0
@@ -34,7 +34,8 @@
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 #pragma config OSC    = HSPLL      // Usare con quarzo da 10MHz e PPL 4x
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0
 
0
-#define LC	PORTAbits.RA4				// Led 
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+#define LC	PORTAbits.RA4				// Led
0
+int S1;
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0
 void main()
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@@ -43,6 +44,7 @@ void main()
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 // interrupt
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 INTCON = 0;            // all Interrupts disabled
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0
+
0
 for (S1=0;S1<100;S1++)          // LED will blink
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  {
0
   LC=!LC;

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@@ -134,7 +134,7 @@ INTCON = 0;                // disattiva tutti gli interrupt
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 INTCONbits.GIE = 1;            // attiva interrupt UART e Timer
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 INTCONbits.PEIE = 1;
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-for (S1=0;S1<10;S1++)					// fa lampeggiare il LED
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+for (S1=0;S1<100;S1++)					// fa lampeggiare il LED
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  {
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   LC=!LC;
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   Delay10KTCYx(80);
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@@ -187,117 +187,25 @@ TXcount = 0;
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0
 while(1)
0
  {
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-  if (INTCONbits.TMR0IF)
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-   {
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-    ServoCiclo();			// gestione servi
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-    LC=1;
0
-   }
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+ // if (INTCONbits.TMR0IF)
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+ //  {
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+ //   ServoCiclo();			// gestione servi
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+ //   LC=1;
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+ //  }
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-  ADCCiclo();  
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-  SetDCPWM1(PWM1);			// PWM1 e PWM2
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-  SetDCPWM2(PWM2);
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-
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-  if(ParsFlag) Parser();	// analisi comandi
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- } 
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+ // ADCCiclo();  
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+ // SetDCPWM1(PWM1);			// PWM1 e PWM2
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+ // SetDCPWM2(PWM2);
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+
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+ // if(ParsFlag) Parser();	// analisi comandi
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+ //}
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+ // scrittura UART
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+ WriteUSART("Greetings from the MuIN!\r\n");
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+ }
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 }
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 /* ---------- fime main ---------- */ 
