int ping_ultrasonic(int echo, int trig, int max_distance) //max_distance in cm
{//ping HC-SR04 ultrasonic range finder, 10us trigger pulse, sends eight 40kHz pulses
//int start_time;
int max_time; //max_time in system cycles
int flight_time;
//char message[100];
//sprintf(message, "bump");
//NU32_WriteUART1(message);
max_time = max_distance * 2320; //Distance(cm) = Time(us)/58, 40 core cycles per us, 58*40=2320
//start_time = ReadCoreTimer();
WriteCoreTimer(0);
set_pin(trig, HIGH);
while(ReadCoreTimer() < 1600){ //400 cycles at 40MHz, 10us trigger pulse
}
set_pin(trig, LOW);
//NU32_WriteUART1(message);
while(!get_pin(echo)){
}
//NU32_WriteUART1(message);
//start_time = ReadCoreTimer();
WriteCoreTimer(0);
while(get_pin(echo) && (ReadCoreTimer() < max_time)){
}
//flight_time = ReadCoreTimer() - start_time;
flight_time = ReadCoreTimer();
//sprintf(message, "%d\n", flight_time);
//NU32_WriteUART1(message);
return flight_time / 2320;
}
int main(void)
{
// BootloaderEntry();
Initialize();
sprintf(text,"\r\n\r\nHypnocube Boot Loader testing ver %s.\r\n",BootloaderVersion());
PrintSerialMain(text);
sprintf(text,"Boot loader result %d.\r\n",(int)bootResult);
PrintSerialMain(text);
WriteCoreTimer(0);
while (1)
{
if (ReadCoreTimer()>1000*TICKS_PER_MILLISECOND)
{
PrintSerialMain(".");
WriteCoreTimer(0);
PORTAbits.RA1^=1; // blink our LED
}
uint8_t byte;
if (UARTReadByte(&byte) && byte != 0xFC)
{
sprintf(text,"Main code saw command %d = %c.\r\n",(int)byte,byte);
PrintSerialMain(text);
BootloaderEntry(); // call again to simplify testing
}
}
return 0;
}
//#=============================================================================
//# Delays
//#=============================================================================
//#-----------------------------------------------------------------------------
void Delayus(unsigned int t) {
unsigned int CalT;
WriteCoreTimer(0);
CalT = t * 20;
while ( (unsigned int)(ReadCoreTimer()) < CalT ) {};
} //Delayus
// initialize hardware
void Initialize()
{
// All of these items will affect the performance of your code and cause it to run significantly slower than you would expect.
SYSTEMConfigPerformance(SYS_CLOCK);
WriteCoreTimer(0); // Core timer ticks once every two clocks (verified)
// set default digital port A for IO
DDPCONbits.JTAGEN = 0; // turn off JTAG
DDPCONbits.TROEN = 0; // ensure no tracing on
//mPORTASetPinsDigitalOut(BIT_0 | BIT_1 | BIT_2 | BIT_3 | BIT_4 | BIT_5 | BIT_6 | BIT_7);
// todo - set this based on width of image. make rest inputs?
mPORTBSetPinsDigitalOut(BIT_0|BIT_1|BIT_2|BIT_3|BIT_4|BIT_5|BIT_6|BIT_7|BIT_8|BIT_9|BIT_10|BIT_11|BIT_12|BIT_13|BIT_14|BIT_15);
// 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..
int pbClk = SYSTEMConfig( SYS_CLOCK, SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE);
InitializeUART(pbClk);
mPORTASetPinsDigitalOut(BIT_1);
// set internals
// SetUARTClockDivider(flashOptions.baudDivisor);
// prepare 32 bit timer 45 to trigger interrupts
//OpenTimer45(T45_ON | T45_SOURCE_INT | T45_PS_1_1, interruptTime);
// set up the timer interrupt and priority
//ConfigIntTimer45(T4_INT_ON | T4_INT_PRIOR_7);
// enable multivectored interrupts
//INTEnableSystemMultiVectoredInt();
// start watchdog timer
//tickle in interrupt, turn off during reset of device, causes a reset
//The next statement enables the Watchdog Timer:
// WDTCONbits.ON = 1;
//sprintf(text,"Wait states %d\r\n.",BMXCONbits.BMXWSDRM);
//PrintSerial(text);
//BMXCONbits.BMXWSDRM = 0; // set RAM access to zero wait states
//sprintf(text,"TODO _ REMOVE:override %d\r\n",pinOverride);
//PrintSerial(text);
//sprintf(text,"TODO _ REMOVE:actual %d\r\n",PORTAbits.RA1);
//PrintSerial(text);
}
/********************************************************************
* Function: delay_us()
*
* Precondition:
*
* Input: Micro second
*
* Output: None.
*
* Side Effects: Uses Core timer. This may affect other functions using core timers.
For example, core timer interrupt may not work, or may loose precision.
*
* Overview: Provides Delay in microsecond.
*
*
* Note: None.
