/*
* 函数名：main
* 描述 ：主函数
* 输入 ：无
* 输出 ：无
*/
int main(void)
{
SystemInit();
USART1_init();//USART初始化
SPI1_init() ;//SPI初始化
DW1000_init();//DW1000初始化
TIM3_init(); //定时器3初始化
EXTI_init(); //外部中断初始化
TIM4_init();
RX_mode_enable();
printf("RX!\r\n");
printf("**********************************\r\n");
while (1)
{
;
}
}
BOOL spiflash_cycletest(void)
{
Uint8 buff[1] = {0xCC};
printf("%d ", buff[0]);
int i;
SPI_SPIBUF;
Uint8 *test_pointer2;
test_pointer2=(Uint8*)(0x01F0E040); //SPI1BUF
//Uint8 *test_pointer1;
//test_pointer1=(Uint8*)(0x01F0E03C);
SPI1_init();
for(i=0; i<1; i++)
{
while( SPI_SPIBUF & 0x80000000 );
//if(!(SPI_SPIBUF & ( 0x80000000 )) )
//{
buff[0] = *test_pointer2;
printf("%d ", buff[0]);
//}
//else
//break;
}
if(buff[0] == 0xA0)
{
SPI_SPIDAT1 = (spidat1 & 0x0ffcffff) | buff[0];
return TRUE;
}
else
return FALSE;
}
void SPI_init(){
switch(Current_SPI){
case SPI1:
SPI1_init();
break;
case SPI2:
SPI2_init();
break;
default:
return; // error
}
}
int main(void) {
u8 dip_config;
SystemInit();
// Init USB for Master Nodes
#if defined(RX4) || defined(RX5) || defined(RX6)
Set_System();
Set_USBClock();
USB_Interrupts_Config();
USB_Init();
#endif
dip_config = Read_DIP_Configuration();
// USART1初始化,波特率115200，单次8比特，无奇偶校验，1停止位：用于上位机下发命令
USART1_init(dip_config);
// 串口监听
TIM4_init();
//InitMPU6050();
SPI1_init();
TIM3_init();
GPIO_Configuration();
DW1000_init(dip_config);
EXTI_init();
#ifdef TX
TIM2_init(); // LS Poll Cycle
#endif
RX_mode_enable();
DEBUG1(("=====Init Done, with DIP config: %02X=====\r\n", dip_config));
while(1) {
;
}
}
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);
}
}
