int main(void) {
int i = 0;
SERIAL_Init();
TIMERS_Init();
INTEnableSystemMultiVectoredInt();
printf("\r\nUno Timers Test Harness\r\n");
printf("Setting each timer for one second longer than the last and waiting for all to expire. There are %d available timers\r\n", TIMERS_IN_TEST);
for (i = 0; i <= TIMERS_IN_TEST; i++) {
InitTimer(i, (i + 1)*1000); //for second scale
}
while (IsTimerActive(TIMERS_IN_TEST - 1) == TIMER_ACTIVE) {
for (i = 0; i <= TIMERS_IN_TEST; i++) {
if (IsTimerExpired(i) == TIMER_EXPIRED) {
printf("Timer %d has expired and the free running counter is at %d\r\n", i, GetTime());
ClearTimerExpired(i);
}
}
}
printf("All timers have ended\r\n");
printf("Setting and starting 1st timer to 2 seconds using alternative method. \r\n");
SetTimer(0, 2000);
StartTimer(0);
while (IsTimerExpired(0) != TIMER_EXPIRED);
printf("2 seconds should have elapsed\r\n");
printf("Starting 1st timer for 8 seconds but also starting 2nd timer for 4 second\r\n");
InitTimer(0, 8000);
InitTimer(1, 4000);
while (IsTimerExpired(1) != TIMER_EXPIRED);
printf("4 seconds have passed and now stopping 1st timer\r\n");
StopTimer(0);
printf("Waiting 6 seconds to verifiy that 1st timer has indeed stopped\r\n");
InitTimer(1, 3000);
i = 0;
while (IsTimerActive(1) == TIMER_ACTIVE) {
if (IsTimerExpired(0) == TIMER_EXPIRED) {
i++;
ClearTimerExpired(0);
}
}
if (i == 0) {
printf("Timer did not expire, module working correctly\r\n");
} else {
printf("Timer did expire, module not working correctly\r\n");
}
return 0;
}
int main(void) {
//DEVCFG1bits.FCKSM = 0;
int c = 0;
// for (c = 0; c < 100000; c++) {
// Nop();
// }
BOARD_Init();
//INTEnableSystemMultiVectoredInt();
//SERIAL_Init();
//DEVCFG1bits.FCKSM
//TIMERS_Init();
// SYSKEY = 0;
// SYSKEY = 0xAA996655;
// SYSKEY = 0x556699AA;
// OSCCONbits.FRCDIV = 0b111;
// OSCConfig(OSC_FRC_PLL, OSC_PLL_MULT_20, OSC_PLL_POST_1, OSC_PB_DIV_1);
LED_Init(LED_BANK1);
LED_SetBank(LED_BANK1,~2);
//while(1);
//SERIAL_Init();
//LATBbits.LATB7 = 1;
TIMERS_Init();
unsigned char count=0;
//while (1) {
// LATCbits.LATC3 ^= 1;
//}
printf("Hello World\r\n");
while (1) {
if (!IsTimerActive(0)) {
// LATCbits.LATC5 ^= 1;
//LATBbits.LATB9 ^= 1;
InitTimer(0, 500);
printf("TOP: %X\r\n",count);
LED_SetBank(LED_BANK1,count);
count++;
}
if (!IsReceiveEmpty()) {
//LATBbits.LATB8 ^= 1;
printf("%c", GetChar());
}
}
while (1);
}
int main(void)
{
BOARD_Init();
SYSTEMConfig(SYS_FREQ, SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE);
SERIAL_Init();
SPI_Init(SPI_SS1_CLKRATE, 0, 0);
TIMERS_Init();
printf("program begins...\n");
uint16_t i, j;
/* timer test: sucess
SET_OUTPUT_PIN(D, 10);
TIMERS_Init();
while (1) {
WRITE_HIGH(D, 10);
InitTimer(1, 100);
while (IsTimerActive(1));
WRITE_LOW(D, 10);
InitTimer(1, 100);
while (IsTimerActive(1)) ;
}
//*/
/* SPI read test 1: need to get 0x70 to ensure SPI reading is good
printf("IMU: SPI read test 1\n");
IMU_Init();
uint8_t id;
while (1) {
id = MPU6500_readOneByte( MPU6500_RA_WHO_AM_I );
printf( "id should be 0x70: 0x%x\n", id );
InitTimer(1, 1000);
while (IsTimerActive(1)) ;
