void NU32_DisableCache(void) {
// Set the CP0 CONFIG register to make kseg0 uncacheable
// (See NU32_EnableCache())
__builtin_mtc0(_CP0_CONFIG, _CP0_CONFIG_SELECT, 0xa4210582);
}
int main() {
// Startup code to run as fast as possible and get pins back from bad defaults
__builtin_disable_interrupts();
// set the CP0 CONFIG register to indicate that
// kseg0 is cacheable (0x3) or uncacheable (0x2)
// see Chapter 2 "CPU for Devices with M4K Core"
// of the PIC32 reference manual
__builtin_mtc0(_CP0_CONFIG, _CP0_CONFIG_SELECT, 0xa4210583);
// no cache on this chip!
// 0 data RAM access wait states
BMXCONbits.BMXWSDRM = 0x0;
// enable multi vector interrupts
INTCONbits.MVEC = 0x1;
// disable JTAG to be able to use TDI, TDO, TCK, TMS as digital
DDPCONbits.JTAGEN = 0;
__builtin_enable_interrupts();
// set up USER pin as digital input
ANSELBbits.ANSB13 = 0; // 0 = digital
TRISBbits.TRISB13 = 1; // 1 = input
// set up LED1 pin as a digital output
TRISBbits.TRISB7 = 0; //digital output
LATBbits.LATB7 = 1; //output on=0 initially
// set up LED2 as OC1 using Timer2 at 1kHz
ANSELBbits.ANSB15 = 0; // 0 = digital
RPB15Rbits.RPB15R = 0b0101; //Set B15 as OC1
// pwm
OC1CONbits.OCTSEL = 0; // Timer 2 is used for output compare
OC1CONbits.OCM = 0b110; // PWM mode without fault pin; other OC1CON bits are defaults
OC1R = 20000; // duty cycle = OC1RS/(PR2+1) = 100
// initialize before turning OC1 on; afterward it is read-only
PR2 = 19999; // period = (PR2+1)*N=2*25ns = 1 ms, or 1 kHz
TMR2 = 0; // initalize counter to 0
T2CONbits.TCKPS = 1; // set prescaler to 1:2
T2CONbits.ON = 1; // turn on Timer2
OC1CONbits.ON = 1; // turn on OC1
// set up A0 as AN0
ANSELAbits.ANSA0 = 1;
AD1CON3bits.ADCS = 3;
AD1CHSbits.CH0SA = 0;
AD1CON1bits.ADON = 1;
while (1) {
// invert pin every 0.5s, set PWM duty cycle % to the pot voltage output %
_CP0_SET_COUNT(0); // set core timer to 0, remember it counts at half the CPU clock
LATBINV = 0b10000000;// invert pin RB7
// wait for half a second, setting LED brightness to pot angle while waiting
while (_CP0_GET_COUNT() < 10000000) {
int val = readADC(); //max = 1023
OC1RS = val * 20000/1023;
if (PORTBbits.RB13 == 1) {
//nothing
} else {
LATBINV = 0b10000000;
}
}
}
}
void main(){
// *************** Initialize pins and chips ****************
//SYSTEMConfigPerformance(48000000);
__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 = 0xFFEF; // set pin 4 as output
TRISB = 0b0001111001110011; // set outputs/inputs
// turn off analog pins
ANSELBbits.ANSB2 = 0;
ANSELBbits.ANSB3 = 0;
// setup i2c
i2c_master_setup();
__builtin_enable_interrupts();
// setup accelerometer
i2c_write(ADDR, 0x10, 0b10000000);
i2c_write(ADDR, 0x11, 0b10000000);
i2c_write(ADDR, 0x12, 0b00000100);
// initialize PWM
RPB7Rbits.RPB7R = 0b0101; //OC1 on pin 16
RPB8Rbits.RPB8R = 0b0101; //OC2 on pin 17
T2CONbits.TCKPS = 4; // Timer2 prescaler N=16 (1:16)
PR2 = 4999; // period = (PR2+1) * N * 12.5 ns = 1 ms, 1 kHz
TMR2 = 0; // initial TMR2 count is 0
OC1RS = 2500; // duty cycle = OC1RS/(PR2+1) = 50%
OC1R = 2500; // initialize before turning OC1 on; afterward it is read-only
OC2RS = 2500;
OC2R = 2500;
OC1CONbits.OCTSEL = 0; // select timer2
OC2CONbits.OCTSEL = 0;
OC1CONbits.OCM = 0b110; // PWM mode without fault pin; other OC1CON bits are defaults
OC2CONbits.OCM = 0b110;
T2CONbits.ON = 1; // turn on Timer2
OC1CONbits.ON = 1; // turn on OC1
OC2CONbits.ON = 1;
// RPB13Rbits.RPB13R = 0b0011; //SDO
// CS = 1;
// initialize SPI
SPI_init();
LCD_init();
LCD_clearScreen(RED);
//***********************************************************
//****************** constants ***************************
char length = 14;
unsigned char IMUdata[length];
short temp;
unsigned short temperature;
short gx;
short gy;
short gz;
unsigned short gyrox;
unsigned short gyroy;
unsigned short gyroz;
short ax;
short ay;
short az;
unsigned short accelx;
unsigned short accely;
unsigned short accelz;
char text[100];
//**********************************************************
while(1){
int var = 1337;
sprintf(text,"Hello World %d!",var);
LCD_print(28,32,text,WHITE);
//************ TEST IF IMU WORKS ***********************
// unsigned char data = 0;
// data = i2c_read(ADDR,0x0F);
//
// // read output from SPI
// CS=0;
// setVoltage(0,data);
// CS=1;
//************* SHOULD GET 01101001 *******************
//********** READ MULTI REGISTERS FROM IMU ***************
// i2c_multiread(ADDR,0x20,IMUdata,length);
//
// temp = (IMUdata[1]<<8) | IMUdata[0];
// temperature = temp + 32768;
//
// gx = (IMUdata[3]<<8) | IMUdata[2];
// gyrox = gx + 32768;
//
// gy = (IMUdata[5]<<8) | IMUdata[4];
// gyroy = gy + 32768;
//
// gz = (IMUdata[7]<<8) | IMUdata[6];
// gyroz = gz + 32768;
//
// ax = (IMUdata[9]<<8) | IMUdata[8];
// accelx = ax + 32768;
//
// ay = (IMUdata[11]<<8) | IMUdata[10];
// accely = ay + 32768;
//
// az = (IMUdata[13]<<8) | IMUdata[12];
// accelz = az + 32768;
//
// //********************************************************
//
//
//
// //*********************** PWM ****************************
// // Calculate OC1RS and OC2RS
// OC1RS = floor(accelx/6.5535);
// OC2RS = floor(accely/6.5535);
//
// // Set OC1 limits
// if (OC1RS > 7500){
// OC1RS = 5000;
// }
// else if (OC1RS < 2500){
// OC1RS = 0;
// }
// else {
// OC1RS = OC1RS-2500;
// }
//
// // Set OC2 limits
// if (OC2RS > 7500){
// OC2RS = 5000;
// }
// else if (OC2RS < 2500){
// OC2RS = 0;
// }
// else {
// OC2RS = OC2RS-2500;
// }
//******************************************************
delay(24000); // Delay 1ms
}
}
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 ( void )
{
/* Initialize all MPLAB Harmony modules, including application(s). */
SYS_Initialize ( NULL );
// string used for OLED
char str[200];
ANSELBbits.ANSB13 = 0; // make analog input digital
U1RXRbits.U1RXR = 0b0000; // set U1RX to pin A2
RPB15Rbits.RPB15R = 0b0101; // set B15 to U1TX
TRISBbits.TRISB13 = 1; // set up USER pin as input
TRISBbits.TRISB7 = 0; // set up LED1 pin as a digital output
APP_USBDeviceEventHandler();
__builtin_disable_interrupts();
// set the CP0 CONFIG register to indicate that
// kseg0 is cacheable (0x3) or uncacheable (0x2)
// see Chapter 2 "CPU for Devices with M4K Core"
// of the PIC32 reference manual
__builtin_mtc0(_CP0_CONFIG, _CP0_CONFIG_SELECT, 0xa4210583);
// no cache on this chip!
