void BOARD_Init() {
unsigned int dma_status;
unsigned int int_status;
//DEVCFG1bits.FCKSM = 0;
//mSYSTEMUnlock(int_status, dma_status);
//DEVCFG1bits.FCKSM = 0;
//DEVCFG2bits.FPLLIDIV=1;
SYSKEY = 0;
SYSKEY = 0xAA996655;
SYSKEY = 0x556699AA;
CFGCONbits.IOLOCK = 0;
SYSKEY = 0;
SYSTEMConfig(SYSTEM_CLOCK, SYS_CFG_ALL);
ANSELA=0;
ANSELB=0;
ANSELC=0;
//OSCConfig(OSC_FRC_PLL, OSC_PLL_MULT_20, OSC_PLL_POST_1, OSC_FRC_POST_1);
//OSCCONbits.NOSC=0x1;
OSCSetPBDIV(OSC_PB_DIV_1);
//mSYSTEMLock(int_status, dma_status);
// AD1PCFG = 0xffff;
INTConfigureSystem(INT_SYSTEM_CONFIG_MULT_VECTOR);
INTEnableInterrupts();
SERIAL_Init();
//printf("This code compiled at %s on %s\r\n", __TIME__, __DATE__);
}
/* main function */
int main() {
OSCSetPBDIV (OSC_PB_DIV_1); //configure PBDIV so PBCLK = SYSCLK
initIntGlobal();
initPort();
initCN();
initPWM();
while (1);
}
void systemInit(void)
{
//Enable optimal performance
SYSTEMConfigPerformance(80000000);
//Configures peripheral bus divisor
OSCSetPBDIV(OSC_PB_DIV_2);
//Enable multi-vectored mode
INTEnableSystemMultiVectoredInt();
}
int main(void)
{
// Configure the device for maximum performance but do not change the PBDIV
// Given the options, this function will change the flash wait states, RAM
// wait state and enable prefetch cache but will not change the PBDIV.
// The PBDIV value is already set via the pragma FPBDIV option above..
SYSTEMConfig(SYS_FREQ, SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE);
// Auto-configure the PIC32 for optimum performance at the specified operating frequency.
SYSTEMConfigPerformance(SYS_FREQ);
// osc source, PLL multipler value, PLL postscaler , RC divisor
OSCConfig(OSC_POSC_PLL, OSC_PLL_MULT_20, OSC_PLL_POST_1, OSC_FRC_POST_1);
// Configure the PB bus to run at 1/4 the CPU frequency
OSCSetPBDIV(OSC_PB_DIV_4);
// Enable multi-vector interrupts
INTEnableSystemMultiVectoredInt();
INTEnableInterrupts();
// Set up the UART peripheral so we can send serial data.
UARTConfigure(UART_USED, UART_ENABLE_PINS_TX_RX_ONLY);
UARTSetFifoMode(UART_USED, UART_INTERRUPT_ON_TX_NOT_FULL | UART_INTERRUPT_ON_RX_NOT_EMPTY);
UARTSetLineControl(UART_USED, UART_DATA_SIZE_8_BITS | UART_PARITY_NONE | UART_STOP_BITS_1);
UARTSetDataRate(UART_USED, F_PB, UART_BAUD_RATE);
UARTEnable(UART_USED, UART_ENABLE | UART_TX);
// And configure printf/scanf to use the correct UART.
if (UART_USED == UART1) {
__XC_UART = 1;
}
/***************************************************************************************************
* Your code goes in between this comment and the following one with asterisks.
**************************************************************************************************/
/***************************************************************************************************
* Your code goes in between this comment and the preceding one with asterisks.
**************************************************************************************************/
// Returning from main() is bad form in embedded environments. So we sit and spin.
while (1);
}
int main(void)
{
// Configure the device for maximum performance but do not change the PBDIV
// Given the options, this function will change the flash wait states, RAM
// wait state and enable prefetch cache but will not change the PBDIV.
// The PBDIV value is already set via the pragma FPBDIV option above..
SYSTEMConfig(SYS_FREQ, SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE);
// Auto-configure the PIC32 for optimum performance at the specified operating frequency.
SYSTEMConfigPerformance(SYS_FREQ);
// osc source, PLL multipler value, PLL postscaler , RC divisor
OSCConfig(OSC_POSC_PLL, OSC_PLL_MULT_20, OSC_PLL_POST_1, OSC_FRC_POST_1);
// Configure the PB bus to run at 1/4 the CPU frequency
OSCSetPBDIV(OSC_PB_DIV_4);
// Enable multi-vector interrupts
INTEnableSystemMultiVectoredInt();
// Set up the UART peripheral so we can send serial data.
