void system_init()
{
// OLED Init
OLED_Init();
OLED_FillScreen(OLED_COLOR_BLACK);
// GPIO Init
R_LED = 1;
G_LED = 1;
B_LED = 1;
GPIO_Digital_Output(&PTC_PDOR, _GPIO_PINMASK_8);
GPIO_Digital_Output(&PTD_PDOR, _GPIO_PINMASK_0);
GPIO_Digital_Output(&PTC_PDOR, _GPIO_PINMASK_9);
GPIO_Analog_Input(&PTB_PDIR, _GPIO_PINMASK_6); // AN
GPIO_Analog_Input(&PTB_PDIR, _GPIO_PINMASK_7); // INT
GPIO_Digital_Output(&PTA_PDOR, _GPIO_PINMASK_4); // PWM
GPIO_Digital_Output(&PTB_PDOR, _GPIO_PINMASK_9); // Vibration PIN
PTB_PDOR = 0;
// PWM Init
current_duty = 0;
pwm_period = PWM_FTM0_Init(200,
_PWM_EDGE_ALIGNED_PWM,
_PWM_CHANNEL_1,
&_GPIO_Module_PWM0_PTA4);
PWM_FTM0_Set_Duty(0, _PWM_NON_INVERTED, _PWM_CHANNEL_1); // Set duty ratio
PWM_FTM0_Start(_PWM_CHANNEL_1);
Delay_ms(100);
// Display text
OLED_DrawBox(0, 0, 96, 15, OLED_COLOR_BLUE);
OLED_DrawBox(0, 80, 96, 15, OLED_COLOR_BLUE);
OLED_SetFont(guiFont_Exo_2_Condensed10x16_Regular, OLED_COLOR_WHITE, 0);
OLED_WriteText("BRUSHLESS", 20, 0);
OLED_WriteText("Period:", 5, 30);
OLED_WriteText("Duty:", 5, 50);
OLED_WriteText("DEC", 15, 80);
OLED_WriteText("INC", 63, 80);
WordToStr(pwm_period, txt_value);
OLED_WriteText(txt_value, 50, 30);
WordToStr(current_duty, txt_value);
OLED_WriteText(txt_value, 50, 50);
hexiwear_uart_messaging_init(); // Init UART messaging
MOTOR_DIR = CCW; // Setting motor direction
// to counter-clock-wise
}
void doIMU() {
// Accel (degrees)
IntToStr((int)(MPU9150A.out_accel.x * 90.0f),txt);
updateLabel(&accelX, ltrim(txt));
IntToStr((int)(MPU9150A.out_accel.y * 90.0f),txt);
updateLabel(&accelY, ltrim(txt));
IntToStr((int)(MPU9150A.out_accel.z * 90.0f),txt);
updateLabel(&accelZ, ltrim(txt));
// Gyro (degrees/second)
IntToStr((int)(MPU9150A.out_gyro.x * 1000.0f / MPU9150A.gdt),txt);
updateLabel(&gyroX, ltrim(txt));
IntToStr((int)(MPU9150A.out_gyro.y * 1000.0f / MPU9150A.gdt),txt);
updateLabel(&gyroY, ltrim(txt));
IntToStr((int)(MPU9150A.out_gyro.z * 1000.0f / MPU9150A.gdt),txt);
updateLabel(&gyroZ, ltrim(txt));
// Mag
WordToStr((int)(MPU9150A.mag.x),txt);
updateLabel(&magX, ltrim(txt));
IntToStr((int)(MPU9150A.mag.y),txt);
updateLabel(&magY, ltrim(txt));
IntToStr((int)(MPU9150A.mag.z),txt);
updateLabel(&magZ, ltrim(txt));
//temperature (celsius)
sprintf(txt, "%.2f", MPU9150A.temp);
strcat (txt, " °C");
updateLabel(&lblTemp, ltrim(txt));
}
void GetEntriesStr(unsigned char *out) {
unsigned char b[4];
int n;
n = EEPROM_Read(0);
strcpy(out, "Entries: ");
WordToStr(n, b);
strcat(out, b);
}
void DisplayAirQValue( uint16_t value )
{
if (value_old != value)
{
// clear the previous value
OLED_SetFont( guiFont_Tahoma_8_Regular, OLED_COLOR_WHITE, 0 );
OLED_WriteText( text, 50, 75 );
WordToStr(value, text);
OLED_SetFont( guiFont_Tahoma_8_Regular, OLED_COLOR_BLACK, 0 );
OLED_WriteText( text, 50, 75 );
}
value_old = value;
}
void DisplayMethaneValue( uint16_t value )
{
if (value_old != value) // If old value and current value are not equal
{
// clear the previous value
OLED_SetFont( guiFont_Tahoma_8_Regular, OLED_COLOR_WHITE, 0 );
OLED_WriteText( text, 50, 75 );
WordToStr(value, text);
OLED_SetFont( guiFont_Tahoma_8_Regular, OLED_COLOR_BLACK, 0 );
OLED_WriteText( text, 50, 75 );
}
value_old = value;
}
// On button right pressed
static void button_right(void)
{
G_LED = 0; // Turn on Green diode
