int main ()
{
__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();
TRISBbits.TRISB7 = 0; // set up LED1 pin as a digital output
// int i,a;
// display_init();
// for (i = 0; i<10; ++i)
// {
// a = 30+i;
// display_pixel_set(15,a,1);
// display_draw();
// }
char input[100];
int i=0;
short accels[3]; // accelerations for the 3 axes
short mags[3]; // magnetometer readings for the 3 axes
short temp;
acc_setup(); //initialize accelerometer
display_init(); //initialize LED screen
float xg, yg, zg;
while(1)
{
start_position[0] = 0;
start_position[1] = 0;
center_position[0] = 32;
center_position[1] = 64;
acc_read_register(OUT_X_L_A, (unsigned char *) accels, 6);
acc_read_register(OUT_X_L_M, (unsigned char *) mags, 6);
acc_read_register(TEMP_OUT_L, (unsigned char *) &temp, 2);
xg = (float) accels[0]/16000;
yg = (float) accels[1]/16000;
zg = (float) accels[2]/16000;
sprintf(input,"x: %.2f y: %.2f z: %.2f ", xg,yg,zg);
display_reset();
display_draw();
display_ggraph(xg,yg);
while(input[i])
{
display_message(input[i]);
i++;
start_position[1] = start_position[1]+5;
// if(start_position[1]+5>128)
// {start_position[0]+1;}
// else
// {start_position[1] = start_position[1]+5;}
}
i = 0;
display_draw();
_CP0_SET_COUNT(0);
while(_CP0_GET_COUNT()<5000000)
{;}
}
return (0);
}
int main() {
// 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();
ANSELAbits.ANSA0 = 0;
// set up USER pin as input
ANSELBbits.ANSB13 = 0;
TRISBbits.TRISB13 = 1;
// set up LED1 pin as a digital output
RPB7Rbits.RPB7R = 0b0001;
TRISBbits.TRISB7 = 0;
LATBbits.LATB7 = 1;
// set up LED2 as OC1 using Timer2 at 1kHz
ANSELBbits.ANSB15 = 0; // 0 for digital
RPB15Rbits.RPB15R = 0b0101; //set B15 as output compare 1
// __builtin_disable_interrupts();
T2CONbits.TCKPS = 0; // Timer2 prescaler N=1 (1:4)
PR2 = 39999; // period = (PR2+1) * N * 12.5 ns = 1 ms, 1 kHz
TMR2 = 0; // initial TMR2 count is 0
OC1CONbits.OCM = 0b110; // PWM mode without fault pin; other OC1CON bits are defaults
T2CONbits.ON = 1; // turn on Timer2
OC1CONbits.ON = 1; // turn on OC1
OC1RS = 0;
OC1R = 0;
// set up A0 as AN0
ANSELAbits.ANSA0 = 1;
AD1CON3bits.ADCS = 3;
AD1CHSbits.CH0SA = 0;
AD1CON1bits.ADON = 1;
while (1) {
// invert pin every 0.5s, set PWM duty cycle % to the pot voltage output
//Use the core timer to double check your CPU clock settings
_CP0_SET_COUNT(0); // set core timer to 0, remember it counts at half the CPU clock
LATBINV = 0x0080; // invert a pin
// wait for half a second, setting LED brightness to pot angle while waiting
while (_CP0_GET_COUNT() < 10000000) {
int val = readADC();
OC1RS = (val * PR2)/1024;
if (PORTBbits.RB13 == 1) {
// nothing
}
else {
LATBINV = 0x0080;
}
}
}
}
int main(void) {
//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;
display_init();
int number = 1337;
sprintf(buffer,"Hello World %d!", number);
display_write(28,32,buffer);
/*int ii; // Draw a line from position (x,y) = (0,15) to (127,15)
for (ii = 0; ii < 128; ii++){
display_pixel_set(15,ii,1);
display_draw();
}*/
while (1){
// invert pin every 0.5s, set PWM duty cycle % to the pot voltage output %
_CP0_SET_COUNT(0);
LATBINV = 0b10000000;
while(_CP0_GET_COUNT()<10000000){
OC1RS = readADC()*(PR2+1)/1023; // delay for 10M core ticks, 0.5s
if (PORTBbits.RB13 == 1){
;// nothing
}
else{
LATBINV = 0b10000000;
}
}
}
}
void APP_Tasks (void )
{
char message[25];
char inputfrompc[25];
int i;
short accels[3]; // accelerations for the 3 axes
short accelsMAF;
short accelsFIR;
int buf1=0;
int buf2=0;
int buf3=0;
int buf4=0;
int buf5=0;
//bn*1000 for FIR
float b1=.0088;
float b2=.0479;
float b3=.1640;
float b4=.2793;
float b5=.2793;
float b6=.1640;
float b7=.0479;
float b8=.0088;
int FIRbuf1=0;
int FIRbuf2=0;
int FIRbuf3=0;
int FIRbuf4=0;
int FIRbuf5=0;
int FIRbuf6=0;
int FIRbuf7=0;
int FIRbuf8=0;
//sprintf(message,"Hello!");
//use_display(20,20,message);
//display_draw();
/* Check if device is configured. See if it is configured with correct
* configuration value */
switch(appData.state)
{
case APP_STATE_INIT:
/* Open the device layer */
