void display_init() {
i2c_master_setup();
// goes through the reset procedure
display_command(0xAE); // turn off display
display_command(0xA8); // set the multiplex ratio (how many rows are updated per oled driver clock) to the number of rows in the display
display_command(HEIGHT-1); // the multiplex ratio set is the value sent + 1, so subtract 1
// we will always write the full display on a single update.
display_command(0x20); // set address mode
display_command(0x00); // horizontal address mode
display_command(0x21); // set column address
display_command(0x00); // start at 0
display_command(0xFF); // end at 127
// with this address mode, the address will go through all the pixels and then return to the start,
// hence we never need to set the address again
display_command(0x8d); // charge pump
display_command(0x14); // turn charge pump on (creates the ~7 Volts needed to light pixels)
display_command(0xAF); // turn on the display
video_buffer[0] = 0x40; // co = 0, dc =1, allows us to send data directly from video buffer,
//0x40 is the "next bytes have data" byte
}
void i2c_init(void){
ANSELBbits.ANSB2 = 0;
ANSELBbits.ANSB3 = 0;
i2c_master_setup();
}
int main() {
__builtin_disable_interrupts();
// set the CP0 CONFIG register to indicate that kseg0 is cacheable (0x3)
__builtin_mtc0(_CP0_CONFIG, _CP0_CONFIG_SELECT, 0xa4210583);
// 0 data RAM access wait states
BMXCONbits.BMXWSDRM = 0x0;
// enable multi vector interrupts
INTCONbits.MVEC = 0x1;
// disable JTAG to get pins back
DDPCONbits.JTAGEN = 0;
__builtin_enable_interrupts();
initSPI1();
initI2C2();
i2c_master_setup();
initExpander();
//sine wave
int sine[1000];
int i;
for(i = 0; i < 1000; i++){
sine[i] = 128 + 127*sin(2*3.14*10*i/1000);
}
int triangle[1000];
i = 0;
for(i = 0; i < 1000; i++){
triangle[i] = .256*i;
}
i = 0;
while(1) {
_CP0_SET_COUNT(0);
if(_CP0_GET_COUNT() > 24000){
i++;
setVoltage(0, sine[i]);
setVoltage(1, triangle[i]);
_CP0_SET_COUNT(0);
}
if(i > 1000){
i = 0;
}
char status = getExpander(); //read the expander
char g7 = (status & 0x80) >> 7; //get level of pin g7
setExpander(0, g7); //set pin 0 to level of g7
}
}
void main() {
__builtin_disable_interrupts();
// set the CP0 CONFIG register to indicate that kseg0 is cacheable (0x3)
__builtin_mtc0(_CP0_CONFIG, _CP0_CONFIG_SELECT, 0xa4210583);
// 0 data RAM access wait states
BMXCONbits.BMXWSDRM = 0x0;
// enable multi vector interrupts
INTCONbits.MVEC = 0x1;
// disable JTAG to get pins back
DDPCONbits.JTAGEN = 0;
// do your TRIS and LAT commands here
TRISA = 0xFFCF;
TRISB = 0b0001111001110011;
i2c_master_setup();
ANSELBbits.ANSB2 = 0; //SDA2 set to digital
ANSELBbits.ANSB3 = 0; //SCL2 set to digital
__builtin_enable_interrupts();
// SYSTEMConfigPerformance(48000000);
SPI1_init();
LCD_init();
LCD_clearScreen(0);