// 0 data RAM access wait states
BMXCONbits.BMXWSDRM = 0x0;
// enable multi vector interrupts
INTCONbits.MVEC = 0x1;
// disable JTAG to be able to use TDI, TDO, TCK, TMS as digital
DDPCONbits.JTAGEN = 0;
// set up accelerometer
acc_setup();
__builtin_enable_interrupts();
short accels[3]; // accelerations for the 3 axes
short mags[3]; // magnetometer readings for the 3 axes
short temp; // temperature
display_init();
while ( true )
{
/* Maintain state machines of all polled MPLAB Harmony modules. */
// read the accelerometer from all three axes
// the accelerometer and the pic32 are both little endian by default (the lowest address has the LSB)
// the accelerations are 16-bit twos compliment numbers, the same as a short
acc_read_register(OUT_X_L_A, (unsigned char *) accels, 6);
// need to read all 6 bytes in one transaction to get an update.
acc_read_register(OUT_X_L_M, (unsigned char *) mags, 6);
// read the temperature data. Its a right justified 12 bit two's compliment number
acc_read_register(TEMP_OUT_L, (unsigned char *) &temp, 2);
display_clear();
// sprintf(str, "Hello world %d!", accels);
int x_acc = accels[0]*64/16000;
int y_acc = accels[1]*32/16000;
int xxx,yyy;
if (x_acc>=0){
if(x_acc>64) x_acc=64;
for (xxx=0;xxx<x_acc;xxx++){
display_pixel_set(31,64-xxx,1);
display_pixel_set(32,64-xxx,1);
display_pixel_set(33,64-xxx,1);
}
}
else{
if(x_acc<-64) x_acc=-64;
for (xxx=0;xxx>x_acc;xxx--){
display_pixel_set(31,64-xxx,1);
display_pixel_set(32,64-xxx,1);
display_pixel_set(33,64-xxx,1);
}
}
if (y_acc>=0){
if(y_acc>32) y_acc=32;
for (yyy=0;yyy<y_acc;yyy++){
display_pixel_set(32-yyy,63,1);
display_pixel_set(32-yyy,64,1);
display_pixel_set(32-yyy,65,1);
}
}
else{
if(y_acc<-32) y_acc=-32;
for (yyy=0;yyy>y_acc;yyy--){
display_pixel_set(32-yyy,63,1);
display_pixel_set(32-yyy,64,1);
display_pixel_set(32-yyy,65,1);
}
}
display_draw();
SYS_Tasks ( );
}
/* Execution should not come here during normal operation */
return ( EXIT_FAILURE );
}
int main() {
// startup
__builtin_disable_interrupts();
// set the CP0 CONFIG register to indicate that
// kseg0 is cacheable (0x3) or uncacheable (0x2)
// see Chapter 2 "CPU for Devices with M4K Core"
// of the PIC32 reference manual
__builtin_mtc0(_CP0_CONFIG, _CP0_CONFIG_SELECT, 0xa4210583);
// no cache on this chip!
// 0 data RAM access wait states
BMXCONbits.BMXWSDRM = 0x0;
// enable multi vector interrupts
INTCONbits.MVEC = 0x1;
// disable JTAG to be able to use TDI, TDO, TCK, TMS as digital
DDPCONbits.JTAGEN = 0;
__builtin_enable_interrupts();
// set up USER pin as input
ANSELBbits.ANSB13 = 0;
TRISBbits.TRISB13 = 1;
INT4Rbits.INT4R = 0b0100;
// set up LED1 pin as a digital output
ANSELBbits.ANSB15 = 0;
TRISBbits.TRISB15 = 0;
LATBbits.LATB15 = 1;
int d = 0;
while(d < 2000000){
d = d+1;
}
// initializing variables
// lookup table for all of the ascii characters
static const char ASCII[96][5] = {
{0x00, 0x00, 0x00, 0x00, 0x00} // 20 (space)
,{0x00, 0x00, 0x5f, 0x00, 0x00} // 21 !
,{0x00, 0x07, 0x00, 0x07, 0x00} // 22 "
,{0x14, 0x7f, 0x14, 0x7f, 0x14} // 23 #
,{0x24, 0x2a, 0x7f, 0x2a, 0x12} // 24 $
,{0x23, 0x13, 0x08, 0x64, 0x62} // 25 %
,{0x36, 0x49, 0x55, 0x22, 0x50} // 26 &
,{0x00, 0x05, 0x03, 0x00, 0x00} // 27 '
,{0x00, 0x1c, 0x22, 0x41, 0x00} // 28 (
,{0x00, 0x41, 0x22, 0x1c, 0x00} // 29 )
,{0x14, 0x08, 0x3e, 0x08, 0x14} // 2a *
,{0x08, 0x08, 0x3e, 0x08, 0x08} // 2b +
,{0x00, 0x50, 0x30, 0x00, 0x00} // 2c ,
,{0x08, 0x08, 0x08, 0x08, 0x08} // 2d -
,{0x00, 0x60, 0x60, 0x00, 0x00} // 2e .
,{0x20, 0x10, 0x08, 0x04, 0x02} // 2f /
,{0x3e, 0x51, 0x49, 0x45, 0x3e} // 30 0
,{0x00, 0x42, 0x7f, 0x40, 0x00} // 31 1
,{0x42, 0x61, 0x51, 0x49, 0x46} // 32 2
,{0x21, 0x41, 0x45, 0x4b, 0x31} // 33 3
,{0x18, 0x14, 0x12, 0x7f, 0x10} // 34 4
,{0x27, 0x45, 0x45, 0x45, 0x39} // 35 5
,{0x3c, 0x4a, 0x49, 0x49, 0x30} // 36 6
,{0x01, 0x71, 0x09, 0x05, 0x03} // 37 7
,{0x36, 0x49, 0x49, 0x49, 0x36} // 38 8
,{0x06, 0x49, 0x49, 0x29, 0x1e} // 39 9
,{0x00, 0x36, 0x36, 0x00, 0x00} // 3a :
,{0x00, 0x56, 0x36, 0x00, 0x00} // 3b ;
,{0x08, 0x14, 0x22, 0x41, 0x00} // 3c <
,{0x14, 0x14, 0x14, 0x14, 0x14} // 3d =
,{0x00, 0x41, 0x22, 0x14, 0x08} // 3e >
,{0x02, 0x01, 0x51, 0x09, 0x06} // 3f ?