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-void ServoCiclo (void)
0
-{
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-switch (Ssel)
0
- {  
0
-   case 1:
0
-    if(SGr1)
0
-     {
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-      TMR1H = (65536 - S1*10) >> 8;
0
-      TMR1L = (65536 - S1*10); 
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-      LATBbits.LATB0 = 1;
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-  
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-      TMR3H = (65536 - S2*10) >> 8;
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-      TMR3L = (65536 - S2*10);
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-      LATBbits.LATB1 = 1;
0
-     }     
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-   break;
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-   
0
-   case 2:
0
-	if(SGr1)
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-     {
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-      TMR1H = (65536 - S3*10) >> 8;
0
-      TMR1L = (65536 - S3*10); 
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-      LATBbits.LATB2 = 1;
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-  
0
-      TMR3H = (65536 - S4*10) >> 8;
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-      TMR3L = (65536 - S4*10);
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-      LATBbits.LATB3 = 1;     
0
-	 }
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-   break;
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-
0
-   case 3:
0
-	if(SGr2)
0
-     {
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-      TMR1H = (65536 - S5*10) >> 8;
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-      TMR1L = (65536 - S5*10); 
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-      LATBbits.LATB4 = 1;
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-  
0
-      TMR3H = (65536 - S6*10) >> 8;
0
-      TMR3L = (65536 - S6*10);
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-      LATBbits.LATB5 = 1;
0
-	 }     
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-   break;
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-
0
-   case 4:
0
-	if(SGr2)
0
-     {
0
-      TMR1H = (65536 - S7*10) >> 8;
0
-      TMR1L = (65536 - S7*10); 
0
-      LATBbits.LATB6 = 1;
0
-  
0
-      TMR3H = (65536 - S8*10) >> 8;
0
-      TMR3L = (65536 - S8*10);
0
-      LATBbits.LATB7 = 1;  
0
-  	 }  
0
-   break;
0
-  }
0
-
0
-if (Ssel < 4 ) Ssel++;
0
-else Ssel = 1;
0
-
0
-TMR0H = 0x3C; // 5 ms
0
-TMR0L = 0xB0; 
0
-
0
-T1CONbits.TMR1ON = 1;
0
-T3CONbits.TMR3ON = 1;
0
-INTCONbits.TMR0IF = 0;
0
-}
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-
0
-void ADCCiclo (void)
0
-{
0
- SetChanADC( ADC_CH0 );		// legge un canale dell'ADC
0
- ConvertADC();
0
- while (BusyADC());
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- ADC1 = ReadADC();
0
-
0
- SetChanADC( ADC_CH1 );
0
- ConvertADC();
0
- while (BusyADC());
0
- ADC2 = ReadADC();
0
- 
0
- SetChanADC( ADC_CH2 );
0
- ConvertADC();
0
- while (BusyADC());
0
- ADC3 = ReadADC();
0
-
0
- SetChanADC( ADC_CH3 );
0
- ConvertADC();
0
- while (BusyADC());
0
- ADC4 = ReadADC();
0
- 
0
- SetChanADC( ADC_CH4 );
0
- ConvertADC();
0
- while (BusyADC());
0
- ADC5 = ReadADC();
0
-}
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 void ISRgest(void)    // I.S.R.
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@@ -357,278 +265,6 @@ if (PIR1bits.RCIF)
0
  }
0
 }
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0
-void Parser(void)
0
-{
0
-char i;
0
-
0
-if (strcom[0] = '@')
0
- {
0
-  switch (strcom[1])
0
-  {
0
-    case 'P':											// comando PWM