}
//*/
/* SPI read test 2: need to get 0x70 to ensure SPI reading is good
printf("IMU: SPI read test 2\n");
IMU_Init();
uint8_t id;
while (1) {
MPU6500_readBytes(SPI_SS2_ID, MPU6500_RA_WHO_AM_I, 1, &id);
printf( "id should be 0x70: 0x%x\n", id );
InitTimer(1, 1000);
while (IsTimerActive(1)) ;
}
//*/
/* inv_mpu test: porting invense IMU library
printf("inv_mpu test: read test\n");
uint8_t buf[3] = {0};
uint8_t flag;
while (1) {
flag = mpu_read_reg(MPU6500_RA_WHO_AM_I, buf);
printf("flag: %d\n", flag);
printf( "id should be 0x70: 0x%x\n", buf[0]);
InitTimer(2, 1000);
while (IsTimerActive(2)) {
//printf("timer is still active\n");
}
}
//*/
/* porting inv_mpu test: init and read gyro
printf("inv_mpu test: read test\n");
uint16_t buf[3] = {0};
uint8_t flag = mpu_init(0);
mpu_reset_fifo();
mpu_set_sensors(INV_XYZ_GYRO|INV_XYZ_ACCEL);
mpu_configure_fifo(INV_XYZ_GYRO|INV_XYZ_ACCEL);
printf("flag: %d\n", flag);
uint16_t gyro[3], accel[3];
// flag = mpu_run_6500_self_test(gyro, accel, 0);
printf("flag=%d, gyro: % 5d, % 5d, % 5d", flag, gyro[0], gyro[1], gyro[2]);
printf(", accel: % 5d, % 5d, % 5d\n", accel[0], accel[1], accel[2]);
while (1) {
flag = mpu_get_gyro_reg(buf, 0);
printf("flag=%d, gyro: % 5d, % 5d, % 5d", flag, buf[0], buf[1], buf[2]);
mpu_get_accel_reg(buf, 0);
printf(", accel: % 5d, % 5d, % 5d\n", buf[0], buf[1], buf[2]);
InitTimer(2, 1000);
while (IsTimerActive(2));
}
//*/
/* test: reading multiple times from the same register: the internal pointer +1 when it read once
int vals;
uint16_t gyro[3], accel[3];
vals = mympu_open(200);
printf("MPU Init: %d\n", vals);
struct s_mympu mympu;
uint8_t flag;
while(1) {
mpu_get_accel_reg(accel, 0);
printf("all accel: % 5d, % 5d, % 5d\n", accel[0], accel[1], accel[2]);
uint8_t tmp = MPU6500_readOneByte(MPU6500_RA_ACCEL_XOUT_H);
accel[0] = tmp << 8;
tmp = MPU6500_readOneByte(MPU6500_RA_ACCEL_XOUT_L);
accel[0] |= tmp;
tmp = MPU6500_readOneByte(MPU6500_RA_ACCEL_YOUT_H);
accel[1] = tmp << 8;
tmp = MPU6500_readOneByte(MPU6500_RA_ACCEL_YOUT_L);
accel[1] |= tmp;
tmp = MPU6500_readOneByte(MPU6500_RA_ACCEL_ZOUT_H);
accel[2] = tmp << 8;
tmp = MPU6500_readOneByte(MPU6500_RA_ACCEL_ZOUT_L);
accel[2] |= tmp;
printf("byte accel: % 5d, % 5d, % 5d\n", accel[0], accel[1], accel[2]);
InitTimer(2, 100);
while (IsTimerActive(2));
}
//*/
/* test: reading multiple times from the same register: the internal pointer +1 when it read once
int vals;
uint8_t buf[20] = {0};
uint16_t gyro[3] = {0}, accel[3] = {0};
vals = mympu_open(200);
printf("MPU Init: %d\n", vals);
//IMU_Init();
uint8_t id = MPU6500_readOneByte( MPU6500_RA_WHO_AM_I );
printf( "id should be 0x70: 0x%x\n", id);
struct s_mympu mympu = {0};
int flag;
//MPU6500_writeOneByte( MPU6500_RA_USER_CTRL, 0x40 | 0x10 );
while(1) {
flag = mympu_update(&mympu);
//printf("yaw=[%d, %d], pitch=[%d,%d], roll=[%d,%d]\n", mympu.ypr[0], mympu.gyro[0], mympu.ypr[1], mympu.gyro[1], mympu.ypr[2], mympu.gyro[2]);
//printf("flag=%d, yaw=% 11f, pitch=% 11f, roll=% 11f\n", flag, mympu.ypr[0], mympu.ypr[1], mympu.ypr[2]);
