static INT32 crushermInit()
{
INT32 nLen;
BurnSetRefreshRate(CAVE_REFRESHRATE);
// Find out how much memory is needed
Mem = NULL;
MemIndex();
nLen = MemEnd - (UINT8 *)0;
if ((Mem = (UINT8 *)BurnMalloc(nLen)) == NULL) {
return 1;
}
memset(Mem, 0, nLen); // blank all memory
MemIndex(); // Index the allocated memory
// Load the roms into memory
if (crushermLoadRoms()) {
return 1;
}
EEPROMInit(&eeprom_interface_93C46_8bit);
{
SekInit(0, 0x68000); // Allocate 68000
SekOpen(0);
// Map 68000 memory:
SekMapMemory(Rom01, 0x000000, 0x07FFFF, MAP_ROM); // CPU 0 ROM
SekMapMemory(CaveTileRAM[0], 0x100000, 0x107FFF, MAP_RAM);
SekMapMemory(CaveSpriteRAM, 0x180000, 0x187FFF, MAP_RAM);
SekMapMemory(CavePalSrc, 0x200000, 0x207FFF, MAP_RAM);
SekMapMemory(Ram01, 0x340000, 0x34FFFF, MAP_RAM);
SekSetReadWordHandler(0, korokoroReadWord);
SekSetReadByteHandler(0, korokoroReadByte);
SekSetWriteWordHandler(0, korokoroWriteWord);
SekSetWriteByteHandler(0, korokoroWriteByte);
SekClose();
}
nCaveRowModeOffset = 1;
CavePalInit(0x8000);
CaveTileInit();
CaveSpriteInit(1, 0x400000);
CaveTileInitLayer(0, 0x200000, 4, 0x4400);
YMZ280BInit(16934400, &TriggerSoundIRQ, 0x200000);
YMZ280BSetRoute(BURN_SND_YMZ280B_YMZ280B_ROUTE_1, 1.00, BURN_SND_ROUTE_LEFT);
YMZ280BSetRoute(BURN_SND_YMZ280B_YMZ280B_ROUTE_2, 1.00, BURN_SND_ROUTE_RIGHT);
bDrawScreen = true;
DrvDoReset(); // Reset machine
return 0;
}
static int DrvInit()
{
int nLen;
BurnSetRefreshRate(CAVE_REFRESHRATE);
// Find out how much memory is needed
Mem = NULL;
MemIndex();
nLen = MemEnd - (unsigned char *)0;
if ((Mem = (unsigned char *)BurnMalloc(nLen)) == NULL) {
return 1;
}
memset(Mem, 0, nLen); // blank all memory
MemIndex(); // Index the allocated memory
EEPROMInit(&eeprom_interface_93C46_8bit);
// Load the roms into memory
if (LoadRoms()) {
return 1;
}
{
SekInit(0, 0x68000); // Allocate 68000
SekOpen(0);
// Map 68000 memory:
SekMapMemory(Rom01, 0x000000, 0x07FFFF, SM_ROM); // CPU 0 ROM
SekMapMemory(CaveTileRAM[0], 0x100000, 0x107FFF, SM_RAM);
SekMapMemory(CaveSpriteRAM, 0x180000, 0x187FFF, SM_RAM);
SekMapMemory(CavePalSrc, 0x200000, 0x207FFF, SM_RAM);
SekMapMemory(Ram01, 0x300000, 0x30FFFF, SM_RAM);
SekSetReadWordHandler(0, korokoroReadWord);
SekSetReadByteHandler(0, korokoroReadByte);
SekSetWriteWordHandler(0, korokoroWriteWord);
SekSetWriteByteHandler(0, korokoroWriteByte);
SekClose();
}
nCaveRowModeOffset = 1;
CavePalInit(0x8000);
CaveTileInit();
CaveSpriteInit(1, 0x300000);
CaveTileInitLayer(0, 0x200000, 4, 0x4400);
YMZ280BInit(16934400, &TriggerSoundIRQ, 3);
bDrawScreen = true;
DrvDoReset(); // Reset machine
return 0;
}
void FreeIMUFormatFlash(void)
{
char outbuff[20];
memcpy(outbuff, "Formatting FLASH\n", 17);
VCP_write(outbuff, 17);
FlashChipErase();
EEPROMInit();
memcpy(outbuff, "Done\n", 5);
VCP_write(outbuff, 5);
}
//
// SetupInit - Initialize setup at system start
//
// Inputs: None.
//
// Outputs: None.