,{0x32, 0x49, 0x79, 0x41, 0x3e} // 40 @
,{0x7e, 0x11, 0x11, 0x11, 0x7e} // 41 A
,{0x7f, 0x49, 0x49, 0x49, 0x36} // 42 B
,{0x3e, 0x41, 0x41, 0x41, 0x22} // 43 C
,{0x7f, 0x41, 0x41, 0x22, 0x1c} // 44 D
,{0x7f, 0x49, 0x49, 0x49, 0x41} // 45 E
,{0x7f, 0x09, 0x09, 0x09, 0x01} // 46 F
,{0x3e, 0x41, 0x49, 0x49, 0x7a} // 47 G
,{0x7f, 0x08, 0x08, 0x08, 0x7f} // 48 H
,{0x00, 0x41, 0x7f, 0x41, 0x00} // 49 I
,{0x20, 0x40, 0x41, 0x3f, 0x01} // 4a J
,{0x7f, 0x08, 0x14, 0x22, 0x41} // 4b K
,{0x7f, 0x40, 0x40, 0x40, 0x40} // 4c L
,{0x7f, 0x02, 0x0c, 0x02, 0x7f} // 4d M
,{0x7f, 0x04, 0x08, 0x10, 0x7f} // 4e N
,{0x3e, 0x41, 0x41, 0x41, 0x3e} // 4f O
,{0x7f, 0x09, 0x09, 0x09, 0x06} // 50 P
,{0x3e, 0x41, 0x51, 0x21, 0x5e} // 51 Q
,{0x7f, 0x09, 0x19, 0x29, 0x46} // 52 R
,{0x46, 0x49, 0x49, 0x49, 0x31} // 53 S
,{0x01, 0x01, 0x7f, 0x01, 0x01} // 54 T
,{0x3f, 0x40, 0x40, 0x40, 0x3f} // 55 U
,{0x1f, 0x20, 0x40, 0x20, 0x1f} // 56 V
,{0x3f, 0x40, 0x38, 0x40, 0x3f} // 57 W
,{0x63, 0x14, 0x08, 0x14, 0x63} // 58 X
,{0x07, 0x08, 0x70, 0x08, 0x07} // 59 Y
,{0x61, 0x51, 0x49, 0x45, 0x43} // 5a Z
,{0x00, 0x7f, 0x41, 0x41, 0x00} // 5b [
,{0x02, 0x04, 0x08, 0x10, 0x20} // 5c ¥
,{0x00, 0x41, 0x41, 0x7f, 0x00} // 5d ]
,{0x04, 0x02, 0x01, 0x02, 0x04} // 5e ^
,{0x40, 0x40, 0x40, 0x40, 0x40} // 5f _
,{0x00, 0x01, 0x02, 0x04, 0x00} // 60 `
,{0x20, 0x54, 0x54, 0x54, 0x78} // 61 a
,{0x7f, 0x48, 0x44, 0x44, 0x38} // 62 b
,{0x38, 0x44, 0x44, 0x44, 0x20} // 63 c
,{0x38, 0x44, 0x44, 0x48, 0x7f} // 64 d
,{0x38, 0x54, 0x54, 0x54, 0x18} // 65 e
,{0x08, 0x7e, 0x09, 0x01, 0x02} // 66 f
,{0x0c, 0x52, 0x52, 0x52, 0x3e} // 67 g
,{0x7f, 0x08, 0x04, 0x04, 0x78} // 68 h
,{0x00, 0x44, 0x7d, 0x40, 0x00} // 69 i
,{0x20, 0x40, 0x44, 0x3d, 0x00} // 6a j
,{0x7f, 0x10, 0x28, 0x44, 0x00} // 6b k
,{0x00, 0x41, 0x7f, 0x40, 0x00} // 6c l
,{0x7c, 0x04, 0x18, 0x04, 0x78} // 6d m
,{0x7c, 0x08, 0x04, 0x04, 0x78} // 6e n
,{0x38, 0x44, 0x44, 0x44, 0x38} // 6f o
,{0x7c, 0x14, 0x14, 0x14, 0x08} // 70 p
,{0x08, 0x14, 0x14, 0x18, 0x7c} // 71 q
,{0x7c, 0x08, 0x04, 0x04, 0x08} // 72 r
,{0x48, 0x54, 0x54, 0x54, 0x20} // 73 s
,{0x04, 0x3f, 0x44, 0x40, 0x20} // 74 t
,{0x3c, 0x40, 0x40, 0x20, 0x7c} // 75 u
,{0x1c, 0x20, 0x40, 0x20, 0x1c} // 76 v
,{0x3c, 0x40, 0x30, 0x40, 0x3c} // 77 w
,{0x44, 0x28, 0x10, 0x28, 0x44} // 78 x
,{0x0c, 0x50, 0x50, 0x50, 0x3c} // 79 y
,{0x44, 0x64, 0x54, 0x4c, 0x44} // 7a z
,{0x00, 0x08, 0x36, 0x41, 0x00} // 7b {
,{0x00, 0x00, 0x7f, 0x00, 0x00} // 7c |
,{0x00, 0x41, 0x36, 0x08, 0x00} // 7d }
,{0x10, 0x08, 0x08, 0x10, 0x08} // 7e ?
,{0x00, 0x06, 0x09, 0x09, 0x06} // 7f ?
}; // end char ASCII[96][5]
// Initializing Display
i2c_master_setup();
display_init();
char a;
char message[10];
int m = 0;
int i;
int j;
int row;
int col;
// main loop
while (1) {
row = 32;
col = 28;
sprintf(message,"Hello world 1337!");
while(message[m]){
for(j = 0; j<= 4; j = j+1,col = col + 1){
a = ASCII[message[m] - 0x20][j];
for(i = 0; i <= 7; i = i+1)
{
display_pixel_set(row -i,col,(a << i)&0x80);
}
}
m = m+1;
}
display_draw();
m = 0;
}
}
int main ()
{
__builtin_disable_interrupts();
// set the CP0 CONFIG register to indicate that
// kseg0 is cacheable (0x3) or uncacheable (0x2)
// see Chapter 2 "CPU for Devices with M4K Core"
// of the PIC32 reference manual
__builtin_mtc0(_CP0_CONFIG, _CP0_CONFIG_SELECT, 0xa4210583);
// no cache on this chip!
