// Get rows from other half over i2c
int i2c_transaction(void) {
int slaveOffset = (isLeftHand) ? (ROWS_PER_HAND) : 0;
int err = i2c_master_start(SLAVE_I2C_ADDRESS + I2C_WRITE);
if (err) goto i2c_error;
// Matrix stored at 0x00-0x03
err = i2c_master_write(0x00);
if (err) goto i2c_error;
// Start read
err = i2c_master_start(SLAVE_I2C_ADDRESS + I2C_READ);
if (err) goto i2c_error;
if (!err) {
int i;
for (i = 0; i < ROWS_PER_HAND-1; ++i) {
matrix[slaveOffset+i] = i2c_master_read(I2C_ACK);
}
matrix[slaveOffset+i] = i2c_master_read(I2C_NACK);
i2c_master_stop();
} else {
i2c_error: // the cable is disconnceted, or something else went wrong
i2c_reset_state();
return err;
}
return 0;
}
/*
* PCF8523 slightly changed its 7 bytes encoded in BCD:
* 03h - Seconds - 00-59
* 04h - Minutes - 00-59
* 05h - Hours - 00-23
* 06h - monthday - 01-31
* 07h - weekday - 00-06
* 08h - Month - 01-12
* 09h - Year - 00-99
*
*/
time_t rtc_readValue() {
i2c_cmd_handle_t cmd = i2c_cmd_link_create();
ESP_ERROR_CHECK(i2c_master_start(cmd));
ESP_ERROR_CHECK(i2c_master_write_byte(cmd, (RTC_ADDRESS << 1) | I2C_MASTER_WRITE, true /* expect ack */));
ESP_ERROR_CHECK(i2c_master_write_byte(cmd, 0x03, 1)); // start address
ESP_ERROR_CHECK(i2c_master_start(cmd));
ESP_ERROR_CHECK(i2c_master_write_byte(cmd, (RTC_ADDRESS << 1) | I2C_MASTER_READ, true /* expect ack */));
uint8_t data[7];
ESP_ERROR_CHECK(i2c_master_read(cmd, data, 7, false));
ESP_ERROR_CHECK(i2c_master_stop(cmd));
COMMANDCHECKOKERR(i2c_master_cmd_begin(I2C_NUM_0, cmd, 1000/portTICK_PERIOD_MS),"RTC COMMAND");
i2c_cmd_link_delete(cmd);
int i;
for (i=0; i<7; i++) {
ESP_LOGD(tag, "%d: 0x%.2x", i, data[i]);
}
struct tm tm;
tm.tm_sec = bcdToInt(data[0]);
tm.tm_min = bcdToInt(data[1]);
tm.tm_hour = bcdToInt(data[2]);
tm.tm_mday = bcdToInt(data[3]);
tm.tm_mon = bcdToInt(data[5]) - 1; // 0-11 - Note: The month on the PCF8523 is 1-12.
tm.tm_year = bcdToInt(data[6]) + 100; // Years since 1900
time_t readTime = mktime(&tm);
return readTime;
}
int i2c_write_read(uint8_t stop, uint8_t slave, uint8_t rsize, uint8_t *rbuf, uint8_t wsize, uint8_t *wbuf)
{
if (rsize == 0 && wsize == 0) {
return ESP_OK;
}
i2c_cmd_handle_t cmd;
cmd = i2c_cmd_link_create();
i2c_master_start(cmd);
if (wsize) {
i2c_master_write_byte(cmd, ( slave << 1 ) | I2C_MASTER_WRITE, ACK_CHECK);
i2c_master_write(cmd, wbuf, wsize, ACK_CHECK);
if (!rsize) {
i2c_master_stop(cmd); \
esp_err_t ret = i2c_master_cmd_begin(I2C_NUM, cmd, 1000 / portTICK_RATE_MS); \
i2c_cmd_link_delete(cmd);
// I2C_FINISH;
return ret;
}
if (stop) { // rsize is nonzero
i2c_master_stop(cmd); \
esp_err_t ret = i2c_master_cmd_begin(I2C_NUM, cmd, 1000 / portTICK_RATE_MS); \
i2c_cmd_link_delete(cmd);
// I2C_FINISH;
if (ret)
return -1;
cmd = i2c_cmd_link_create();
i2c_master_start(cmd);
} else {
i2c_master_start(cmd);
}
i2c_master_write_byte(cmd, ( slave << 1 ) | I2C_MASTER_READ, ACK_CHECK);
} else {
// rsize must be nonzero because of the initial check at the top
i2c_master_write_byte(cmd, ( slave << 1 ) | I2C_MASTER_READ, ACK_CHECK);
}
if (rsize > 1) {
i2c_master_read(cmd, rbuf, rsize - 1, ACK_VAL);
}
i2c_master_read_byte(cmd, rbuf + rsize - 1, NACK_VAL);
I2C_FINISH;
return ret;
}
uint8_t matrix_scan(void)
{
int ret = _matrix_scan();
int slaveOffset = (isLeftHand) ? (ROWS_PER_HAND) : 0;
#ifdef USE_I2C
// Get rows from other half over i2c
// Matrix stored at 0x00-0x03
int err = i2c_master_start(SLAVE_I2C_ADDRESS + I2C_WRITE);
if (err) goto i2c_error;
err = i2c_master_write(0x00);
if (err) goto i2c_error;
err = i2c_master_start(SLAVE_I2C_ADDRESS + I2C_READ);
if (err) goto i2c_error;
if (!err) {
// turn off the indicator led on no error
//PORTD |= (1<<5);
int i;
for (i = 0; i < ROWS_PER_HAND-1; ++i) {
matrix[slaveOffset+i] = i2c_master_read(I2C_ACK);
}
matrix[slaveOffset+i] = i2c_master_read(I2C_NACK);
i2c_master_stop();
} else {
i2c_error: // the cable is disconnceted, or something else went wrong
// reset the i2c state
TWCR = 0;
// turn on the indicator led
//PORTD &= ~(1<<5);
// if we cannot communicate with the other half, then unset all of its keys
for (int i = 0; i < ROWS_PER_HAND; ++i) {
matrix[slaveOffset+i] = 0;
}
}
#else
if( serial_transaction() ) {
// turn on the indicator led
//PORTD &= ~(1<<5);
// if we cannot communicate with the other half, then unset all of its keys
for (int i = 0; i < ROWS_PER_HAND; ++i) {
matrix[slaveOffset+i] = 0;
}
} else {
// turn off the indicator led on no error
//PORTD |= (1<<5);
// no error
for (int i = 0; i < ROWS_PER_HAND; ++i) {
matrix[slaveOffset+i] = serial_slave_buffer[i];
}
}
#endif
return ret;
}
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);
}
}