// RPB13Rbits.RPB13R = 0b0011; //SDO
// SDI1Rbits.SDI1R = 0b0000; //A1
RPB7Rbits.RPB7R = 0b0101; //OC1
RPB8Rbits.RPB8R = 0b0101; //OC2
PORTAbits.RA4 = 1; //led init
T2CONbits.TCKPS = 2; //timer 2 prescale = 1:4
PR2 = 1999; //period = (PR2+1) * N * 12.5 ns = 100 us, 10 kHz
TMR2 = 0;
OC1RS = 1000;
OC1R = 1000;
OC2RS = 1000;
OC2R = 1000;
OC1CONbits.OCTSEL = 0; //select timer2
OC2CONbits.OCTSEL = 0;
OC1CONbits.OCM = 0b110; //set pwm mode
OC2CONbits.OCM = 0b110;
T2CONbits.ON = 1;
OC1CONbits.ON = 1;
OC2CONbits.ON = 1;
unsigned char x = 0; //sine counter
unsigned char y = 0; //triangle counter
char pressed = 0; //for tracking button logic
char counter = 0;
char m = 100; //(triangle wave frequency is 1000/2m)
unsigned char voltage = 0;
unsigned char channel = 0;
int bytes = 14;
unsigned char i2cdata[bytes];
unsigned char i2cdatatest;
unsigned char i2cwhoami;
short temp = 0;
short accel_x = 0;
short accel_y = 0;
short accel_z = 0;
short gyro_x = 0;
short gyro_y = 0;
short gyro_z = 0;
char i2cdatacount = 0;
char textbuffer[20];
char length = 0;
i2cwhoami = i2c_master_read(GYRO,WHOAMI,0,0);
i2c_master_write(GYRO,CTRL1_XL,0b10000000,0);
i2c_master_write(GYRO,CTRL2_G,0b10000000,0);
i2c_master_write(GYRO,CTRL3_C,0b00000100);
//i2cdatatest = i2c_master_read(GYRO,CTRL1_XL,0,0);
// i2c_master_write(GYRO,CTRL1_XL,0b10000000,1);
// i2c_master_send(0b10000000);
// i2c_master_send(0b00000100);
// i2c_master_stop();
CS = 1;
int leet = 1337;
sprintf(textbuffer,"Hello world %d!",leet);
char text[2] = {'H','6'};
//int text[5] = {40,30,50,30,20};
LCD_clearScreen(0);
while(1) {
length = sizeof(textbuffer);//size must be taken here otherwise pointer size is taken instead of
LCD_type(28,32,textbuffer,length,0b1111100000000000);
//LCD_char(28,32,30,0b1111100000000000);
i2c_master_multiread(GYRO,OUT_TEMP_L,bytes,i2cdata);
// //i2cdatatest = i2c_master_read(GYRO,0x28,0,0);
temp = i2cdata[1];
temp = (temp<<8)|i2cdata[0];
temp = (unsigned short)temp;
gyro_x = i2cdata[3];
gyro_x = (gyro_x<<8)|i2cdata[2];
gyro_x = (unsigned short)gyro_x;
gyro_y = i2cdata[5];
gyro_y = (gyro_y<<8)|i2cdata[4];
gyro_y = (unsigned short)gyro_y;
gyro_z = i2cdata[7];
gyro_z = (gyro_z<<8)|i2cdata[6];
gyro_z = (unsigned short)gyro_z;
accel_x = i2cdata[9];
accel_x = (i2cdata[9]<<8)|i2cdata[8];
accel_x = (unsigned short)accel_x;
accel_y = i2cdata[11];
accel_y = (i2cdata[11]<<8)|i2cdata[10];
accel_y = (unsigned short)accel_y;
accel_z = i2cdata[13];
accel_z = (accel_z<<8)|i2cdata[12];
accel_z = (unsigned short)accel_z;
OC1RS = floor((accel_x/16.768));
OC2RS = floor((accel_y/16.768));
if(OC1RS>2999){
OC1RS = 2000;
}
else if(OC1RS<1000){
OC1RS = 0;
}
else{
OC1RS = OC1RS - 1000;
}
if(OC2RS>2999){
OC2RS = 2000;
}
else if(OC2RS<1000){
OC2RS = 0;
}
else{
OC2RS = OC2RS - 1000;
}
// OC1R = floor((gyro_x/3.2768 + 10000));