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-     switch (strcom[2])    
0
-      {
0
-       case '1':
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-        PWM1 = ((int) strcom[3] << 8) + (unsigned char) strcom[4]; 
0
-	   break; 
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-     
0
-       case '2':
0
-        PWM2 = ((int) strcom[3] << 8) + (unsigned char) strcom[4]; 
0
-	   break;
0
-
0
-       case 'R':
0
-        if (strcom[3] == '1')
0
-         {
0
-          if (strcom[4] == '1') LATCbits.LATC0 = 1;
0
-          else LATCbits.LATC0 = 0;  
0
-         }
0
-		if (strcom[3] == '2') 
0
- 		 {
0
-		  if (strcom[4] == '1') LATCbits.LATC5 = 1;
0
-          else LATCbits.LATC5 = 0;  
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-         }
0
-	   break;
0
-      }
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-	break;
0
-
0
-	case 'G':											// comando GPIO
0
-     if (strcom[2] == 'R')								// legge PORTB     
0
- 	  {
0
-       GPIO_read();
0
-	  }
0
-	 if (strcom[2] == 'W')								// scrive su PORTB     
0
- 	  {
0
-       LATB = strcom[3];
0
-	  }
0
-    break;
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-    
0
-	case 'M':											// comando MD22
0
-	 if (strcom[2] == 'M')     
0
- 	  {
0
-       MD22mod(strcom[3],strcom[4]);
0
-	  }
0
- 
0
-	 if (strcom[2] == 'R')     
0
- 	  {
0
-       MD22(strcom[3],strcom[4],1);
0
-	  }
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-
0
- 	 if (strcom[2] == 'L')     
0
- 	  {
0
-       MD22(strcom[3],strcom[4],2);
0
-	  }
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-    break;
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-   
0
-  	case 'I':											// comando I2C write
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-	 I2CW();
0
-    break;
0
-
0
-    case 'L':											// comando I2C read
0
-	 I2CR();
0
-    break;
0
-      
0
-   	case 'F':											// Sonar
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-     if (strcom[2] ==  '1')								// ping
0
-      {
0
-       SRFping(strcom[3]);
0
-	  }
0
- 
0
-     if (strcom[2] ==  'A')								// change address
0
-      {
0
-       SRF_Ad_Ch(strcom[3],strcom[4]);	
0
-	  }
0
-
0
-     if (strcom[2] ==  '0')								// legge
0
-	  {	
0
- 		SRFread(strcom[3]);
0
-        itoa(SRFdist,str); 
0
-    	TXREG = '@';
0
-	 	while(!TXSTAbits.TRMT); 
0
-        TXREG = 'F';
0
-	 	while(!TXSTAbits.TRMT); 
0
-        TXREG = str[0];
0
-	 	while(!TXSTAbits.TRMT); 
0
-     	TXREG = str[1];
0
-	 	while(!TXSTAbits.TRMT); 
0
-	    TXREG = str[2];
0
-	 	while(!TXSTAbits.TRMT); 
0
-     	TXREG = str[3];
0
-	 	while(!TXSTAbits.TRMT);
0
-		TXREG = '#';
0
-	 	while(!TXSTAbits.TRMT); 
0
-      }  
0
-    break;
0
-   
0
-    case 'C':											// Bussola
0
-     if (strcom[2]== 1)    								// CMPS03
0
-      {
0
-        CMPS03(strcom[3]);
0
-		itoa(Compass,str); 
0
-    	TXREG = '@';
0
-	 	while(!TXSTAbits.TRMT); 
0
-       	TXREG = 'C';
0
-	 	while(!TXSTAbits.TRMT); 
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- 		TXREG = str[0];
0
-	 	while(!TXSTAbits.TRMT); 
0
-     	TXREG = str[1];
0
-	 	while(!TXSTAbits.TRMT); 
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-	    TXREG = str[2];
0
-	 	while(!TXSTAbits.TRMT); 
0
-     	TXREG = str[3];
0
-	 	while(!TXSTAbits.TRMT);
0
-		TXREG = '#';
0
-	 	while(!TXSTAbits.TRMT); 
0
-	  }  
0
-     
0
-     if (strcom[2] ==  'A')								// change address
0
-      {
0
-       CPMS03_Ad_Ch(strcom[3],strcom[4]);	
0
-	  }
0
-
0
-	break;
0
-
0
-	case 'A':											// ADC
0
-     TXREG = '@';
0
-	 while(!TXSTAbits.TRMT); 
0
-	 TXREG = 'A';
0
-	 while(!TXSTAbits.TRMT); 
0
-
0
-     itoa(ADC1,str); 
0
-     TXREG = str[0];
0
-	 while(!TXSTAbits.TRMT); 
