ra2 | A Red Alert 2 mod for the OpenRA game engine | Game Engine library

#include 
#include 
#include 
#include 
#include   
#include "config.h"
#include "Uart.h"
#define _XTAL_FREQ 20000000
#define RS RC0
#define EN RC1
#define D4 RC2
#define D5 RC3
#define D6 RC4
#define D7 RC5

/*
 * 
 */

void Lcd_Port(char a)
{
    if(a & 1)
        D4 = 1;
    else
        D4 = 0;

    if(a & 2)
        D5 = 1;
    else
        D5 = 0;
    
    if(a & 4)
        D6 = 1;
    else
        D6 = 0;

    if(a & 8)
        D7 = 1;
    else
        D7 = 0;
}
void Lcd_Cmd(char a)
{
    RS = 0;             // => RS = 0
    Lcd_Port(a);
    EN  = 1;             // => E = 1
       __delay_ms(4);
    EN  = 0;             // => E = 0
}

int Lcd_Clear()
{
    Lcd_Cmd(0);
    Lcd_Cmd(1);
}

void Lcd_Set_Cursor(char a, char b)
{
    char temp,z,y;
    if(a == 1)
    {
      temp = 0x80 + b - 1;
        z = temp>>4;
        y = temp & 0x0F;
        Lcd_Cmd(z);
        Lcd_Cmd(y);
    }
    else if(a == 2)
    {
        temp = 0xC0 + b - 1;
        z = temp>>4;
        y = temp & 0x0F;
        Lcd_Cmd(z);
        Lcd_Cmd(y);
    }
}

void Lcd_Init()
{
  Lcd_Port(0x00);  // clear latches before enabling TRIS bits
   __delay_ms(20);
  Lcd_Cmd(0x03);
   __delay_ms(5);
  Lcd_Cmd(0x03);
   __delay_ms(11);
  Lcd_Cmd(0x03);
  /////////////////////////////////////////////////////
  Lcd_Cmd(0x02); //02H is used for Return home -> Clears the RAM and initializes the LCD
  Lcd_Cmd(0x02);
  Lcd_Cmd(0x08);//Select Row 1
  Lcd_Cmd(0x00);//Clear Row 1 Display
  Lcd_Cmd(0x0C);//Select Row 2
  Lcd_Cmd(0x00);//Clear Row 2 Display
  Lcd_Cmd(0x06);
}

void Lcd_Write_Char(char a)
{
   char temp,y;
   temp = a&0x0F;
   y = a&0xF0;
   RS = 1;             // => RS = 1
   Lcd_Port(y>>4);             //Data transfer
   EN = 1;
   __delay_us(40);
   EN = 0;
   Lcd_Port(temp);
   EN = 1;
   __delay_us(40);
   EN = 0;
}


void Lcd_Write_String(char *a)
{
    int i;
    for(i=0;a[i]!='\0';i++)
       Lcd_Write_Char(a[i]);
}

void Lcd_Shift_Right()
{
    Lcd_Cmd(0x01);
    Lcd_Cmd(0x0C);
}

void Lcd_Shift_Left()
{
    Lcd_Cmd(0x01);
    Lcd_Cmd(0x08);
}

int main(int argc, char** argv) {
    OSCCONbits.IRCF = 0b1111; //set operating frequency to 31kHz (0b1111) for 16MHz
    UART_init();
    Lcd_Init();
    
  // ->Setare Pini
    //Pini motor DC
    
    ANSELAbits.ANSA0 = 0; //set to digital pin
    ANSELAbits.ANSA1 = 0; //set to digital pin
    
    TRISAbits.TRISA0 = 0; //set as output
    TRISAbits.TRISA1 = 0; //set as output
    
    PORTAbits.RA0 = 0;
    PORTAbits.RA1 = 0;
    //Butoane
    ANSELAbits.ANSA2 = 0; //set to digital pin
    ANSELAbits.ANSA4 = 0; //set to digital pin
    ANSELBbits.ANSB4 = 0; //set to digital pin
    
    
    TRISAbits.TRISA2 = 1; //set as input
    TRISAbits.TRISA4 = 1; //set as input
    TRISBbits.TRISB4 = 1; //set as input
    