********************************************************************/
void delay_us(UINT us)
{
UINT targetCount;
UINT bakupCount;
UINT8 loop = 0;
// Assert "us" not zero. This must be caught during debug phase.
//ASSERT(us!=0);
// backup current count of the core timer.
bakupCount = ReadCoreTimer();
// Core timer increments every 2 sys clock cycles.
// Calculate the counts required to complete "us".
targetCount = countPerMicroSec * us;
// Restart core timer.
WriteCoreTimer(0);
// Wait till core timer completes the count.
while(ReadCoreTimer() < targetCount);
// Restore count back.
WriteCoreTimer(bakupCount + targetCount);
}
double current_time(int reset)
{
unsigned int ns;
if (reset) {
WriteCoreTimer(0);
}
/* get timer in ns */
ns = ReadCoreTimer();
/* return seconds as a double */
return ( ns / CLOCK * 2.0);
}
double current_time(int reset)
{
/* NOTE: core timer tick rate = 40 Mhz, 1 tick = 25 ns */
unsigned int ns;
/* should we reset our timer back to zero? Helps prevent timer
rollover */
if (reset) {
WriteCoreTimer(0);
}
/* get timer in ns */
ns = ReadCoreTimer() * 25;
/* return seconds as a double */
return ( ns / 1000000000.0 );
}
unsigned int adc_grab(int sample_pin) {
unsigned int elapsed=0,finishtime=0;
unsigned int sample;
AD1CON3bits.ADCS = 2;
AD1CON1bits.ADON = 1;
//ANALOG INPUTS ON AN0(RA0),AN1{RA1),AN4(RB2),AN5(RB3
WriteCoreTimer(0);
if (sample_pin<=1){
// sample_pin is 1 or 2
AD1CHSbits.CH0SA = sample_pin-1;
}
else{
//sample_pin is 3 or 4
AD1CHSbits.CH0SA = sample_pin+1;
}
AD1CON1bits.SAMP = 1; //start sampling
elapsed = ReadCoreTimer();
finishtime = elapsed + SAMPLE_TIME;
while(ReadCoreTimer() < finishtime){//sample for more than 200ns
;
}
AD1CON1bits.SAMP = 0; //stop sampling and start converting
while (!AD1CON1bits.DONE){
;
}
sample=ADC1BUF0;//read the buffer with the result
char msg[100]={};
sprintf(msg,"AN0: %4u (%5.3f volts)",sample,sample*(3.3/1024));
//to check ADC values, set a breakpoint at the line below, view the variables tab
//and look at the value for message. it says what the adc is reading in volts
return(sample);
//elapsed=ReadCoreTimer();
}
void ADBCallback(ADB_CHANNEL_HANDLE handle, const void* data, UINT32 data_len) {
// Ignore empty messages
if (data_len < 1) {
return;
}
//DEBUGLED = 0;
// Get data without the first byte
//BYTE raw_data[data_len - 1];
//memmove(raw_data, data + 1, data_len - 1);
// First byte identifies the data
BYTE* id = (BYTE*) data;
if (data_len > 5) {
switch (*id) {
case COMMAND_TEXT:
handleTexture(((BYTE*) data) + 1, data_len - 1);
break;
default:
break;
}
return;
}
switch (*id) {
case COMMAND_FREQ:
incoming = intFromBytes(((BYTE*) data) + 1);
PR2 = (SYS_FREQ / incoming) - 1;
TMR2 = 0; // reset the Timer2 count
break;
case COMMAND_MAG:
tpadMAG = (int)*(((BYTE*) data) + 1);
PWM_Set_DC(tpadMAG / 255.0 * 50); //scale incoming magnitude to a duty cycle 0-50
pauseTimer3();
tBuff.On = 0x0;
break;
case COMMAND_ALIVE:
WriteCoreTimer(0);
break;
default:
break;
}
return;
}
int main() {
CFGCONbits.JTAGEN = 0; // turn off JTAG, get back those pins for IO use
// set PIC32to max computing power
DEBUGLED = 0;
// enable multi-vector interrupts
INTEnableSystemMultiVectoredInt();
INTEnableInterrupts();
PIC32MX250_setup_pins();
SYSTEMConfigPerformance(SYS_FREQ);
setTimer2(OUTPUT_FREQ); //
setupTimer3(BUFFER_FREQ);
initPWM(); //Initializing PWM on OC3.
// Initialize texture buffer and index to zero
int i;
tBuff.Index = 0; //init to zero
tBuff.On = 0; //turn off
tBuff.Length0 = 0; //start with zero length
tBuff.Length1 = 0; //start with zero length
tBuff.Front = 0;
for (i = 0; i < MAX_BUFFER_LENGTH; i++) {
tBuff.Buff0[i] = 0; //init entire buffer to zero
tBuff.Buff1[i] = 0; //init entire buffer to zero
}
// Initialize the USB host
ConnectionInit();
DEBUGLED = 1;
//Main USB State Machine
while (1) {
// Keep the USB connection running;
// Handle incoming data and manage outgoing data.