// 0 data RAM access wait states
BMXCONbits.BMXWSDRM = 0x0;
// enable multi vector interrupts
INTCONbits.MVEC = 0x1;
// disable JTAG to be able to use TDI, TDO, TCK, TMS as digital
DDPCONbits.JTAGEN = 0;
__builtin_enable_interrupts();
TRISBbits.TRISB7 = 0; // set up LED1 pin as a digital output
// int i,a;
// display_init();
// for (i = 0; i<10; ++i)
// {
// a = 30+i;
// display_pixel_set(15,a,1);
// display_draw();
// }
char input[100];
int i=0;
short accels[3]; // accelerations for the 3 axes
short mags[3]; // magnetometer readings for the 3 axes
short temp;
acc_setup(); //initialize accelerometer
display_init(); //initialize LED screen
float xg, yg, zg;
while(1)
{
start_position[0] = 0;
start_position[1] = 0;
center_position[0] = 32;
center_position[1] = 64;
acc_read_register(OUT_X_L_A, (unsigned char *) accels, 6);
acc_read_register(OUT_X_L_M, (unsigned char *) mags, 6);
acc_read_register(TEMP_OUT_L, (unsigned char *) &temp, 2);
xg = (float) accels[0]/16000;
yg = (float) accels[1]/16000;
zg = (float) accels[2]/16000;
sprintf(input,"x: %.2f y: %.2f z: %.2f ", xg,yg,zg);
display_reset();
display_draw();
display_ggraph(xg,yg);
while(input[i])
{
display_message(input[i]);
i++;
start_position[1] = start_position[1]+5;
// if(start_position[1]+5>128)
// {start_position[0]+1;}
// else
// {start_position[1] = start_position[1]+5;}
}
i = 0;
display_draw();
_CP0_SET_COUNT(0);
while(_CP0_GET_COUNT()<5000000)
{;}
}
return (0);
}
int main() {
// startup
__builtin_disable_interrupts();
// set the CP0 CONFIG register to indicate that
// kseg0 is cacheable (0x3) or uncacheable (0x2)
// see Chapter 2 "CPU for Devices with M4K Core"
// of the PIC32 reference manual
__builtin_mtc0(_CP0_CONFIG, _CP0_CONFIG_SELECT, 0xa4210583);
// no cache on this chip!
// 0 data RAM access wait states
BMXCONbits.BMXWSDRM = 0x0;
// enable multi vector interrupts
INTCONbits.MVEC = 0x1;
// disable JTAG to be able to use TDI, TDO, TCK, TMS as digital
DDPCONbits.JTAGEN = 0;
__builtin_enable_interrupts();
ANSELAbits.ANSA0 = 0;
// set up USER pin as input
ANSELBbits.ANSB13 = 0;
TRISBbits.TRISB13 = 1;
// set up LED1 pin as a digital output
RPB7Rbits.RPB7R = 0b0001;
TRISBbits.TRISB7 = 0;
LATBbits.LATB7 = 1;
// set up LED2 as OC1 using Timer2 at 1kHz
ANSELBbits.ANSB15 = 0; // 0 for digital
RPB15Rbits.RPB15R = 0b0101; //set B15 as output compare 1
// __builtin_disable_interrupts();
T2CONbits.TCKPS = 0; // Timer2 prescaler N=1 (1:4)
PR2 = 39999; // period = (PR2+1) * N * 12.5 ns = 1 ms, 1 kHz
TMR2 = 0; // initial TMR2 count is 0
OC1CONbits.OCM = 0b110; // PWM mode without fault pin; other OC1CON bits are defaults
T2CONbits.ON = 1; // turn on Timer2
OC1CONbits.ON = 1; // turn on OC1
OC1RS = 0;
OC1R = 0;
// set up A0 as AN0
ANSELAbits.ANSA0 = 1;
AD1CON3bits.ADCS = 3;
AD1CHSbits.CH0SA = 0;
AD1CON1bits.ADON = 1;
while (1) {
// invert pin every 0.5s, set PWM duty cycle % to the pot voltage output
//Use the core timer to double check your CPU clock settings
_CP0_SET_COUNT(0); // set core timer to 0, remember it counts at half the CPU clock
LATBINV = 0x0080; // invert a pin
// wait for half a second, setting LED brightness to pot angle while waiting
while (_CP0_GET_COUNT() < 10000000) {
int val = readADC();
OC1RS = (val * PR2)/1024;
if (PORTBbits.RB13 == 1) {
// nothing
}
else {
LATBINV = 0x0080;
}
}
}
}
int main(void) {
//Startup
__builtin_disable_interrupts();
// set the CP0 CONFIG register to indicate that
// kseg0 is cacheable (0x3) or uncacheable (0x2)
// see Chapter 2 "CPU for Devices with M4K Core"
// of the PIC32 reference manual
__builtin_mtc0(_CP0_CONFIG, _CP0_CONFIG_SELECT, 0xa4210583);
// no cache on this chip!
// 0 data RAM access wait states
BMXCONbits.BMXWSDRM = 0x0;
// enable multi vector interrupts
INTCONbits.MVEC = 0x1;
// disable JTAG to be able to use TDI, TDO, TCK, TMS as digital
DDPCONbits.JTAGEN = 0;
__builtin_enable_interrupts();
ANSELBbits.ANSB13 = 0; // 0 for digital, 1 for analog
ANSELBbits.ANSB15 = 0; // 0 for digital, 1 for analog
T2CONbits.TCKPS = 0; //Setting prescaler to 1 (0 corresponds to 1)
PR2 = 39999; //Setting PR for timer 2 to 39999
TMR2 = 0; //Setting Timer 2 to 0
OC1CONbits.OCTSEL = 0; //Telling OC1 to use timer 2
OC1CONbits.OCM = 0b110; //Telling OC1 to use PWM without the fault
OC1RS = 20000; //Setting initial duty cycle to 20000/(39999+1)*100% = 50%
OC1R = 20000; //Updating duty cycles to 20000/(39999+1)*100% = 50%
T2CONbits.ON = 1; //turn on timer
OC1CONbits.ON = 1; //turn on OC code
// set up USER pin as input
TRISBbits.TRISB13 = 1; // set pin B13 to be digital INPUT
// U1RXRbits.U1RXR = 0b0011; // set U1RX to pin B13 (Input pin from User button)
// set up LED1 pin as a digital output
TRISBbits.TRISB7 = 0; // set pin B7 to be digital OUTPUT
// LATBbits.LATB7 = 1;
// RPB7Rbits.RPB7R = 0b0001; //set B7 to U1TX (Output pin for LED1)
// set up LED2 as OC1 using Timer2 at 1kHz
// TRISBbits.TRISB15 = 0; // set B15 to digital OUTPUT
RPB15Rbits.RPB15R = 0b0101; // set B15 to U1TX (Output pin for OC1)
// set up A0 as AN0
ANSELAbits.ANSA0 = 1;
AD1CON3bits.ADCS = 3;
AD1CHSbits.CH0SA = 0;
AD1CON1bits.ADON = 1;
display_init();
int number = 1337;
sprintf(buffer,"Hello World %d!", number);
display_write(28,32,buffer);
/*int ii; // Draw a line from position (x,y) = (0,15) to (127,15)
for (ii = 0; ii < 128; ii++){
display_pixel_set(15,ii,1);
display_draw();
}*/
while (1){
// invert pin every 0.5s, set PWM duty cycle % to the pot voltage output %
_CP0_SET_COUNT(0);
LATBINV = 0b10000000;
while(_CP0_GET_COUNT()<10000000){
OC1RS = readADC()*(PR2+1)/1023; // delay for 10M core ticks, 0.5s
if (PORTBbits.RB13 == 1){
;// nothing
}
else{
LATBINV = 0b10000000;
}
}
}
}
int main(void) {
//Startup
__builtin_disable_interrupts();
// set the CP0 CONFIG register to indicate that
// kseg0 is cacheable (0x3) or uncacheable (0x2)
// see Chapter 2 "CPU for Devices with M4K Core"
// of the PIC32 reference manual
__builtin_mtc0(_CP0_CONFIG, _CP0_CONFIG_SELECT, 0xa4210583);
// no cache on this chip!