appData.usbDevHandle = USB_DEVICE_Open( USB_DEVICE_INDEX_0, DRV_IO_INTENT_READWRITE );
if(appData.usbDevHandle != USB_DEVICE_HANDLE_INVALID)
{
/* Register a callback with device layer to get event notification (for end point 0) */
USB_DEVICE_EventHandlerSet(appData.usbDevHandle, APP_USBDeviceEventHandler, 0);
appData.state = APP_STATE_WAIT_FOR_CONFIGURATION;
}
else
{
/* The Device Layer is not ready to be opened. We should try
* again later. */
}
break;
case APP_STATE_WAIT_FOR_CONFIGURATION:
if(appData.deviceConfigured == true)
{
/* Device is ready to run the main task */
appData.hidDataReceived = false;
appData.hidDataTransmitted = true;
appData.state = APP_STATE_MAIN_TASK;
/* Place a new read request. */
USB_DEVICE_HID_ReportReceive (USB_DEVICE_HID_INDEX_0,
&appData.rxTransferHandle, appData.receiveDataBuffer, 64);
}
break;
case APP_STATE_MAIN_TASK:
if(!appData.deviceConfigured)
{
/* Device is not configured */
appData.state = APP_STATE_WAIT_FOR_CONFIGURATION;
}
else if( appData.hidDataReceived )
{
/* Look at the data the host sent, to see what
* kind of application specific command it sent. */
switch(appData.receiveDataBuffer[0])
{
case 0x80:
/* Toggle on board LED1 to LED2. */
BSP_LEDToggle( APP_USB_LED_1 );
BSP_LEDToggle( APP_USB_LED_2 );
for (i=0; i<8; i++){
inputfrompc[i] = appData.receiveDataBuffer[i+1];
}
use_display(20,20,inputfrompc);
display_draw();
appData.hidDataReceived = false;
/* Place a new read request. */
USB_DEVICE_HID_ReportReceive (USB_DEVICE_HID_INDEX_0,
&appData.rxTransferHandle, appData.receiveDataBuffer, 64 );
break;
case 0x81:
if(appData.hidDataTransmitted)
{
/* Echo back to the host PC the command we are fulfilling in
* the first byte. In this case, the Get Push-button State
* command. */
appData.transmitDataBuffer[0] = 0x81;
acc_read_register(OUT_X_L_A, (unsigned char *) accels, 6);
sprintf(message,"Z: %d",accels[0]);
use_display(10,10,message);
display_draw();
if(_CP0_GET_COUNT()>800000){
appData.transmitDataBuffer[1] = 1;
appData.transmitDataBuffer[2] = accels[0]>>8;
appData.transmitDataBuffer[3] = accels[0]&0xFF;
//use MAF buffer values to calculate accelsMAF
accelsMAF = ((buf1+buf2+buf3+buf4+buf5+accels[0])/6);
//change MAF buffer values
buf5=buf4;
buf4=buf3;
buf3=buf2;
buf2=buf1;
buf1=accels[0];
//change FIR buffer values
FIRbuf8=FIRbuf7;
FIRbuf7=FIRbuf6;
FIRbuf6=FIRbuf5;
FIRbuf5=FIRbuf4;
FIRbuf4=FIRbuf3;
FIRbuf3=FIRbuf2;
FIRbuf2=FIRbuf1;
FIRbuf1=accels[0];
//FIR Filtering calculations
accelsFIR = (b1*FIRbuf1)+(b2*FIRbuf2)+(b3*FIRbuf3)+(b4*FIRbuf4)+(b5*FIRbuf5)+(b6*FIRbuf6)+(b7*FIRbuf7)+(b8*FIRbuf8);
appData.transmitDataBuffer[4] = accelsMAF>>8;
appData.transmitDataBuffer[5] = accelsMAF&0xFF;
appData.transmitDataBuffer[6] = accelsFIR>>8;
appData.transmitDataBuffer[7] = accelsFIR&0xFF;
_CP0_SET_COUNT(0);
}
else{appData.transmitDataBuffer[1]=0;}
appData.hidDataTransmitted = false;
/* Prepare the USB module to send the data packet to the host */
USB_DEVICE_HID_ReportSend (USB_DEVICE_HID_INDEX_0,
&appData.txTransferHandle, appData.transmitDataBuffer, 64 );
appData.hidDataReceived = false;
/* Place a new read request. */
USB_DEVICE_HID_ReportReceive (USB_DEVICE_HID_INDEX_0,
&appData.rxTransferHandle, appData.receiveDataBuffer, 64 );
}
break;
default:
appData.hidDataReceived = false;
/* Place a new read request. */
USB_DEVICE_HID_ReportReceive (USB_DEVICE_HID_INDEX_0,
&appData.rxTransferHandle, appData.receiveDataBuffer, 64 );
break;
}
void setup(){
// DEVCFGs here
// DEVCFG0
#pragma config DEBUG = OFF // no debugging
#pragma config JTAGEN = OFF // no jtag
#pragma config ICESEL = ICS_PGx1 // use PGED1 and PGEC1
#pragma config PWP = OFF // no write protect
#pragma config BWP = OFF // not boot write protect
#pragma config CP = OFF // no code protect
// DEVCFG1
#pragma config FNOSC = PRIPLL // use primary oscillator with pll
#pragma config FSOSCEN = OFF // turn off secondary oscillator
#pragma config IESO = OFF // no switching clocks
#pragma config POSCMOD = HS // high speed crystal mode
#pragma config OSCIOFNC = OFF // free up secondary osc pins
