int main ( void )
{
/* Initialize all MPLAB Harmony modules, including application(s). */
char message[100];
SYS_Initialize ( NULL );
//set up accelerometer
acc_setup();
//set up display
display_init();
display_clear();
sprintf(message,"System Initialised!");
write_string(message,0,0);
display_draw();
while ( true )
{
/* 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 );
// set B5 as OC1
RPB5Rbits.RPB5R = 0b0101; // set B5 to OC2
OC2CONbits.OCTSEL = 1; // Select Timer3 for comparison
T3CONbits.TCKPS = 0; // Timer3 prescaler 1:1
PR3 = 3999; // period = (PR2+1) * N * 12.5 ns = 20 kHz
TMR3 = 0; // initial TMR3 count is 0
OC2CONbits.OCM = 0b110; // PWM mode with no fault pin; other OC2CON bits are defaults
OC2RS = 2500; // duty cycle = OC2RS/(PR3+1) = 50%
OC2R = 2500;
T3CONbits.ON = 1; // turn on Timer3
OC2CONbits.ON = 1; // turn on OC2
// set B15 as OC1
RPB15Rbits.RPB15R = 0b0101; // set B15 to OC1
OC1CONbits.OCTSEL = 0; // Select Timer2 for comparison
T2CONbits.TCKPS = 0; // Timer2 prescaler 1:1
PR2 = 3999; // period = (PR2+1) * N * 12.5 ns = 20 kHz
TMR2 = 0; // initial TMR2 count is 0
OC1CONbits.OCM = 0b110; // PWM mode with no fault pin; other OC1CON bits are defaults
OC1RS = 2500; // duty cycle = OC1RS/(PR2+1) = 50%
OC1R = 25000;
T2CONbits.ON = 1; // turn on Timer2
OC1CONbits.ON = 1; // turn on OC1
//A Phase: B7 - Digital Output
TRISBbits.TRISB7 = 0; // 0 is output, 1 is input
//B Phase: B14 - Digital Output
ANSELBbits.ANSB14 = 0; // 0 for digital, 1 for analog
TRISBbits.TRISB14 = 0; // 0 is output, 1 is input
while ( true )
{
/* 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 );
_CP0_SET_COUNT(0);
// 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 PWM: B15 DIO: B9 left
TRISBbits.TRISB9=0;
LATBbits.LATB9=1;
ANSELBbits.ANSB15=0;
RPB15Rbits.RPB15R=0b0101;
T2CONbits.TCKPS = 0;
PR2=1999;
TMR2=0;
T2CONbits.ON=1;
T2CONbits.TCS=0;
OC1CONbits.OCTSEL=0;
OC1CONbits.OCM = 0b110; // PWM mode without fault pin; other OC1CON bits are defaults
OC1CONbits.ON = 1;
OC1RS=0;
OC1R=0;
// OC2 PWM: B5 DIO: B3 right
ANSELBbits.ANSB3=0;
TRISBbits.TRISB3=0;
LATBbits.LATB3=0;
RPB5Rbits.RPB5R=0b0101;
T3CONbits.TCKPS = 0;
PR3=1999;
TMR3=0;
T3CONbits.ON=1;
T3CONbits.TCS=0;
OC2CONbits.OCTSEL=1;
OC2CONbits.OCM = 0b110; // PWM mode without fault pin; other OC1CON bits are defaults
OC2CONbits.ON = 1;
OC2RS=0;
OC2R=0;
while ( true )
{
/* 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);
while (true) {
/* Maintain state machines of all polled MPLAB Harmony modules. */
SYS_Tasks();
}
/* Execution should not come here during normal operation */
return (EXIT_FAILURE);
}
/*
*********************************************************************************************************
* MAIN - ENTRY POINT OF APPLICATION
*********************************************************************************************************
*/
void main ( void )
{
/*Call the SYS Init routine. App init routine gets called from this*/
SYS_Initialize(NULL);
while(1)
{
SYS_Tasks();
}
}
int main ( void )
{
/* Initialize the application. */
SYS_Initialize();
while (true)
{
/* Maintain the application's state machine. */
SYS_Tasks();
}
/* Should not come here during normal operation */
PLIB_ASSERT(false, "leaving main");
return (EXIT_FAILURE);
}
MAIN_RETURN main ( void )
{
/*Call the SYS Init routine. App init routine gets called from this*/
SYS_Initialize(NULL);
while(true)
{
/*Invoke SYS tasks. APP tasks gets called from this*/
SYS_Tasks();
}
// Should not come here during normal operation
SYS_ASSERT(false, "about to exit main");
return MAIN_RETURN_CODE(MAIN_RETURN_SUCCESS);
}
// *****************************************************************************
// *****************************************************************************
// Section: Main Entry Point
// *****************************************************************************
// *****************************************************************************
int main ( void )
{
/* Call the System Intialize routine*/
SYS_Initialize ( ) ;
/*Initialize Timer*/
TIMER_SetConfiguration ( TIMER_CONFIGURATION_RTCC ) ;
TRISGbits.TRISG7 = 1; //in breakout pin RF2 (row 1)
TRISGbits.TRISG2 = 1; //in breakout pin RA2 (row 2)
TRISCbits.TRISC0 = 1; //in breakout pin RB8 (row 3)
TRISCbits.TRISC1 = 1;//in breakout pin RB9 (row 4)
TRISEbits.TRISE12 = 0; //in breakout pin RB12 (col 1)
TRISCbits.TRISC2 = 0; //in breakout pin RB10 (col 2)
TRISEbits.TRISE14 = 0; //in breakout pin RB14 (col 3)
ANSELGbits.ANSG7 = 0; //Row 1-4 //configuring all pins as digital
ANSELGbits.ANSG2 = 0;
ANSELCbits.ANSC0 = 0;
ANSELCbits.ANSC1 = 0;
ANSELEbits.ANSE12 = 0; //Col 1-3
ANSELCbits.ANSC2 = 0;
ANSELEbits.ANSE14 = 0;
char return_key;
/* Infinite Loop */
while ( 1 )
{
return_key = 'X'; //initialize return key to default return variable from readKeyboard()
while(return_key == 'X'){ //while nothing is pressed, keep on making calls
return_key = readKeyboard();
}
if(return_key != 'X'){ //if return_key is not default key, print to LCD
//should transmit to UART at this point
LCD_PutChar(return_key);
}
while(readKeyboard() != 'X'){
//no operation till next key is pressed.