// 0 data RAM access wait states
BMXCONbits.BMXWSDRM = 0x0;
// enable multi vector interrupts
INTCONbits.MVEC = 0x1;
// disable JTAG to be able to use TDI, TDO, TCK, TMS as digital
DDPCONbits.JTAGEN = 0;
__builtin_enable_interrupts();
ANSELBbits.ANSB13 = 0; // 0 for digital, 1 for analog
ANSELBbits.ANSB15 = 0; // 0 for digital, 1 for analog
T2CONbits.TCKPS = 0; //Setting prescaler to 1 (0 corresponds to 1)
PR2 = 39999; //Setting PR for timer 2 to 39999
TMR2 = 0; //Setting Timer 2 to 0
OC1CONbits.OCTSEL = 0; //Telling OC1 to use timer 2
OC1CONbits.OCM = 0b110; //Telling OC1 to use PWM without the fault
OC1RS = 20000; //Setting initial duty cycle to 20000/(39999+1)*100% = 50%
OC1R = 20000; //Updating duty cycles to 20000/(39999+1)*100% = 50%
T2CONbits.ON = 1; //turn on timer
OC1CONbits.ON = 1; //turn on OC code
// set up USER pin as input
TRISBbits.TRISB13 = 1; // set pin B13 to be digital INPUT
// U1RXRbits.U1RXR = 0b0011; // set U1RX to pin B13 (Input pin from User button)
// set up LED1 pin as a digital output
TRISBbits.TRISB7 = 0; // set pin B7 to be digital OUTPUT
// LATBbits.LATB7 = 1;
// RPB7Rbits.RPB7R = 0b0001; //set B7 to U1TX (Output pin for LED1)
// set up LED2 as OC1 using Timer2 at 1kHz
// TRISBbits.TRISB15 = 0; // set B15 to digital OUTPUT
RPB15Rbits.RPB15R = 0b0101; // set B15 to U1TX (Output pin for OC1)
// set up A0 as AN0
ANSELAbits.ANSA0 = 1;
AD1CON3bits.ADCS = 3;
AD1CHSbits.CH0SA = 0;
AD1CON1bits.ADON = 1;
// Accelerometer
acc_setup();
short accels[3]; // accelerations for the 3 axes
short mags[3]; // magnetometer readings for the 3 axes
short temp;
// Display
display_init();
/*int number = 1337;
sprintf(buffer,"Hello World %d!", number);
display_write(28,32,buffer);
*/
/*
for (ii = 0; ii < 128; ii++){ // Draw a line from position (x,y) = (0,15) to (127,15)
display_pixel_set(15,ii,1);
display_draw();
}*/
while (1){
// invert pin every 0.5s, set PWM duty cycle % to the pot voltage output %
_CP0_SET_COUNT(0);
LATBINV = 0b10000000;
while(_CP0_GET_COUNT()<10000000){
OC1RS = readADC()*(PR2+1)/1023; // delay for 10M core ticks, 0.5s
if (PORTBbits.RB13 == 1){
;// nothing
}
else{
LATBINV = 0b10000000;
}
}
// read the accelerometer from all three axes
// the accelerometer and the pic32 are both little endian by default (the lowest address has the LSB)
// the accelerations are 16-bit twos compliment numbers, the same as a short
acc_read_register(OUT_X_L_A, (unsigned char *) accels, 6);
// need to read all 6 bytes in one transaction to get an update.
acc_read_register(OUT_X_L_M, (unsigned char *) mags, 6);
// read the temperature data. Its a right justified 12 bit two's compliment number
acc_read_register(TEMP_OUT_L, (unsigned char *) &temp, 2);
display_clear();
sprintf(buffer1, "(ax, ay, az)");
display_write(0, 0, buffer1);
sprintf(buffer2, "(%d, %d, %d)", accels[0], accels[1], accels[2]);
display_write(0, 48, buffer2);
sprintf(buffer, "Derek Oung");
display_write(0, 56, buffer);
if (accels[0]>0 && accels[1]>0){
x_line_point = (float)((float)accels[0]/16000*64) + 64;
y_line_point = (float)((float)accels[1]/16000*32) + 32;
/*
while (i<x_line_point){
display_pixel_set(32,i,1);
i++;
}
*/
for (i=64;i<x_line_point;i++){
display_pixel_set(31, i, 1);
display_pixel_set(32, i, 1);
display_pixel_set(33, i, 1);
}
for (j=32;j<y_line_point;j++){
display_pixel_set(j, 63, 1);
display_pixel_set(j, 64, 1);
display_pixel_set(j, 65, 1);
}
}
else if (accels[0]>0 && accels[1]<0){
x_line_point = (float)((float)accels[0]/16000*64) + 64;
y_line_point = (float)((float)accels[1]/16000*32) + 32;
for (i=64;i<x_line_point;i++){
display_pixel_set(31, i, 1);
display_pixel_set(32, i, 1);
display_pixel_set(33, i, 1);
}
for (j=32;j>y_line_point;j--){
display_pixel_set(j, 63, 1);
display_pixel_set(j, 64, 1);
display_pixel_set(j, 65, 1);
}
}
else if (accels[0]<0 && accels[1]>0){
x_line_point = (float)((float)accels[0]/16000*64) + 64;
y_line_point = (float)((float)accels[1]/16000*32) + 32;
for (i=64;i>x_line_point;i--){
display_pixel_set(31, i, 1);
display_pixel_set(32, i, 1);
display_pixel_set(33, i, 1);
}
for (j=32;j<y_line_point;j++){
display_pixel_set(j, 63, 1);
display_pixel_set(j, 64, 1);
display_pixel_set(j, 65, 1);
}
}
else if (accels[0]<0 && accels[1]<0){
x_line_point = (float)((float)accels[0]/16000*64) + 64;
y_line_point = (float)((float)accels[1]/16000*32) + 32;
for (i=64;i>x_line_point;i--){
display_pixel_set(31, i, 1);
display_pixel_set(32, i, 1);
display_pixel_set(33, i, 1);
}
for (j=32;j>y_line_point;j--){
display_pixel_set(j, 63, 1);
display_pixel_set(j, 64, 1);
display_pixel_set(j, 65, 1);
}
}
display_pixel_set(31,63,1);
display_pixel_set(31,64,1);
display_pixel_set(31,65,1);
display_pixel_set(32,63,1);
display_pixel_set(32,64,1);
display_pixel_set(32,65,1);
display_pixel_set(33,63,1);
display_pixel_set(33,64,1);
display_pixel_set(33,65,1);
display_draw();
}
}
void setup(){
// DEVCFGs here
// DEVCFG0
#pragma config DEBUG = OFF // no debugging
#pragma config JTAGEN = OFF // no jtag
#pragma config ICESEL = ICS_PGx1 // use PGED1 and PGEC1
#pragma config PWP = OFF // no write protect
#pragma config BWP = OFF // not boot write protect
#pragma config CP = OFF // no code protect
// DEVCFG1
#pragma config FNOSC = PRIPLL // use primary oscillator with pll
#pragma config FSOSCEN = OFF // turn off secondary oscillator
#pragma config IESO = OFF // no switching clocks
#pragma config POSCMOD = HS // high speed crystal mode
#pragma config OSCIOFNC = OFF // free up secondary osc pins
#pragma config FPBDIV = DIV_1 // divide CPU freq by 1 for peripheral bus clock
#pragma config FCKSM = CSDCMD // do not enable clock switch
#pragma config WDTPS = PS1 // slowest wdt
#pragma config WINDIS = OFF // no wdt window
#pragma config FWDTEN = OFF // wdt off by default
#pragma config FWDTWINSZ = WINSZ_25 // wdt window at 25%
// DEVCFG2 - get the CPU clock to 40MHz
#pragma config FPLLIDIV = DIV_2 // divide input clock to be in range 4-5MHz
#pragma config FPLLMUL = MUL_20 // multiply clock after FPLLIDIV
#pragma config UPLLIDIV = DIV_1 // divide clock after FPLLMUL
#pragma config UPLLEN = ON // USB clock on
#pragma config FPLLODIV = DIV_2 // divide clock by 1 to output on pin
// DEVCFG3
#pragma config USERID = 0 // some 16bit userid
#pragma config PMDL1WAY = ON // not multiple reconfiguration, check this
#pragma config IOL1WAY = ON // not multimple reconfiguration, check this
#pragma config FUSBIDIO = ON // USB pins controlled by USB module
#pragma config FVBUSONIO = ON // controlled by USB module
// startup
__builtin_disable_interrupts();
// set the CP0 CONFIG register to indicate that
// kseg0 is cacheable (0x3) or uncacheable (0x2)
// see Chapter 2 "CPU for Devices with M4K Core"
// of the PIC32 reference manual
__builtin_mtc0(_CP0_CONFIG, _CP0_CONFIG_SELECT, 0xa4210583);
// no cache on this chip!