//
void SetupInit(void) {
EEPROMInit();
//
// If uninitialized, or if version mismatch (we're the newer version), initialize
// with defaults
//
if( EEPROM.Version != EEPROM_CURR_VERSION ) {
for( CurrSetup = 0; CurrSetup < MAX_SETUPS; CurrSetup++ )
memcpy_P(&EEPROM.Setups[CurrSetup],&SetupDefaults,sizeof(SetupDefaults));
EEPROM.Version = EEPROM_CURR_VERSION;
EEPROMWrite();
}
LoadSetup(0);
}
void zotmain( void )
{
unsigned int i;
//Cache
CacheEnable();
//IO
IOInit();
//SPI FLASH INIT
AT91F_SpiInit();
//READ F/W Version
read_version();
//EEPROM
EEPROMInit();
//LWIP
zot_network_init();
//MAC
LanPktInit();
star_nic_lan_init();
LanPktStart();
//Print Server module
IPXInitialize();
NETBEUInit();
ps_init();
//LED
LED_Init();
}
static int DrvInit()
{
int nLen;
BurnSetRefreshRate(CAVE_REFRESHRATE);
// Find out how much memory is needed
Mem = NULL;
MemIndex();
nLen = MemEnd - (unsigned char *)0;
if ((Mem = (unsigned char *)malloc(nLen)) == NULL) {
return 1;
}
memset(Mem, 0, nLen); // blank all memory
MemIndex(); // Index the allocated memory
EEPROMInit(1024, 16); // EEPROM has 1024 bits, uses 16-bit words
// Load the roms into memory
if (LoadRoms()) {
return 1;
}
{
SekInit(0, 0x68000); // Allocate 68000
SekOpen(0);
// Map 68000 memory:
SekMapMemory(Rom01, 0x000000, 0x07FFFF, SM_ROM); // CPU 0 ROM
SekMapMemory(Ram01, 0x100000, 0x10FFFF, SM_RAM);
SekMapMemory(CaveTileRAM[1], 0x200000, 0x207FFF, SM_RAM);
SekMapMemory(CaveTileRAM[0], 0x300000, 0x307FFF, SM_RAM);
SekMapMemory(CaveTileRAM[2] + 0x4000, 0x400000, 0x403FFF, SM_RAM);
SekMapMemory(CaveTileRAM[2] + 0x4000, 0x404000, 0x407FFF, SM_RAM);
SekMapMemory(CaveSpriteRAM, 0x500000, 0x50FFFF, SM_RAM);
SekMapMemory(CavePalSrc, 0xA08000, 0xA08FFF, SM_RAM); // Palette RAM
SekSetReadWordHandler(0, donpachiReadWord);
SekSetReadByteHandler(0, donpachiReadByte);
SekSetWriteWordHandler(0, donpachiWriteWord);
SekSetWriteByteHandler(0, donpachiWriteByte);
SekClose();
}
CavePalInit();
CaveTileInit();
CaveSpriteInit(0, 0x0800000);
CaveTileInitLayer(0, 0x200000, 8, 0x4000);
CaveTileInitLayer(1, 0x200000, 8, 0x4000);
CaveTileInitLayer(2, 0x080000, 8, 0x4000);
MSM6295Init(0, 8000, 50.0, 0);
MSM6295Init(1, 16000, 50.0, 0);
MSM6295SampleData[0][0] = MSM6295ROM + 0x100000;
MSM6295SampleInfo[0][0] = MSM6295ROM + 0x100000 + 0x0000;
MSM6295SampleData[0][1] = MSM6295ROM + 0x100000;
MSM6295SampleInfo[0][1] = MSM6295ROM + 0x100000 + 0x0100;
MSM6295SampleData[0][2] = MSM6295ROM + 0x100000;
MSM6295SampleInfo[0][2] = MSM6295ROM + 0x100000 + 0x0200;
MSM6295SampleData[0][3] = MSM6295ROM + 0x100000;
MSM6295SampleInfo[0][3] = MSM6295ROM + 0x100000 + 0x0300;
bDrawScreen = true;
#if defined FBA_DEBUG && defined USE_SPEEDHACKS
bprintf(PRINT_IMPORTANT, _T(" * Using speed-hacks (detecting idle loops).\n"));
#endif
DrvDoReset(); // Reset machine
return 0;
}
static int DrvInit(int (*LoadCallback)(), int type, int gfx_max, int gfx_min)
{
AllMem = NULL;
MemIndex(gfx_max - gfx_min);
int nLen = MemEnd - (unsigned char *)0;
if ((AllMem = (unsigned char *)malloc(nLen)) == NULL) return 1;
memset(AllMem, 0, nLen);
MemIndex(gfx_max - gfx_min);
{
if (LoadCallback) {
if (LoadCallback()) return 1;
}
BurnSwap32(DrvSh2ROM, 0x100000);
BurnSwapEndian(0x200000);
DrvGfxDecode(gfx_max - gfx_min);
graphics_min_max[0] = gfx_min;
graphics_min_max[1] = gfx_max;
}
if (type == 0)
{
Sh2Init(1);
Sh2Open(0);
Sh2MapMemory(DrvSh2ROM, 0x00000000, 0x000fffff, SM_ROM);
Sh2MapMemory(DrvSh2ROM + 0x100000, 0x02000000, 0x020fffff, SM_ROM);
Sh2MapMemory(DrvSprRAM, 0x03000000, 0x0300ffff, SM_RAM);
Sh2MapMemory(DrvPalRAM, 0x03040000, 0x0304ffff, SM_RAM);
Sh2MapMemory(DrvZoomRAM, 0x03050000, 0x0305ffff, SM_ROM);
Sh2MapMemory(DrvSh2RAM, 0x06000000, 0x060fffff, SM_RAM);
Sh2SetReadByteHandler (0, ps3v1_read_byte);
Sh2SetWriteByteHandler(0, ps3v1_write_byte);
Sh2SetWriteWordHandler(0, ps3v1_write_word);
Sh2SetWriteLongHandler(0, psx_write_long);
} else {
Sh2Init(1);
Sh2Open(0);
Sh2MapMemory(DrvSh2ROM, 0x00000000, 0x000fffff, SM_ROM);
Sh2MapMemory(DrvSprRAM, 0x04000000, 0x0400ffff, SM_RAM);
Sh2MapMemory(DrvPalRAM, 0x04040000, 0x0404ffff, SM_RAM);
Sh2MapMemory(DrvZoomRAM, 0x04050000, 0x0405ffff, SM_ROM);
Sh2MapMemory(DrvSh2ROM + 0x100000, 0x05000000, 0x0507ffff, SM_ROM);
Sh2MapMemory(DrvSh2RAM, 0x06000000, 0x060fffff, SM_RAM);
Sh2SetReadByteHandler (0, ps5_read_byte);
Sh2SetWriteByteHandler(0, ps5_write_byte);
Sh2SetWriteWordHandler(0, ps5_write_word);
Sh2SetWriteLongHandler(0, psx_write_long);
}
Sh2MapHandler(1, 0x06000000 | speedhack_address, 0x0600ffff | speedhack_address, SM_ROM);
Sh2SetReadByteHandler (1, hack_read_byte);