// OC2R = floor((gyro_y/3.2768 + 10000));
//-------------SPI debugging for IMU------------------
// if (!PORTBbits.RB4){
// CS = 0;
// channel = counter;
// //voltage = floor(100*sin((x*2*pi)/100)+100);
// voltage = i2cwhoami;
// //char voltage = 0b10101001;
// spi1_set(channel,voltage);
// //delay(6000);
// CS = 1;
// }
// else {
// CS = 0;
// channel = counter;
// //voltage = floor(100*sin((x*2*pi)/100)+100);
// voltage = i2cdata[0];
// //char voltage = 0b10101001;
// spi1_set(channel,voltage);
// //delay(6000);
// CS = 1;
// //++i2cdatacount %14;
// }
//-------------------------------------------------------
delay(960000);
}
}
void main(){
// *************** Initialize pins and chips ****************
//SYSTEMConfigPerformance(48000000);
__builtin_disable_interrupts();
// set the CP0 CONFIG register to indicate that kseg0 is cacheable (0x3)
__builtin_mtc0(_CP0_CONFIG, _CP0_CONFIG_SELECT, 0xa4210583);
// 0 data RAM access wait states
BMXCONbits.BMXWSDRM = 0x0;
// enable multi vector interrupts
INTCONbits.MVEC = 0x1;
// disable JTAG to get pins back
DDPCONbits.JTAGEN = 0;
// do your TRIS and LAT commands here
TRISA = 0xFFEF; // set pin 4 as output
TRISB = 0b0001111001110011; // set outputs/inputs
// turn off analog pins
ANSELBbits.ANSB2 = 0;
ANSELBbits.ANSB3 = 0;
// setup i2c
i2c_master_setup();
__builtin_enable_interrupts();
// setup accelerometer
i2c_write(ADDR, 0x10, 0b10000000);
i2c_write(ADDR, 0x11, 0b10000000);
i2c_write(ADDR, 0x12, 0b00000100);
// initialize PWM
RPB7Rbits.RPB7R = 0b0101; //OC1 on pin 16
RPB8Rbits.RPB8R = 0b0101; //OC2 on pin 17
T2CONbits.TCKPS = 4; // Timer2 prescaler N=16 (1:16)
PR2 = 4999; // period = (PR2+1) * N * 12.5 ns = 1 ms, 1 kHz
TMR2 = 0; // initial TMR2 count is 0
OC1RS = 2500; // duty cycle = OC1RS/(PR2+1) = 50%
OC1R = 2500; // initialize before turning OC1 on; afterward it is read-only
OC2RS = 2500;
OC2R = 2500;
OC1CONbits.OCTSEL = 0; // select timer2
OC2CONbits.OCTSEL = 0;
OC1CONbits.OCM = 0b110; // PWM mode without fault pin; other OC1CON bits are defaults
OC2CONbits.OCM = 0b110;
T2CONbits.ON = 1; // turn on Timer2
OC1CONbits.ON = 1; // turn on OC1
OC2CONbits.ON = 1;
// RPB13Rbits.RPB13R = 0b0011; //SDO
// CS = 1;
// initialize SPI
SPI_init();
LCD_init();
LCD_clearScreen(RED);
//***********************************************************
//****************** constants ***************************
char length = 14;
unsigned char IMUdata[length];
short temp;
unsigned short temperature;
short gx;
short gy;
short gz;
unsigned short gyrox;
unsigned short gyroy;
unsigned short gyroz;
short ax;
short ay;
short az;
unsigned short accelx;
unsigned short accely;
unsigned short accelz;
char text[100];
//**********************************************************
while(1){
int var = 1337;
sprintf(text,"Hello World %d!",var);