#pragma config FPBDIV = DIV_1 // divide CPU freq by 1 for peripheral bus clock
#pragma config FCKSM = CSDCMD // do not enable clock switch
#pragma config WDTPS = PS1 // slowest wdt
#pragma config WINDIS = OFF // no wdt window
#pragma config FWDTEN = OFF // wdt off by default
#pragma config FWDTWINSZ = WINSZ_25 // wdt window at 25%
// DEVCFG2 - get the CPU clock to 40MHz
#pragma config FPLLIDIV = DIV_2 // divide input clock to be in range 4-5MHz
#pragma config FPLLMUL = MUL_20 // multiply clock after FPLLIDIV
#pragma config UPLLIDIV = DIV_1 // divide clock after FPLLMUL
#pragma config UPLLEN = ON // USB clock on
#pragma config FPLLODIV = DIV_2 // divide clock by 1 to output on pin
// DEVCFG3
#pragma config USERID = 0 // some 16bit userid
#pragma config PMDL1WAY = ON // not multiple reconfiguration, check this
#pragma config IOL1WAY = ON // not multimple reconfiguration, check this
#pragma config FUSBIDIO = ON // USB pins controlled by USB module
#pragma config FVBUSONIO = ON // controlled by USB module
// 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();
// set up USER pin as input
ANSELBbits.ANSB13 = 0;
// set up LED1 pin as a digital output -
ANSELBbits.ANSB15 = 0;
TRISBbits.TRISB15 = 0;
_CP0_SET_COUNT(0);
while(_CP0_GET_COUNT()<4000000);
LATBbits.LATB15 = 1;
// set up A0 as AN0
ANSELAbits.ANSA0 = 1;
AD1CON3bits.ADCS = 3;
AD1CHSbits.CH0SA = 0;
AD1CON1bits.ADON = 1;
display_init();
acc_setup();
}
uint32_t cpu_microsecond_count(void)
{
return _CP0_GET_COUNT();
}
int main(void) {
//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();
short accels[3]; // accelerations for the 3 axes
short mags[3]; // magnetometer readings for the 3 axes
short temp;
// Display
display_init();
/*int number = 1337;
sprintf(buffer,"Hello World %d!", number);
display_write(28,32,buffer);
*/
/*
for (ii = 0; ii < 128; ii++){ // Draw a line from position (x,y) = (0,15) to (127,15)
display_pixel_set(15,ii,1);
display_draw();
}*/
while (1){
// invert pin every 0.5s, set PWM duty cycle % to the pot voltage output %
_CP0_SET_COUNT(0);
LATBINV = 0b10000000;
while(_CP0_GET_COUNT()<10000000){
OC1RS = readADC()*(PR2+1)/1023; // delay for 10M core ticks, 0.5s
if (PORTBbits.RB13 == 1){
;// nothing
}
else{
LATBINV = 0b10000000;
}
}
// 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(buffer1, "(ax, ay, az)");
display_write(0, 0, buffer1);
sprintf(buffer2, "(%d, %d, %d)", accels[0], accels[1], accels[2]);
display_write(0, 48, buffer2);
sprintf(buffer, "Derek Oung");
display_write(0, 56, buffer);
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;
/*
while (i<x_line_point){
display_pixel_set(32,i,1);
i++;
}
*/
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();
}
}
/*** void flashOperation(uint32 nvmop, uint32 addr, uint32 data)
**
** Synopsis:
** Performs either a page erase, word write, or row write
**
** Parameters:
** nvmop either NVMOP_PAGE_ERASE, NVMOP_WORD_PGM, or NVMOP_ROW_PGM
** addr the uint32_t flash address of: the page to erase, word location to write, or row location to write
** data a uint32_t of data to write, or the uint32_t of the SRAM address containing the array of data to write to the row
**
** Return Values:
** True if successful, false if failed
**
** Errors:
** None
**
** Notes:
** data has no meaning when page erase is specified and should be set to 0ul
**
*/
uint32_t FlashOperation(uint32_t nvmop, uint32_t addr, uint32_t data)
{
unsigned long t0;
unsigned int status;
#if defined(_PCACHE)
unsigned long K0;
unsigned long PFEN = CHECON & _CHECON_PREFEN_MASK;
#endif
// Convert Address to Physical Address
NVMADDR = KVA_2_PA(addr);
NVMDATA = data;
NVMSRCADDR = KVA_2_PA(data);
// Suspend or Disable all Interrupts
SuspendINT(status);
#if defined(_PCACHE)
// disable predictive prefetching, see errata
CHECONCLR = _CHECON_PREFEN_MASK;
// turn off caching, see errata
ReadK0(K0);
WriteK0((K0 & ~0x07) | K0_UNCACHED);
#endif
// Enable Flash Write/Erase Operations
NVMCON = NVMCON_WREN | nvmop;
// this is a poorly documented yet very important
// required delay on newer silicon.