Sh2SetReadWordHandler (1, hack_read_word);
Sh2SetReadLongHandler (1, hack_read_long);
BurnYMF278BInit(0, DrvSndROM, &DrvIRQCallback, DrvSynchroniseStream);
BurnTimerAttachSh2(28636350);
EEPROMInit(&eeprom_interface_93C56);
PsikyoshVideoInit(gfx_max, gfx_min);
DrvDoReset();
return 0;
}
void EEPROM_Init()
{
SysCtlPeripheralEnable(SYSCTL_PERIPH_EEPROM0);
EEPROMInit();
}
int main(void)
{
GOL_MSG msg; // GOL message structure to interact with GOL
Nop();
#if defined(PIC24FJ256DA210_DEV_BOARD)
_ANSG8 = 0; /* S1 */
_ANSE9 = 0; /* S2 */
_ANSB5 = 0; /* S3 */
#else
/////////////////////////////////////////////////////////////////////////////
// ADC Explorer 16 Development Board Errata (work around 2)
// RB15 should be output
/////////////////////////////////////////////////////////////////////////////
#ifndef MULTI_MEDIA_BOARD_DM00123
LATBbits.LATB15 = 0;
TRISBbits.TRISB15 = 0;
#endif
#endif
/////////////////////////////////////////////////////////////////////////////
#if defined(__dsPIC33F__) || defined(__PIC24H__)
// Configure Oscillator to operate the device at 40Mhz
// Fosc= Fin*M/(N1*N2), Fcy=Fosc/2
// Fosc= 8M*40(2*2)=80Mhz for 8M input clock
PLLFBD = 38; // M=40
CLKDIVbits.PLLPOST = 0; // N1=2
CLKDIVbits.PLLPRE = 0; // N2=2
OSCTUN = 0; // Tune FRC oscillator, if FRC is used
// Disable Watch Dog Timer
RCONbits.SWDTEN = 0;
// Clock switching to incorporate PLL
__builtin_write_OSCCONH(0x03); // Initiate Clock Switch to Primary
// Oscillator with PLL (NOSC=0b011)
__builtin_write_OSCCONL(0x01); // Start clock switching
while(OSCCONbits.COSC != 0b011);
// Wait for Clock switch to occur
// Wait for PLL to lock
while(OSCCONbits.LOCK != 1)
{ };
// Set PMD0 pin functionality to digital
AD1PCFGL = AD1PCFGL | 0x1000;
#elif defined(__PIC32MX__)
INTEnableSystemMultiVectoredInt();
SYSTEMConfigPerformance(GetSystemClock());
#ifdef MULTI_MEDIA_BOARD_DM00123
CPLDInitialize();
CPLDSetGraphicsConfiguration(GRAPHICS_HW_CONFIG);
CPLDSetSPIFlashConfiguration(SPI_FLASH_CHANNEL);
#endif // #ifdef MULTI_MEDIA_BOARD_DM00123
#endif // #if defined(__dsPIC33F__) || defined(__PIC24H__)
GOLInit(); // initialize graphics library &
// create default style scheme for GOL
#if defined (GFX_PICTAIL_V1) || defined (GFX_PICTAIL_V2)
EEPROMInit(); // initialize Exp.16 EEPROM SPI
BeepInit();
#else
#if defined (USE_SST25VF016)
SST25Init(); // initialize GFX3 SST25 flash SPI
#endif
#endif
TouchInit(); // initialize touch screen
HardwareButtonInit(); // Initialize the hardware buttons
// create default style scheme for GOL
TickInit(); // initialize tick counter (for random number generation)
// create default style scheme for GOL
#if defined(__dsPIC33FJ128GP804__) || defined(__PIC24HJ128GP504__)
// If S3 button on Explorer 16 board is pressed calibrate touch screen
TRISAbits.TRISA9 = 1;
if(PORTAbits.RA9 == 0)
{
TRISAbits.TRISA9 = 0;
TouchCalibration();
TouchStoreCalibration();
}
TRISAbits.TRISA9 = 0;
#else
/**
* Force a touchscreen calibration by pressing the switch
* Explorer 16 + GFX PICTail - S3 (8 bit PMP)
* Explorer 16 + GFX PICTail - S5 (16 bit PMP)
* Starter Kit + GFX PICTail - S0 (8 bit PMP)
* Multimedia Expansion Board - Fire Button
* DA210 Developement Board - S1
* NOTE: Starter Kit + GFX PICTail will switches are shared
* with the 16 bit PMP data bus.
**/
if(GetHWButtonTouchCal() == HW_BUTTON_PRESS)
{
TouchCalibration();
TouchStoreCalibration();
}
#endif
// If it's a new board (EEPROM_VERSION byte is not programed) calibrate touch screen
#if defined (GFX_PICTAIL_V1) || defined (GFX_PICTAIL_V2)
if(GRAPHICS_LIBRARY_VERSION != EEPROMReadWord(ADDRESS_VERSION))
{
TouchCalibration();
TouchStoreCalibration();
}
#else
#if defined (USE_SST25VF016)
if(GRAPHICS_LIBRARY_VERSION != SST25ReadWord(ADDRESS_VERSION))
{
TouchCalibration();
TouchStoreCalibration();
}
#elif defined (USE_SST39LF400)
WORD tempArray[12], tempWord = 0x1234;
SST39LF400Init(tempArray);
tempWord = SST39LF400ReadWord(ADDRESS_VERSION);
SST39LF400DeInit(tempArray);
if(GRAPHICS_LIBRARY_VERSION != tempWord)
{
TouchCalibration();
TouchStoreCalibration();
}
#endif
#endif
// Load touch screen calibration parameters from memory
TouchLoadCalibration();
GDDDemoCreateFirstScreen();
while(1)
{
if(GOLDraw()) // Draw GOL object
{
TouchGetMsg(&msg); // Get message from touch screen
#if (NUM_GDD_SCREENS > 1)
// GDD Readme:
// The following line of code allows a GDD user to touch the touchscreen
// to cycle through different static screens for viewing. This is useful as a
// quick way to view how each screen looks on the physical target hardware.