}
}
}
// *****************************************************************************
// *****************************************************************************
// Section: Main Entry Point
// *****************************************************************************
// *****************************************************************************
int main( void )
{
/* Prepare the hardware to run this demo. */
SYS_Initialize();
while(true)
{
/*Invoke SYS tasks. APP tasks gets called from this*/
SYS_Tasks();
}
// Should not come here during normal operation
SYS_ASSERT(false, "about to exit main");
return MAIN_RETURN_CODE(MAIN_RETURN_SUCCESS);
}
int main ( void )
{
/* Initialize all MPLAB Harmony modules, including application(s). */
SYS_Initialize ( NULL );
//Timer Setup
T2CONbits.TCKPS = 4; // timer2 pre-scaler N=16 (1:16)
PR2 = 2999; // period2 = (4999+1) * 16 * 12.5ns = 0.001s, 1 kHz
TMR2 = 0; // set timer to 0;
T2CONbits.ON = 1; // turn on Timer2
//OC1 Setup
RPB15Rbits.RPB15R = 0b0101; // OC1 = B15
OC1CONbits.OCM = 0x06; // PWM mode without fault pin; other OC1CON bits are defaults
OC1CONbits.OCTSEL = 0; // use Timer 2
OC1RS = 1500; // duty cycle = OC1RS/(PR2+1) = 50%
OC1R = 1500; // initialize before turning OC1 on
OC1CONbits.ON = 1; // turn on OC1
//OC2 Setup
RPA1Rbits.RPA1R = 0b0101; //OC2 = A0
OC2CONbits.OCM = 0x06; // PWM mode without fault pin; other OC2CON bits are defaults
OC2CONbits.OCTSEL = 0; // use Timer 2
OC2RS = 1500; // duty cycle = OC2RS/(PR2+1) = 50%
OC2R = 1500; // initialize before turning OC2 on
OC2CONbits.ON = 1; // turn on OC2
while ( true )
{
/* Maintain state machines of all polled MPLAB Harmony modules. */
SYS_Tasks ( );
//OC2RS = rightPWM;
}
/* Execution should not come here during normal operation */
return ( EXIT_FAILURE );
}
/********************************************************************
* Function: void main(void)
*
* PreCondition: None
*
* Input: None
*
* Output: None
*
* Side Effects: None
*
* Overview: Main program entry point.
*
* Note: None
*******************************************************************/
int main(void)
{
SYS_Initialize();
FILEIO_Initialize();
FILEIO_RegisterTimestampGet(GetTimestamp);
//Initialize the stack
USBHostInit(0);
APP_HostMSDSimpleInitialize();
while(1)
{
USBHostTasks();
USBHostMSDTasks();
//Application specific tasks
APP_HostMSDSimpleTasks();
}//end while
}//end main
int main ( void )
{
//TRISA = 0b0010000000000000;
TRISA = 0b00001111;
TRISAbits.TRISA12 = 0;
TRISCbits.TRISC1 = 0;
TRISCbits.TRISC2 = 0;
TRISCbits.TRISC3 = 0;
TRISCbits.TRISC4 = 0;
//TRISD = 0;
TRISD = 0b0000000000010000; // RD11: DIR2; RD8: PWM2
//TRISE = 0b00001000;
TRISE = 0b00001000; // RE6: DIR1; RE0: PWM1
TRISEbits.TRISE7 = 0;
//LCD an
_PCFG16 = 1; // AN16 is digital
_PCFG17 = 1; // AN17 is digital
_PCFG18 = 1; // AN18 is digital
_PCFG19 = 1; // AN19 is digital
_PCFG20 =1;
_PCFG31=1;
//pwm analog select
_PCFG24=1;
_PCFG30=1;
//RE4 for lcd r/s
_PCFG28=1;
TRISEbits.TRISE4 = 0;
AD1PCFGHbits.PCFG28 = 1;
AD1PCFGHbits.PCFG27 = 1;
AD1PCFGHbits.PCFG30 = 1;
AD1PCFGHbits.PCFG24 = 1;
AD1PCFGH = 0x0020;
TRISAbits.TRISA13 = 1;
//set pwm low
PWM1=0;
PWM2=0;
SYS_Initialize ( ) ;
CLKDIVbits.FRCDIV = 0;
CLKDIVbits.PLLPOST = 0; // N2 = 2
CLKDIVbits.PLLPRE = 0; // N1 = 2
PLLFBD = (Fosc*N1_default*N2_default/Ffrc) - M_default; // M = 8 -> Fosc = 7.3728 MHz * 8 / 2 / 2 = 16 MHz
while(!OSCCONbits.LOCK); // Wait for PLL to lock
RCONbits.SWDTEN = 0; // Disable Watch Dog Timer
//TRISF = 0;
gpsLock = 0;
lcd_init();
print_lcd("Initializing");
//delay_ms(500);
//lcd_clear();
/*lcd test
char line1[] = " On Route ";
char line2[] = " Arrived ";
//send_command_byte(0xFF);
//while(1){send_command_byte(0xFF);send_data_byte(0);}
// delay_ms(2);
//send_command_byte(0x02); // Go to start of line 1
//send_command_byte(0b00001111); // Display: display on, cursor on, blink on
//send_command_byte(0b00000110); // Set entry mode: ID=1, S=0
//send_command_byte(0b00000001); // Clear display
print_lcd(line1);
delay_ms(5000);
lcd_clear();
print_lcd(line2);
//send_command_byte(0xC0); // Go to start of line 1
//while(1){send_command_byte(0b00000001);}
while(1);*/
/*int a;
long long int ct;
int i;
int j=0;*/
//i2c init
//uart init
UART_Initialize();
delayMs(100);
/* while(1){//test for delay ms configuration
//PORTDbits.RD1 = 1;
//delayUs(10);
//for(i = 0;i <7;i++);
delayMs(10);
PORTDbits.RD12 = 1;
//for (i = 0; i < 1000; i++);
//PORTDbits.RD1 = 0;
//for(i = 0;i <7;i++);
delayMs(10);
PORTDbits.RD12 = 0;
//for (i = 0; i < 1000; i++);
}*/
//ultrasonic test
/* while(1){
long double x;
delayMs(500);
PORTEbits.RE4 = 1; //TRIGGER HIGH
PORTDbits.RD5 = 1;
delay_us(10); //10uS Delay
lcd_clear();
ultraSonicEn = 1;
ultraSonicCount = 0;
PORTEbits.RE4 = 0; //TRIGGER LOW
PORTDbits.RD5 = 0;
while (!PORTDbits.RD4); //Waiting for Echo
IEC0bits.T2IE = 1; //enable timer
while(PORTDbits.RD4);//