// 0 data RAM access wait states
BMXCONbits.BMXWSDRM = 0x0;
// enable multi vector interrupts
INTCONbits.MVEC = 0x1;
// disable JTAG to be able to use TDI, TDO, TCK, TMS as digital
DDPCONbits.JTAGEN = 0;
__builtin_enable_interrupts();
// set up USER pin as input
ANSELBbits.ANSB13 = 0;
// set up LED1 pin as a digital output -
ANSELBbits.ANSB15 = 0;
TRISBbits.TRISB15 = 0;
_CP0_SET_COUNT(0);
while(_CP0_GET_COUNT()<4000000);
LATBbits.LATB15 = 1;
// set up A0 as AN0
ANSELAbits.ANSA0 = 1;
AD1CON3bits.ADCS = 3;
AD1CHSbits.CH0SA = 0;
AD1CON1bits.ADON = 1;
display_init();
acc_setup();
}
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;
}
int main() {
// startup FROM HW1
__builtin_disable_interrupts();
__builtin_mtc0(_CP0_CONFIG, _CP0_CONFIG_SELECT, 0xa4210583);
BMXCONbits.BMXWSDRM = 0x0;
INTCONbits.MVEC = 0x1;
DDPCONbits.JTAGEN = 0;
__builtin_enable_interrupts();
ANSELBbits.ANSB13 = 0; //Make B13 Digital
TRISBbits.TRISB7 = 0;
RPB15Rbits.RPB15R = 0b0101; //Set B15 as OC1
T2CONbits.TCKPS = 0; //Prescalar = 1
PR2 = 39999; //Max counter value
TMR2 = 0; // Initialize timer 2
OC1CONbits.OCM = 0b110; //Without failsafe
OC1RS = 2000; //Duts cycle is 5%
OC1R = 2000; //Initial duty cycle is 5%
T2CONbits.ON = 1; //turns timer on
OC1CONbits.ON = 1; //Turns output control on
ANSELAbits.ANSA0 = 1;
AD1CON3bits.ADCS = 3;
AD1CHSbits.CH0SA = 0;
AD1CON1bits.ADON = 1;
display_init();
while (1) {
_CP0_SET_COUNT(0); // set core timer to 0, remember it counts at half the CPU clock
LATBINV = 0b10000000; // invert a pin B7 (LED1)
while (_CP0_GET_COUNT() < 10000000) {
int val;
val = readADC();
OC1RS = val * 39; //comes out to about 39
if (PORTBbits.RB13 == 1) {
} else {
LATBINV = 0b10000000; //Invert LED1
}
}
//END STARTUP FROM HW1
display_clear();
char MessageLetters[17]; //= 'Hello world 1337!';
sprintf(MessageLetters, "Hello world 1337!");
int ii = 0;
int currentVal;
int message[17];
while (MessageLetters[ii]) {
currentVal = MessageLetters[ii];
if (currentVal - 32 >= 0) {
message[ii] = currentVal - 32;
}
ii++;
}
int StringCount;
int colLCD; //Create column location on LCD
int rowLCD; //Create row location on LCD
for (StringCount = 0; StringCount < 20; StringCount++) {
for (colLCD = 1; colLCD < 6; colLCD++) { //Cycle through column of array
for (rowLCD = 1; rowLCD < 9; rowLCD++) { //Cycle through row of array
display_pixel_set(rowLCD + 32, colLCD + 6 * StringCount + 28, getBit(message[StringCount], rowLCD - 1, colLCD - 1)); //At this specific (row, col) of screen, turn LCD on (1) or off (0) based on array value
}
}
}
display_draw(); //Commit to LCD screen once all positions defined
}
}
void PIC32startup(void){
//set up DEVCFGs
// DEVCFG0
#pragma config DEBUG = OFF // no debugging
#pragma config JTAGEN = OFF // no jtag
#pragma config ICESEL = ICS_PGx1 // use PGED1 and PGEC1
#pragma config PWP = OFF // no write protect
#pragma config BWP = OFF // not boot write protect
#pragma config CP = OFF // no code protect
// DEVCFG1
#pragma config FNOSC = PRIPLL // use primary oscillator with pll
#pragma config FSOSCEN = OFF // turn off secondary oscillator
#pragma config IESO = OFF // no switching clocks
#pragma config POSCMOD = HS // high speed crystal mode
#pragma config OSCIOFNC = OFF // free up secondary osc pins by turning sosc off
#pragma config FPBDIV = DIV_1 // divide CPU freq by 1 for peripheral bus clock
#pragma config FCKSM = CSDCMD // do not enable clock switch
#pragma config WDTPS = PS1048576 // slowest wdt
#pragma config WINDIS = OFF // no wdt window
#pragma config FWDTEN = OFF // wdt off by default
//#pragma config FWDTWINSZ = WINSZ_25 // wdt window at 25%
// DEVCFG2 - get the CPU clock to 40MHz
#pragma config FPLLIDIV = DIV_2 // divide input clock to be in range 4-5MHz
#pragma config FPLLMUL = MUL_20 // multiply clock after FPLLIDIV
#pragma config FPLLODIV = DIV_2 // divide clock after FPLLMUL to get 40MHz
#pragma config UPLLIDIV = DIV_2 // divide 8MHz input clock, then multiply by 12 to get 48MHz for USB
#pragma config UPLLEN = ON // USB clock on
// DEVCFG3
#pragma config USERID = 12345 // some 16bit userid, doesn't matter what
#pragma config PMDL1WAY = ON // allow only one reconfiguration
#pragma config IOL1WAY = ON // allow only one reconfiguration
#pragma config FUSBIDIO = ON // USB pins controlled by USB module
#pragma config FVBUSONIO = ON // controlled by USB module
__builtin_disable_interrupts(); //beginning of startup
__builtin_mtc0(_CP0_CONFIG, _CP0_CONFIG_SELECT, 0xa4210583);
BMXCONbits.BMXWSDRM=0x0;
INTCONbits.MVEC=0x1;
DDPCONbits.JTAGEN=0;
__builtin_enable_interrupts(); //end of startup
ANSELBbits.ANSB13=0; //sets up USER pin as input
U1RXRbits.U1RXR=0b0011;
TRISBbits.TRISB4=0; //sets up B7 as digital output
//RPB3Rbits.RPB3R=0b0001; //sets up LED1 pin as a digital output
//TRISBbits.TRISB3=0;
ANSELBbits.ANSB15=0; //sets up LED2 pin as digital PWM output
//TRISBbits.TRISB4=0;
RPB7Rbits.RPB7R=0b0101;
RPB3Rbits.RPB3R=0b0101;
OC1CONbits.OCM=0b110; //enable OC1
OC1CONbits.OCTSEL=0;
OC1RS=0;
OC1R=0;
OC1CONbits.ON=1;
OC2CONbits.OCM=0b110; //enable OC2
OC2CONbits.OCTSEL=0;
OC2RS=0;
OC2R=0;
OC2CONbits.ON=1;
PR2=3125-1; //sets up timer 2 to run at 50Hz
TMR2=0;
T2CONbits.TCKPS=0b111;
T2CONbits.TGATE=0;
T2CONbits.TCS=0;
T2CONbits.ON=1;
ANSELAbits.ANSA0 = 1; //sets up A0 as AN0
AD1CON3bits.ADCS = 3;
AD1CHSbits.CH0SA = 0;
AD1CON1bits.ADON = 1;
}
int main() {
// startup
__builtin_disable_interrupts();
// set the CP0 CONFIG register to indicate that
// kseg0 is cacheable (0x3) or uncacheable (0x2)
// see Chapter 2 "CPU for Devices with M4K Core"
// of the PIC32 reference manual
__builtin_mtc0(_CP0_CONFIG, _CP0_CONFIG_SELECT, 0xa4210583);
// no cache on this chip!