// This line of code should eventually be commented out for actual development.
// Also note that widget/object names can be found in GDD_Screens.h
if(msg.uiEvent == EVENT_RELEASE) GDDDemoNextScreen();
#endif
GOLMsg(&msg); // Process message
}
}//end while
}
int
main(void)
{
char stringbuffer[17];
int distance = 0;
// Enable lazy stacking for interrupt handlers. This allows floating-point
// instructions to be used within interrupt handlers, but at the expense of
// extra stack usage.
ROM_FPUEnable();
ROM_FPULazyStackingEnable();
ROM_SysCtlClockSet(SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN |
SYSCTL_XTAL_16MHZ);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_UART0);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_UART3);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_EEPROM0); //This wasn't clear at all. Note to self, everything needs enabling on this chip.
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_HIBERNATE);
ROM_GPIOPinTypeGPIOInput(GPIO_PORTF_BASE, WAKEPIN);
ROM_GPIOPinTypeGPIOInput(GPIO_PORTA_BASE, REEDPIN);
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTE_BASE, V5POWER);
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTE_BASE, V3POWER);
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, SERVO);
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_1);
// ROM_GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_2);
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_3);
ROM_GPIOPinWrite(GPIO_PORTE_BASE, V3POWER, 0xFF);
#ifdef EASYOPEN
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_0);
#endif
GPIOPinConfigure(GPIO_PA0_U0RX);
GPIOPinConfigure(GPIO_PA1_U0TX);
ROM_GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);
GPIOPinConfigure(GPIO_PC6_U3RX);
GPIOPinConfigure(GPIO_PC7_U3TX);
ROM_GPIOPinTypeUART(GPIO_PORTC_BASE, GPIO_PIN_6 | GPIO_PIN_7);
ROM_UARTConfigSetExpClk(UART0_BASE, ROM_SysCtlClockGet(), GPSBAUD,
(UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE |
UART_CONFIG_PAR_NONE));
ROM_UARTConfigSetExpClk(UART3_BASE, ROM_SysCtlClockGet(), GPSBAUD,
(UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE |
UART_CONFIG_PAR_NONE));
ROM_IntEnable(INT_UART0);
ROM_UARTIntEnable(UART0_BASE, UART_INT_RX | UART_INT_RT);
ROM_IntEnable(INT_UART3);
ROM_UARTIntEnable(UART3_BASE, UART_INT_RX | UART_INT_RT);
SysTickPeriodSet(SysCtlClockGet()/10000);
SysTickIntRegister(&ServoDriver);
SysTickIntEnable();
SysTickEnable();
ROM_IntMasterEnable();
GPIOIntTypeSet(GPIO_PORTA_BASE, REEDPIN, GPIO_FALLING_EDGE);
GPIOPinIntClear(GPIO_PORTA_BASE, REEDPIN);
GPIOPinIntEnable(GPIO_PORTA_BASE, REEDPIN);
IntEnable(INT_GPIOA);
// while(1){}
/* SysCtlDelay(SysCtlClockGet()/1000);//Make sure the servo is going to get a pulse soon.
ROM_GPIOPinWrite(GPIO_PORTE_BASE, V5POWER, 0xFF); //Turn on the 5V power to LCD + servo.
SysCtlDelay(SysCtlClockGet()/1000);//Make sure the servo is going to get a pulse soon.*/
EEPROMInit();
initLCD();
LCDCommand(0x0c);
#ifdef LOOPBACKUART
while(1){}
#endif
#ifdef FIRSTRUN //First run, sets the eeprom to have as many tries as is desired.
EEPROMMassErase();
EEPROMProgram(&initialNumTries,eepromAddress,sizeof(initialNumTries));
LCDWriteText("Setup Complete. ", 0, 0);
LCDWriteText("Reflash Firmware", 1, 0);
while (1){} //Don't want to do anything else now.
#endif
EEPROMRead(&numTrieslong,eepromAddress,sizeof(numTrieslong));
// numTries=(int)numTrieslong;
// openLock();
// numTrieslong=0;
if (numTrieslong > initialNumTries-3) //Has already opened once, so just open as needed if stuck.
{
openLock();
numTrieslong--;
EEPROMProgram(&numTrieslong,eepromAddress,sizeof(numTrieslong)); //Decrement EEPROM counter.
}
else
{
distance = getDistance();
if(distance==99999){ //No fix :/
LCDWriteText("Location unknown", 0, 0);
LCDWriteText("Take me outside ", 1, 0);
SysCtlDelay(SysCtlClockGet()); //Waits 3 seconds.
}
else if (distance>NEARENOUGH) //Valid fix, too far away.
{
if ((int)numTrieslong>0) //Any attempts remaining?
{
usnprintf(stringbuffer,17,"Distance: %4dm ",distance);
LCDWriteText(stringbuffer, 0, 0);
numTrieslong--;
// numTries=(int)numTrieslong;
EEPROMProgram(&numTrieslong,eepromAddress,sizeof(numTrieslong)); //Decrement EEPROM counter.
usnprintf(stringbuffer,17,"%2d Attempts left",(int)numTrieslong);
LCDWriteText(stringbuffer, 1, 0);
SysCtlDelay(SysCtlClockGet()*2);
}
else
{
LCDWriteText("Oh dear... ", 0, 0); //Not really sure what to do, hopefully this code never runs.