UARTConfigure(UART_USED, UART_ENABLE_PINS_TX_RX_ONLY);
UARTSetFifoMode(UART_USED, UART_INTERRUPT_ON_TX_NOT_FULL | UART_INTERRUPT_ON_RX_NOT_EMPTY);
UARTSetLineControl(UART_USED, UART_DATA_SIZE_8_BITS | UART_PARITY_NONE | UART_STOP_BITS_1);
UARTSetDataRate(UART_USED, F_PB, UART_BAUD_RATE);
UARTEnable(UART_USED, UART_ENABLE | UART_TX);
// And configure printf/scanf to use the correct UART.
if (UART_USED == UART1) {
__XC_UART = 1;
}
extern void T1Setup();
extern void T1Stop();
extern void T1Start();
// Enable LED outputs 0-7 by setting TRISE register
TRISECLR = 0x00FF;
// Initialize the PORTE to 0
PORTECLR = 0x00FF;
// Set the lowest bit
PORTESET = 1;
OledInit();
OledDisplayOn();
printf("Starting Timer Set-up\n");
T1Setup();
int stopped = 0, reset = 0;
extern volatile int milliseconds;
int temp = 0;
int count = 0;
printTime(0, 0);
while(1) {
// Display the least significant part of the time for debugging
int x = PORTD & 0xfff;
if(x == 272) {
if(stopped) {
stopped = 0;
T1Start();
}
if(reset)
reset = 0;
if(milliseconds - temp >= 1000) {
count++;
int minutes = count/60;
int seconds = count % 60;
printTime(minutes,seconds);
temp = milliseconds;
}
}
else if(x == 784 || x == 528) {
if(reset != 1) {
printTime(0, 0);
T1Stop();
stopped = 1;
reset = 1;
count = 0;
}
}
else {
stopped = 1;
continue;
}
}
}
int main(void)
{
// Configure the device for maximum performance but do not change the PBDIV
// Given the options, this function will change the flash wait states, RAM
// wait state and enable prefetch cache but will not change the PBDIV.
// The PBDIV value is already set via the pragma FPBDIV option above..
SYSTEMConfig(SYS_FREQ, SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE);
// Auto-configure the PIC32 for optimum performance at the specified operating frequency.
SYSTEMConfigPerformance(SYS_FREQ);
// osc source, PLL multipler value, PLL postscaler , RC divisor
OSCConfig(OSC_POSC_PLL, OSC_PLL_MULT_20, OSC_PLL_POST_1, OSC_FRC_POST_1);
// Configure the PB bus to run at 1/4 the CPU frequency
OSCSetPBDIV(OSC_PB_DIV_4);
// Enable multi-vector interrupts
INTEnableSystemMultiVectoredInt();
INTEnableInterrupts();
// Set up the UART peripheral so we can send serial data.
UARTConfigure(UART_USED, UART_ENABLE_PINS_TX_RX_ONLY);
UARTSetFifoMode(UART_USED, UART_INTERRUPT_ON_TX_NOT_FULL | UART_INTERRUPT_ON_RX_NOT_EMPTY);
UARTSetLineControl(UART_USED, UART_DATA_SIZE_8_BITS | UART_PARITY_NONE | UART_STOP_BITS_1);
UARTSetDataRate(UART_USED, F_PB, UART_BAUD_RATE);
UARTEnable(UART_USED, UART_ENABLE | UART_TX);
// And configure printf/scanf to use the correct UART.
if (UART_USED == UART1) {
__XC_UART = 1;
}
// Enable LED outputs 0-7 by setting TRISE register
TRISECLR = 0x00FF;
// Initialize the PORTE to 0
PORTECLR = 0x00FF;
// Set the lowest bit
int mask = 1;
PORTESET = mask;
int delay = 0xA0000;
// Loop forever, it is bad to exit in an embedded processor.
int count=0; // move this into the delay function
while (1) {
// Move this printf into your getDelay function!
printf("Hello, world! %d\n",count++);
// Replace this with the getDelay function call!
