int main ( void )
{
/* Initialize all MPLAB Harmony modules, including application(s). */
SYS_Initialize ( NULL );
__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;
// initialize I2C
initI2C2();
// initialize IMU
initIMU();
// initialize SPI, LCD
// SPI1_init();
// LCD_init();
__builtin_enable_interrupts();
// LCD_clearScreen(BLACK);
// char message[MAX_LENGTH];
unsigned char data[14];
// float accX, accY;
_CP0_SET_COUNT(0);
while ( true )
{
if (_CP0_GET_COUNT() > 480000) { // 50 Hz
i2c_read_multiple(IMU_ADDRESS, OUT_TEMP_L, data, 14);
temp_raw = data[1] << 8 | data[0];
gyroX_raw = data[3] << 8 | data[2];
gyroY_raw = data[5] << 8 | data[4];
gyroZ_raw = data[7] << 8 | data[6];
accX_raw = data[9] << 8 | data[8];
accY_raw = data[11] << 8 | data[10];
accZ_raw = data[13] << 8 | data[12];
// accX = accX_raw * 2.0 / 32768; // accel in g
// accY = accY_raw * 2.0 / 32768; // accel in g
// accZ = accZ_raw * 2.0 / 32768; // accel in g
// sprintf(message, "temp raw: %x ", temp_raw);
// LCD_drawString(10, 10, message, WHITE);
//
// sprintf(message, "accX: %f g ", accX);
// LCD_drawString(10, 20, message, WHITE);
//
// sprintf(message, "accY: %f g ", accY);
// LCD_drawString(10, 30, message, WHITE);
//
// sprintf(message, "accZ: %f g ", accZ);
// LCD_drawString(10, 40, message, WHITE);
//
// sprintf(message, "gyroX raw: %i ", gyroX_raw);
// LCD_drawString(10, 50, message, WHITE);
//
// sprintf(message, "gyroY raw: %i ", gyroY_raw);
// LCD_drawString(10, 60, message, WHITE);
//
// sprintf(message, "gyroZ raw: %i ", gyroZ_raw);
// LCD_drawString(10, 70, message, WHITE);
_CP0_SET_COUNT(0);
}
/* Maintain state machines of all polled MPLAB Harmony modules. */
SYS_Tasks ( );
}
/* Execution should not come here during normal operation */
return ( EXIT_FAILURE );
}
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
}
}
int main() {
//int value = 0;
char r;
makewave();
int count1 = 0;
int count2 = 0;
__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
TRISAbits.TRISA4 = 0; // ouput
TRISBbits.TRISB4 = 1; // input
LATAbits.LATA4 = 1; // intialize LED on
initSPI1();
initI2C2();
init_ctrl1();
init_ctrl2();
init_ctrl3();
init_OC();
__builtin_enable_interrupts();
while(1) {
// use _CP0_SET_COUNT(0) and _CP0_GET_COUNT() to test the PIC timing
// remember the core timer runs at half the CPU speed
_CP0_SET_COUNT(0); // set core timer to 0
while(_CP0_GET_COUNT() < 480000){ // wait 1ms / 0.001s
;
}
while(_CP0_GET_COUNT() < 480000){ // wait 1ms / 0.001s
;
}
while(_CP0_GET_COUNT() < 480000){ // wait 1ms / 0.001s
;
}
while(_CP0_GET_COUNT() < 480000){ // wait 1ms / 0.001s
;
}
//setVoltage(0,sinewave[count1]);
//setVoltage(1,triangle_wave[count2]);
//count1++;
//count2++;
//if(count1 == 100){
//count1 = 0;
//}
//if(count2 == 200){
//count2 = 0;
//}
I2C_read_multiple(0x6B, 0x20, data_array, 14);
}// while loop
//CS = 0; // listen to me
//SPI1_IO(0x38); // most significant byte of address
//SPI1_IO(0x00); // the least significant address byte
//CS = 1;
}