// If you do not delay, on some silicon it will
// completely latch up the flash to where you need
// to cycle power, so wait for at least
// 6us for LVD start-up, see errata
t0 = _CP0_GET_COUNT();
while (_CP0_GET_COUNT() - t0 < ((6 * F_CPU) / 2 / 1000000UL));
// magic unlock sequence
NVMKEY = 0xAA996655;
NVMKEY = 0x556699AA;
NVMCONSET = NVMCON_WR;
// Wait for WR bit to clear
while (NVMCON & NVMCON_WR);
// see errata, wait 500ns before writing to any NVM register
t0 = _CP0_GET_COUNT();
while (_CP0_GET_COUNT() - t0 < ((F_CPU / 2 / 2000000UL)));
// Disable Flash Write/Erase operations
NVMCONCLR = NVMCON_WREN;
#if defined(_PCACHE)
// restore predictive prefetching and caching, see errata
WriteK0(K0);
CHECONSET = PFEN;
#endif
// Restore Interrupts
RestoreINT(status);
// assert no errors
return(! (NVMCON & (_NVMCON_WRERR_MASK | _NVMCON_LVDERR_MASK)));
}
int main() {
// startup FROM HW1
__builtin_disable_interrupts();
__builtin_mtc0(_CP0_CONFIG, _CP0_CONFIG_SELECT, 0xa4210583);
BMXCONbits.BMXWSDRM = 0x0;
INTCONbits.MVEC = 0x1;
DDPCONbits.JTAGEN = 0;
__builtin_enable_interrupts();
ANSELBbits.ANSB13 = 0; //Make B13 Digital
TRISBbits.TRISB7 = 0;
RPB15Rbits.RPB15R = 0b0101; //Set B15 as OC1
T2CONbits.TCKPS = 0; //Prescalar = 1
PR2 = 39999; //Max counter value
TMR2 = 0; // Initialize timer 2
OC1CONbits.OCM = 0b110; //Without failsafe
OC1RS = 2000; //Duts cycle is 5%
OC1R = 2000; //Initial duty cycle is 5%
T2CONbits.ON = 1; //turns timer on
OC1CONbits.ON = 1; //Turns output control on
ANSELAbits.ANSA0 = 1;
AD1CON3bits.ADCS = 3;
AD1CHSbits.CH0SA = 0;
AD1CON1bits.ADON = 1;
display_init();
while (1) {
_CP0_SET_COUNT(0); // set core timer to 0, remember it counts at half the CPU clock
LATBINV = 0b10000000; // invert a pin B7 (LED1)
while (_CP0_GET_COUNT() < 10000000) {
int val;
val = readADC();
OC1RS = val * 39; //comes out to about 39
if (PORTBbits.RB13 == 1) {
} else {
LATBINV = 0b10000000; //Invert LED1
}
}
//END STARTUP FROM HW1
display_clear();
char MessageLetters[17]; //= 'Hello world 1337!';
sprintf(MessageLetters, "Hello world 1337!");
int ii = 0;
int currentVal;
int message[17];
while (MessageLetters[ii]) {
currentVal = MessageLetters[ii];
if (currentVal - 32 >= 0) {
message[ii] = currentVal - 32;
}
ii++;
}
int StringCount;
int colLCD; //Create column location on LCD
int rowLCD; //Create row location on LCD
for (StringCount = 0; StringCount < 20; StringCount++) {
for (colLCD = 1; colLCD < 6; colLCD++) { //Cycle through column of array
for (rowLCD = 1; rowLCD < 9; rowLCD++) { //Cycle through row of array
display_pixel_set(rowLCD + 32, colLCD + 6 * StringCount + 28, getBit(message[StringCount], rowLCD - 1, colLCD - 1)); //At this specific (row, col) of screen, turn LCD on (1) or off (0) based on array value
}
}
}
display_draw(); //Commit to LCD screen once all positions defined
}
}
int main() {
int potValue;
int timerResets=0;
// startup
startup();
T2CONbits.TCKPS = 2; // Timer2 prescaler N=4 (1:4)
PR2 = 19999; // period = (PR2+1) * N * 12.5 ns = 100 us, 10 kHz
TMR2 = 0; // initial TMR2 count is 0
OC1CONbits.OCM = 0b110; // PWM mode without fault pin; other OC1CON bits are defaults
OC1RS = 5000; // duty cycle = OC1RS/(PR2+1) = 25%
OC1R = 5000; // initialize before turning OC1 on; afterward it is read-only
T2CONbits.ON = 1; // turn on Timer2
OC1CONbits.ON = 1; // turn on OC1
// set up USER pin as input
ANSELBbits.ANSB13 = 0; // 0 for digital, 1 for analog
// set up LED1 pin as a digital output
ANSELBbits.ANSB15 = 0; // 0 for digital, 1 for analog
TRISBbits.TRISB15 = 0;
// set up LED2 as OC1 using Timer2 at 1kHz
//RPB7Rbits.RPB7R = 0b0101; // set B15 to OC1
TRISBbits.TRISB7 = 0;
LATBbits.LATB7=0;
//LATBbits.LATB15=1;
// set up A0 as AN0
ANSELAbits.ANSA0 = 1;
AD1CON3bits.ADCS = 3;
AD1CHSbits.CH0SA = 0;
AD1CON1bits.ADON = 1;
int counter = 0;
int user = 1;
/* /////////Testing section, old code///////////
display_init();
drawChar(72-0x20,45,50);
drawChar(73-0x20,50,50);
display_draw();
*/
/* /////// Write to LCD
display_init();
int k=0;
int L=0;
int charCurrent;
int xIndex = 28;
int yIndex = 32;
char message[50];
sprintf(message,"Hello world 1337!");
while(L==0){
charCurrent = (int)message[k];
if(charCurrent==0){
L=1;
}
else{
drawChar(charCurrent - 0x20,xIndex, yIndex);
xIndex+=6;
k+=1;
}
}
display_draw();
*/
int a;
int b;
int aa;
int bb;
int c;
int d;
// set up power supply to LCD as digital output
_CP0_SET_COUNT(0);
while(_CP0_GET_COUNT()<4000000){
}
LATBbits.LATB15=1;
display_init();
int charCurrent;
acc_setup();
while (1) {
display_clear();
int xIndex = 10;
int yIndex = 32;
int k=0;
int L=0;