//int delay = getDelay();
// do nothing for a lot of cycles
int i=0;
for(i=0;i<delay;i++)
;
// shift left by 1
mask = mask << 1;
// rotate around if more than 8 bits
if (mask & 0x0100)
mask = 1;
// Set the output to the new mask
PORTE=mask;
delay = 0xA0000 + 0x40000*sin((double)count/10) + 0x20000*cos((double)count/5);
if(delay < 0)
delay *= -1;
}
}
int main(void)
{
int i, spi_timeout;
unsigned long counter;
/* Disable JTAG port so we get our I/O pins back */
DDPCONbits.JTAGEN = 0;
/* Enable optimal performance */
SYSTEMConfigPerformance(GetSystemClock());
/* Use 1:1 CPU Core:Peripheral clocks */
OSCSetPBDIV(OSC_PB_DIV_1);
/* configure the core timer roll-over rate */
OpenCoreTimer(CORE_TICK_RATE);
/* set up the core timer interrupt */
mConfigIntCoreTimer((CT_INT_ON | CT_INT_PRIOR_6 | CT_INT_SUB_PRIOR_0));
/* enable multi vector interrupts */
INTConfigureSystem(INT_SYSTEM_CONFIG_MULT_VECTOR);
INTEnableInterrupts();
map_peripherals();
init_io_ports();
configure_pwm();
init_spi();
init_dma();
/* wait until tx buffer is filled up */
while (!SPI2STATbits.SPITBF);
reset_board();
spi_data_ready = 0;
spi_timeout = 0;
counter = 0;
/* enable watchdog */
WDTCONSET = 0x8000;
/* main loop */
while (1) {
if (spi_data_ready) {
spi_data_ready = 0;
/* the first element received is a command string */
switch (rxBuf[0]) {
case 0x5453523E: /* >RST */
reset_board();
break;
case 0x314D433E: /* >CM1 */
stepgen_update_input((const void *)&rxBuf[1]);
stepgen_get_position((void *)&txBuf[1]);
break;
case 0x324D433E: /* >CM2 */
update_outputs(rxBuf[1]);
update_pwm_duty((uint32_t *)&rxBuf[2]);
txBuf[1] = read_inputs();
break;
case 0x4746433E: /* >CFG */
stepgen_update_stepwidth(rxBuf[1]);
update_pwm_period(rxBuf[2]);
stepgen_reset();
break;
case 0x5453543E: /* >TST */
for (i=0; i<BUFSIZE; i++)
txBuf[i] = rxBuf[i] ^ ~0;
break;
}
}
/* if rx buffer is half-full, update the integrity check.
There isn't enough time if we wait for complete transfer */
if (DCH0INTbits.CHDHIF) {
DCH0INTCLR = 1<<4; /* clear flag */
txBuf[0] = rxBuf[0] ^ ~0;
}
/* if rx buffer is full, data from spi bus is ready */
if (DCH0INTbits.CHBCIF) {
DCH0INTCLR = 1<<3; /* clear flag */
spi_data_ready = 1;
spi_timeout = SPI_TIMEOUT;
}
/* reset the board if there is no SPI activity */
if (spi_timeout)
spi_timeout--;
if (spi_timeout == 1) {
DCH0ECONSET=BIT_6; /* abort DMA transfers */
DCH1ECONSET=BIT_6;
init_spi();
init_dma();
reset_board();
/* wait until tx buffer is filled up */
while (!SPI2STATbits.SPITBF);
}
/* blink onboard led */
if (!(counter++ % (spi_timeout ? 0x10000 : 0x40000))) {
LED_TOGGLE;
}
/* keep alive */
WDTCONSET = 0x01;
}
return 0;
}
int main(void)
{
// Configure the device for maximum performance but do not change the PBDIV
// Given the options, this function will change the flash wait states, RAM
// wait state and enable prefetch cache but will not change the PBDIV.
// The PBDIV value is already set via the pragma FPBDIV option above..
SYSTEMConfig(SYS_FREQ, SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE);
// Auto-configure the PIC32 for optimum performance at the specified operating frequency.
SYSTEMConfigPerformance(SYS_FREQ);
// osc source, PLL multipler value, PLL postscaler , RC divisor
OSCConfig(OSC_POSC_PLL, OSC_PLL_MULT_20, OSC_PLL_POST_1, OSC_FRC_POST_1);
// Configure the PB bus to run at 1/4 the CPU frequency
OSCSetPBDIV(OSC_PB_DIV_4);
// Enable multi-vector interrupts
INTEnableSystemMultiVectoredInt();
INTEnableInterrupts();
// Set up the UART peripheral so we can send serial data.
UARTConfigure(UART_USED, UART_ENABLE_PINS_TX_RX_ONLY);
UARTSetFifoMode(UART_USED, UART_INTERRUPT_ON_TX_NOT_FULL | UART_INTERRUPT_ON_RX_NOT_EMPTY);
UARTSetLineControl(UART_USED, UART_DATA_SIZE_8_BITS | UART_PARITY_NONE | UART_STOP_BITS_1);
UARTSetDataRate(UART_USED, F_PB, UART_BAUD_RATE);
UARTEnable(UART_USED, UART_ENABLE | UART_TX);
// And configure printf/scanf to use the correct UART.
if (UART_USED == UART1) {
__XC_UART = 1;
}
// Initialize the array
char seed1[] = __TIME__;
unsigned int seed2 = (((unsigned int)(seed1[7] ^ seed1[2])) << 8) | ((unsigned int)(seed1[4] ^ seed1[6]));
srand(seed2);
unsigned char vals[] = { rand(), rand(), rand(), rand(), rand() };
int valsToBeSorted[] = {vals[0], vals[1], vals[2], vals[3], vals[4]};
// Sort the array in place.
int i, j;
for (i = 0; i < 5; ++i)
{
int aTemp = valsToBeSorted[i];
for (j = i - 1; j >= 0; j--) {
if (valsToBeSorted[j] <= aTemp)
break;
valsToBeSorted[j + 1] = valsToBeSorted[j];
}
valsToBeSorted [j+1] = aTemp;
}
// Print out the array
printf("[");
for (i=0;i<4;++i) {
printf("%d, ", valsToBeSorted[i]);
}
printf("%d]\n", valsToBeSorted[i]);
/*
* Returning from main() is bad form in embedded environments. So we
* sit and spin.