LCDWriteText("Opening anyway. ", 1, 0);
// numTrieslong=initialNumTries+1;
// EEPROMProgram(&numTrieslong,eepromAddress,sizeof(initialNumTries)); //Set to big value
SysCtlDelay(10*SysCtlClockGet()/3);
openLock();
}
}
else //Found the location!
{
openLock();
numTrieslong=initialNumTries+1;
//numTries=(int)numTrieslong;
EEPROMProgram(&numTrieslong,eepromAddress,sizeof(initialNumTries)); //Lock will now open straight away.
}
}
// BLINK(RED);
HibernateEnableExpClk(SysCtlClockGet());
HibernateGPIORetentionEnable(); //Enables GPIO retention after wake from hibernate.
HibernateClockSelect(HIBERNATE_CLOCK_SEL_RAW);
HibernateWakeSet(HIBERNATE_WAKE_PIN);
HibernateIntRegister(&HibernateInterrupt);
HibernateIntEnable(HIBERNATE_INT_PIN_WAKE);
//BLINK(BLUE);
ROM_GPIOPinWrite(GPIO_PORTE_BASE, V5POWER, 0); //GPIO pins keep state on hibernate, so make sure to power everything else down.
ROM_GPIOPinWrite(GPIO_PORTE_BASE, V3POWER, 0); //GPIO pins keep state on hibernate, so make sure to power everything else down.
ROM_GPIOPinWrite(GPIO_PORTB_BASE, RS|E|D4|D5|D6|D7, 0xFF); //Pull all data pins to LCD high so we're not phantom powering it through ESD diodes.
ROM_GPIOPinWrite(GPIO_PORTF_BASE, SERVO, 0xFF); //Likewise for the servo
SysCtlDelay(SysCtlClockGet()/6);
HibernateRequest();// we want to be looping'n'shit.
while(1){} //Lalala, I'm a sleeping right now.
}
//*****************************************************************************
//
// Main application entry point.
//
//*****************************************************************************
int main(void) {
int_fast32_t i32IPart[17], i32FPart[17];
uint_fast32_t ui32Idx, ui32CompDCMStarted;
float pfData[17];
float *pfAccel, *pfGyro, *pfMag, *pfEulers, *pfQuaternion;
float *direction;
//
// Initialize convenience pointers that clean up and clarify the code
// meaning. We want all the data in a single contiguous array so that
// we can make our pretty printing easier later.
//
pfAccel = pfData;
pfGyro = pfData + 3;
pfMag = pfData + 6;
pfEulers = pfData + 9;
pfQuaternion = pfData + 12;
direction = pfData + 16;
//
// Setup the system clock to run at 40 Mhz from PLL with crystal reference
//
ROM_SysCtlClockSet(
SYSCTL_SYSDIV_5 | SYSCTL_USE_PLL | SYSCTL_XTAL_16MHZ
| SYSCTL_OSC_MAIN);
//
// Enable port E used for motion interrupt.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
//
// Enable port F used for calibration.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
//
// Initialize the UART.
//
ConfigureUART();
/* EEPROM SETTINGS */
SysCtlPeripheralEnable(SYSCTL_PERIPH_EEPROM0); // EEPROM activate
EEPROMInit(); // EEPROM start
//
// Print the welcome message to the terminal.
//
UARTprintf("\033[2JMPU9150 Raw Example\n");
//
// Set the color to a purple approximation.
//
g_pui32Colors[RED] = 0x8000;
g_pui32Colors[BLUE] = 0x8000;
g_pui32Colors[GREEN] = 0x8000;
//
// Initialize RGB driver.
//
RGBInit(0);
RGBColorSet(g_pui32Colors);
RGBIntensitySet(0.5f);
RGBEnable();
// Initialize BGLib
bglib_output = output;
ConfigureBLE();
//
// The I2C3 peripheral must be enabled before use.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C3);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
//
// Configure the pin muxing for I2C3 functions on port D0 and D1.
//
ROM_GPIOPinConfigure(GPIO_PD0_I2C3SCL);
ROM_GPIOPinConfigure(GPIO_PD1_I2C3SDA);
//
// Select the I2C function for these pins. This function will also
// configure the GPIO pins pins for I2C operation, setting them to
// open-drain operation with weak pull-ups. Consult the data sheet
// to see which functions are allocated per pin.
//
GPIOPinTypeI2CSCL(GPIO_PORTD_BASE, GPIO_PIN_0);
ROM_GPIOPinTypeI2C(GPIO_PORTD_BASE, GPIO_PIN_1);
//
// Configure and Enable the GPIO interrupt. Used for INT signal from the
// MPU9150
//
ROM_GPIOPinTypeGPIOInput(GPIO_PORTE_BASE, GPIO_PIN_2);
GPIOIntEnable(GPIO_PORTE_BASE, GPIO_PIN_2);
ROM_GPIOIntTypeSet(GPIO_PORTE_BASE, GPIO_PIN_2, GPIO_FALLING_EDGE);
ROM_IntEnable(INT_GPIOE);
//
// Keep only some parts of the systems running while in sleep mode.
// GPIOE is for the MPU9150 interrupt pin.
// UART0 is the virtual serial port
// TIMER0, TIMER1 and WTIMER5 are used by the RGB driver
// I2C3 is the I2C interface to the ISL29023
//
ROM_SysCtlPeripheralClockGating(true);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_GPIOE);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_UART0);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_TIMER0);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_TIMER1);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_I2C3);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_WTIMER5);
//
// Enable interrupts to the processor.
//
ROM_IntMasterEnable();
//
// Initialize I2C3 peripheral.
//
I2CMInit(&g_sI2CInst, I2C3_BASE, INT_I2C3, 0xff, 0xff,
ROM_SysCtlClockGet());
//
// Initialize the MPU9150 Driver.