LCD_print(28,32,text,WHITE);
//************ TEST IF IMU WORKS ***********************
// unsigned char data = 0;
// data = i2c_read(ADDR,0x0F);
//
// // read output from SPI
// CS=0;
// setVoltage(0,data);
// CS=1;
//************* SHOULD GET 01101001 *******************
//********** READ MULTI REGISTERS FROM IMU ***************
// i2c_multiread(ADDR,0x20,IMUdata,length);
//
// temp = (IMUdata[1]<<8) | IMUdata[0];
// temperature = temp + 32768;
//
// gx = (IMUdata[3]<<8) | IMUdata[2];
// gyrox = gx + 32768;
//
// gy = (IMUdata[5]<<8) | IMUdata[4];
// gyroy = gy + 32768;
//
// gz = (IMUdata[7]<<8) | IMUdata[6];
// gyroz = gz + 32768;
//
// ax = (IMUdata[9]<<8) | IMUdata[8];
// accelx = ax + 32768;
//
// ay = (IMUdata[11]<<8) | IMUdata[10];
// accely = ay + 32768;
//
// az = (IMUdata[13]<<8) | IMUdata[12];
// accelz = az + 32768;
//
// //********************************************************
//
//
//
// //*********************** PWM ****************************
// // Calculate OC1RS and OC2RS
// OC1RS = floor(accelx/6.5535);
// OC2RS = floor(accely/6.5535);
//
// // Set OC1 limits
// if (OC1RS > 7500){
// OC1RS = 5000;
// }
// else if (OC1RS < 2500){
// OC1RS = 0;
// }
// else {
// OC1RS = OC1RS-2500;
// }
//
// // Set OC2 limits
// if (OC2RS > 7500){
// OC2RS = 5000;
// }
// else if (OC2RS < 2500){
// OC2RS = 0;
// }
// else {
// OC2RS = OC2RS-2500;
// }
//******************************************************
delay(24000); // Delay 1ms
}
}
// Initialize I2C2
void initI2C2() {
// turn off analog on I2C pins
ANSELBbits.ANSB2 = 0;
ANSELBbits.ANSB3 = 0;
i2c_master_setup();
}
void initI2C()
{
ANSELBbits.ANSB2 = 0; // turn off SDA2 pin's analog functionality
ANSELBbits.ANSB3 = 0; // turn off SCL2 pin's analog functionality
i2c_master_setup();
}
int main() {
// startup
__builtin_disable_interrupts();
// set the CP0 CONFIG register to indicate that
// kseg0 is cacheable (0x3) or uncacheable (0x2)
// see Chapter 2 "CPU for Devices with M4K Core"
// of the PIC32 reference manual
__builtin_mtc0(_CP0_CONFIG, _CP0_CONFIG_SELECT, 0xa4210583);
// no cache on this chip!
// 0 data RAM access wait states
BMXCONbits.BMXWSDRM = 0x0;
// enable multi vector interrupts
INTCONbits.MVEC = 0x1;
// disable JTAG to be able to use TDI, TDO, TCK, TMS as digital
DDPCONbits.JTAGEN = 0;
__builtin_enable_interrupts();
// set up USER pin as input
ANSELBbits.ANSB13 = 0;
TRISBbits.TRISB13 = 1;
INT4Rbits.INT4R = 0b0100;
// set up LED1 pin as a digital output
ANSELBbits.ANSB15 = 0;
TRISBbits.TRISB15 = 0;
LATBbits.LATB15 = 1;
int d = 0;
while(d < 2000000){
d = d+1;
}
// initializing variables
// lookup table for all of the ascii characters
static const char ASCII[96][5] = {
{0x00, 0x00, 0x00, 0x00, 0x00} // 20 (space)
,{0x00, 0x00, 0x5f, 0x00, 0x00} // 21 !