char message[500];
short accels[3]; // accelerations for the 3 axes
short mags[3]; // magnetometer readings for the 3 axes
short temp;
// 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);
/*
/////// Write to LCD
sprintf(message,"%d %d %d ",accels[0], accels[1],accels[2]);
L=0;
while(message[k]){
drawChar(message[k] - 0x20,xIndex, yIndex);
xIndex+=6;
k+=1;
//}
} */
a=accels[0]/500;
b=accels[1]/1000;
display_pixel_set(31,64,1);
display_pixel_set(32,64,1);
display_pixel_set(33,64,1);
display_pixel_set(32,63,1);
display_pixel_set(32,65,1);
if(a<0){
c=-a;
for(aa=0;aa<c;aa++){
display_pixel_set(31,64-aa,1);
display_pixel_set(32,64-aa,1);
display_pixel_set(33,64-aa,1);
}
}
if(a>=0){
for(aa=0;aa<a;aa++){
display_pixel_set(31,aa+64,1);
display_pixel_set(32,aa+64,1);
display_pixel_set(33,aa+64,1);
}
}
if(b<0){
d=-b;
for(bb=0;bb<d;bb++){
display_pixel_set(32-bb,63,1);
display_pixel_set(32-bb,64,1);
display_pixel_set(32-bb,65,1);
}
}
if(b>=0){
for(bb=0;bb<b;bb++){
display_pixel_set(32+bb,63,1);
display_pixel_set(32+bb,64,1);
display_pixel_set(32+bb,65,1);
}
}
display_draw();
}
}
void APP_Tasks (void )
{
unsigned char print[26];
int jj = 0,row;
short accels[3];
/* Check if device is configured. See if it is configured with correct
* configuration value */
switch(appData.state)
{
case APP_STATE_INIT:
/* Open the device layer */
appData.usbDevHandle = USB_DEVICE_Open( USB_DEVICE_INDEX_0, DRV_IO_INTENT_READWRITE );
if(appData.usbDevHandle != USB_DEVICE_HANDLE_INVALID)
{
/* Register a callback with device layer to get event notification (for end point 0) */
USB_DEVICE_EventHandlerSet(appData.usbDevHandle, APP_USBDeviceEventHandler, 0);
appData.state = APP_STATE_WAIT_FOR_CONFIGURATION;
}
else
{
/* The Device Layer is not ready to be opened. We should try
* again later. */
}
break;
case APP_STATE_WAIT_FOR_CONFIGURATION:
if(appData.deviceConfigured == true)
{
/* Device is ready to run the main task */
appData.hidDataReceived = false;
appData.hidDataTransmitted = true;
appData.state = APP_STATE_MAIN_TASK;
/* Place a new read request. */
USB_DEVICE_HID_ReportReceive (USB_DEVICE_HID_INDEX_0,
&appData.rxTransferHandle, appData.receiveDataBuffer, 64);
}
break;
case APP_STATE_MAIN_TASK:
if(!appData.deviceConfigured)
{
/* Device is not configured */
appData.state = APP_STATE_WAIT_FOR_CONFIGURATION;
}
else if( appData.hidDataReceived )
{
/* Look at the data the host sent, to see what
* kind of application specific command it sent. */
switch(appData.receiveDataBuffer[0])
{
case 0x1:
/* Toggle on board LED1 to LED2. */
BSP_LEDToggle( APP_USB_LED_1 );
BSP_LEDToggle( APP_USB_LED_2 );
memcpy(print,&appData.receiveDataBuffer[2],25);
print[26] = '\0';
display_clear();
write_OLED_message(print,appData.receiveDataBuffer[1],0);
display_draw();
appData.hidDataReceived = false;
/* Place a new read request. */
USB_DEVICE_HID_ReportReceive (USB_DEVICE_HID_INDEX_0,
&appData.rxTransferHandle, appData.receiveDataBuffer, 64 );
_CP0_SET_COUNT(0);
break;
case 0x2:
if(appData.hidDataTransmitted)
{
/* Echo back to the host PC the command we are fulfilling in
* the first byte. In this case, the Get Push-button State
* command. */
BSP_LEDToggle( APP_USB_LED_1 );
BSP_LEDToggle( APP_USB_LED_2 );
if(_CP0_GET_COUNT() > 200000){
appData.transmitDataBuffer[0] = 1;
acc_read_register(OUT_X_L_A,(unsigned char *) accels, 6);
appData.transmitDataBuffer[1] = accels[0] >> 8;
appData.transmitDataBuffer[2] = accels[0];
appData.transmitDataBuffer[3] = accels[1] >> 8;
appData.transmitDataBuffer[4] = accels[1];
appData.transmitDataBuffer[5] = accels[2] >> 8;
appData.transmitDataBuffer[6] = accels[2];
_CP0_SET_COUNT(0);
}
else{
appData.transmitDataBuffer[0] = 0;
}
// appData.transmitDataBuffer[0] = 0x81;
//
// if( BSP_SwitchStateGet(APP_USB_SWITCH_1) == BSP_SWITCH_STATE_PRESSED )
// {
// appData.transmitDataBuffer[1] = 0x00;
// }
// else
// {
// appData.transmitDataBuffer[1] = 0x01;
// }
appData.hidDataTransmitted = false;
/* Prepare the USB module to send the data packet to the host */
USB_DEVICE_HID_ReportSend (USB_DEVICE_HID_INDEX_0,
&appData.txTransferHandle, appData.transmitDataBuffer, 64 );
appData.hidDataReceived = false;
/* Place a new read request. */
USB_DEVICE_HID_ReportReceive (USB_DEVICE_HID_INDEX_0,
&appData.rxTransferHandle, appData.receiveDataBuffer, 64 );
}
break;
default:
appData.hidDataReceived = false;
/* Place a new read request. */
USB_DEVICE_HID_ReportReceive (USB_DEVICE_HID_INDEX_0,
&appData.rxTransferHandle, appData.receiveDataBuffer, 64 );
break;
}
void lcd_start()
{
LCD_CS_TRIS = 0;
LCD_OP_TRIS = 0;
LCD_CS = 1;
spi_init();