IEC0bits.T2IE = 0; //disable timer
x = ultraSonicCount/TICKS_PER_METER;
sprintf(outputBuf,"%lf",x);
print_lcd(outputBuf);
}*/
//TX_str(endGPS);
//delayMs(3000);
//TX_str(startGPS);
/*TX_str(startGPShot);
delayMs(2000);
while ( !gpsLock ) {
TX_str(getGPS);
delayMs(500);
}*/
//TCP code
TX_str(openNet);
delayMs(5000);
TX_str(openConnection);
delayMs(5000);
// while(!BUTTON_IsPressed ( BUTTON_S3 ));
//TX_str(sprintf("%s%d\r",sendTCP, strlen("10")));
sprintf(outputBuf2,"2\n%lf,%lf\n\r",roverLog,roverLat );
sprintf(cmdBuf,"%s%d\r", sendTCP,strlen(outputBuf2));
TX_str(cmdBuf);
delayMs(3000);
TX_str(outputBuf2);
while(!waypointsReady || !gpsLock);
//while(1);
delayMs(7000);
lcd_clear();
print_lcd("waypoints locked");
i2c_init();
//i2c_write3(0x3c, 0x00, 0x70);
i2c_write3(0x3c, 0x00, 0b00011000);
//i2c_write3(0x3c, 0x01, 0b11000000);
i2c_write3(0x3c, 0x01, 0xA0);
i2c_write3(0x3c, 0x02, 0x00);
//timer init, do this after other initializations
motorDuty=0;
tim1_init();
tim2_init();
/*
double angleTolerance = 8.0;
motorDuty=2;
while (1){ //adjust
double angleDiff = headingDiff(0,roverHeading );
if (angleDiff > 0 ||abs(angleDiff) > 175 ){ //turn left
PWM1_DIR = 0; //left NOTE: 0 is forward, 1 is reverse
PWM2_DIR = 1; //right
} else{ // turn right
PWM1_DIR = 1;
PWM2_DIR = 0;
}
if (abs(angleDiff) < angleTolerance){
motorDuty = 0;
//break;
}else{
//motorDuty =4;
motorDuty =2;
}
delayMs(13);
updateHeading();
}*/
//hardcoded gps for tcpip test
/*while(1){
// PORTDbits.RD5 = 1;
// for (a = 0; a < (100/33); a++) {}
// PORTDbits.RD5 = 0;
// for (a = 0; a < (100/33); a++) {}
ct = 0;
//TMR2 = 0;//Timer Starts
delayMs(60);
PORTEbits.RE4 = 1; //TRIGGER HIGH
PORTDbits.RD5 = 1;
delay_us(15);
//10uS Delay
PORTEbits.RE4 = 0; //TRIGGER LOW
PORTDbits.RD5 = 0;
while (!PORTDbits.RD4){ //Waiting for Echo
ct++;
}
//T2CONbits.TON = 1;
while(PORTDbits.RD4) {
ct++;
}// {
//T2CONbits.TON = 0;
sprintf(outputBuf,"%lld", ct);
//a = TMR2;
//a = a / 58.82;
//long int p;
//for(p = 0; p <100000; p++);
}*/
//tim1_init();
//while ( 1 );
//UART_Initialize();
/* Infinite Loop */
/*
long int i;
while ( 1 )
{//test for delay ms configuration
//PORTDbits.RD1 = 1;
delayMs(10);
PORTDbits.RD12 = 1;
//for (i = 0; i < 1000; i++);
//PORTDbits.RD1 = 0;
delayMs(10);
PORTDbits.RD12 = 0;
//for (i = 0; i < 1000; i++);
}*/
//IEC0bits.T1IE = 0;
//IEC0bits.T1IE = 1;
//motorDuty =2;
motorStopFlag = 0; //ready to go
char tempBuf1[50];
int wapointsVisited;
double desiredHeading = 0;
double dToWaypoint = 99999.9;
double angleTolerance = 6.0;
for (wapointsVisited =0; wapointsVisited<numGPSpoints;wapointsVisited++ )
{
dToWaypoint = 99999.9;
while (1)
{
int f;
roverLog = 0;
roverLat = 0;
for(f = 0; f < ROVER_LEN; f++){
roverLog+=roverlog[f]/ROVER_LEN_D;
roverLat+=roverlat[f]/ROVER_LEN_D;
}
dToWaypoint = dist(convertGPSToDeg(roverLat),convertGPSToDeg(roverLog),convertGPSToDeg(gpsLat[wapointsVisited]),convertGPSToDeg(gpsLonge[wapointsVisited]));
if(dToWaypoint <= 3.0){break;} //go to next waypoint
desiredHeading = 330.0;
desiredHeading = bearing(convertGPSToDeg(roverLat),convertGPSToDeg(roverLog),convertGPSToDeg(gpsLat[wapointsVisited]),convertGPSToDeg(gpsLonge[wapointsVisited]));
updateHeading();
if (!(abs(headingDiff(desiredHeading,roverHeading )) < angleTolerance))
{
motorDuty = 0; //stop
delayMs(300);
while (1) //ADJUSTMENT LOOP
{
double angleDiff = headingDiff(desiredHeading,roverHeading );
//double dist = ultraSonicPing();
/*sprintf(tempBuf1,"%f",dist);
lcd_clear();
print_lcd(tempBuf1);*/
if (abs(angleDiff) < angleTolerance){
motorDuty = 0;
/*sprintf(tempBuf1,"%f",roverHeading);
IEC0bits.T1IE = 0;
print_lcd(tempBuf1);
IEC0bits.T1IE = 1;*/
break;
}
if (angleDiff > 0 || abs(angleDiff) > 175 ){ //turn right
/*PORTDbits.RD4 = 1; //right 0 is forwards, 1 i backwards
PORTDbits.RD2 = 1;
PORTDbits.RD8 = 0; //left*/
PWM1_DIR = 0; //left NOTE: 0 is forward, 1 is reverse
PWM2_DIR = 1; //right
} else{ // turn left
/*PORTDbits.RD4 = 0; //right 0 is forwards, 1 i backwards
PORTDbits.RD2 = 0;
PORTDbits.RD8 = 1; //left*/
PWM1_DIR = 1;
PWM2_DIR = 0;
}
motorDuty =3;
delayMs(15);
updateHeading();
// sprintf(tempBuf1,"%f",roverHeading);
// IEC0bits.T1IE = 0;
// lcd_clear();
// print_lcd(tempBuf1);
// IEC0bits.T1IE = 1;
//delayMs(1000);
//for(p = 0; p <100000; p++);
}
}
PWM1_DIR = 0; //left NOTE: 0 is forward, 1 is reverse
PWM2_DIR = 0;
motorDuty = 5;
ultraSonicDelayEnable = 1;
//frequency is around 20kHz
while (ultraSonicDelayCount < 60000){ //for 4 seconds poll ultrasonic and check for obsticles
long double x;
//PORTEbits.RE4 = 1; //TRIGGER HIGH
PORTDbits.RD5 = 1;
delay_us(10); //10uS Delay
lcd_clear();
ultraSonicEn = 1;
ultraSonicCount = 0;
//PORTEbits.RE4 = 0; //TRIGGER LOW
PORTDbits.RD5 = 0;
while (!PORTDbits.RD4); //Waiting for Echo
IEC0bits.T2IE = 1; //enable timer
while(PORTDbits.RD4);//
IEC0bits.T2IE = 0; //disable timer
ultraSonicEn = 0;
x = ultraSonicCount/TICKS_PER_METER;
