/*****************************************************************************
* Function Name : gyroSetupPeripheral
* Description : Setup I2C for gyroscope
* Parameters : None
* Return Value : None
*****************************************************************************/
static inline void gyroSetupPeripheral(void) {
unsigned int I2C2CONvalue, I2C2BRGvalue;
I2C2CONvalue = I2C2_ON & I2C2_IDLE_CON & I2C2_CLK_HLD &
I2C2_IPMI_DIS & I2C2_7BIT_ADD & I2C2_SLW_DIS &
I2C2_SM_DIS & I2C2_GCALL_DIS & I2C2_STR_DIS &
I2C2_NACK & I2C2_ACK_DIS & I2C2_RCV_DIS &
I2C2_STOP_DIS & I2C2_RESTART_DIS & I2C2_START_DIS;
// BRG = Fcy(1/Fscl - 1/10000000)-1, Fscl = 400KHz
I2C2BRGvalue = 95;
OpenI2C2(I2C2CONvalue, I2C2BRGvalue);
IdleI2C2();
}
/*
* configures and starts incoming data communication
* The incoming I2C uses MSSP2
*/
int setupIncoming() {
int SLAVE_ADDRESS = 0x28; // the slave address
// set pins RC14, RC15 as inputs
TRISCbits.TRISC3 = 1; // SCL1
ANSELCbits.ANSC3 = 0;
TRISCbits.TRISC4 = 1; // SDA1
ANSELCbits.ANSC4 = 0;
// configure MSSP2 for i2c slave operation.
CloseI2C2();
OpenI2C2(SLAVE_7, SLEW_OFF);
SSPADD = SLAVE_ADDRESS;
return (1);
}
void I2C2_INIT(S32 v_I2Cfreq_S32, U8 v_IntConfig_U8)
{
/*** Local variable ***/
S32 v_Fosc_S32 = 4E6;
U8 v_I2CBRG_U8 = 3;
// Get the Oscillator Frequency
v_Fosc_S32 = GET_FreqOsc();
// Calculate BaudRate
v_I2CBRG_U8 = ((F32)v_Fosc_S32/v_I2Cfreq_S32) - ((F32)v_Fosc_S32/10000000) - 1;
// Configure Interrupts
ConfigIntI2C2(v_IntConfig_U8);
// Open I2C with specified BaudRate
OpenI2C2(I2C_ON, v_I2CBRG_U8);
}
/******************************************************************************
* Function: void Init_IOExpander(void)
*
* PreCondition: None
*
* Input: None
*
* Output: None
*
* Side Effects: None
*
* Overview: MACInit enables the Ethernet module, waits for the
* to become ready, and programs all registers for future
* TX/RX operations.
*
* Note: This function blocks for at least 1ms, waiting for the
* hardware to stabilize.
*****************************************************************************/
void Init_IOExpander(void)
{
while (Return_Val == Busy)
{
switch ( CMI )
{
case INIT : // Clear MCLR pins of the IOexpanders
IO_Expander_Enable = True;
// Give the IO expander some time after de-reset
Delay1KTCYx(10);
// Use MSSP2 the pins of this module are connected to RD5 and RD6,
// all calls to I2C lib must be nummerated with 2 : OpenI2C2 _
//---INITIALISE THE I2C MODULE FOR MASTER MODE WITH 100KHz ---
OpenI2C2(MASTER,SLEW_ON);
//400kHz Baud clock @41.667MHz = 0x19 // 100kHz Baud clock @41.667MHz = 0x67 // 1MHz Baud clock @41.667MHz = 0x09 // 1.7MHzBaud clock @41.667MHz = 0x05
SSP2ADD=0x09;
//read any previous stored content in buffer to clear buffer full status EXPNDNQ
data = SSP2BUF;
//init Active_IOEXP with te number of total IOexpanders
Active_IOEXP = 0;
CMI = START;
break;
case START : switch ( CMI2 )
{
case INIT : if ( (Active_IOEXP >= EXPNDNQ))
{
Return_Val = Finished;
CMI = INIT;
CMI2 = INIT;
Active_IOEXP = 0;
break;
}
Active_REG = 0;
Active_DATA = 0;
CMI2 = IDLE;
break;
case IDLE : if ( Active_REG >= WRITE_REG )
{
CMI2 = INIT;
Active_IOEXP++;
break;
}
CMI = IDLE;
CMI2 = STARTI2C;
break;
case STARTI2C: StartI2C2();
CMI2 = WRITE1;
break;
case WRITE1 : CMI = ADDR;
CMI2 = WRITE2;
break;