R_LED = 1; // Turn off Red diode
PTB_PDOR.B9 = 1; // Turn on Vibration
current_duty = current_duty + STEP; // Increment current_duty
if (current_duty > MAX_PWM_VALUE) // If we increase current_duty greater
// then possible MAX_PWM_VALUE value
{
current_duty = MAX_PWM_VALUE; // Reset current_duty value
// to MAX_PWM_VALUE
}
// Set newly acquired duty ratio
PWM_FTM0_Set_Duty(current_duty, _PWM_NON_INVERTED, _PWM_CHANNEL_1);
OLED_DrawBox(50, 50, 25, 20, OLED_COLOR_BLACK);
WordToStr(current_duty, txt_value);
OLED_WriteText(txt_value, 50, 50); // Write text value on screen
Delay_ms(50);
PTB_PDOR.B9 = 0; // Turn off vibration
}
// On button left pressed
static void button_left(void)
{
R_LED = 0; // Turn on Red diode
G_LED = 1; // Turn off Green diode
PTB_PDOR.B9 = 1; // Turn on vibration
current_duty = current_duty - STEP; // Decrement current_duty
if (current_duty > MAX_PWM_VALUE) // If we decrease current_duty
// greater then possible
// MAX_PWM_VALUE value (overflow)
{
current_duty = 0; // Set current_duty to 0
}
// Set newly acquired duty ratio
PWM_FTM0_Set_Duty(current_duty, _PWM_NON_INVERTED, _PWM_CHANNEL_1);
OLED_DrawBox(50, 50, 25, 20, OLED_COLOR_BLACK);
WordToStr(current_duty, txt_value);
OLED_WriteText(txt_value, 50, 50); // Write text value on screen
Delay_ms(50);
PTB_PDOR.B9 = 0; // Turn off vibration
}
void main(){
Lcd_init(); // Initialize LCD
Lcd_Cmd(_LCD_CLEAR); // Clear display
Lcd_Cmd(_LCD_CURSOR_OFF);
I2C1_Init(100000);
TRISB.F0=0;
TRISB.F1=0;
while(1){
Read_Compass();
WordToStr(angle,to_LCD);
Lcd_Out(1,1,to_LCD);
straight();
// delay_ms(500);
// Lcd_Out(1,1,"Piyumal");
//delay_ms(1000);
}
}
//=============================================================================
// MAIN
//=============================================================================
void main()
{
//-------------------------------------------------------
// setup PIC 18F8527 for SmartGLCD pins
CMCON = 0x07; // turn off comparators (make all pins digital)
ADCON0 = 0b00000001; // ADC module on
ADCON1 = 0b00001101; // AN0,AN1 are adc inputs, 0v-5v range
ADCON2 = 0b00110010; // ADC result left justified (0-255 range)
LATA = 0b00000000;
TRISA = 0b00000011; // RA0,RA1 analog inputs (TP)
LATC = 0b00000110; // LEDs off at start
TRISC = 0b00000000; // C1, C2 backlight LED
LATG = 0b00000001; // LED off at start
TRISG = 0b00000000; // G0 backlight LED
LATJ = 0b01000000; // RJ6=FS (1=font6 0=font8), RJ5=MD
TRISJ = 0b00000000; // GLCD control port
BacklightRed = 1; // control the GLCD backlight leds; 0=on, 1=off
BacklightGreen = 0; // green ON
BacklightBlue = 1;
T1CON = 0b10110001; // TMR1 on 16bit, 1:8 prescaler, used for time testing
//-------------------------------------------------------
// Initialize T6963C GLCD
T6963C_init(240, 128, 6); // init for MikroC PRO version
//T6963C_init(240, 128, 6, &PORTH, &PORTJ, 2, 1, 0, 4); // init for MikroC version
T6963C_graphics(1); // graphics mode = on
T6963C_text(1); // text mode = on (now both are on)
T6963C_cursor(0); // cursor = off
Delay_mS(300);
//-------------------------------------------------------
// draw stuff on GLCD.
//-------------------------------------------------------
// do a time test of the MikroE horiz line, this draws a line
// across the screen and times it in exact uS.