if (x <= 1.4){
motorDuty = 0;
}else{
motorDuty = 5;
}
delayMs(200);
}
ultraSonicDelayEnable = 0;
ultraSonicDelayCount = 0;
}
motorDuty = 0;
delayMs(1000);
//IEC0bits.T1IE = 0;
lcd_clear();
char buf3[40];
sprintf(buf3, "reached %d", wapointsVisited);
print_lcd(buf3);
delayMs(3000);
//IEC0bits.T1IE = 1;
}
//IEC0bits.T1IE = 0;
lcd_clear();
print_lcd("ARRIVED!!!");
//IEC0bits.T1IE = 1;
while (1);
}
int main ( void )
{
/* Initialize all MPLAB Harmony modules, including application(s). */
ANSELBbits.ANSB15 = 0; //Make it digital
TRISBbits.TRISB15 = 0;
TRISBbits.TRISB7 = 0;
__builtin_enable_interrupts();
// set up USER pin as input
ANSELBbits.ANSB13 = 0;
TRISBbits.TRISB13 = 1;
//Set phase pins
// PH1--> B7
// RPB7Rbits.RPB7R = 0b001; //Peripheral requires output pin
TRISBbits.TRISB7 = 0; //Make it an output
LATBbits.LATB7 = 1; //Set it high- this initializes as the forward direction
// PH2-->B14
ANSELBbits.ANSB14 = 0; //Make it digital
RPB14Rbits.RPB14R = 0b001;
TRISBbits.TRISB14 = 0; //Make it an output
LATBbits.LATB14 = 0; //Set it high- this initializes as the forward direction
//Set enable pins
// EN1--> B5
//ANSELBbits.ANSB5 = 0; //Make it digital
RPB5Rbits.RPB5R = 0b0101; //Set to OC2
TRISBbits.TRISB5 = 0; //Make it an output
// EN2-->B15
ANSELBbits.ANSB15 = 0; //Make it digital
RPB15Rbits.RPB15R = 0b0101; //Set to OC1
// TRISBbits.TRISB15 = 0; //Make it an output
//Set timers:
//This is to set up PWM frequency for OC pin- this will be altered using potentiometer
T2CONbits.TCKPS = 0; // Timer2 prescaler N=1 (1:4)
PR2 = 1999; // period = (PR2+1) * N * 12.5 ns = 1 ms, 1 kHz
TMR2 = 0;
OC1CONbits.OCM = 0b110; // PWM mode without fault pin; other OC1CON bits are defaults
OC1CONbits.OCTSEL = 0; //Using Timer 2 for OC1
OC1RS = 0; //duty cycle = OC1RS/(PR2+1) 25% duty cycle to begin with
OC1R = 0; //initialize before turning OC1 on;
T2CONbits.ON = 1; // turn on Timer2
OC1CONbits.ON = 1; // turn on OC1
//This is to set up PWM frequency for OC pin- this will be altered using potentiometer
OC2CONbits.OCM = 0b110; // PWM mode without fault pin; other OC1CON bits are defaults
OC2CONbits.OCTSEL = 0; //Using Timer2 for OC2
OC2RS = 0; //duty cycle = OC1RS/(PR2+1)
OC2R = 0; //initialize before turning OC1 on;
OC2CONbits.ON = 1; // turn on OC2
__builtin_enable_interrupts();
SYS_Initialize ( NULL );
while ( true )
{
/* 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 );
// PWM digital pin, set to OC1 / B15
ANSELBbits.ANSB15 = 0; // 0 = digital, set this since default for this pin is analog
RPB15Rbits.RPB15R = 0b0101; //Set B15 as OC1
// PWM for servo motor
OC1CONbits.OCTSEL = 0; // 0=Timer 2 is used for output compare
OC1CONbits.OCM = 0b110; // PWM mode without fault pin; other OC1CON bits are defaults
OC1R = 1250; // duty cycle = OC1RS/(PR2+1) = 0.075, 1.5ms/20ms for neutral servo position
// initialize before turning OC1 on; afterward it is read-only
T2CONbits.TCKPS = 0b100; // set prescaler to 1:16 (N=16)
PR2 = 49999; // period = (PR2+1)*N=16*25ns = 20 ms, or 50 Hz
TMR2 = 0; // initalize counter to 0
T2CONbits.ON = 1; // turn on Timer2
OC1CONbits.ON = 1; // turn on OC1
/*Motors - both use Timer 3*/
T3CONbits.TCKPS = 0; // set prescaler to 1:1 (N=1)
TMR3 = 0; // initalize counter to 0
PR3 = 799; // period = (PR3+1)*N=1*25ns = 20 us, or 20 kHz
/*Motor B: LEFT WHEEL (top down view)*/
//PHA1 pin
TRISBbits.TRISB4 = 0; //digital output
LATBbits.LATB4 = 0; //output on=0 initially
// PWM digital pin, set to OC2 (ENA1)
RPB5Rbits.RPB5R = 0b0101; // Set B5 as OC2
OC2CONbits.OCTSEL = 1; // 1=Timer 3 is used for output compare
OC2CONbits.OCM = 0b110; // PWM mode without fault pin; other OC2CON bits are defaults
OC2R = 0; // duty cycle = OC2RS/(PR3+1) = 0.075, 1.5ms/20ms for neutral servo position
OC2RS = 0; // initialize before turning OC2 on; afterward it is read-only
/*Motor A: RIGHT WHEEL*/
//PHA2 pin
TRISBbits.TRISB8 = 0; //digital output
LATBbits.LATB8 = 0; //output on=0 initially
// PWM digital pin, set to OC3 (ENA2)
RPB9Rbits.RPB9R = 0b0101; // Set B9 as OC3
OC3CONbits.OCTSEL = 1; // 1=Timer 3 is used for output compare
OC3CONbits.OCM = 0b110; // PWM mode without fault pin; other OC2CON bits are defaults
OC3R = 0; // duty cycle = OC3RS/(PR3+1) = 0.075, 1.5ms/20ms for neutral servo position
OC3RS = 0; // initialize before turning OC1 on; afterward it is read-only
T3CONbits.ON = 1; // turn on Timer4
OC3CONbits.ON = 1; // turn on OC3
OC2CONbits.ON = 1; // turn on OC2
// set up LED1 pin as a digital output - light checker
TRISBbits.TRISB7 = 0; //digital output
LATBbits.LATB7 = 0; //output on=0 initially
while ( true )
{
//LATBbits.LATB7 = 1;
//LATBINV = 0b10000000;
//OC3RS=400;
/* Maintain state machines of all polled MPLAB Harmony modules. */
SYS_Tasks ( );
}
/* Execution should not come here during normal operation */
return ( EXIT_FAILURE );
}
//
// Main application entry point.