case WRITE2 : CMI = REG;
CMI2 = WRITE3;
break;
case WRITE3 : CMI = DATAOUT;
CMI2 = STOPI2C;
break;
case STOPI2C : Active_REG++;
Active_DATA++;
StopI2C2();
CMI2 = RSTRTI2C;
break;
case RSTRTI2C: RestartI2C2();
CMI2 = IDLE;
break;
default : break;
}
break;
case IDLE : switch ( Return_Val_Routine = IdleI2C2() ) //check for bus idle condition in multi master communication
{
case Finished : CMI = START;
break;
case Busy : CMI = IDLE;
break;
default : CMI = IDLE;
break;
}
break;
case ADDR : switch ( Return_Val_Routine = WriteI2C2 (IOEXP[Active_IOEXP].GADDR) )
{
case Finished : CMI = START;
break;
case Busy : CMI = ADDR;
break;
default : CMI = ADDR;
break;
}
break;
case REG : switch ( Return_Val_Routine = WriteI2C2 (GREG[Active_REG]) )
{
case Finished : CMI = START;
break;
case Busy : CMI = REG;
break;
default : CMI = REG;
break;
}
break;
case DATAOUT : switch ( Return_Val_Routine = WriteI2C2 (IOEXP[Active_IOEXP].GDATA[Active_DATA]) )
{
case Finished : CMI = START;
break;
case Busy : CMI = DATAOUT;
break;
default : CMI = DATAOUT;
break;
}
break;
default : break;
}
}
}
void main(void) {
// === enable system wide interrupts ========
INTEnableSystemMultiVectoredInt();
// // init the threads
PT_INIT(&pt_uart);
PT_setup();
ANSELA = 0; //make sure analog is cleared
ANSELB = 0;
OpenI2C2( I2C_EN, BRG_VAL );
I2C2CON |= I2C_7BIT_ADD + I2C_SM_EN;
I2C2CON |= I2C_RESTART_EN; //restart needed to read from ir temp
unsigned char cmd = 0; //command line
unsigned char data = 0; //output data, digital value to be converted
//unsigned char addr = 0x1C;
//Thermometer sensor: 5A
//===========Configuring the IMU========================//
unsigned int OPR_CODE = 0x3D;
SendIMUData(OPR_CODE, 0x0C); //sets IMU mode
//========================================================//
while(1){
// temp = RcvIRTemp();
// cels = temp / 50 - 273; //convert read value to celsius
// delay_ms(10);
PT_SCHEDULE(protothread_uart(&pt_uart));
temp = RcvIMUData(0x20);
delay_ms(10);
}
// // PuTTY
clrscr(); //clear PuTTY screen
home();
// // By default, MPLAB XC32's libraries use UART2 for STDOUT.
// // This means that formatted output functions such as printf()
// // will send their output to UART2
//-----------------------------------------------//
// === configure threads ==========
// turns OFF UART support and debugger pin, unless defines are set
// === enable system wide interrupts ========
INTEnableSystemMultiVectoredInt();
// // init the threads
PT_INIT(&pt_uart);
// // === set up input capture
// // based on timer3 (need to configure timer 3 seperately)
// OpenCapture1(IC_EVERY_RISE_EDGE | IC_INT_1CAPTURE | IC_CAP_32BIT | IC_TIMER2_SRC | IC_ON);
// // turn on the interrupt so that every capture can be recorded
// ConfigIntCapture1(IC_INT_ON | IC_INT_PRIOR_3 | IC_INT_SUB_PRIOR_3);
// INTClearFlag(INT_IC1);
// // connect PIN 24 to IC1 capture unit
// PPSInput(3, IC1, RPB13);
// mPORTBSetPinsDigitalIn(BIT_13); //Set port as input
//
// // round-robin scheduler for threads
while (1) {
PT_SCHEDULE(protothread_uart(&pt_uart));
}
} // main
int main (void)
{
//CLKDIVbits.RCDIV = 0b000; FRC clock divider
unsigned char accel_xh = 0x00;
unsigned char accel_xl = 0x00;
unsigned char accel_yh = 0x00;
unsigned char accel_yl = 0x00;
unsigned char accel_zh = 0x00;
unsigned char accel_zl = 0x00;
unsigned int _60s = 0;