//
MPU9150Init(&g_sMPU9150Inst, &g_sI2CInst, MPU9150_I2C_ADDRESS,
MPU9150AppCallback, &g_sMPU9150Inst);
//
// Wait for transaction to complete
//
MPU9150AppI2CWait(__FILE__, __LINE__);
//
// Configure the sampling rate to 1000 Hz / (1+24).
//
g_sMPU9150Inst.pui8Data[0] = 24;
MPU9150Write(&g_sMPU9150Inst, MPU9150_O_SMPLRT_DIV, g_sMPU9150Inst.pui8Data,
1, MPU9150AppCallback, &g_sMPU9150Inst);
//
// Wait for transaction to complete
//
MPU9150AppI2CWait(__FILE__, __LINE__);
//
// Write application specifice sensor configuration such as filter settings
// and sensor range settings.
//
g_sMPU9150Inst.pui8Data[0] = MPU9150_CONFIG_DLPF_CFG_94_98;
g_sMPU9150Inst.pui8Data[1] = MPU9150_GYRO_CONFIG_FS_SEL_250;
g_sMPU9150Inst.pui8Data[2] = (MPU9150_ACCEL_CONFIG_ACCEL_HPF_5HZ
| MPU9150_ACCEL_CONFIG_AFS_SEL_2G);
// g_sMPU9150Inst.pui8Data[2] = MPU9150_ACCEL_CONFIG_AFS_SEL_2G;
MPU9150Write(&g_sMPU9150Inst, MPU9150_O_CONFIG, g_sMPU9150Inst.pui8Data, 3,
MPU9150AppCallback, &g_sMPU9150Inst);
//
// Wait for transaction to complete
//
MPU9150AppI2CWait(__FILE__, __LINE__);
//
// Configure the data ready interrupt pin output of the MPU9150.
//
g_sMPU9150Inst.pui8Data[0] = MPU9150_INT_PIN_CFG_INT_LEVEL
| MPU9150_INT_PIN_CFG_INT_RD_CLEAR
| MPU9150_INT_PIN_CFG_LATCH_INT_EN;
g_sMPU9150Inst.pui8Data[1] = MPU9150_INT_ENABLE_DATA_RDY_EN;
MPU9150Write(&g_sMPU9150Inst, MPU9150_O_INT_PIN_CFG,
g_sMPU9150Inst.pui8Data, 2, MPU9150AppCallback, &g_sMPU9150Inst);
//
// Wait for transaction to complete
//
MPU9150AppI2CWait(__FILE__, __LINE__);
//
// Initialize the DCM system. 40 hz sample rate.
// accel weight = .2, gyro weight = .8, mag weight = .2
//
CompDCMInit(&g_sCompDCMInst, 1.0f / 40.0f, 0.2f, 0.6f, 0.2f);
//
// Enable blinking indicates config finished successfully
//
RGBBlinkRateSet(1.0f);
//
// Configure and Enable the GPIO interrupt. Used for calibration
//
HWREG(GPIO_PORTF_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY;
HWREG(GPIO_PORTF_BASE + GPIO_O_CR) |= 0x01;
ROM_GPIOPinTypeGPIOInput(GPIO_PORTF_BASE, GPIO_PIN_4);
GPIOPadConfigSet(GPIO_PORTF_BASE, GPIO_PIN_4, GPIO_STRENGTH_2MA,
GPIO_PIN_TYPE_STD_WPU);
ROM_IntEnable(INT_GPIOF);
ROM_GPIOIntTypeSet(GPIO_PORTF_BASE, GPIO_PIN_4, GPIO_FALLING_EDGE);
GPIOIntEnable(GPIO_PORTF_BASE, GPIO_PIN_4);
g_calibrationState = 0;
ui32CompDCMStarted = 0;
// Configure the white noise, read the error from EEPROM
EEPROMRead((uint32_t *) zeroErrorAccel,
EEPROM_ZERO_ERROR_ACCELERATION_ADDRESS, 12);
EEPROMRead((uint32_t *) linearErrorAccel,
EEPROM_LINEAR_ERROR_ACCELERATION_ADDRESS, 12);
EEPROMRead((uint32_t *) zeroErrorGyro, EEPROM_ZERO_ERROR_GYROSCOPE_ADDRESS,
12);
while (1) {
//
// Go to sleep mode while waiting for data ready.
//
while (!g_vui8I2CDoneFlag) {
//ROM_SysCtlSleep();
}
//
// Clear the flag
//
g_vui8I2CDoneFlag = 0;
//
// Get floating point version of the Accel Data in m/s^2.