0
-     TXREG = str[1];
0
-	 while(!TXSTAbits.TRMT); 
0
-     TXREG = str[2];
0
-	 while(!TXSTAbits.TRMT); 
0
-     TXREG = str[3];
0
-	 while(!TXSTAbits.TRMT); 
0
-    
0
-     itoa(ADC2,str); 
0
-     TXREG = str[0];
0
-	 while(!TXSTAbits.TRMT); 
0
-     TXREG = str[1];
0
-	 while(!TXSTAbits.TRMT); 
0
-     TXREG = str[2];
0
-	 while(!TXSTAbits.TRMT); 
0
-     TXREG = str[3];
0
-	 while(!TXSTAbits.TRMT); 
0
-
0
-     itoa(ADC3,str); 
0
-     TXREG = str[0];
0
-	 while(!TXSTAbits.TRMT); 
0
-     TXREG = str[1];
0
-	 while(!TXSTAbits.TRMT); 
0
-     TXREG = str[2];
0
-	 while(!TXSTAbits.TRMT); 
0
-     TXREG = str[3];
0
-	 while(!TXSTAbits.TRMT); 
0
-     
0
-     itoa(ADC4,str); 
0
-     TXREG = str[0];
0
-	 while(!TXSTAbits.TRMT); 
0
-     TXREG = str[1];
0
-	 while(!TXSTAbits.TRMT); 
0
-     TXREG = str[2];
0
-	 while(!TXSTAbits.TRMT); 
0
-     TXREG = str[3];
0
-	 while(!TXSTAbits.TRMT); 
0
-     
0
-     itoa(ADC5,str); 
0
-     TXREG = str[0];
0
-	 while(!TXSTAbits.TRMT); 
0
-     TXREG = str[1];
0
-	 while(!TXSTAbits.TRMT); 
0
-     TXREG = str[2];
0
-	 while(!TXSTAbits.TRMT); 
0
-     TXREG = str[3];
0
-	 while(!TXSTAbits.TRMT); 
0
-     
0
-     TXREG = '#';
0
-	 while(!TXSTAbits.TRMT); 
0
-
0
-    break;
0
-
0
-   	case 'S':											// comando Servo
0
-     switch (strcom[2])    
0
-      {
0
-       case '1':
0
-        S1 = ((int) strcom[3] << 8) + (unsigned char) strcom[4]; 
0
-	   break;
0
- 
0
-       case '2':
0
-        S2 = ((int) strcom[3] << 8) + (unsigned char) strcom[4]; 
0
-       break;
0
-
0
-       case '3':
0
-        S3 = ((int) strcom[3] << 8) + (unsigned char) strcom[4]; 
0
-       break;
0
-
0
-       case '4':
0
-        S4 = ((int) strcom[3] << 8) + (unsigned char) strcom[4]; 
0
-       break;
0
-
0
-       case '5':
0
-        S5 = ((int) strcom[3] << 8) + (unsigned char) strcom[4]; 
0
-       break;
0
-  
0
-       case '6':
0
-        S6 = ((int) strcom[3] << 8) + (unsigned char) strcom[4]; 
0
-       break;
0
-
0
- 	   case '7':
0
-        S7 = ((int) strcom[3] << 8) + (unsigned char) strcom[4]; 
0
-       break;
0
-
0
-	   case '8':
0
-        S8 = ((int) strcom[3] << 8) + (unsigned char) strcom[4]; 
0
-       break;
0
-      }
0
-     break;	
0
-
0
-     case 'E':											// Scrive EEPROM
0
-      EEPROMWRITE(strcom[2] ,0x00);
0
- 	  EEPROMWRITE(strcom[3] ,0x01); 
0
- 	  EEPROMWRITE(strcom[4] ,0x02); 
0
-	  EEPROMWRITE(strcom[5] ,0x03); 
0
-	  EEPROMWRITE(strcom[6] ,0x04);  
0
-      
0
-	  LC = 1;
0
-      for (S1=0;S1<4;S1++)								// fa lampeggiare il LED
0
- 	   {
0
-  		LC=!LC;
0
-        Delay10KTCYx(250);
0
-      }
0
-     break;
0
-   
0
-     case 'Z':											// Legge EEPROM
0
-       	TXREG = '@';
0
-	 	while(!TXSTAbits.TRMT); 
0
-       	TXREG = 'I';
0
-	 	while(!TXSTAbits.TRMT); 
0
- 		
0
-		TXREG = EEPROMREAD(0x00);
0
-	 	while(!TXSTAbits.TRMT);
0
-	 	TXREG = EEPROMREAD(0x01);
0
-	 	while(!TXSTAbits.TRMT);
0
-		TXREG = EEPROMREAD(0x02);
0
-	 	while(!TXSTAbits.TRMT);
0
-		TXREG = EEPROMREAD(0x03);
0
-	 	while(!TXSTAbits.TRMT);
0
-		TXREG = EEPROMREAD(0x04);
0
-	 	while(!TXSTAbits.TRMT);
0
-
0
-		TXREG = '#';
0
-	 	while(!TXSTAbits.TRMT); 
0
-     break;
0
-
0
-   break;
0
-  }
0
- }
0
-for (i=0;i<10;i++) strcom[i] = 0;
0
-ParsFlag = 0;
0
-TXcount = 0;
0
-}
0
-
0
 void SRFping(unsigned char ADDS)
0
 {
0
 EEByteWrite(ADDS, 0x00, 0x51);  // Start ranging, risultato in cm.
0
@@ -809,7 +445,8 @@ void init_sys(void)
0
       USART_ASYNCH_MODE &
0
       USART_EIGHT_BIT &
0
       USART_CONT_RX &
0
-			USART_BRGH_HIGH, tmp2);	
0
+			USART_BRGH_HIGH, 1041);	
0
+//			USART_BRGH_HIGH, tmp2);	
0
 /*
0
 Con BRGH = 1, BRG = 16 (risoluzione a 16 bit)
0
 1200   = 8332