// 0 data RAM access wait states
BMXCONbits.BMXWSDRM = 0x0;
// enable multi vector interrupts
INTCONbits.MVEC = 0x1;
// disable JTAG to be able to use TDI, TDO, TCK, TMS as digital
DDPCONbits.JTAGEN = 0;
__builtin_enable_interrupts();
// set up USER pin as input
ANSELBbits.ANSB13 = 0;
TRISBbits.TRISB13 = 1;
INT4Rbits.INT4R = 0b0100;
// set up LED1 pin as a digital output
ANSELBbits.ANSB14 = 0;
TRISBbits.TRISB14 = 0;
//RPB14Rbits.RPB14R = 0b0001;
LATBbits.LATB14 = 1;
// set up LED2 as OC1 using Timer2 at 1kHz
ANSELBbits.ANSB15 = 0;
TRISBbits.TRISB15 = 0;
RPB15Rbits.RPB15R = 0b0101;
T2CONbits.T32 = 0;
T2CONbits.TCS = 0;
T2CONbits.TGATE = 0;
T2CONbits.TCKPS = 0b100;
PR2 = 4999;
TMR2 = 0;
T2CONbits.ON = 1;
OC1CONbits.OCM = 0b110;
OC1RS = 2500; // 50% duty cycle
OC1R = 2500;
OC1CONbits.ON = 1;
// set up A0 as AN0
ANSELAbits.ANSA0 = 1;
AD1CON3bits.ADCS = 3;
AD1CHSbits.CH0SA = 0;
AD1CON1bits.ADON = 1;
while (1) {
_CP0_SET_COUNT(0); // set core timer to 0, remember it counts at half the CPU clock
LATBINV = 0b100000000000000; // invert a pin
// wait for half a second, setting LED brightness to pot angle while waiting
while (_CP0_GET_COUNT() < 10000000) {
int val = readADC();
OC1RS = val*(5000/1024);
if (PORTBbits.RB13 == 1) {
// nothing
}
else {
LATBINV = 1<<14;
}
}
}
}
void APP_Initialize ( void )
{
/* Device Layer Handle */
appData.deviceHandle = USB_DEVICE_HANDLE_INVALID;
/* USART Driver Handle */
appData.usartHandle = DRV_HANDLE_INVALID;
/* CDC Instance index for this app object00*/
appData.cdcInstance = USB_DEVICE_CDC_INDEX_0;
/* app state */
appData.state = APP_STATE_INIT ;
/* device configured status */
appData.isConfigured = false;
/* Initial get line coding state */
appData.getLineCodingData.dwDTERate = 9600;
appData.getLineCodingData.bDataBits = 8;
appData.getLineCodingData.bParityType = 0;
appData.getLineCodingData.bCharFormat = 0;
/* Read Transfer Handle */
appData.readTransferHandle = USB_DEVICE_CDC_TRANSFER_HANDLE_INVALID;
/* Write Transfer Handle */
appData.writeTransferHandle = USB_DEVICE_CDC_TRANSFER_HANDLE_INVALID;
/* Intialize the read complete flag */
appData.isReadComplete = true;
/*Initialize the write complete flag*/
appData.isWriteComplete = true;
/*Initialize the buffer pointers */
appData.readBuffer = &readBuffer[0];
appData.uartReceivedData = &uartReceivedData;
__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;
TRISA = 0xFFCF;
TRISB = 0b0001111001110011;
__builtin_enable_interrupts();
RPB7Rbits.RPB7R = 0b0101; //OC1
RPB8Rbits.RPB8R = 0b0101; //OC2
RPA4Rbits.RPA4R = 0b0101; //OC4
T2CONbits.TCKPS = 2; //timer 2 prescale = 1:4
PR2 = 2999;//1999; //period = (PR2+1) * N * 12.5 ns = 100 us, 10 kHz
TMR2 = 0;
OC1RS = 1000;
OC1R = 1000;
OC2RS = 1000;
OC2R = 1000;
OC4RS = 1000;
OC4R = 1000;
OC1CONbits.OCTSEL = 0; //select timer2
OC2CONbits.OCTSEL = 0;
OC4CONbits.OCTSEL = 0;
OC1CONbits.OCM = 0b110; //set pwm mode
OC2CONbits.OCM = 0b110;
OC4CONbits.OCM = 0b110;
T2CONbits.ON = 1;
OC1CONbits.ON = 1;
OC2CONbits.ON = 1;
OC4CONbits.ON = 1;
PORTBbits.RB15 = 1; //led init
PORTBbits.RB14 = 1; //led init
//PORTAbits.RA4 = 1;
}
int main() {
// startup
__builtin_disable_interrupts();
// set the CP0 CONFIG register to indicate that
// kseg0 is cacheable (0x3) or uncacheable (0x2)
// see Chapter 2 "CPU for Devices with M4K Core"
// of the PIC32 reference manual
__builtin_mtc0(_CP0_CONFIG, _CP0_CONFIG_SELECT, 0xa4210583);
// no cache on this chip!
