/****************************************************************************

Module

    main.c

Description

    starter main() function for Events and Services Framework applications

Notes

*****************************************************************************/

#include <stdint.h>

#include <stdbool.h>

#include <stdio.h>

#include <assert.h>

#include "ES_Configure.h"

#include "ES_Framework.h"

#include "ES_Port.h"

#include "PWM_PIC32.h"

#include "PIC32_AD_Lib.h"

#include "PIC32_SPI_HAL.h"

#include "DM_Display.h"

#define AVATAR_MIN_PULSE        1250

#define AVATAR_MAX_PULSE        5000

#define TOKEN_MIN_PULSE         1400

#define OBSTACLE_NEUTRAL_PULSE  3750

#define AVATAR_SERVO_CH         1

#define TOKEN_SERVO_CH          2

#define OBSTACLE_SERVO_CH       3

void main(void)

{

 ES_Return_t ErrorType = Success;

 _HW_PIC32Init(); // basic PIC hardware init

 // Your hardware initialization function calls go here

  // set up PWM

   TRISBbits.TRISB4 = 0;

   TRISBbits.TRISB5 = 0;

   PWMSetup_BasicConfig(3);

   PWMSetup_AssignChannelToTimer(AVATAR_SERVO_CH, _Timer2_);

   PWMSetup_AssignChannelToTimer(TOKEN_SERVO_CH, _Timer2_);

   PWMSetup_AssignChannelToTimer(OBSTACLE_SERVO_CH, _Timer2_);

   PWMSetup_SetFreqOnTimer(50, _Timer2_);

   PWMSetup_MapChannelToOutputPin(AVATAR_SERVO_CH, PWM_RPB4);

   PWMSetup_MapChannelToOutputPin(TOKEN_SERVO_CH, PWM_RPB5);

   PWMSetup_MapChannelToOutputPin(OBSTACLE_SERVO_CH, PWM_RPB9);

   // set servos to initial positions

   PWMOperate_SetPulseWidthOnChannel(AVATAR_MAX_PULSE, AVATAR_SERVO_CH);

   PWMOperate_SetPulseWidthOnChannel(TOKEN_MIN_PULSE, TOKEN_SERVO_CH);

   PWMOperate_SetPulseWidthOnChannel(OBSTACLE_NEUTRAL_PULSE, OBSTACLE_SERVO_CH);

   // initialize input port

   TRISBbits.TRISB13 = 1;      // start button digital input

   TRISAbits.TRISA0 = 1;       // mic analog input

   TRISAbits.TRISA1 = 1;       // potentiometer analog input

   TRISBbits.TRISB2 = 1;       // distance sensor analog input

   ANSELBbits.ANSB13 = 0;

   ANSELAbits.ANSA0 = 1;

   ANSELAbits.ANSA1 = 1;

   ANSELBbits.ANSB2 = 1;

   ADC_ConfigAutoScan(BIT0HI | BIT1HI | BIT4HI);

   // initialize SPI

   SPI_Module_t mySPI = SPI_SPI1;

   SPI_SamplePhase_t myPhase = SPI_SMP_MID;

   SPI_PinMap_t SSPin = SPI_RPB15;

   SPI_PinMap_t SDOPin = SPI_RPB11;

   SPI_Clock_t clkState = SPI_CLK_HI;

   SPI_ActiveEdge_t clkEdge = SPI_SECOND_EDGE;

   SPI_XferWidth_t dataWidth = SPI_16BIT;

   uint32_t period = 10000; // SPI period should be 10 us for 100 kHz bit clock

   // configure SPI1

   SPISetup_BasicConfig(mySPI);

   SPISetup_SetLeader(mySPI, myPhase);

   SPISetup_SetBitTime(mySPI, period);    

   SPISetup_MapSSOutput(mySPI, SSPin);

   SPISetup_MapSDOutput(mySPI, SDOPin);

   SPISetup_SetClockIdleState(mySPI, clkState);

   SPISetup_SetActiveEdge(mySPI, clkEdge);

   SPISetup_SetXferWidth(mySPI, dataWidth);

   SPISetEnhancedBuffer(mySPI, true);

   // enable SPI

   SPISetup_EnableSPI(mySPI);

   while (false == DM_TakeInitDisplayStep()) {

       // take steps until the function returns true

   }

 // now initialize the Events and Services Framework and start it running

 ErrorType = ES_Initialize(ES_Timer_RATE_1mS);

 if (ErrorType == Success)

 {

   ErrorType = ES_Run();

 }

 //if we got to here, there was an error

 switch (ErrorType)

 {

   case FailedPost:

   {

     ErrorType = 0; // a hack to get a readable assert message

     assert( FailedPost == ErrorType );

     //DB_printf("Failed on attempt to Post\n");

   }

   break;

   case FailedPointer:

   {

     ErrorType = 0; // a hack to get a readable assert message

     assert( FailedPointer  == ErrorType );

//      DB_printf("Failed on NULL pointer\n");

   }

   break;

   case FailedInit:

   {

     ErrorType = 0; // a hack to get a readable assert message

     assert( FailedInit  == ErrorType );

//      DB_printf("Failed Initialization\n");

   }

   break;

   default:

   {

     ErrorType = 0; // a hack to get a readable assert message

     assert( FailedOther  == ErrorType );

//      DB_printf("Other Failure\n");

   }

   break;

 }

 for ( ; ;)

 {

   ;

 }

}