//
MPU9150DataAccelGetFloat(&g_sMPU9150Inst, pfAccel, pfAccel + 1,
pfAccel + 2);
//
// Get floating point version of angular velocities in rad/sec
//
MPU9150DataGyroGetFloat(&g_sMPU9150Inst, pfGyro, pfGyro + 1,
pfGyro + 2);
//
// Get floating point version of magnetic fields strength in tesla
//
MPU9150DataMagnetoGetFloat(&g_sMPU9150Inst, pfMag, pfMag + 1,
pfMag + 2);
if (g_calibrationState == 2) {
zeroErrorAccel[0] = (pfAccel[0]
+ zeroErrorAccel[0] * g_calibrationCount)
/ (g_calibrationCount + 1);
zeroErrorAccel[1] = (pfAccel[1]
+ zeroErrorAccel[1] * g_calibrationCount)
/ (g_calibrationCount + 1);
accelAtGravity[2] = (pfAccel[2]
+ accelAtGravity[2] * g_calibrationCount)
/ (g_calibrationCount + 1);
zeroErrorGyro[0] = (pfGyro[0]
+ zeroErrorGyro[0] * g_calibrationCount)
/ (g_calibrationCount + 1);
zeroErrorGyro[1] = (pfGyro[1]
+ zeroErrorGyro[1] * g_calibrationCount)
/ (g_calibrationCount + 1);
zeroErrorGyro[2] = (pfGyro[2]
+ zeroErrorGyro[2] * g_calibrationCount)
/ (g_calibrationCount + 1);
g_calibrationCount++;
if (g_calibrationCount > 500) {
Calibration();
}
continue;
} else if (g_calibrationState == 4) {
zeroErrorAccel[2] = (pfAccel[2]
+ zeroErrorAccel[2] * g_calibrationCount)
/ (g_calibrationCount + 1);
accelAtGravity[1] = (pfAccel[1]
+ accelAtGravity[1] * g_calibrationCount)
/ (g_calibrationCount + 1);
g_calibrationCount++;
if (g_calibrationCount > 500) {
Calibration();
}
continue;
} else if (g_calibrationState == 6) {
accelAtGravity[0] = (pfAccel[0]
+ accelAtGravity[0] * g_calibrationCount)
/ (g_calibrationCount + 1);
g_calibrationCount++;
if (g_calibrationCount > 500) {
Calibration();
}
continue;
}
// Cancel out white noise
// pfAccel[0] = pfAccel[0] - zeroErrorAccel[0];
// pfAccel[1] = pfAccel[1] - zeroErrorAccel[1];
// pfAccel[2] = pfAccel[2] - zeroErrorAccel[2];
// pfGyro[0] = pfGyro[0] - zeroErrorGyro[0];
// pfGyro[1] = pfGyro[1] - zeroErrorGyro[1];
// pfGyro[2] = pfGyro[2] - zeroErrorGyro[2];
// // Straighten out linear noise
// pfAccel[0] = pfAccel[0] * (1 + linearErrorAccel[0]);
// pfAccel[1] = pfAccel[1] * (1 + linearErrorAccel[1]);
// pfAccel[2] = pfAccel[2] * (1 + linearErrorAccel[2]);
//
// Check if this is our first data ever.
//
if (ui32CompDCMStarted == 0) {
//
// Set flag indicating that DCM is started.
// Perform the seeding of the DCM with the first data set.
//
ui32CompDCMStarted = 1;
CompDCMMagnetoUpdate(&g_sCompDCMInst, pfMag[0], pfMag[1], pfMag[2]);
CompDCMAccelUpdate(&g_sCompDCMInst, pfAccel[0], pfAccel[1],
pfAccel[2]);
CompDCMGyroUpdate(&g_sCompDCMInst, pfGyro[0], pfGyro[1], pfGyro[2]);
CompDCMStart(&g_sCompDCMInst);
} else {
//
// DCM Is already started. Perform the incremental update.
//
CompDCMMagnetoUpdate(&g_sCompDCMInst, pfMag[0], pfMag[1], pfMag[2]);
CompDCMAccelUpdate(&g_sCompDCMInst, pfAccel[0], pfAccel[1],
pfAccel[2]);
CompDCMGyroUpdate(&g_sCompDCMInst, -pfGyro[0], -pfGyro[1],
-pfGyro[2]);
CompDCMUpdate(&g_sCompDCMInst);
}
//
// Increment the skip counter. Skip counter is used so we do not
// overflow the UART with data.
//
g_ui32PrintSkipCounter++;
if (g_ui32PrintSkipCounter >= PRINT_SKIP_COUNT) {
//
// Reset skip counter.
//
g_ui32PrintSkipCounter = 0;
//
// Get Euler data. (Roll Pitch Yaw)
//
CompDCMComputeEulers(&g_sCompDCMInst, pfEulers, pfEulers + 1,
pfEulers + 2);
//
// Get Quaternions.
//
CompDCMComputeQuaternion(&g_sCompDCMInst, pfQuaternion);
//
// convert mag data to micro-tesla for better human interpretation.
//
pfMag[0] *= 1e6;
pfMag[1] *= 1e6;
pfMag[2] *= 1e6;
//
// Convert Eulers to degrees. 180/PI = 57.29...
// Convert Yaw to 0 to 360 to approximate compass headings.
//
pfEulers[0] *= 57.295779513082320876798154814105f;
pfEulers[1] *= 57.295779513082320876798154814105f;
pfEulers[2] *= 57.295779513082320876798154814105f;
if (pfEulers[2] < 0) {
pfEulers[2] += 360.0f;
}
// Use pfMag to display degrees of the Magnetomer's x-axis
// (y-axis of accelerometer and gyroscope) to the east of
// magnetic north pole
// direction[0] = 0;
// if (pfMag[1] == 0) {
// if (pfMag[0] > 0) {
// direction[0] = 0;
// } else {
// direction[0] = 180;
// }
// } else if (pfMag[1] > 0) {
// direction[0] = 90 - atan2f(pfMag[0], pfMag[1]) * 180 / 3.14159265359;
// } else if (pfMag[1] < 0) {
// direction[0] = 270 - atan2f(pfMag[0], pfMag[1]) * 180 / 3.14159265359;
// }
//
// Now drop back to using the data as a single array for the
// purpose of decomposing the float into a integer part and a
// fraction (decimal) part.
//
for (ui32Idx = 0; ui32Idx < 17; ui32Idx++) {
//
// Conver float value to a integer truncating the decimal part.
//
i32IPart[ui32Idx] = (int32_t) pfData[ui32Idx];
//
// Multiply by 1000 to preserve first three decimal values.
// Truncates at the 3rd decimal place.
//
i32FPart[ui32Idx] = (int32_t) (pfData[ui32Idx] * 1000.0f);
//
// Subtract off the integer part from this newly formed decimal
// part.
//
i32FPart[ui32Idx] = i32FPart[ui32Idx]
- (i32IPart[ui32Idx] * 1000);
//
// make the decimal part a positive number for display.