T6963C_Write_Text("Line drawn with MikroE Line() function", 0, 0, T6963C_ROM_MODE_OR);
TMR1H=0;
TMR1L=0; // clear TMR1 here
T6963C_line(0,16,239,16,T6963C_WHITE); // Draw a MikroE line
etime = TMR1L; // read TMR1 here
etime += (TMR1H << 8);
WordToStr(etime,txt); // get the time as text
T6963C_Write_Text("Time: uS", 0, 4, T6963C_ROM_MODE_OR); // display time in uS
T6963C_Write_Text(txt, 6, 4, T6963C_ROM_MODE_OR); // display time in uS
//-------------------------------------------------------
// now do a time test using my line bytes system, this is a "best case"
// where all it does is draw bytes (each byte is 6 black pixels)
// across the screen to make a horizontal line. This is horrible code but
// it is about as fast as this GLCD can ever get, which is the test.
T6963C_Write_Text("Line drawn with my functions", 0, 10, T6963C_ROM_MODE_OR);
TMR1H=0;
TMR1L=0; // clear TMR1 here
// set first graphic byte to write to (each pixel row across is 40 bytes)
// y = 40*8*textline = 40*8*12 = 0x0F00
// this should be put in a function later! RomanSG_Set_Address(address)
RSG_byte = 0x00; // low address in graphic ram
RomanSG_Send_Data();
RSG_byte = 0x0F; // hi address in graphic ram
RomanSG_Send_Data();
RSG_byte = 0x24; // command to set ram address pointer
RomanSG_Send_Command();
// now loop and draw 40 bytes into graphic ram
for(i=0; i<40; i++)
{
RSG_byte = 0x3F; // 0b00111111 (6 black pixels to write to graphic ram)
RomanSG_Send_Data();
RSG_byte = 0xC0; // command to write byte to graphic ram and increment ram pointer
RomanSG_Send_Command();
}
etime = TMR1L; // read TMR1 here
etime += (TMR1H << 8);
WordToStr(etime,txt); // get the time as text
T6963C_Write_Text("Time: uS", 0, 14, T6963C_ROM_MODE_OR); // display time in uS
T6963C_Write_Text(txt, 6, 14, T6963C_ROM_MODE_OR);
//-------------------------------------------------------
// delay between test pages
Delay_mS(3000);
// clear the screen
T6963C_grFill(0); // erase graphics
T6963C_txtFill(0); // erase text
//-------------------------------------------------------
// do a time test of the MikroE vertical line
T6963C_Write_Text("Vert line with MikroE Line() function", 0, 0, T6963C_ROM_MODE_OR);
TMR1H=0;
TMR1L=0; // clear TMR1 here
T6963C_line(29,0,29,127,T6963C_WHITE); // Draw a MikroE line
etime = TMR1L; // read TMR1 here
etime += (TMR1H << 8);
WordToStr(etime,txt); // get the time as text
T6963C_Write_Text("Time: uS", 0, 4, T6963C_ROM_MODE_OR); // display time in uS
T6963C_Write_Text(txt, 6, 4, T6963C_ROM_MODE_OR); // display time in uS
//-------------------------------------------------------
// and test manual writing of a vertical line by drawing to graphcis ram...
T6963C_Write_Text("Vert line with my functions", 0, 10, T6963C_ROM_MODE_OR);
TMR1H=0;
TMR1L=0; // clear TMR1 here
add_lo = 31;
add_hi = 0;
// now loop and draw 120 vertical pixels, top down
for(i=0; i<128; i++)
{
// set graphics ram address for this byte
RSG_byte = add_lo; // low address in graphic ram
RomanSG_Send_Data();
RSG_byte = add_hi; // hi address in graphic ram
RomanSG_Send_Data();
RSG_byte = 0x24; // command to set ram address pointer
RomanSG_Send_Command();
// and make a single black pixel bit in that byte (bit 3 011)
RSG_byte = 0b11111011; // command to set a pixel; 1111 colour ppp
RomanSG_Send_Command();
/*
T6963C_writeData(add_lo); // MikroC command functions were twice as slow
T6963C_writeData(add_hi);
T6963C_writeCommand(0x24);
T6963C_writeCommand(0b11111011);
*/
// manually calc the address of the next byte below, is +=40 bytes.
// manually handle the 16bit address for speed (messy!)
if(add_lo >= (256-40)) add_hi ++;
add_lo += 40; // is a 16bit +=40
}
etime = TMR1L; // read TMR1 here
etime += (TMR1H << 8);
WordToStr(etime,txt); // get the time as text
T6963C_Write_Text("Time: uS", 0, 14, T6963C_ROM_MODE_OR); // display time in uS
T6963C_Write_Text(txt, 6, 14, T6963C_ROM_MODE_OR);
//-------------------------------------------------------
while(1)
{
// just loop and do nothing
}
}