,{0x00, 0x07, 0x00, 0x07, 0x00} // 22 "
,{0x14, 0x7f, 0x14, 0x7f, 0x14} // 23 #
,{0x24, 0x2a, 0x7f, 0x2a, 0x12} // 24 $
,{0x23, 0x13, 0x08, 0x64, 0x62} // 25 %
,{0x36, 0x49, 0x55, 0x22, 0x50} // 26 &
,{0x00, 0x05, 0x03, 0x00, 0x00} // 27 '
,{0x00, 0x1c, 0x22, 0x41, 0x00} // 28 (
,{0x00, 0x41, 0x22, 0x1c, 0x00} // 29 )
,{0x14, 0x08, 0x3e, 0x08, 0x14} // 2a *
,{0x08, 0x08, 0x3e, 0x08, 0x08} // 2b +
,{0x00, 0x50, 0x30, 0x00, 0x00} // 2c ,
,{0x08, 0x08, 0x08, 0x08, 0x08} // 2d -
,{0x00, 0x60, 0x60, 0x00, 0x00} // 2e .
,{0x20, 0x10, 0x08, 0x04, 0x02} // 2f /
,{0x3e, 0x51, 0x49, 0x45, 0x3e} // 30 0
,{0x00, 0x42, 0x7f, 0x40, 0x00} // 31 1
,{0x42, 0x61, 0x51, 0x49, 0x46} // 32 2
,{0x21, 0x41, 0x45, 0x4b, 0x31} // 33 3
,{0x18, 0x14, 0x12, 0x7f, 0x10} // 34 4
,{0x27, 0x45, 0x45, 0x45, 0x39} // 35 5
,{0x3c, 0x4a, 0x49, 0x49, 0x30} // 36 6
,{0x01, 0x71, 0x09, 0x05, 0x03} // 37 7
,{0x36, 0x49, 0x49, 0x49, 0x36} // 38 8
,{0x06, 0x49, 0x49, 0x29, 0x1e} // 39 9
,{0x00, 0x36, 0x36, 0x00, 0x00} // 3a :
,{0x00, 0x56, 0x36, 0x00, 0x00} // 3b ;
,{0x08, 0x14, 0x22, 0x41, 0x00} // 3c <
,{0x14, 0x14, 0x14, 0x14, 0x14} // 3d =
,{0x00, 0x41, 0x22, 0x14, 0x08} // 3e >
,{0x02, 0x01, 0x51, 0x09, 0x06} // 3f ?
,{0x32, 0x49, 0x79, 0x41, 0x3e} // 40 @
,{0x7e, 0x11, 0x11, 0x11, 0x7e} // 41 A
,{0x7f, 0x49, 0x49, 0x49, 0x36} // 42 B
,{0x3e, 0x41, 0x41, 0x41, 0x22} // 43 C
,{0x7f, 0x41, 0x41, 0x22, 0x1c} // 44 D
,{0x7f, 0x49, 0x49, 0x49, 0x41} // 45 E
,{0x7f, 0x09, 0x09, 0x09, 0x01} // 46 F
,{0x3e, 0x41, 0x49, 0x49, 0x7a} // 47 G
,{0x7f, 0x08, 0x08, 0x08, 0x7f} // 48 H
,{0x00, 0x41, 0x7f, 0x41, 0x00} // 49 I
,{0x20, 0x40, 0x41, 0x3f, 0x01} // 4a J
,{0x7f, 0x08, 0x14, 0x22, 0x41} // 4b K
,{0x7f, 0x40, 0x40, 0x40, 0x40} // 4c L
,{0x7f, 0x02, 0x0c, 0x02, 0x7f} // 4d M
,{0x7f, 0x04, 0x08, 0x10, 0x7f} // 4e N
,{0x3e, 0x41, 0x41, 0x41, 0x3e} // 4f O
,{0x7f, 0x09, 0x09, 0x09, 0x06} // 50 P
,{0x3e, 0x41, 0x51, 0x21, 0x5e} // 51 Q
,{0x7f, 0x09, 0x19, 0x29, 0x46} // 52 R
,{0x46, 0x49, 0x49, 0x49, 0x31} // 53 S
,{0x01, 0x01, 0x7f, 0x01, 0x01} // 54 T
,{0x3f, 0x40, 0x40, 0x40, 0x3f} // 55 U
,{0x1f, 0x20, 0x40, 0x20, 0x1f} // 56 V