unsigned int time = 0;
lcd_command(LCD_CMD_SWRESET);//software reset
time = timer_start();
while (!timer_timeout(time,500 * TIMER_MILLISECOND)) {} //delay(500);
lcd_command(LCD_CMD_SLPOUT);//exit sleep
time = timer_start();
while (!timer_timeout(time,5 * TIMER_MILLISECOND)) {} //delay(5);
lcd_command(LCD_CMD_PIXFMT);//Set Color Format 16bit
lcd_data(0x05);
time = timer_start();
while (!timer_timeout(time,5 * TIMER_MILLISECOND)) {} //delay(5);
lcd_command(LCD_CMD_GAMMASET);//default gamma curve 3
lcd_data(0x04);//0x04;
time = timer_start();
while (!timer_timeout(time,TIMER_MILLISECOND)) {} //delay(1);
lcd_command(LCD_CMD_GAMRSEL);//Enable Gamma adj
lcd_data(0x01);
time = timer_start();
while (!timer_timeout(time,TIMER_MILLISECOND)) {} //delay(1);
lcd_command(LCD_CMD_NORML);
lcd_command(LCD_CMD_DFUNCTR);
lcd_data(0b11111111);
lcd_data(0b00000110);
int i = 0;
lcd_command(LCD_CMD_PGAMMAC);//Positive Gamma Correction Setting
for (i=0;i<15;i++){
lcd_data(pGammaSet[i]);
}
lcd_command(LCD_CMD_NGAMMAC);//Negative Gamma Correction Setting
for (i=0;i<15;i++){
lcd_data(nGammaSet[i]);
}
lcd_command(LCD_CMD_FRMCTR1);//Frame Rate Control (In normal mode/Full colors)
lcd_data(0x08);//0x0C//0x08
lcd_data(0x02);//0x14//0x08
time = timer_start();
while (!timer_timeout(time,TIMER_MILLISECOND)) {} //delay(1);
lcd_command(LCD_CMD_DINVCTR); //display inversion
lcd_data(0x07);
time = _CP0_GET_COUNT();
while (!timer_timeout(time,TIMER_MILLISECOND)) {} //delay(1);
lcd_command(LCD_CMD_PWCTR1);//Set VRH1[4:0] & VC[2:0] for VCI1 & GVDD
lcd_data(0x0A);//4.30 - 0x0A
lcd_data(0x02);//0x05
time = timer_start();
while (!timer_timeout(time,TIMER_MILLISECOND)) {} //delay(1);
lcd_command(LCD_CMD_PWCTR2);//Set BT[2:0] for AVDD & VCL & VGH & VGL
lcd_data(0x02);
time = timer_start();
while (!timer_timeout(time,TIMER_MILLISECOND)) {} //delay(1);
lcd_command(LCD_CMD_VCOMCTR1);//Set VMH[6:0] & VML[6:0] for VOMH & VCOML
lcd_data(0x50);//0x50
lcd_data(99);//0x5b
time = timer_start();
while (!timer_timeout(time,TIMER_MILLISECOND)) {} //delay(1);
lcd_command(LCD_CMD_VCOMOFFS);
lcd_data(0);//0x40
time = timer_start();
while (!timer_timeout(time,TIMER_MILLISECOND)) {} //delay(1);
lcd_command(LCD_CMD_CLMADRS);//Set Column Address
lcd_data16(0x00);
lcd_data16(LCD_GRAMWIDTH);
lcd_command(LCD_CMD_PGEADRS);//Set Page Address
lcd_data16(0x00);
lcd_data16(LCD_GRAMHEIGH);
lcd_command(LCD_CMD_VSCLLDEF);
lcd_data16(0); // __OFFSET
lcd_data16(LCD_GRAMHEIGH); // _GRAMHEIGH - __OFFSET
lcd_data16(0);
lcd_command(LCD_CMD_MADCTL); // rotation
lcd_data(0b00001000); // bit 3 0 for RGB, 1 for GBR, rotation: 0b00001000, 0b01101000, 0b11001000, 0b10101000
lcd_command(LCD_CMD_DISPON);//display ON
time = timer_start();
while (!timer_timeout(time,TIMER_MILLISECOND)) {} //delay(1);
lcd_command(LCD_CMD_RAMWR);//Memory Write
lcd_clearScreen(LCD_COLOR_BLACK);
}
void APP_Tasks(void) {
/* Check if device is configured. See if it is configured with correct
* configuration value */
switch (appData.state) {
case APP_STATE_INIT:
/* Open the device layer */
appData.usbDevHandle = USB_DEVICE_Open(USB_DEVICE_INDEX_0, DRV_IO_INTENT_READWRITE);
if (appData.usbDevHandle != USB_DEVICE_HANDLE_INVALID) {
/* Register a callback with device layer to get event notification (for end point 0) */
USB_DEVICE_EventHandlerSet(appData.usbDevHandle, APP_USBDeviceEventHandler, 0);
appData.state = APP_STATE_WAIT_FOR_CONFIGURATION;
} else {
/* The Device Layer is not ready to be opened. We should try
* again later. */
}
break;
case APP_STATE_WAIT_FOR_CONFIGURATION:
if (appData.deviceConfigured == true) {
/* Device is ready to run the main task */
appData.hidDataReceived = false;
appData.hidDataTransmitted = true;
appData.state = APP_STATE_MAIN_TASK;
/* Place a new read request. */
USB_DEVICE_HID_ReportReceive(USB_DEVICE_HID_INDEX_0,
&appData.rxTransferHandle, appData.receiveDataBuffer, 64);
}
break;
case APP_STATE_MAIN_TASK:
if (!appData.deviceConfigured) {
/* Device is not configured */
appData.state = APP_STATE_WAIT_FOR_CONFIGURATION;
} else if (appData.hidDataReceived) {
/* Look at the data the host sent, to see what
* kind of application specific command it sent. */
switch (appData.receiveDataBuffer[0]) {
case 0x80:
/* Toggle on board LED1 to LED2. */
BSP_LEDToggle(APP_USB_LED_1);
BSP_LEDToggle(APP_USB_LED_2);
setRTR();
break;
case 0x81:
if (appData.hidDataTransmitted) {
/* Echo back to the host PC the command we are fulfilling in
* the first byte. In this case, the Get Push-button State
* command. */
appData.transmitDataBuffer[0] = 0x81;
appData.transmitDataBuffer[1] = 0b1 & BSP_SwitchStateGet(APP_USB_SWITCH_1);