    //LEDuri
    //RC6 - RIGHT
    //RC6 LEFT
    
    TRISCbits.TRISC6 = 0; 
    TRISCbits.TRISC7 = 0; 
    
    
    //Set as digital
    ANSELCbits.ANSC6 = 0; 
    ANSELCbits.ANSC7 = 0; 
    
    //Folosire LCD
    TRISCbits.TRISC0 = 0; //set as output
    TRISCbits.TRISC1 = 0; //set as output
    TRISCbits.TRISC2 = 0; //set as output
    TRISCbits.TRISC3 = 0; //set as output
    TRISCbits.TRISC4 = 0; //set as output
    TRISCbits.TRISC5 = 0; //set as output
    
    //pull up
    //pull upurile
    OPTION_REGbits.nWPUEN = 0;
    WPUAbits.WPUA2 = 1;
    WPUAbits.WPUA4 = 1;
    WPUAbits.WPUA0 = 1;
    WPUAbits.WPUA1 = 0;
    WPUAbits.WPUA3 = 0;
    WPUAbits.WPUA5 = 0;
    WPUBbits.WPUB4 = 1;
    
    char introducere;
    UART_write_string("1. Move to right ");
    UART_write('\r');
    UART_write_string("2. Move to left");
    UART_write('\r');
    UART_write_string("4. Stop UART");
    UART_write('\r');
   
    PORTCbits.RC6 = 0; 
    PORTCbits.RC7 = 0; 
    
    while(1){
        
        introducere = UART_read();
        
        
        
        if (introducere == '1'){
            PORTAbits.RA0 = 1;
            PORTAbits.RA1 = 0;
            
            PORTCbits.RC6 = 1; 
            PORTCbits.RC7 = 0;
        
        Lcd_Clear();
        Lcd_Set_Cursor(1,1); //Go to the first line
        Lcd_Write_String("helo"); //Display String
        

        }
        
        if (introducere == '2' ){
            PORTAbits.RA0 = 0;
            PORTAbits.RA1 = 1;
            
            PORTCbits.RC6 = 0; 
            PORTCbits.RC7 = 1;
        }
        if(PORTAbits.RA2 == 0){ //Right
            PORTAbits.RA0 = 1;
            PORTAbits.RA1 = 0;
            
            PORTCbits.RC6 = 1; 
            PORTCbits.RC7 = 0;
        }
         if(PORTAbits.RA4 == 0){ //left
           PORTAbits.RA0 = 0;
            PORTAbits.RA1 = 1;
        }
        
         if(introducere =='4'){
            CREN = 0; //disable receiver
            UART_write('\r');
            UART_write_string("disable UART!");
            UART_write('\r');
        }
        
        if(PORTBbits.RB4 == 0){
            CREN = 1; //enable receiver
            UART_write('\r');
            UART_write_string("enable UART!");
            UART_write('\r');
        }
    }
    return (EXIT_SUCCESS);
}

void UART_init(void){
    
    ANSELB = 0; //set PORT B to digital port
    TRISBbits.TRISB5 = 1; //set RX pin to input
    TRISBbits.TRISB7 = 0; //set TX pin as output
    
    SPBRGH = 0;
    SPBRGL = 25; //set baud rate to 9600
    
    BRGH = 0;
    BRG16 = 0;
    SYNC = 0;
    SPEN = 1; //enable serial port pins
    
    TX9 = 0; //set 9 bit tranmission
    RX9 = 0; //set 9 bit receive
    
    TXEN = 1; //enable transmission
    CREN = 1; //enable receiver
    
}

void UART_write(char data){
    while(TRMT == 0);
        
    TXREG = data;
}

void UART_write_string(char *text){
    for(int i=0; text[i] != '\0'; i++){
       UART_write(text[i]);
    }
}

char UART_read(){
    while(RCIF == 0);
    return RCREG;
}

char URAT_read_string(char *stringprimit, int lungime){
    for(int i=0; i < lungime; i++){
        stringprimit[i] = UART_read();
    }
}

int main(int argc, char** argv) {
    OSCCONbits.IRCF = 0b1111; //set operating frequency to 31kHz (0b1111) for 16MHz
    //WDTCONbits.WDTPS = 0b01110;
    //CLRWDT();
    //0b01100; //set WTD interval at 4s   
    