ConnectionTasks();
// Main state machine
switch (state) {
case STATE_INIT:
state = STATE_WAITING;
h = INVALID_CHANNEL_HANDLE;
break;
case STATE_WAITING:
DEBUGLED = 0;
if (ADBAttached()) {
state = STATE_CONNECTING;
}
break;
case STATE_CONNECTING:
if (ADBConnected()) {
// Open a channel to the Android device
// See "adb.h" in libadb for more details
// (I don't think the name tcp:4545 matters)
h = ADBOpen("tcp:4545", &ADBCallback);
if (h != INVALID_CHANNEL_HANDLE) {
state = STATE_CONNECTED;
WriteCoreTimer(0);
// Send plaintext and let the recipient do formatting
ADBWrite(h & 0xFF, "Hello from TPAD!", 17);
}
}
break;
case STATE_CONNECTED:
DEBUGLED = 1;
if (!ADBAttached()) {
state = STATE_INIT;
}
if (ADBChannelReady(h)) {
// Execute tasks that rely on the Android-PIC32 connection
// Here we will just wait for messages to come in and be handled below
}
// Timeout timer. If the coretimer is not reset by a keepalive command from the Android, the PIC will reset the USB communications
if (ReadCoreTimer() > 200000000) {
state = STATE_INIT;
}
break;
} // end state machine
} // end while loop
return 0;
}
/**************************************************************************************************
Function:
void DelayInit(const UINT systemClock)
Author(s):
mkobit
Summary:
Sets internal variables to be used with other delays
Description:
Calculates how many core timer clock ticks are in a microseconds and a millisecond to be used later with delays
Preconditions:
Core timer configured
Parameters:
const UINT systemClock - microcontroller system clock
Returns:
void
Example:
<code>
DelayInit(80000000L)
</code>
Conditions at Exit:
Core timer reset, internal static variables set
**************************************************************************************************/
void DelayInit(const UINT systemClock) {
_core_hz = systemClock / 2; // runs at half-speed of system clock
_core_ticks_in_us = DELAY_US_TO_CT_TICKS(_core_hz);
_core_ticks_in_ms = DELAY_MS_TO_CT_TICKS(_core_hz);
WriteCoreTimer(0);
}
int main(void)
{
Initialize();
sprintf(text,"\r\n\r\nHypnocube FLASH destroyer %d.%d\r\n",VERSION>>4, VERSION&15);
PrintSerial(text);
sprintf(text,"Testing %d frames of %d bytes each.\r\n",FRAMES,WORDS_PER_FRAME*4);
PrintSerial(text);
sprintf(text,"Flash starts at 0x%08x.\r\n",FlashData);
PrintSerial(text);
int frame = 0;
int ramFrame = -1;
int i;
uint32_t errors = 0;
WriteCoreTimer(0);
while (1)
{
uint32_t startOffset = WORDS_PER_FRAME*frame;
if (ramFrame != frame)
{
InitRamFrame();
ramFrame = frame;
}
++passes[frame];
// message for start
uint32_t time = ReadCoreTimer();
sprintf(text,"Pass %d, frame %d, offset %08x, time %08x, errors %d\r\n",
passes[frame],frame,startOffset,time,errors
);
PrintSerial(text);
// erase frame
if (!FlashErase(startOffset,WORDS_PER_FRAME))
PrintSerial("ERROR: flash erase failed.\r\n");
// check all entries are FLASH_ERASED_WORD_VALUE
for (i = 0; i < WORDS_PER_FRAME; ++i)
{
uint32_t word = FlashRead(startOffset+i);
if (ramBufferErased[i] != word)
{ // an error, output, and set buffer
OutputError('E',startOffset+i,word,ramBufferErased[i]);
ramBufferErased[i] = word;
++errors;
}
}
// write all ~FLASH_ERASED_WORD_VALUE
for (i = 0; i < WORDS_PER_FRAME; ++i)
{
if (!FlashWrite(startOffset+i,~(FLASH_ERASED_WORD_VALUE)))
{
snprintf(text,TEXT_SIZE,"ERROR: flash write failed ar offset %08X.\r\n",startOffset+i);
PrintSerial(text);
}
}
// check all entries are FLASH_ERASED_WORD_VALUE
for (i = 0; i < WORDS_PER_FRAME; ++i)
{
uint32_t word = FlashRead(startOffset+i);
if (ramBufferWritten[i] != word)
{ // an error, output, and set buffer
OutputError('W',startOffset+i,word,ramBufferWritten[i]);
ramBufferWritten[i] = word;
++errors;
}
}
// check if frame changed
uint8_t byte;
if (UARTReadByte(&byte))
{
snprintf(text,TEXT_SIZE,"Command received %c [%02x].\r\n",byte,byte);
PrintSerial(text);
if ('0' <= byte && byte <= FRAMES+'0'-1)
{ // change frame
frame = byte-'0';
snprintf(text,TEXT_SIZE,"Switching to frame %d.\r\n",frame);
PrintSerial(text);
}
if (byte == 'q')
break;
}
}
PrintSerial("Quitting...\r\n");
return 0;
}