*/
while (1);
}
int main()
{
// Configure the device for maximum performance but do not change the PBDIV
// Given the options, this function will change the flash wait states, RAM
// wait state and enable prefetch cache but will not change the PBDIV.
// The PBDIV value is already set via the pragma FPBDIV option above..
SYSTEMConfig(F_SYS, SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE);
// Auto-configure the PIC32 for optimum performance at the specified operating frequency.
SYSTEMConfigPerformance(F_SYS);
// osc source, PLL multipler value, PLL postscaler , RC divisor
OSCConfig(OSC_POSC_PLL, OSC_PLL_MULT_20, OSC_PLL_POST_1, OSC_FRC_POST_1);
// Configure the PB bus to run at 1/4th the CPU frequency, so 20MHz.
OSCSetPBDIV(OSC_PB_DIV_4);
// Enable multi-vector interrupts
INTEnableSystemMultiVectoredInt();
INTEnableInterrupts();
// Configure Timer 2 using PBCLK as input. We configure it using a 1:16 prescalar, so each timer
// tick is actually at F_PB / 16 Hz, so setting PR2 to F_PB / 16 / 100 yields a .01s timer.
OpenTimer2(T2_ON | T2_SOURCE_INT | T2_PS_1_16, F_PB / 16 / 100);
// Set up the timer interrupt with a medium priority of 4.
INTClearFlag(INT_T2);
INTSetVectorPriority(INT_TIMER_2_VECTOR, INT_PRIORITY_LEVEL_4);
INTSetVectorSubPriority(INT_TIMER_2_VECTOR, INT_SUB_PRIORITY_LEVEL_0);
INTEnable(INT_T2, INT_ENABLED);
/******************************** Your custom code goes below here ********************************/
int check;
OledInit();
AdcInit();
LEDS_INIT();
check = GameInit();
if(check == STANDARD_ERROR) {
FATAL_ERROR();
}
float currPage;
float binSize;
float titleSize;
float descSize;
float numPages;
uint8_t roomExit;
uint16_t adcValue = 0;
while(1) {
roomExit = GameGetCurrentRoomExits();
LEDS_SET(roomExit);
while(buttonEvents == 0) {
descSize = GameGetCurrentRoomDescription(roomData.description);
titleSize = GameGetCurrentRoomTitle(roomData.title);
numPages = ((titleSize + descSize) / MAX_OLED_PIXELS);
binSize = (ADC_MAX_VALUE / numPages);
if(AdcChanged()) {
adcValue = AdcRead();
}
currPage = (adcValue / binSize);
if(currPage < 1) {
char titleArray[TITLE_OLED_SPACE] = {0};
char descriptionBuffer[FIRST_PG_DESCRIPTION_OLED_SPACE] = {0};
strncpy(descriptionBuffer, roomData.description, DESCRIPTION_COPY);
sprintf(titleArray, "%s\n%s", roomData.title, descriptionBuffer);
OledClear(OLED_COLOR_BLACK);
OledDrawString(titleArray);
} else {
char buffer[MAX_OLED_PIXELS] = {0};
int buffIndex;
buffIndex = (int)currPage * MAX_OLED_PIXELS;
strncpy(buffer, (roomData.description + buffIndex - OFFSET), MAX_OLED_PIXELS);
OledClear(OLED_COLOR_BLACK);
OledDrawString(buffer);
}
OledUpdate();
}
if((buttonEvents & BUTTON_EVENT_4UP) && (roomExit & GAME_ROOM_EXIT_NORTH_EXISTS)) {
GameGoNorth();
} else if((buttonEvents & BUTTON_EVENT_3UP) && (roomExit & GAME_ROOM_EXIT_EAST_EXISTS)) {
GameGoEast();
} else if((buttonEvents & BUTTON_EVENT_2UP) && (roomExit & GAME_ROOM_EXIT_SOUTH_EXISTS)) {
GameGoSouth();
} else if((buttonEvents & BUTTON_EVENT_1UP) && (roomExit & GAME_ROOM_EXIT_WEST_EXISTS)) {
GameGoWest();
}
buttonEvents = BUTTON_EVENT_NONE;
}
/**************************************************************************************************/
while (1);
}