//
int main(void)
{
#if defined(APP_USE_IPERF)
static uint8_t iperfOk = 0;
#endif
static SYS_TICK startTick = 0;
static IP_ADDR dwLastIP[sizeof (TCPIP_HOSTS_CONFIGURATION) / sizeof (*TCPIP_HOSTS_CONFIGURATION)];
uint8_t i;
// perform system initialization
if(!SYS_Initialize())
{
return 0;
}
SYS_CONSOLE_MESSAGE("\r\n\n\n --- Unified TCPIP Demo Starts! --- \r\n");
SYS_OUT_MESSAGE("TCPStack " TCPIP_STACK_VERSION " "" ");
#if defined(TCPIP_STACK_USE_MPFS) || defined(TCPIP_STACK_USE_MPFS2)
MPFSInit();
#endif
// Initiates board setup process if button is depressed
// on startup
if(BUTTON0_IO == 0u)
{
#if defined(TCPIP_STACK_USE_STORAGE) && (defined(SPIFLASH_CS_TRIS) || defined(EEPROM_CS_TRIS))
// Invalidate the EEPROM contents if BUTTON0 is held down for more than 4 seconds
SYS_TICK StartTime = SYS_TICK_Get();
LED_PUT(0x00);
while(BUTTON0_IO == 0u)
{
if(SYS_TICK_Get() - StartTime > 4*SYS_TICK_TicksPerSecondGet())
{
TCPIP_STORAGE_HANDLE hStorage;
// just in case we execute this before the stack is initialized
TCPIP_STORAGE_Init(0);
hStorage = TCPIP_STORAGE_Open(0, false); // no refresh actually needed
if(hStorage)
{
TCPIP_STORAGE_Erase(hStorage);
SYS_CONSOLE_MESSAGE("\r\n\r\nBUTTON0 held for more than 4 seconds. Default settings restored.\r\n\r\n");
TCPIP_STORAGE_Close(hStorage);
}
else
{
SYS_ERROR(SYS_ERROR_WARN, "\r\n\r\nCould not restore the default settings!!!.\r\n\r\n");
}
TCPIP_STORAGE_DeInit(0);
LED_PUT(0x0F);
// wait 4.5 seconds here then reset
while((SYS_TICK_Get() - StartTime) <= (9*SYS_TICK_TicksPerSecondGet()/2));
LED_PUT(0x00);
while(BUTTON0_IO == 0u);
SYS_Reboot();
break;
}
}
#endif // defined(TCPIP_STACK_USE_STORAGE) && (defined(SPIFLASH_CS_TRIS) || defined(EEPROM_CS_TRIS))
}
// Initialize the TCPIP stack
if(!TCPIP_STACK_Init(TCPIP_HOSTS_CONFIGURATION, sizeof(TCPIP_HOSTS_CONFIGURATION)/sizeof(*TCPIP_HOSTS_CONFIGURATION),
TCPIP_STACK_MODULE_CONFIG_TBL, sizeof(TCPIP_STACK_MODULE_CONFIG_TBL)/sizeof(*TCPIP_STACK_MODULE_CONFIG_TBL) ))
{
return 0;
}
#if defined(TCPIP_STACK_USE_TELNET_SERVER)
TelnetRegisterCallback(ProcessIO);
#endif // defined(TCPIP_STACK_USE_TELNET_SERVER)
#if defined (TCPIP_STACK_USE_IPV6)
TCPIP_ICMPV6_RegisterCallback (ICMPv6Callback);
#endif
#if defined(TCPIP_STACK_USE_ICMP_CLIENT) || defined(TCPIP_STACK_USE_ICMP_SERVER)
ICMPRegisterCallback (PingProcessIPv4);
#endif
#if defined(TCPIP_STACK_USE_EVENT_NOTIFICATION)
TCPIP_NET_HANDLE hWiFi = TCPIP_STACK_NetHandle("MRF24W");
if(hWiFi)
{
TCPIP_STACK_SetNotifyEvents(hWiFi, TCPIP_EV_RX_ALL|TCPIP_EV_TX_ALL|TCPIP_EV_RXTX_ERRORS);
TCPIP_STACK_SetNotifyHandler(hWiFi, StackNotification, 0);
}
#endif // defined(TCPIP_STACK_USE_EVENT_NOTIFICATION)
#if defined(APP_USE_IPERF)
IperfConsoleInit();
iperfOk = IperfAppInit(TCPIP_HOSTS_CONFIGURATION[0].interface);
#endif
// Now that all items are initialized, begin the co-operative
// multitasking loop. This infinite loop will continuously
// execute all stack-related tasks, as well as your own
// application's functions. Custom functions should be added
// at the end of this loop.
// Note that this is a "co-operative mult-tasking" mechanism
// where every task performs its tasks (whether all in one shot
// or part of it) and returns so that other tasks can do their
// job.
// If a task needs very long time to do its job, it must be broken
// down into smaller pieces so that other tasks can have CPU time.
while(1)
{
// Blink LED0 (right most one) every second.
if(SYS_TICK_Get() - startTick >= SYS_TICK_TicksPerSecondGet()/2ul)
{
startTick = SYS_TICK_Get();
LED0_IO ^= 1;
}
// This task performs normal stack task including checking
// for incoming packet, type of packet and calling
// appropriate stack entity to process it.
TCPIP_STACK_Task();
// Process application specific tasks here.
// For this demo app, this will include the Generic TCP
// client and servers, and the SNMP, Ping, and SNMP Trap
// demos. Following that, we will process any IO from
// the inputs on the board itself.
// Any custom modules or processing you need to do should
// go here.
#if defined(TCPIP_STACK_USE_GENERIC_TCP_CLIENT_EXAMPLE)
GenericTCPClient();
#endif
#if defined(TCPIP_STACK_USE_GENERIC_TCP_SERVER_EXAMPLE)
GenericTCPServer();
#endif
#if defined(TCPIP_STACK_USE_SMTP_CLIENT)
SMTPDemo();
#endif
#if defined(TCPIP_STACK_USE_ICMP_CLIENT) || defined (TCPIP_STACK_USE_ICMP_SERVER) || defined (TCPIP_STACK_USE_IPV6)
// use ping on the default interface
PingDemoTask();
#endif
#if defined(TCPIP_STACK_USE_SNMP_SERVER) && !defined(SNMP_TRAP_DISABLED)
//User should use one of the following SNMP demo
// This routine demonstrates V1 or V2 trap formats with one variable binding.