// 0 data RAM access wait states
BMXCONbits.BMXWSDRM = 0x0;
// enable multi vector interrupts
INTCONbits.MVEC = 0x1;
// disable JTAG to be able to use TDI, TDO, TCK, TMS as digital
DDPCONbits.JTAGEN = 0;
__builtin_enable_interrupts();
// set up USER pin as input
ANSELBbits.ANSB13 = 0;
TRISBbits.TRISB13 = 1;
// set up LED1 pin as a digital output
TRISBbits.TRISB7 = 0;
LATBbits.LATB7 = 1;
// set up LED2 as OC1 using Timer2 at 1kHz
ANSELBbits.ANSB15 = 0;
RPB15Rbits.RPB15R = 0b0101;
// set up A0 as AN0
ANSELAbits.ANSA0 = 1;
AD1CON3bits.ADCS = 3;
AD1CHSbits.CH0SA = 0;
AD1CON1bits.ADON = 1;
//pwm
T2CONbits.TCKPS = 1; // Timer2 prescaler N=2
PR2 = 19999; // period = (PR2+1) * N * 25 ns => 1000 Hz
TMR2 = 0; // initial TMR4 count is 0
//OC1
OC1CONbits.OCM = 0b110; // PWM mode without fault pin; other OC1CON bits are defaults
OC1CONbits.OCTSEL = 0; // set timer select bit to 0 for using Timer2
OC1RS = 20000; // duty cycle = OC1RS/(PR3+1) = 75%
// OC1R = 19999; // initialize before turning OC1 on; afterward it is read-only
T2CONbits.ON = 1; //Turn Timer4 on
OC1CONbits.ON = 1; // turn on OC1
while (1) {
// invert pin every 0.5s, set PWM duty cycle % to the pot voltage output %
_CP0_SET_COUNT(0); // set core timer to 0, remember it counts at half the CPU clock
LATBINV = 0b10000000; // invert a pin
// wait for half a second, setting LED brightness to pot angle while waiting
while (_CP0_GET_COUNT() < 10000000) {
int val = readADC();
OC1RS = val * 20000/1023;
if (PORTBbits.RB13 == 1) {
// nothing
//EVERYTHING
} else {
LATBINV = 0b10000000;
}
}
}
}
int main ( void )
{
/* Initialize all MPLAB Harmony modules, including application(s). */
SYS_Initialize ( NULL );
//Startup
__builtin_disable_interrupts();
// set the CP0 CONFIG register to indicate that
// kseg0 is cacheable (0x3) or uncacheable (0x2)
// see Chapter 2 "CPU for Devices with M4K Core"
// of the PIC32 reference manual
__builtin_mtc0(_CP0_CONFIG, _CP0_CONFIG_SELECT, 0xa4210583);
// no cache on this chip!
// 0 data RAM access wait states
BMXCONbits.BMXWSDRM = 0x0;
// enable multi vector interrupts
INTCONbits.MVEC = 0x1;
// disable JTAG to be able to use TDI, TDO, TCK, TMS as digital
DDPCONbits.JTAGEN = 0;
__builtin_enable_interrupts();
ANSELBbits.ANSB13 = 0; // 0 for digital, 1 for analog
ANSELBbits.ANSB15 = 0; // 0 for digital, 1 for analog
T2CONbits.TCKPS = 0; //Setting prescaler to 1 (0 corresponds to 1)
PR2 = 39999; //Setting PR for timer 2 to 39999
TMR2 = 0; //Setting Timer 2 to 0
OC1CONbits.OCTSEL = 0; //Telling OC1 to use timer 2
OC1CONbits.OCM = 0b110; //Telling OC1 to use PWM without the fault
OC1RS = 20000; //Setting initial duty cycle to 20000/(39999+1)*100% = 50%
OC1R = 20000; //Updating duty cycles to 20000/(39999+1)*100% = 50%
T2CONbits.ON = 1; //turn on timer
OC1CONbits.ON = 1; //turn on OC code
// set up USER pin as input
TRISBbits.TRISB13 = 1; // set pin B13 to be digital INPUT
// U1RXRbits.U1RXR = 0b0011; // set U1RX to pin B13 (Input pin from User button)
// set up LED1 pin as a digital output
TRISBbits.TRISB7 = 0; // set pin B7 to be digital OUTPUT
// LATBbits.LATB7 = 1;
// RPB7Rbits.RPB7R = 0b0001; //set B7 to U1TX (Output pin for LED1)
// set up LED2 as OC1 using Timer2 at 1kHz
// TRISBbits.TRISB15 = 0; // set B15 to digital OUTPUT
// RPB15Rbits.RPB15R = 0b0101; // set B15 to U1TX (Output pin for OC1)
// set up A0 as AN0
ANSELAbits.ANSA0 = 1;
AD1CON3bits.ADCS = 3;
AD1CHSbits.CH0SA = 0;
AD1CON1bits.ADON = 1;
// Accelerometer
acc_setup();
volatile short accels[3]; // accelerations for the 3 axes
volatile short mags[3]; // magnetometer readings for the 3 axes
volatile short temp;
// Display
display_init();
while (1){
// invert pin every 0.5s, set PWM duty cycle % to the pot voltage output %
SYS_Tasks ( );
/*
if (accels[0]>0 && accels[1]>0){
x_line_point = (float)((float)accels[0]/16000*64) + 64;
y_line_point = (float)((float)accels[1]/16000*32) + 32;
for (i=64;i<x_line_point;i++){
display_pixel_set(31, i, 1);
display_pixel_set(32, i, 1);
display_pixel_set(33, i, 1);
}
for (j=32;j<y_line_point;j++){
display_pixel_set(j, 63, 1);
display_pixel_set(j, 64, 1);
display_pixel_set(j, 65, 1);
}
}
else if (accels[0]>0 && accels[1]<0){
x_line_point = (float)((float)accels[0]/16000*64) + 64;
y_line_point = (float)((float)accels[1]/16000*32) + 32;
for (i=64;i<x_line_point;i++){
display_pixel_set(31, i, 1);
display_pixel_set(32, i, 1);
display_pixel_set(33, i, 1);
}
for (j=32;j>y_line_point;j--){
display_pixel_set(j, 63, 1);
display_pixel_set(j, 64, 1);
display_pixel_set(j, 65, 1);
}
}
else if (accels[0]<0 && accels[1]>0){
x_line_point = (float)((float)accels[0]/16000*64) + 64;
y_line_point = (float)((float)accels[1]/16000*32) + 32;
for (i=64;i>x_line_point;i--){
display_pixel_set(31, i, 1);
display_pixel_set(32, i, 1);
display_pixel_set(33, i, 1);
}
for (j=32;j<y_line_point;j++){
display_pixel_set(j, 63, 1);
display_pixel_set(j, 64, 1);
display_pixel_set(j, 65, 1);
}
}
else if (accels[0]<0 && accels[1]<0){
x_line_point = (float)((float)accels[0]/16000*64) + 64;
y_line_point = (float)((float)accels[1]/16000*32) + 32;
for (i=64;i>x_line_point;i--){
display_pixel_set(31, i, 1);
display_pixel_set(32, i, 1);
display_pixel_set(33, i, 1);
}
for (j=32;j>y_line_point;j--){
display_pixel_set(j, 63, 1);
display_pixel_set(j, 64, 1);
display_pixel_set(j, 65, 1);
}
}
display_pixel_set(31,63,1);
display_pixel_set(31,64,1);
display_pixel_set(31,65,1);
display_pixel_set(32,63,1);
display_pixel_set(32,64,1);
display_pixel_set(32,65,1);
display_pixel_set(33,63,1);
display_pixel_set(33,64,1);
display_pixel_set(33,65,1);
display_draw();
* */
}
/* Execution should not come here during normal operation */
return ( EXIT_FAILURE );
}