int g_x=0;
int g_y=0;
int g_z=0;
// Disable Watch Dog Timer
RCONbits.SWDTEN = 0;
// for LED
ODCAbits.ODA6 = 0;
TRISAbits.TRISA6 = 0;
TRISAbits.TRISA0 = 0;
TRISAbits.TRISA1 = 0;
TRISAbits.TRISA5 = 0;
//TRISAbits.TRISA2 = 0; scl2
TRISAbits.TRISA4 = 0;
//TRISAbits.TRISA3 = 0; sda2
// push button
TRISAbits.TRISA7 = 1;
TRISDbits.TRISD6 = 1;
TRISDbits.TRISD7 = 1;
TRISDbits.TRISD13 = 1;
//Enable channel
SPI1Init();
LCDInit();
OpenI2C1( I2C_ON, I2C_BRG );
OpenI2C2( I2C_ON, I2C_BRG );
unsigned char lcd_data1[16];
unsigned char lcd_data2[16];
Setup_MPU6050();
_05ms = false;
LDByteWriteI2C(MPU6050_ADDRESS,MPU6050_RA_PWR_MGMT_1 , 0x00); //turn on IMU
TimerInit();
lcd_data1[12] = ' ';
lcd_data1[13] = ' ';
lcd_data1[14] = ' ';
lcd_data1[15] = ' ';
lcd_data2[6]='y';
lcd_data2[7]=' ';
lcd_data2[8]=' ';
lcd_data2[9]='z';
bool accel_queue = true;
while (1) {
//LATAbits.LATA0 = 0;
//LATAbits.LATA6 = 0;
//LATAbits.LATA5 = 0;
//LATAbits.LATA1 = 0;
if (_60s==20000){
_60s = 0;
LDWordReadI2C(FUELGAUGE_ADDRESS, FUELGAUGE_CONFIG, &bat1, &bat2);
LDWordReadI2C(FUELGAUGE_ADDRESS, FUELGAUGE_SOC, &bat1, &bat2);
}
if(_05ms==true){
//do something
_60s+=1;
if(accel_queue){
LDByteReadI2C(MPU6050_ADDRESS,MPU6050_RA_ACCEL_XOUT_H , &rpiData.imu[accel_p], 6);
if(rpiData.imu[accel_p]==0xff && rpiData.imu[accel_p+1]==0xff)
LDByteWriteI2C(MPU6050_ADDRESS,MPU6050_RA_PWR_MGMT_1 , 0x00); //turn on IMU
accel_xh=rpiData.imu[accel_p];
accel_xl=rpiData.imu[accel_p+1];
accel_yh=rpiData.imu[accel_p+2];
accel_yl=rpiData.imu[accel_p+3];
accel_zh=rpiData.imu[accel_p+4];
accel_zl=rpiData.imu[accel_p+5];
accel_p+=12;
if (accel_p>=1200)
accel_p=0;
lcd_data1[7] = 'A';
lcd_data1[8] = 'C';
lcd_data1[9] = 'C';
lcd_data1[10] = 'E';
lcd_data1[11] = 'L';
accel_queue=false;
}
else{
LDByteReadI2C(MPU6050_ADDRESS,MPU6050_RA_GYRO_XOUT_H , &rpiData.imu[gyro_p], 6);
accel_xh=rpiData.imu[gyro_p];
accel_xl=rpiData.imu[gyro_p+1];
accel_yh=rpiData.imu[gyro_p+2];
accel_yl=rpiData.imu[gyro_p+3];
accel_zh=rpiData.imu[gyro_p+4];
accel_zl=rpiData.imu[gyro_p+5];
gyro_p+=12;
if (gyro_p>=1206)
gyro_p=6;
lcd_data1[7] = 'G';
lcd_data1[8] = 'Y';
lcd_data1[9] = 'R';
lcd_data1[10] = 'O';
lcd_data1[11] = ' ';
accel_queue=true;
}
LCDwriteLine(LCD_LINE1, lcd_data1);
LCDwriteLine(LCD_LINE2, lcd_data2);
_05ms=false;
g_x=accel_xl|accel_xh<<8;
lcd_data1[0]=g_x < 0? '-' : ' ';
g_x=g_x > 0 ? g_x : -g_x;
g_y=accel_yl|accel_yh<<8;
lcd_data2[0]=g_y < 0? '-' : ' ';
g_y=g_y > 0 ? g_y : -g_y;
g_z=accel_zl|accel_zh<<8;
lcd_data2[10]=g_z < 0? '-' : ' ';
g_z=g_z > 0 ? g_z : -g_z;
lcd_data1[5]=(g_x%10)+'0';
lcd_data1[4]=(g_x/10)%10+'0';
lcd_data1[3]=(g_x/100)%10+'0';
lcd_data1[2]=(g_x/1000)%10+'0';
lcd_data1[1]=(g_x/10000)%10+'0';
lcd_data2[5]=(g_y%10)+'0';
lcd_data2[4]=((g_y/10)%10)+'0';
lcd_data2[3]=((g_y/100)%10)+'0';
lcd_data2[2]=(g_y/1000)%10+'0';
lcd_data2[1]=(g_y/10000)%10+'0';
lcd_data2[15]=(g_z%10)+'0';
lcd_data2[14]=(g_z/10)%10+'0';
lcd_data2[13]=(g_z/100)%10+'0';
lcd_data2[12]=(g_z/1000)%10+'0';
lcd_data2[11]=(g_z/10000)%10+'0';
}
}
return 0;
}
void main(void) {
PT_setup();
ANSELA = 0; //make sure analog is cleared
ANSELB = 0;
OpenI2C2( I2C_EN, BRG_VAL );
I2C2CON |= I2C_7BIT_ADD + I2C_SM_EN;
I2C2CON |= I2C_RESTART_EN; //restart needed to read from ir temp
unsigned char cmd = 0; //command line