SNMPTrapDemo();
#if defined(SNMP_STACK_USE_V2_TRAP) || defined(SNMP_V1_V2_TRAP_WITH_SNMPV3)
//This routine provides V2 format notifications with multiple (3) variable bindings
//User should modify this routine to send v2 trap format notifications with the required varbinds.
//SNMPV2TrapDemo();
#endif
if(gSendTrapFlag)
SNMPSendTrap();
#endif
#if defined(TCPIP_STACK_USE_BERKELEY_API)
BerkeleyTCPClientDemo();
BerkeleyTCPServerDemo();
BerkeleyUDPClientDemo(0);
#endif
#if defined(APP_USE_IPERF)
IperfConsoleProcess();
if (iperfOk) IperfAppCall(); // Only running in case of init succeed
IperfConsoleProcessEpilogue();
#endif
// If the local IP address has changed (ex: due to DHCP lease change)
// write the new IP address to the console display, UART, and Announce
// service
// We use the default interface
for (i = 0; i < sizeof(TCPIP_HOSTS_CONFIGURATION)/sizeof(*TCPIP_HOSTS_CONFIGURATION); i++)
{
TCPIP_NET_HANDLE netH = TCPIP_STACK_NetHandle(TCPIP_HOSTS_CONFIGURATION[i].interface);
if((uint32_t)dwLastIP[i].Val != TCPIP_STACK_NetAddress(netH))
{
dwLastIP[i].Val = TCPIP_STACK_NetAddress(netH);
SYS_CONSOLE_MESSAGE(TCPIP_HOSTS_CONFIGURATION[i].interface);
SYS_CONSOLE_MESSAGE(" new IP Address: ");
DisplayIPValue(dwLastIP[i]);
SYS_CONSOLE_MESSAGE("\r\n");
}
}
#if defined(TCPIP_STACK_USE_EVENT_NOTIFICATION)
if(stackNotifyCnt)
{
stackNotifyCnt = 0;
ProcessNotification(stackNotifyHandle);
}
#endif // defined(TCPIP_STACK_USE_EVENT_NOTIFICATION)
}
}
//
// Main application entry point.
//
int main(void)
{
#if defined(HOST_CM_TEST)
DWORD t1 = 0;
char st[80];
BOOL host_scan = FALSE;
UINT16 scan_count = 0;
#endif
static IPV4_ADDR dwLastIP[sizeof (TCPIP_HOSTS_CONFIGURATION) / sizeof (*TCPIP_HOSTS_CONFIGURATION)];
int i, nNets;
#if defined(SYS_USERIO_ENABLE)
static SYS_TICK startTick = 0;
int32_t LEDstate=SYS_USERIO_LED_DEASSERTED;
#endif // defined(SYS_USERIO_ENABLE)
TCPIP_NET_HANDLE netH;
const char *netName=0;
const char *netBiosName;
#if defined (TCPIP_STACK_USE_ZEROCONF_MDNS_SD)
char mDNSServiceName[] = "MyWebServiceNameX "; // base name of the service Must not exceed 16 bytes long
// the last digit will be incremented by interface
#endif // defined (TCPIP_STACK_USE_ZEROCONF_MDNS_SD)
// perform system initialization
if(!SYS_Initialize())
{
return 0;
}
SYS_CONSOLE_MESSAGE("\r\n\n\n --- TCPIP Demo Starts! --- \r\n");
SYS_OUT_MESSAGE("TCPIPStack " TCPIP_STACK_VERSION " "" ");
// Initialize the TCPIP stack
if (!TCPIP_STACK_Init(TCPIP_HOSTS_CONFIGURATION, sizeof (TCPIP_HOSTS_CONFIGURATION) / sizeof (*TCPIP_HOSTS_CONFIGURATION),
TCPIP_STACK_MODULE_CONFIG_TBL, sizeof (TCPIP_STACK_MODULE_CONFIG_TBL) / sizeof (*TCPIP_STACK_MODULE_CONFIG_TBL)))
{
return 0;
}
// Display the names associated with each interface
// Perform mDNS registration if mDNS is enabled
nNets = TCPIP_STACK_NetworksNo();
for(i = 0; i < nNets; i++)
{
netH = TCPIP_STACK_IxToNet(i);
netName = TCPIP_STACK_NetName(netH);
netBiosName = TCPIP_STACK_NetBIOSName(netH);
#if defined(TCPIP_STACK_USE_NBNS)
SYS_CONSOLE_PRINT(" Interface %s on host %s - NBNS enabled\r\n", netName, netBiosName);
#else
SYS_CONSOLE_PRINT(" Interface %s on host %s - NBNS disabled\r\n", netName, netBiosName);
#endif // defined(TCPIP_STACK_USE_NBNS)
#if defined (TCPIP_STACK_USE_ZEROCONF_MDNS_SD)
mDNSServiceName[sizeof(mDNSServiceName) - 2] = '1' + i;
mDNSServiceRegister( netH
, mDNSServiceName // name of the service
,"_http._tcp.local" // type of the service
,80 // TCP or UDP port, at which this service is available
,((const BYTE *)"path=/index.htm") // TXT info
,1 // auto rename the service when if needed
,NULL // no callback function
,NULL); // no application context
#endif //TCPIP_STACK_USE_ZEROCONF_MDNS_SD
}
#if defined (TCPIP_STACK_USE_IPV6)
TCPIP_ICMPV6_RegisterCallback(ICMPv6Callback);
#endif
#if defined(TCPIP_STACK_USE_ICMP_CLIENT)
ICMPRegisterCallback(PingProcessIPv4);
#endif
#if defined(TCPIP_STACK_USE_EVENT_NOTIFICATION)
TCPIP_NET_HANDLE hWiFi = TCPIP_STACK_NetHandle("MRF24W");
if (hWiFi)
{
TCPIP_STACK_RegisterHandler(hWiFi, TCPIP_EV_RX_ALL | TCPIP_EV_TX_ALL | TCPIP_EV_RXTX_ERRORS, StackNotification, 0);
}
#endif // defined(TCPIP_STACK_USE_EVENT_NOTIFICATION)
#if defined(WF_UPDATE_FIRMWARE_UART_24G)
extern bool WF_FirmwareUpdate_Uart_24G(void);
WF_FirmwareUpdate_Uart_24G();
#endif
// Now that all items are initialized, begin the co-operative
// multitasking loop. This infinite loop will continuously
// execute all stack-related tasks, as well as your own
// application's functions. Custom functions should be added
// at the end of this loop.
// Note that this is a "co-operative mult-tasking" mechanism
// where every task performs its tasks (whether all in one shot
// or part of it) and returns so that other tasks can do their
// job.