,{0x3f, 0x40, 0x38, 0x40, 0x3f} // 57 W
,{0x63, 0x14, 0x08, 0x14, 0x63} // 58 X
,{0x07, 0x08, 0x70, 0x08, 0x07} // 59 Y
,{0x61, 0x51, 0x49, 0x45, 0x43} // 5a Z
,{0x00, 0x7f, 0x41, 0x41, 0x00} // 5b [
,{0x02, 0x04, 0x08, 0x10, 0x20} // 5c ¥
,{0x00, 0x41, 0x41, 0x7f, 0x00} // 5d ]
,{0x04, 0x02, 0x01, 0x02, 0x04} // 5e ^
,{0x40, 0x40, 0x40, 0x40, 0x40} // 5f _
,{0x00, 0x01, 0x02, 0x04, 0x00} // 60 `
,{0x20, 0x54, 0x54, 0x54, 0x78} // 61 a
,{0x7f, 0x48, 0x44, 0x44, 0x38} // 62 b
,{0x38, 0x44, 0x44, 0x44, 0x20} // 63 c
,{0x38, 0x44, 0x44, 0x48, 0x7f} // 64 d
,{0x38, 0x54, 0x54, 0x54, 0x18} // 65 e
,{0x08, 0x7e, 0x09, 0x01, 0x02} // 66 f
,{0x0c, 0x52, 0x52, 0x52, 0x3e} // 67 g
,{0x7f, 0x08, 0x04, 0x04, 0x78} // 68 h
,{0x00, 0x44, 0x7d, 0x40, 0x00} // 69 i
,{0x20, 0x40, 0x44, 0x3d, 0x00} // 6a j
,{0x7f, 0x10, 0x28, 0x44, 0x00} // 6b k
,{0x00, 0x41, 0x7f, 0x40, 0x00} // 6c l
,{0x7c, 0x04, 0x18, 0x04, 0x78} // 6d m
,{0x7c, 0x08, 0x04, 0x04, 0x78} // 6e n
,{0x38, 0x44, 0x44, 0x44, 0x38} // 6f o
,{0x7c, 0x14, 0x14, 0x14, 0x08} // 70 p
,{0x08, 0x14, 0x14, 0x18, 0x7c} // 71 q
,{0x7c, 0x08, 0x04, 0x04, 0x08} // 72 r
,{0x48, 0x54, 0x54, 0x54, 0x20} // 73 s
,{0x04, 0x3f, 0x44, 0x40, 0x20} // 74 t
,{0x3c, 0x40, 0x40, 0x20, 0x7c} // 75 u
,{0x1c, 0x20, 0x40, 0x20, 0x1c} // 76 v
,{0x3c, 0x40, 0x30, 0x40, 0x3c} // 77 w
,{0x44, 0x28, 0x10, 0x28, 0x44} // 78 x
,{0x0c, 0x50, 0x50, 0x50, 0x3c} // 79 y
,{0x44, 0x64, 0x54, 0x4c, 0x44} // 7a z
,{0x00, 0x08, 0x36, 0x41, 0x00} // 7b {
,{0x00, 0x00, 0x7f, 0x00, 0x00} // 7c |
,{0x00, 0x41, 0x36, 0x08, 0x00} // 7d }
,{0x10, 0x08, 0x08, 0x10, 0x08} // 7e ?
,{0x00, 0x06, 0x09, 0x09, 0x06} // 7f ?
}; // end char ASCII[96][5]
// Initializing Display
i2c_master_setup();
display_init();
char a;
char message[10];
int m = 0;
int i;
int j;
int row;
int col;
// main loop
while (1) {
row = 32;
col = 28;
sprintf(message,"Hello world 1337!");
while(message[m]){
for(j = 0; j<= 4; j = j+1,col = col + 1){
a = ASCII[message[m] - 0x20][j];
for(i = 0; i <= 7; i = i+1)
{
display_pixel_set(row -i,col,(a << i)&0x80);
}
}
m = m+1;
}
display_draw();
m = 0;
}
}