unsigned char data = 0; //output data, digital value to be converted
//unsigned char addr = 0x1C;
//Thermometer sensor: 5A
// SendData(0x75, addr);
// temp = RcvData2(addr);
while(1){
//MasterWriteI2C2(0xb4);
temp = RcvIRTemp(addr);
delay_ms(10);
}
//temp = RcvIRTemp(addr);
// while(1);
// delay_ms(5000);
// while(1) // run the code over and over again
// {
//
// // start the I2C communication
// StartI2C1(); // Send the Start Bit (begin of data send)
// IdleI2C1(); // Wait to complete
//
// // write the address of the chip, defined by pins AD0 and AD1 on the MAX518
// MasterWriteI2C1 (addr); // address
// IdleI2C1();
//
//
// while( !I2C1STATbits.ACKSTAT==0 ){}
//
// // write the command to tell the MAX518 to change its output on output 0
// MasterWriteI2C1 (cmd); // command line
// IdleI2C1();
// while( !I2C1STATbits.ACKSTAT==0 ){}
//
// // wite the value to put on the output
// MasterWriteI2C1(data); // output
// IdleI2C1();
// while( !I2C1STATbits.ACKSTAT==0 ){}
//
// // end the I2C communication
// StopI2C1(); // end of data send
// IdleI2C1(); // Wait to complete
//
// // the total write time is ~285us with an I2C clock of 100 kHz
//
// data++; // increase the data, make a sawtooth wave as an example
//
// //if(data>255) { // don't have to worry about this, data is 8 bit so it will roll over automatically
// // data=0;
// //}
//
// } // end while(1)
//
//------- uncomment to init the uart2 -----------//
// UARTConfigure(UART2, UART_ENABLE_PINS_TX_RX_ONLY);
// UARTSetLineControl(UART2, UART_DATA_SIZE_8_BITS | UART_PARITY_NONE | UART_STOP_BITS_1);
// UARTSetDataRate(UART2, PB_FREQ, BAUDRATE);
// UARTEnable(UART2, UART_ENABLE_FLAGS(UART_PERIPHERAL | UART_RX | UART_TX));
// ConfigIntUART2(UART_RX_INT_EN | UART_TX_INT_EN | UART_ERR_INT_EN | UART_INT_PR0 | UART_INT_SUB_PR0);
//rxchar = 0 ; // a received character
//count = 0 ; // count the number of characters
// // PuTTY
clrscr(); //clear PuTTY screen
home();
// // By default, MPLAB XC32's libraries use UART2 for STDOUT.
// // This means that formatted output functions such as printf()
// // will send their output to UART2
//-----------------------------------------------//
// === configure threads ==========
// turns OFF UART support and debugger pin, unless defines are set
// === enable system wide interrupts ========
INTEnableSystemMultiVectoredInt();
// // init the threads
PT_INIT(&pt_uart);
// PT_INIT(&pt_anim);
// ---------- uncomment to init the tft display -----------//
// tft_init_hw();
// tft_begin();
// tft_fillScreen(ILI9340_BLACK); //240x320 vertical display
// tft_setRotation(0); // Use tft_setRotation(1) for 320x240
//---------------------------------------------------------//
// // === set up input capture
// // based on timer3 (need to configure timer 3 seperately)
// OpenCapture1(IC_EVERY_RISE_EDGE | IC_INT_1CAPTURE | IC_CAP_32BIT | IC_TIMER2_SRC | IC_ON);
// // turn on the interrupt so that every capture can be recorded
// ConfigIntCapture1(IC_INT_ON | IC_INT_PRIOR_3 | IC_INT_SUB_PRIOR_3);
// INTClearFlag(INT_IC1);
// // connect PIN 24 to IC1 capture unit
// PPSInput(3, IC1, RPB13);
// mPORTBSetPinsDigitalIn(BIT_13); //Set port as input
//
// // round-robin scheduler for threads
while (1) {
PT_SCHEDULE(protothread_uart(&pt_uart));
//PT_SCHEDULE(protothread_anim(&pt_anim));
}
} // main