appData.transmitDataBuffer[2] = 111;
setRTS();
setRTR();
}
break;
case 0x82:
if (!appData.numTX || _CP0_GET_COUNT() > 200000) {
//prepare new data to send
acc_read_register(OUT_X_L_A, (unsigned char *) appData.accels, 6);
appData.transmitDataBuffer[0] = 1; //we have data to send
appData.transmitDataBuffer[1] = appData.accels[0] >> 8; //x high byte
appData.transmitDataBuffer[2] = appData.accels[0] & 0xFF; //x low byte
appData.transmitDataBuffer[3] = appData.accels[1] >> 8; //y high byte
appData.transmitDataBuffer[4] = appData.accels[1] & 0xFF; //y low byte
appData.transmitDataBuffer[5] = appData.accels[2] >> 8; //z high byte
appData.transmitDataBuffer[6] = appData.accels[2] & 0xFF; //z low byte
// reset core timer for 100 hz
_CP0_SET_COUNT(0);
appData.numTX++;
}
else {
appData.transmitDataBuffer[0] = 0; // we don't have new data
}
setRTS();
setRTR();
break;
case 0x83:
// prepare for a bout of sending accel data
//parse incoming data to screen
oled_clear_buffer();
int row = appData.receiveDataBuffer[1];
char * msg;
msg = &appData.receiveDataBuffer[2];
oled_draw_string(0, row, msg, 1);
oled_update();
// clear buffered accel data so we read new data to send
acc_read_register(OUT_X_L_A, (unsigned char *) appData.accels, 6);
appData.numTX = 0; //we're starting over
setRTR();
break;
case 0x84:
// done asking for data
oled_draw_string(0, 55, "Done!", 1);
oled_update();
setRTR();
break;
default:
setRTR();
break;
}
}
void APP_Tasks ( void )
{
static int8_t vector = 0;
static uint8_t movement_length = 0;
static bool sent_dont_move = false;
unsigned char data[14];
short output[7];
/* Check the application's current state. */
switch ( appData.state )
{
/* Application's initial state. */
case APP_STATE_INIT:
{
/* Open the device layer */
appData.deviceHandle = USB_DEVICE_Open( USB_DEVICE_INDEX_0,
DRV_IO_INTENT_READWRITE );
if(appData.deviceHandle != USB_DEVICE_HANDLE_INVALID)
{
/* Register a callback with device layer to get event notification (for end point 0) */
USB_DEVICE_EventHandlerSet(appData.deviceHandle,
APP_USBDeviceEventHandler, 0);
appData.state = APP_STATE_WAIT_FOR_CONFIGURATION;
}
else
{
/* The Device Layer is not ready to be opened. We should try
* again later. */
}
break;
}
case APP_STATE_WAIT_FOR_CONFIGURATION:
/* Check if the device is configured. The
* isConfigured flag is updated in the
* Device Event Handler */
if(appData.isConfigured)
{
appData.state = APP_STATE_MOUSE_EMULATE;
}
break;
case APP_STATE_MOUSE_EMULATE:
APP_ProcessSwitchPress();
/* The following logic rotates the mouse icon when
* a switch is pressed */
if(appData.isSwitchPressed)
{
/* Toggle the mouse emulation with each switch press */
appData.emulateMouse ^= 1;
appData.isSwitchPressed = false;
}
if(appData.emulateMouse)
{
sent_dont_move = false;
if(movement_length > 50)
{
_CP0_SET_COUNT(0);
i2cMasterReadAll(IMU_ADDR,OUT_TEMP_L,14,data);
char2short(data,output,14);
LATAbits.LATA4 = !LATAbits.LATA4;
while(_CP0_GET_COUNT()<UPDATER){;}
appData.mouseButton[0] = MOUSE_BUTTON_STATE_RELEASED;
appData.mouseButton[1] = MOUSE_BUTTON_STATE_RELEASED;
appData.xCoordinate =(int8_t)(output[4]/500);//dir_table[vector & 0x07] ;
appData.yCoordinate =(int8_t)(output[5]/500);//dir_table[(vector+2) & 0x07];
vector ++;
movement_length = 0;
}
}
else
{
appData.mouseButton[0] = MOUSE_BUTTON_STATE_RELEASED;
appData.mouseButton[1] = MOUSE_BUTTON_STATE_RELEASED;
appData.xCoordinate = 0;
appData.yCoordinate = 0;
}
if(!appData.isMouseReportSendBusy)
{
if(((sent_dont_move == false) && (!appData.emulateMouse)) || (appData.emulateMouse))
{
/* This means we can send the mouse report. The
isMouseReportBusy flag is updated in the HID Event Handler. */
appData.isMouseReportSendBusy = true;
/* Create the mouse report */
MOUSE_ReportCreate(appData.xCoordinate, appData.yCoordinate,
appData.mouseButton, &mouseReport);
if(memcmp((const void *)&mouseReportPrevious, (const void *)&mouseReport,
(size_t)sizeof(mouseReport)) == 0)
{
/* Reports are same as previous report. However mouse reports
* can be same as previous report as the co-ordinate positions are relative.
* In that case it needs to be send */
if((appData.xCoordinate == 0) && (appData.yCoordinate == 0))
{
/* If the coordinate positions are 0, that means there
* is no relative change */
if(appData.idleRate == 0)
{
appData.isMouseReportSendBusy = false;
}
else
{
/* Check the idle rate here. If idle rate time elapsed
* then the data will be sent. Idle rate resolution is
* 4 msec as per HID specification; possible range is
* between 4msec >= idlerate <= 1020 msec.