//
if (i32FPart[ui32Idx] < 0) {
i32FPart[ui32Idx] *= -1;
}
}
if (g_bleUserFlag == 1) {
g_bleFlag = 0;
ble_cmd_attributes_write(58, 0, 12, (uint8_t*)pfEuler);
while (g_bleFlag == 0) {
}
} else if (g_bleDisconnectFlag == 1) {
ConfigureBLE();
}
//
// Print the acceleration numbers in the table.
//
// UARTprintf("%3d.%03d, ", i32IPart[0], i32FPart[0]);
// UARTprintf("%3d.%03d, ", i32IPart[1], i32FPart[1]);
// UARTprintf("%3d.%03d\n", i32IPart[2], i32FPart[2]);
//
// //
// // Print the angular velocities in the table.
// //
// UARTprintf("%3d.%03d, ", i32IPart[3], i32FPart[3]);
// UARTprintf("%3d.%03d, ", i32IPart[4], i32FPart[4]);
// UARTprintf("%3d.%03d\n", i32IPart[5], i32FPart[5]);
//
// //
// // Print the magnetic data in the table.
// //
// UARTprintf("%3d.%03d, ", i32IPart[6], i32FPart[6]);
// UARTprintf("%3d.%03d, ", i32IPart[7], i32FPart[7]);
// UARTprintf("%3d.%03d\n", i32IPart[8], i32FPart[8]);
//
// //
// // Print the direction in the table.
// //
// UARTprintf("%3d.%03d\n", i32IPart[16], i32FPart[16]);
// //
// // Print the Eulers in a table.
// //
// UARTprintf("%3d.%03d, ", i32IPart[9], i32FPart[9]);
// UARTprintf("%3d.%03d, ", i32IPart[10], i32FPart[10]);
// UARTprintf("%3d.%03d\n", i32IPart[11], i32FPart[11]);
//
// //
// // Print the quaternions in a table format.
// //
// UARTprintf("\033[19;14H%3d.%03d", i32IPart[12], i32FPart[12]);
// UARTprintf("\033[19;32H%3d.%03d", i32IPart[13], i32FPart[13]);
// UARTprintf("\033[19;50H%3d.%03d", i32IPart[14], i32FPart[14]);
// UARTprintf("\033[19;68H%3d.%03d", i32IPart[15], i32FPart[15]);
}
}
}
int main(void)
{
// Start from displaying of PIC24 banners
_display_state = DISP_HELLO;
// Setup PortA IOs as digital
AD1PCFG = 0xffff;
//IO Mapping for PIC24FJ64GA004
#ifdef __PIC24FJ64GA004__ //Defined by MPLAB when using 24FJ64GA004 device
ioMap();
lockIO();
#endif
// Setup SPI to communicate to EEPROM
SPIMPolInit();
// Setup EEPROM IOs
EEPROMInit();
// Setup the UART
UART2Init();
// Setup the timer
TimerInit();
// Setup the LCD
mLCDInit();
// Setup debounce processing
BtnInit();
// Setup the ADC
ADCInit();
// Setup the banner processing
BannerStart();
// Setup the RTCC
RTCCInit();
while (1) {
LCDProcessEvents();
ADCProcessEvents();
if (TimerIsOverflowEvent()){
// Button debounce processing
BtnProcessEvents();
// State dependent processing
switch (_display_state) {
// Show Microchip banners
case DISP_HELLO: BannerProcessEvents(); break;
// Show clock
case DISP_CLOCK: TBannerProcessEvents(); break;
// Show voltage and temperature
case DISP_VOLTAGE: VBannerProcessEvents(); break;
default: _display_state = DISP_HELLO;
}// End of switch (_display_state)...
// If S6 is pressed show the next example
if (BtnIsPressed(4)) {
// Change state and clear display
if(!TBannerIsSetup()){
_display_state++;
if(_display_state > DISP_MAX)
_display_state = 0;
// Initialize state
switch (_display_state) {
// Microchip banners
case DISP_HELLO: BannerInit(); break;
// Clock
case DISP_CLOCK: TBannerInit(); break;
// Voltage and temperature
case DISP_VOLTAGE: VBannerInit(); break;
default:
_display_state = 0;
}// End of switch (_display_state)...
mLCDClear();
}else
TBannerNext();
// wait for button released
while (BtnIsPressed(4)){
BtnProcessEvents();
}
}// End of if (BtnIsPressed(4)){...
if(_display_state == DISP_CLOCK){
if (BtnIsPressed(1)){
TBannerSetup();
// wait for button released
while (BtnIsPressed(1)) BtnProcessEvents();
}// End of if (BtnIsPressed(1 ...
if(TBannerIsSetup()){
if (BtnIsPressed(2)) {
TBannerChangeField(1);
// wait for button released
while (BtnIsPressed(2)) BtnProcessEvents();
}// End of if (BtnIsPressed(2)){...
if (BtnIsPressed(3)) {
// wait for button released
TBannerChangeField(0);
while (BtnIsPressed(3)) BtnProcessEvents();
}// End of if (BtnIsPressed(3)){...
}// End of if(TBannerIsSetup( ...
}// End of if(_display_state == DISP_SET_CLOCK ...
if(_display_state == DISP_VOLTAGE){
if (BtnIsPressed(2)){
ADCSetFromMemory();
// wait for button released
while (BtnIsPressed(2)){
BtnProcessEvents();
}
}// End of if (BtnIsPressed(2 ...
if (BtnIsPressed(3)){
ADCStoreTemperature();
// wait for button released
while (BtnIsPressed(3)){
BtnProcessEvents();
}
}// End of if (BtnIsPressed(3)){...
}// End of if(_display_state ...
}// End of if (TimerIsOverflowEvent()...
}// End of while(1)...
}// End of main()...