printf("yaw=[%.3f, %.3f], pitch=[%.3f,%.3f], roll=[%.3f,%.3f]\n",
mympu.ypr[0], mympu.gyro[0], mympu.ypr[1], mympu.gyro[1], mympu.ypr[2], mympu.gyro[2]);
//flag = dmp_read_fifo(gyro, accel, buf, NULL,&vals,&vals);
//buf[0] = MPU6500_readOneByte(MPU6500_RA_FIFO_COUNTH);
//buf[1] = MPU6500_readOneByte(MPU6500_RA_FIFO_COUNTL);
//uint16_t count = (buf[0] << 8) | buf[1];
//printf("fifo count: %d\n", count);
//flag = mpu_read_fifo(gyro, accel, &vals, &vals, &vals);
//flag = mpu_read_fifo_stream(10, buf, &vals);
//read_fifo(buf, gyro, accel);
//printf("flag=%d, gyro: % 5d, % 5d, % 5d", flag, gyro[0], gyro[1], gyro[2]);
// printf(", accel: % 5d, % 5d, % 5", accel[0], accel[1], accel[2]);
//printf(", quat: %d, %d, %d, %d\n", buf[0], buf[1], buf[2], buf[3]);
InitTimer(2, 50);
while (IsTimerActive(2));
}
//*/
/* test: calibration by adding offset
int vals = mympu_open(200);
printf("MPU Init: %d\n", vals);
uint8_t id = MPU6500_readOneByte( MPU6500_RA_WHO_AM_I );
printf( "id should be 0x70: 0x%x\n", id);
struct s_mympu mympu = {0};
int flag;
printf("waiting for initial drift\n");
InitTimer(2, 20000); // wait for 20s to pass initial drift
while (IsTimerActive(2));
printf("get average offset\n");
float offsetX = 0, offsetY = 0, offsetZ = 0;
float offsetPrev[3] = {0};
float alpha = 0;
uint8_t k;
for (k=1; k <= 200; k++) {
flag = mympu_update(&mympu);
//printf("yaw=% 3.3f, pitch=% 3.3f, roll=% 3.3f\n",
//mympu.ypr[0], mympu.ypr[1], mympu.ypr[2]);
alpha = ((float) k - 1.) / k;
offsetX = alpha*offsetPrev[0] + (1. - alpha) * mympu.ypr[0];
offsetY = alpha*offsetPrev[1] + (1. - alpha) * mympu.ypr[1];
offsetZ = alpha*offsetPrev[2] + (1. - alpha) * mympu.ypr[2];
offsetPrev[0] = offsetX;
offsetPrev[1] = offsetY;
offsetPrev[2] = offsetZ;
InitTimer(2, 50);
while (IsTimerActive(2));
}
printf("average: x offset= %3.3f, y offset= %3.3f, z offset= %3.3f\n",
offsetX, offsetY, offsetZ);
//offsetX = abs(offsetX);
offsetY = abs(offsetY);
//offsetZ = abs(offsetZ);
while(1) {
flag = mympu_update(&mympu);
//printf("yaw=% 3.0f, pitch=% 3.0f, roll=% 3.0f\n",
//printf("%4.1f, %4.1f, %4.1f\n", mympu.ypr[0] - offsetX, mympu.ypr[1] - offsetY, mympu.ypr[2] - offsetZ);
printf("yaw=[%.3f, %.3f], pitch=[%.3f,%.3f], roll=[%.3f,%.3f]\n", mympu.ypr[0] - offsetX, mympu.gyro[0], mympu.ypr[1] - offsetY, mympu.gyro[1], mympu.ypr[2] - offsetZ, mympu.gyro[2]);
InitTimer(2, 50);
while (IsTimerActive(2));
}
//*/
//* test: two SPI devices, OLED and IMU
int vals = mympu_open(10);
OLED_Init();
OpenTimer2(T2_ON | T2_SOURCE_INT | T2_PS_1_1, 0x2710);
ConfigIntTimer2(T2_INT_ON | T2_INT_PRIOR_2);
printf("MPU Init: %d\n", vals);
uint8_t id = MPU6500_readOneByte( MPU6500_RA_WHO_AM_I );
printf( "id should be 0x70: 0x%x\n", id);
UG_SetForecolor(0x0F);
UG_SetBackcolor(0x00);
UG_FontSelect(FONT_6X8);
char str[50] = "";
while(1) {
//mympu_update(&mympu);
sprintf(str, "%.3f, %.3f, %.3f\n", mympu.ypr[0], mympu.ypr[1], mympu.ypr[2]);
printf("%s\n",str);
flag_writingScreen = 1;
UG_PutString(0, 0, str);
flag_writingScreen = 0;
InitTimer(1, 200);
while (IsTimerActive(1));
}
//*/
/*