    UART_init();
    
    //Activam pull-up
    OPTION_REGbits.nWPUEN = 0;
    WPUCbits.WPUC2 = 1;
    WPUCbits.WPUC6 = 1;
    WPUCbits.WPUC7 = 1;
    WPUCbits.WPUC0 = 0;
    WPUCbits.WPUC1 = 0;
    WPUCbits.WPUC3 = 1;
    
    
    //Led-uri
    TRISAbits.TRISA1 = 0; // set as output
    TRISAbits.TRISA2 = 0; // set as output
    
    ANSELAbits.ANSA1 = 0; //pin digital
    ANSELAbits.ANSA2 = 0; //pin digital
    
    ANSELAbits.ANSA0 = 1; //set to analogic pin
    TRISAbits.TRISA0 = 1; //set as input
    
    ANSELCbits.ANSC0 = 0; //set to digital pin
    ANSELCbits.ANSC1 = 0; //set to digital pin
    
    TRISCbits.TRISC0 = 0; //set as output
    TRISCbits.TRISC1 = 0; //set as output
    
    ANSELCbits.ANSC2 = 0; //set to digital pin
    ANSELCbits.ANSC6 = 0; //set to digital pin
    ANSELCbits.ANSC7 = 0; //set to digital pin
    
    TRISCbits.TRISC2 = 1; //set as input
    TRISCbits.TRISC6 = 1; //set as input
    TRISCbits.TRISC7 = 1; //set as input
    
    PORTCbits.RC0 = 1;
    PORTCbits.RC1 = 0;
    
    PORTAbits.RA1 = 0;
    PORTAbits.RA2 = 1;
    
    char user_input;
    
    UART_write_string("1. rotate right ");
    UART_write('\r');
    UART_write_string("2. rotate left");
    UART_write('\r');
    UART_write_string("3. stop");
    UART_write('\r');
    UART_write_string("4. Deactivate UART");
    UART_write('\r');
    UART_write_string("select:");
   
   
    
    while(1){
        
        //CLRWDT();
        
        user_input = UART_read();
        
        
     
        
        if(PORTCbits.RC7 == 0 ){ //motor rotates right
            
            user_input = '1';
            PORTCbits.RC0 = 1;
            PORTCbits.RC1 = 0;
            
            PORTAbits.RA1 = 0;
            PORTAbits.RA2 = 1;
            
        }
        
        if(PORTCbits.RC6 == 0 ){ //motor rotates left
            
            user_input = '2';
            PORTCbits.RC0 = 0;
            PORTCbits.RC1 = 1;
            
            PORTAbits.RA1 = 1;
            PORTAbits.RA2 = 0;  
            
        }
        
        if(PORTCbits.RC2 == 0 ){ //motor stop
            
           
            user_input = '3';
            PORTCbits.RC0 = 0;
            PORTCbits.RC1 = 0;
            
            PORTAbits.RA1 = 0;
            PORTAbits.RA2 = 0;
            
            
        }
        
        if(user_input =='1') {//motor rotates right
            PORTCbits.RC0 = 1;
            PORTCbits.RC1 = 0;
            
            PORTAbits.RA1 = 0;
            PORTAbits.RA2 = 1;
            
            
        }
        
        if( user_input =='2'){ //motor rotates left
            PORTCbits.RC0 = 0;
            PORTCbits.RC1 = 1;
            
            PORTAbits.RA1 = 1;
            PORTAbits.RA2 = 0;  
            
              
        }
        
        if(user_input =='3'){ //motor stop
            PORTCbits.RC0 = 0;
            PORTCbits.RC1 = 0;
            
            PORTAbits.RA1 = 0;
            PORTAbits.RA2 = 0;
            
             
        }
        if(user_input =='4'){ //deactivate UART
            CREN = 0;
        }
     
      
         
    }
    
   
    
    return (EXIT_SUCCESS);
}