void systemSetup(GlobalState *data) {
rs232Setup2(); // configure USART2
rs232Setup1(); // configure USART1
i2CSetup();
RFIDSetup();
#if FRONT_NOT_BACK
initSPI1();
initLCD();
keypadSetup(); // configure keypad
setupPWM();
#else
LEDSetup();
#endif
data->myRequestStatus = 0;
data->displayPage = 0;
data->keyFlag = FALSE;
data->displayedKey = FALSE;
data->keyPress = -1;
data->cursorPos = 0;
// Select Game Menu
data->mode = -1;
data->game = -1;
// Find better way to do this
data->mainMenuSpots[0] = 40;
data->mainMenuSpots[1] = 80;
data->mainMenuSpots[2] = 120;
data->getInventory = FALSE;
data->xbeeFlag = FALSE;
data->goBack = FALSE;
// Game Related Globals
data->keyStatus = -1;
memset(data->selectMove, 0, sizeof (int) * 4 * 3);
data->selectMove[0][1] = 10;
data->cardSelect[0] = 1;
data->cardSelect[1] = 0;
data->cardSelect[2] = 0;
data->cardSelect[3] = 0;
data->firstTime = TRUE;
data->updateLEDFlag = TRUE;
data->lastCards = 0;
data->readCard = 0;
data->dataBlockNum = 0;
data->dataSlotNum = 0;
memset(data->dataBlock, 0, sizeof (char) * CARDBLOCKSIZE);
data->runGetUpdatedCards = FALSE;
data->gotI2C = 0;
data->sendI2C = 0;
data->displayPage = 0;
data->newDisplay = 0;
data->newGame = 1;
data->newKeyboard = 1;
data->doneKeyboard = 0;
OpenTimer0(TIMER_INT_OFF & T0_SOURCE_INT & T0_PS_1_32);
return;
}
int 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;
__builtin_enable_interrupts();
initSPI1();
initI2C2();
i2c_master_setup();
initExpander();
//sine wave
int sine[1000];
int i;
for(i = 0; i < 1000; i++){
sine[i] = 128 + 127*sin(2*3.14*10*i/1000);
}
int triangle[1000];
i = 0;
for(i = 0; i < 1000; i++){
triangle[i] = .256*i;
}
i = 0;
while(1) {
_CP0_SET_COUNT(0);
if(_CP0_GET_COUNT() > 24000){
i++;
setVoltage(0, sine[i]);
setVoltage(1, triangle[i]);
_CP0_SET_COUNT(0);
}
if(i > 1000){
i = 0;
}
char status = getExpander(); //read the expander
char g7 = (status & 0x80) >> 7; //get level of pin g7
setExpander(0, g7); //set pin 0 to level of g7
}
}
int16_t main(void)
{
unsigned int buttonCounter = 20000;
int i;
/* Configure the oscillator for the device */
ConfigureOscillator();
/* Initialize IO ports and peripherals */
InitApp();
//initSerial();
initSPI1();
initSPI2();
InitI2C();
__delay32(1600000); // allow for POR for all devices
initnRF();
ControlByte = 0x00D0; // mpu6050 address
InitMPU6050(ControlByte);
// InitHMC5883L();
__delay_ms(500);
/** Init control loop *****************************************************/
readSensorData();
accXangle = (atan2(accel[0], accel[2])*RAD_TO_DEG);
accYangle = (atan2(accel[1], accel[2])*RAD_TO_DEG);
gyroXangle = accXangle;
gyroYangle = accYangle;
compAngleX = accXangle;
compAngleY = accYangle;
AngleOffset[0] = accXangle;
AngleOffset[1] = accYangle;
CalibrateGyro(); // Finding the gyro zero-offset
SetupInterrupts();
////// int serStringN = 14;
////// char nRFstatus = 0;
//////// int i;
////// delaytime = 1;
////// bool mode = 0;
while(1)
{
/** Read Button RB7 for enable steppers *******************************/
if (buttonState == 0 && PORTBbits.RB7 && !buttonCounter)
{
buttonState = 1;
buttonCounter = 20000;
enableSteppers = 0;
}
if (buttonState == 1 && !PORTBbits.RB7 && !buttonCounter)
{
enableSteppers = 2;
__delay32(40000000);
buttonState = 2;
buttonCounter = 20000;
enableSteppers = 1;
}
if (buttonState == 2 && PORTBbits.RB7 && !buttonCounter)
{
buttonState = 3;
buttonCounter = 20000;
enableSteppers = 0;
}
if (buttonState == 3 && !PORTBbits.RB7 && !buttonCounter)
{
buttonState = 0;
buttonCounter = 20000;
enableSteppers = 0;
}
if (buttonCounter)
{
buttonCounter--;
}
for (i=0;i<100;i++)
{
i=i;
}
// __delay32(100);
}
}
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;
}