// If a task needs very long time to do its job, it must be broken
// down into smaller pieces so that other tasks can have CPU time.
while (1)
{
SYS_Tasks();
#if defined(SYS_USERIO_ENABLE)
// Blink LED0 (right most one) every second.
if (SYS_TICK_Get() - startTick >= SYS_TICK_TicksPerSecondGet() / 2ul)
{
startTick = SYS_TICK_Get();
LEDstate ^= SYS_USERIO_LED_ASSERTED;
SYS_USERIO_SetLED(SYS_USERIO_LED_0, LEDstate);
}
#endif // defined(SYS_USERIO_ENABLE)
// This task performs normal stack task including checking
// for incoming packet, type of packet and calling
// appropriate stack entity to process it.
TCPIP_STACK_Task();
// Process application specific tasks here.
// For this demo app, this will include the Generic TCP
// client and servers, and the SNMP, Ping, and SNMP Trap
// demos. Following that, we will process any IO from
// the inputs on the board itself.
// Any custom modules or processing you need to do should
// go here.
#if defined(TCPIP_STACK_USE_TCP) && defined(APP_USE_FTP_CLIENT_DEMO)
FTPClient();
#endif
#if defined(TCPIP_STACK_USE_TCP) && defined(APP_USE_GENERIC_TCP_CLIENT_DEMO)
GenericTCPClient();
#endif
#if defined(TCPIP_STACK_USE_TCP) && defined(APP_USE_GENERIC_TCP_SERVER_DEMO)
GenericTCPServer();
#endif
#if defined(TCPIP_STACK_USE_SMTP_CLIENT) && defined(APP_USE_SMTP_CLIENT_DEMO)
SMTPDemo();
#endif
#if (defined(TCPIP_STACK_USE_ICMP_CLIENT) || defined (TCPIP_STACK_USE_IPV6)) && defined(APP_USE_PING_DEMO)
// use ping on the default interface
PingDemoTask();
#endif
#if defined(TCPIP_STACK_USE_SNMP_SERVER) && !defined(SNMP_TRAP_DISABLED)
// User should use one of the following SNMP demo
// This routine demonstrates V1 or V2 trap formats with one variable binding.
//SNMPTrapDemo(); //This function sends the both SNMP trap version1 and 2 type of notifications
#if defined(SNMP_STACK_USE_V2_TRAP) || defined(SNMP_V1_V2_TRAP_WITH_SNMPV3)
//This routine provides V2 format notifications with multiple (3) variable bindings
//User should modify this routine to send v2 trap format notifications with the required varbinds.
SNMPV2TrapDemo(); //This function sends the SNMP trap version 2 type of notifications
#endif
/*
SNMPSendTrap() is used to send trap notification to previously configured ip address if trap notification is enabled.
There are different trap notification code. The current implementation sends trap for authentication failure (4).
PreCondition: If application defined event occurs to send the trap. Declare a notification flag and update as the event occurs.
Uncomment the below function if the application requires.
if(notification flag is updated by the application as a predefined event occured)
{
SNMPSendTrap();
}
*/
#endif
#if defined(TCPIP_STACK_USE_BERKELEY_API) && defined(APP_USE_BERKELEY_API_DEMO)
BerkeleyTCPClientDemo();
BerkeleyTCPServerDemo();
BerkeleyUDPClientDemo(0);
#endif
// If the local IP address has changed (ex: due to DHCP lease change)
// write the new IP address to the console display, UART, and Announce
// service
// We use the default interface
for (i = 0; i < sizeof (TCPIP_HOSTS_CONFIGURATION) / sizeof (*TCPIP_HOSTS_CONFIGURATION); i++)
{
netH = TCPIP_STACK_NetHandle(TCPIP_HOSTS_CONFIGURATION[i].interface);
if ((uint32_t) dwLastIP[i].Val != TCPIP_STACK_NetAddress(netH))
{
dwLastIP[i].Val = TCPIP_STACK_NetAddress(netH);
SYS_CONSOLE_PRINT("Interface Name is: %s\r\n", TCPIP_HOSTS_CONFIGURATION[i].interface);
SYS_CONSOLE_MESSAGE("New IP Address is: "); DisplayIPValue(dwLastIP[i]);
SYS_CONSOLE_MESSAGE("\r\n");
}
}
#if defined(TCPIP_STACK_USE_EVENT_NOTIFICATION)
if (stackNotifyCnt)
{
stackNotifyCnt = 0;
ProcessNotification(stackNotifyHandle);
}
#endif // defined(TCPIP_STACK_USE_EVENT_NOTIFICATION)
#if defined(WF_UPDATE_FIRMWARE_TCPCLIENT_24G)
void WF_FirmwareUpdate_TcpClient_24G(void);
WF_FirmwareUpdate_TcpClient_24G();
#endif //defined(WF_UPDATE_FIRMWARE_TCPCLIENT_24G)
#if defined(HOST_CM_TEST)
switch (g_event)
{
case WF_EVENT_CONNECTION_PERMANENTLY_LOST:
case WF_EVENT_CONNECTION_FAILED:
g_event = 0xff; // clear current event
// if host scan is active, it can be forced inactive by connection/re-connection process
// so just reset host scan state to inactive.
host_scan = FALSE; // host scan inactive
SYS_CONSOLE_MESSAGE("Reconnecting....\r\n");
WF_Connect();
break;
case WF_EVENT_CONNECTION_SUCCESSFUL:
g_event = 0xff; // clear current event
// if host scan is active, it can be forced inactive by connection/re-connection process
// so just reset host scan state to inactive.
host_scan = FALSE; // host scan inactive
break;
case WF_EVENT_SCAN_RESULTS_READY:
g_event = 0xff; // clear current event
host_scan = FALSE; // host scan inactive
// Scan results are valid - OK to retrieve
if (SCANCXT.numScanResults > 0)
{
SCAN_SET_DISPLAY(SCANCXT.scanState);
SCANCXT.displayIdx = 0;
while (IS_SCAN_STATE_DISPLAY(SCANCXT.scanState))
WFDisplayScanMgr();
}
break;
case WF_EVENT_CONNECTION_TEMPORARILY_LOST:
// This event can happened when CM in module is enabled.
g_event = 0xff; // clear current event
// if host scan is active, it can be forced inactive by connection/re-connection process
// so just reset host scan state to inactive.
