/* Electronica IV
 * Projecto de Elevador
 * Controlo de um motor DC atraves de um pic16f877 da microchip
 *
 * Helder Cabrita 27470 & Jose Pereira 28102
 * 
 *
 * programa de configuracao do pic com os portos a funcionarem da forma projectada
 * filename: CONFIG.C
 * version 4.0 @ 21.04.2006 20.42
 * */

#include <pic1687x.h>
#include "config.h"
#include "pwm.h"
#include "motor.h"
#include "const.h"
#include "serial.h"
#include "lcd.h"

extern bank1 int posact;
extern bank1 int posant;
extern bank2 char pc;

void configPorts(void)
{
	PCFG3=0;		//colocar todas as entradas/saidas do PORT A como entradas digitais
	PCFG2=1;
	PCFG1=1;
	PCFG0=1;

	TRISA0=0;		//RA0 saida digital (ligacao a input1 do L293 para controlar uma direccao do motor)
	TRISA1=0;		//RA1 saida digital (ligacao a input2 do L293 para controlar uma direccao do motor)
	TRISA2=0;		//RA2 saida para controlo do hctl2016 (RST\)
	TRISA3=0;		//RA3 saida para controlo do hctl2016 (OE\)
	TRISA4=1;		//RA4 entrada o interruptor de sinalização de ANDAR0 (active low)
	TRISA5=0;		//RA5 saida para controlo do hctl2016 (SEL)

	TRISB=0xFF;		//Todo o porto B é utilizado como entrada para leitura do hctl

	TRISC2=0;		//RC2 saida do PWM
	TRISC3=0;		//saida para Enable do LCD
	TRISC4=1;		//RC4 entrada para botoes do elevador (menos significativo)

	PSPMODE=0;		//PSPMODE=0
	
	TRISD=0x00;		//Todo o porto D é utilizado como saida para escrita no LCD	

	TRISE0=0;		//RE0 saida para controlo do LCD (RS)
	TRISE1=0;		//RE1 saida para controlo do LCD (R/W) L=Read H=Write
	TRISE2=1;		//RE2 entrada para botoes do elevador (mais significativo)
	
}

void configHctl(void)
{
	HCTL_OE=1;		/* Desactiva o OE\ */
	HCTL_RST=0;		// faz o reset o hctl
	HCTL_RST=1;		// reset concluido
}

void configInterrupts(void)
{
	//maior peso
	GIE=0;			//activacao das interrupcoes
	
	//medio peso
	T0IE=0;			//desactiva interrupcoes Timer 0
	INTE=0;			//activa o INT INTERRUPT (interrupcao externa RB0/INT)
	RBIE=0;			//desactiva interrupcoes PORTB INTCON CHANGE
	PEIE=0;			//activa as interrupcoes perifericas

	
	//baixo peso
	EEIE=0;			//desactiva interrupcoes EE
	PSPIE=0;		//desactiva interrupcoes Paralell Slave Port
	ADIE=0;			//desactiva interrupcoes A/D
	RCIE=0;			//desactiva interrupcoes RX
	TXIE=0; 		//desactiva interrupcoes TX
	SSPIE=0;		//desactiva interrupcoes SSP
	CCP1IE=0;		//desactiva interrupcoes CCP1
	TMR2IE=0;		//desactiva interrupcoes TMR2
	TMR1IE=0;		//activa interrupcoes TMR1
	CCP2IE=0;		//desactiva interrupcoes CCP2
	BCLIE=0;		//desactiva interrupcoes BCL
	
}

void configTimer1(void)
{
	T1CKPS1=1;		//prescale 1:8
	T1CKPS0=1;		//prescale 1:8
	T1OSCEN=1;		//oscilator enabled
	TMR1CS=0;		//clock source select bit -> internal clock (f=fosc/4)
	TMR1L=0x00;		//holding register for the least significant byte of 16bit tmr1 register
	TMR1H=0x00;		//holding register for the most significant byte of 16bit tmr1 register
}

void configSerial(void)
{
//TRISC: DATA DIRECTION REGISTER FOR PORT C
	TRISC6=1;		//RC6 funciona como RX
	TRISC7=1;		//RC7 funciona como TX
	
//TXSTA: TRANSMIT STATUS AND CONTROL REGISTER (ADDRESS 98h)
	TX9=0;			//9-bit Transmit Enable bit-> 1=selects 9-bit transmition; 0=selects 8-bit transmition
	TXEN=1;			//Transmit Enable bit-> 1=Transmit enabled; 0=Transmit disabled
	SYNC=0;			//USART Mode Select bit-> 1=Synchronous mode; 0=Asynchronous mode
	BRGH=1;			//High Baud Rate Select bit->in assynchronous mode: 1=High speed; 0=Low speed | in synchronous mode: Unused in this mode 
	
//RCSTA: RECEIVE STATUS AND CONTROL REGISTER (ADDRESS 18h)
	SPEN=1;			//Serial Port Enable bit->1=serial port enabled (configures RC7/TX/DT and RC6/RX/CK pins as serial port pins); 0=Serial port disabled
	RX9=0;			//9-bit Receive Enable bit-> 1=selects 9-bit reception; 0=selects 8-bit reception
	CREN=1;			//Continuous Receive Enable bit-> in asynchronous mode: 1=Enables continuous receive; 0=Disables continuous receive | in synchronous mode: 1=Enables continuous receive until enable bit CREN is cleared (CREN overrides SREN); 0=Disables continuous receive
	
//SPBRG: Baud Rate Generator Register
//	for SYNC=0 and BRGH=1(high speed) Baud Rate = Fosc/(16(X+1))
//	X = value in SPBRG (0 to 255)
	SPBRG=_BAUDRATE;		//pela formula baudrate=113640 o mais proximo possivel de 115200, considerando Fosc=20MHz

	
}

void init(void)
{
//	disable();		//desactiva as interrupcoes

	while(SWITCH)
	{
		movedown();	//vai ate ao andar zero
		pwm(PWM_MAX);
	}
	stop();
	pwm(0);
	posact=ANDAR0;		//calibra a posicao
	HCTL_RST=0;		//reset do hctl
	HCTL_RST=1;
	INTF=0;			//limpa a flag de INT (INTF)
//	enable();		//reactivacao das interrupcoes
}

void initLCD(void)
{
	unsigned int i;

	writeLCD(0x04,0x38);
	for(i=0;i<30000;i++) asm("nop");

	writeLCD(0x04,0x38);
	for(i=0;i<600;i++) asm("nop");

	writeLCD(0x04,0x38);
	for(i=0;i<100;i++) asm("nop");

	writeLCD(0x04,0x38); //(1)
	writeLCD(0x04,0x06); //(2)
	writeLCD(0x04,0x0C); //(3)
	writeLCD(0x04,0x01); //(4)
	
	writeLCD(0x04,0x80); //(4)
	for(i=0;i<65000;i++) asm("nop");
}