*/
if(appData.setIdleTimer * APP_USB_CONVERT_TO_MILLISECOND
>= appData.idleRate * 4)
{
/* Send REPORT as idle time has elapsed */
appData.isMouseReportSendBusy = true;
}
else
{
/* Do not send REPORT as idle time has not elapsed */
appData.isMouseReportSendBusy = false;
}
}
}
}
if(appData.isMouseReportSendBusy == true)
{
/* Copy the report sent to previous */
memcpy((void *)&mouseReportPrevious, (const void *)&mouseReport,
(size_t)sizeof(mouseReport));
/* Send the mouse report. */
USB_DEVICE_HID_ReportSend(appData.hidInstance,
&appData.reportTransferHandle, (uint8_t*)&mouseReport,
sizeof(MOUSE_REPORT));
appData.setIdleTimer = 0;
}
movement_length ++;
sent_dont_move = true;
}
}
break;
case APP_STATE_ERROR:
break;
/* The default state should never be executed. */
default:
{
/* TODO: Handle error in application's state machine. */
break;
}
}
}
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 );
}
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;
}
int main() {
// Startup code to run as fast as possible and get pins back from bad defaults
__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();
// set up USER pin as digital input
ANSELBbits.ANSB13 = 0; // 0 = digital
TRISBbits.TRISB13 = 1; // 1 = input
// set up LED1 pin as a digital output
TRISBbits.TRISB7 = 0; //digital output
LATBbits.LATB7 = 1; //output on=0 initially
// set up LED2 as OC1 using Timer2 at 1kHz
ANSELBbits.ANSB15 = 0; // 0 = digital
RPB15Rbits.RPB15R = 0b0101; //Set B15 as OC1
// pwm
OC1CONbits.OCTSEL = 0; // Timer 2 is used for output compare
OC1CONbits.OCM = 0b110; // PWM mode without fault pin; other OC1CON bits are defaults
OC1R = 20000; // duty cycle = OC1RS/(PR2+1) = 100
// initialize before turning OC1 on; afterward it is read-only
PR2 = 19999; // period = (PR2+1)*N=2*25ns = 1 ms, or 1 kHz
TMR2 = 0; // initalize counter to 0
T2CONbits.TCKPS = 1; // set prescaler to 1:2
T2CONbits.ON = 1; // turn on Timer2
OC1CONbits.ON = 1; // turn on OC1
// set up A0 as AN0
ANSELAbits.ANSA0 = 1;
AD1CON3bits.ADCS = 3;
AD1CHSbits.CH0SA = 0;
AD1CON1bits.ADON = 1;
while (1) {
// invert pin every 0.5s, set PWM duty cycle % to the pot voltage output %
_CP0_SET_COUNT(0); // set core timer to 0, remember it counts at half the CPU clock
LATBINV = 0b10000000;// invert pin RB7
// wait for half a second, setting LED brightness to pot angle while waiting
while (_CP0_GET_COUNT() < 10000000) {
int val = readADC(); //max = 1023
OC1RS = val * 20000/1023;
if (PORTBbits.RB13 == 1) {
//nothing
} else {
LATBINV = 0b10000000;
}
}
}
}
/* This function overrides the normal _weak_ _generic_exception_handler which
is defined in the C32 User's Guide. The _weak_ _generic_exception_handler
just does an infinite loop. */
void _general_exception_handler(void)
{
unsigned long t0 = _CP0_GET_COUNT(); /* Used for NVMOP 6 us Delay */
/* Mask off Mask of the ExcCode Field from the Cause Register
Refer to the MIPs M4K Software User's manual */
_excep_code=_CP0_GET_CAUSE() & 0x0000007C >> 2;
_excep_addr=_CP0_GET_EPC();
_CP0_SET_STATUS(_CP0_GET_STATUS()&0xFFFFFFE); /* Disable Interrupts */
#ifdef WRITE_EXCEPTION_CAUSE_TO_FLASH
/* Store the exception causes in program memory in case the part exhibited
the problem in release mode. Gives user a place to start debugging
the problem. */
NVMCON = 0x4001; /* set WREN and Word Programing mode */
NVMADDR = EXCEPTION_CAUSE; /* PM Address at which we'll store the */
/* cause register */
NVMDATA = _excep_code;
/* wait at least 6 us for LVD start-up
assume we're running at max frequency
(80 MHz) so we're always safe */
{
while (_CP0_GET_COUNT() - t0 < (80/2)*6);
}
NVMKEY = 0xAA996655;
NVMKEY = 0x556699AA; /* unlock sequence */
NVMCONSET = NVMCON_WR;
while(NVMCON & NVMCON_WR); /* wait on write to finish */
NVMCON = 0x4001; /* set WREN and Word Programing mode */
NVMADDR = EXCEPTION_ADDR; /* PM Address at which we'll store the */
/* exception address register */
NVMDATA = _excep_addr;
/* wait at least 6 us for LVD start-up
assume we're running at max frequency
(80 MHz) so we're always safe */
{
while (_CP0_GET_COUNT() - t0 < (80/2)*6);
}
NVMKEY = 0xAA996655;
NVMKEY = 0x556699AA; /* unlock sequence */
NVMCONSET = NVMCON_WR;
while(NVMCON & NVMCON_WR);
/* Write the exception cause and address to the part can be read and
the cause determined. */
NVMWriteWord((void*)EXCEPTION_CAUSE, _excep_code);
NVMWriteWord((void*)EXCEPTION_ADDR, _excep_addr);
#endif
while (1)
{
/* Examine _excep_code to identify the type of exception */
/* Examine _excep_addr to find the address that caused the exception */
}
}