host_scan = FALSE; // host scan inactive
break;
default:
//sprintf(st,"skip event = %d\r\n",g_event);
//SYS_CONSOLE_MESSAGE(st);
break;
}
if (g_DhcpSuccessful)
{
/* Send and Receive UDP packets */
if(UDPIsOpened(socket1))
{
// UDP TX every 10 msec
if(SYS_TICK_Get() - timeudp >= SYS_TICK_TicksPerSecondGet() / 100)
{
timeudp = SYS_TICK_Get();
tx_number++;
LED0_IO ^= 1;
sprintf(str,"rem=%12lu",tx_number);
for(cntstr=16;cntstr<999;cntstr++)
str[cntstr]=cntstr;
str[999]=0;
// Send tx_number (formatted in a string)
if(UDPIsTxPutReady(socket1,1000)!=0)
{
UDPPutString(socket1,(BYTE *)str);
UDPFlush(socket1);
SYS_CONSOLE_MESSAGE(".");
}
}
// UDP RX tx_number of remote board
if(UDPIsGetReady(socket1)!=0)
{
LED1_IO ^= 1;
UDPGetArray(socket1,(BYTE *)str,1000);
str[16]=0;
//sprintf((char*)LCDText,"%sloc=%12lu",str,tx_number); // Write on EXP16 LCD local and remote TX number
//strcpypgm2ram(LCDText,str);
//LCDUpdate();
SYS_CONSOLE_MESSAGE("Rx");
}
}
// Do host scan
if((SYS_TICK_Get() - t1) >= SYS_TICK_TicksPerSecondGet() * 20)
{
t1 = SYS_TICK_Get();
if (!host_scan) // allow host scan if currently inactive
{
sprintf(st,"%d Scanning ..... event = %d\r\n",++scan_count, g_event);
SYS_CONSOLE_MESSAGE(st);
host_scan = TRUE; // host scan active
WF_Scan(0xff); // scan on all channels
}
}
} // DHCP status
#endif //HOST_CM_TEST
}
}
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 );
}
//
// Main application entry point.
//
int main(void)
{
static SYS_TICK startTick = 0;
static IPV4_ADDR dwLastIP[2] = { {-1}, {-1} };
IPV4_ADDR ipAddr;
SYS_USERIO_LED_STATE LEDstate = SYS_USERIO_LED_DEASSERTED;
int i, nNets;
TCPIP_NET_HANDLE netH;
const char *netName, *netBiosName;
#if defined (TCPIP_STACK_USE_ZEROCONF_MDNS_SD)
char mDNSServiceName[] = "MyWebServiceNameX "; // base name of the service Must not exceed 16 bytes long
// the last digit will be incremented by interface
#endif // defined (TCPIP_STACK_USE_ZEROCONF_MDNS_SD)
// perform system initialization
SYS_Initialize(0);
SYS_CONSOLE_MESSAGE("\r\n\n\n --- TCPIP Demo Starts! --- \r\n");
SYS_OUT_MESSAGE("TCPIPStack " TCPIP_STACK_VERSION " "" ");
// Display the names associated with each interface
nNets = TCPIP_STACK_NumberOfNetworksGet();
for(i = 0; i < nNets; i++)
{
netH = TCPIP_STACK_IndexToNet(i);
netName = TCPIP_STACK_NetNameGet(netH);
netBiosName = TCPIP_STACK_NetBIOSName(netH);
#if defined(TCPIP_STACK_USE_NBNS)
SYS_CONSOLE_PRINT(" Interface %s on host %s - NBNS enabled\r\n", netName, netBiosName);
#else
SYS_CONSOLE_PRINT(" Interface %s on host %s - NBNS disabled\r\n", netName, netBiosName);
#endif // defined(TCPIP_STACK_USE_NBNS)
#if defined (TCPIP_STACK_USE_ZEROCONF_MDNS_SD)
mDNSServiceName[sizeof(mDNSServiceName) - 2] = '1' + i;
TCPIP_MDNS_ServiceRegister( netH
, mDNSServiceName // name of the service
,"_http._tcp.local" // type of the service
,80 // TCP or UDP port, at which this service is available
,((const uint8_t *)"path=/index.htm") // TXT info
,1 // auto rename the service when if needed
,NULL // no callback function
,NULL); // no application context
#endif //TCPIP_STACK_USE_ZEROCONF_MDNS_SD
}
#if defined(WF_UPDATE_FIRMWARE_UART_24G)
extern bool WF_FirmwareUpdate_Uart_24G(void);
WF_FirmwareUpdate_Uart_24G();
#endif
// Now that all items are initialized, begin the co-operative
// multitasking loop. This infinite loop will continuously
// execute all stack-related tasks, as well as your own
// application's functions. Custom functions should be added
// at the end of this loop.
// Note that this is a "co-operative mult-tasking" mechanism
// where every task performs its tasks (whether all in one shot
// or part of it) and returns so that other tasks can do their
// job.
// If a task needs very long time to do its job, it must be broken
// down into smaller pieces so that other tasks can have CPU time.
while (1)
{
SYS_Tasks();
// Blink LED0 every second.
if (SYS_TICK_Get() - startTick >= SYS_TICK_TicksPerSecondGet() / 2ul)
{
startTick = SYS_TICK_Get();
LEDstate ^= SYS_USERIO_LED_ASSERTED;
SYS_USERIO_SetLED(SYS_USERIO_LED_0, LEDstate);
}
// if the IP address of an interface has changed
// display the new value on the system console
nNets = TCPIP_STACK_NumberOfNetworksGet();
for (i = 0; i < nNets; i++)
{
netH = TCPIP_STACK_IndexToNet(i);
ipAddr.Val = TCPIP_STACK_NetAddress(netH);
if(dwLastIP[i].Val != ipAddr.Val)
{
dwLastIP[i].Val = ipAddr.Val;
SYS_CONSOLE_MESSAGE(TCPIP_STACK_NetNameGet(netH));
SYS_CONSOLE_MESSAGE(" IP Address: ");
SYS_CONSOLE_PRINT("%d.%d.%d.%d \r\n", ipAddr.v[0], ipAddr.v[1], ipAddr.v[2], ipAddr.v[3]);
}
}
#if (WF_DEFAULT_NETWORK_TYPE == WF_NETWORK_TYPE_SOFT_AP)
if (g_scan_done) {
if (g_prescan_waiting) {
SYS_CONSOLE_MESSAGE((const char*)"\n SoftAP prescan results ........ \r\n\n");
SCANCXT.displayIdx = 0;
extern void WFDisplayScanMgr(void);
while (IS_SCAN_STATE_DISPLAY(SCANCXT.scanState)) {
WFDisplayScanMgr();
}
SYS_CONSOLE_MESSAGE((const char*)"\r\n ");
#if defined(WF_CS_TRIS)
Demo_Wifi_Connect();
#endif
g_scan_done = 0;
g_prescan_waiting = 0;
}
}
#endif // (WF_DEFAULT_NETWORK_TYPE == WF_NETWORK_TYPE_SOFT_AP)
#if defined(WF_UPDATE_FIRMWARE_UART_24G)
WF_FirmwareUpdate_Uart_24G();
#endif
#if defined(WF_UPDATE_FIRMWARE_TCPCLIENT_24G)
WF_FirmwareUpdate_TcpClient_24G();
#endif
}
}
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 ( 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 );
}