flag = mpu_run_6500_self_test(gyro, accel, 0);
printf("\nflag=%d, gyro: % 5d, % 5d, % 5d", flag, gyro[0], gyro[1], gyro[2]);
printf(", accel: % 5d, % 5d, % 5d\n", accel[0], accel[1], accel[2]);
MPU6500_writeOneByte(MPU6500_RA_XA_OFFS_H, (accel[0] & 0x7F80) >> 8);
MPU6500_writeOneByte(MPU6500_RA_XA_OFFS_L_TC, accel[0] & 0x7F);
MPU6500_writeOneByte(MPU6500_RA_YA_OFFS_H, (accel[1] & 0x7F80) >> 8);
MPU6500_writeOneByte(MPU6500_RA_YA_OFFS_L_TC, accel[1] & 0x7F);
MPU6500_writeOneByte(MPU6500_RA_ZA_OFFS_H, (accel[2] & 0x7F80) >> 8);
MPU6500_writeOneByte(MPU6500_RA_ZA_OFFS_L_TC, accel[2] & 0x7F);
MPU6500_writeOneByte(MPU6500_RA_XG_OFFS_USRH, gyro[0] >> 8);
MPU6500_writeOneByte(MPU6500_RA_XG_OFFS_USRL, gyro[0] & 0xFF);
MPU6500_writeOneByte(MPU6500_RA_YG_OFFS_USRH, gyro[1] >> 8);
MPU6500_writeOneByte(MPU6500_RA_YG_OFFS_USRL, gyro[1] & 0xFF);
MPU6500_writeOneByte(MPU6500_RA_ZG_OFFS_USRH, gyro[2] >> 8);
MPU6500_writeOneByte(MPU6500_RA_ZG_OFFS_USRL, gyro[2] & 0xFF);
//*/
printf("program ended...\n");
return 0;
}
/**
* @Function RunTimerService(ES_Event ThisEvent)
* @param ES_Event - the event to process
* @return ES_NO_EVENT or ES_ERROR
* @brief accepts the timer events and updates the state arrays
* @author Max Dunne 2013.01.04 */
ES_Event RunTimerService(ES_Event ThisEvent) {
ES_Event ReturnEvent;
ReturnEvent.EventType = ES_NO_EVENT; // assume no errors
switch (ThisEvent.EventType) {
case ES_INIT:
break;
case ES_TIMEOUT:
case ES_TIMERACTIVE:
case ES_TIMERSTOPPED:
UserTimerStates[ThisEvent.EventParam] = ThisEvent.EventType;
break;
default:
//ReturnEvent.EventType = ES_ERROR;
break;
}
#ifdef TIMER_SERVICE_TEST
{
uint8_t i;
switch (timerServiceTestingState) {
case init:
if (ThisEvent.EventType == ES_INIT) {
printf("Timer Module INITED succesfully\r\n");
break;
}
printf("Timer %d had event %d at time %d\r\n", ThisEvent.EventParam, ThisEvent.EventType, ES_Timer_GetTime());
if ((ThisEvent.EventParam == (TIMERS_USED - 1)) && (ThisEvent.EventType == ES_TIMERACTIVE)) {
timerServiceTestingState = expired;
printf("Testing timer user functions [expired][stopped][active]{state}\r\n");
}
break;
case expired:
for (i = 0; i < TIMERS_USED; i++) {
printf("(%d):[%d,%d,%d]{%d} ", i, IsTimerExpired(i), IsTimerStopped(i), IsTimerActive(i), GetUserTimerState(i));
}
printf("\r\n");
if ((ThisEvent.EventParam == (TIMERS_USED - 1)) && (ThisEvent.EventType == ES_TIMEOUT)) {
timerServiceTestingState = runstop;
ES_Timer_InitTimer(0, 500);
for (i = 1; i < TIMERS_USED; i++) {
ES_Timer_SetTimer(i, 1000);
ES_Timer_StartTimer(i);
}
}
break;
case runstop:
printf("Timer %d had event %d at time %d\r\n", ThisEvent.EventParam, ThisEvent.EventType, ES_Timer_GetTime());
if ((ThisEvent.EventParam == (0)) && (ThisEvent.EventType == ES_TIMEOUT)) {
for (i = 1; i < TIMERS_USED; i++) {
ES_Timer_StopTimer(i);
}
}
if ((ThisEvent.EventParam == (TIMERS_USED - 1)) && (ThisEvent.EventType == ES_TIMERSTOPPED)) {
printf("Testing of User Timer Functions is complete.\r\n");
}
break;
default:
ReturnEvent.EventType = ES_ERROR;
break;
}
}
#endif
//ES_Tail();
return ReturnEvent;
}