int main()
{
char whoamiCheck = 0;
unsigned char data[14];
short output[7];
int oc1New = 0;
int oc2New = 0;
// PIC32 Setup
__builtin_disable_interrupts();
__builtin_mtc0(_CP0_CONFIG, _CP0_CONFIG_SELECT, 0xa4210583);
BMXCONbits.BMXWSDRM = 0x0; // 0 data RAM access wait states
INTCONbits.MVEC = 0x1; // enable multi vector interrupts
DDPCONbits.JTAGEN = 0; // disable JTAG to get pins back
TRISAbits.TRISA4 = 0; // RA4 output
TRISBbits.TRISB4 = 1; // RB4 input
LATAbits.LATA4 = 0; // LED off
i2cMasterSetup();
tim2Setup();
oc1Setup();
oc2Setup();
__builtin_enable_interrupts();
whoamiCheck = i2cMasterRead(IMU_ADDR,WHO_AM_I);
if (whoamiCheck == WHOAMI_VAL)
{
LATAbits.LATA4 = 1;
}
while(1)
{
_CP0_SET_COUNT(0);
i2cMasterReadAll(IMU_ADDR,OUT_TEMP_L,14,data);
char2short(data,output,14);
oc1New = (PER2+1)/2+(output[4]/20);
oc2New = (PER2+1)/2+(output[5]/20);
if(oc1New>(PER2+1)){
oc1New=(PER2+1);
}
if(oc2New>(PER2+1)){
oc2New=(PER2+1);
}
OC1RS = oc1New;
OC2RS = oc2New;
LATAbits.LATA4 = !LATAbits.LATA4;
while(_CP0_GET_COUNT()<UPDATER){
;
}
}
}
int readWaveData(unsigned char *fileName, struct wav_file *waveData)
{
//some local variables
FILE *fp;
long fileSize;
size_t result;
unsigned char buffer[16];
unsigned short int waveFormat; // 0x0001 - WAVE_FORMAT_PCM; 0x0003 - WAVE_FORMAT_IEEE_FLOAT; 0xFFFE - WAVE_FORMAT_EXTENSIBLE; otherwise unsupported
//Open file and check for an error
fp = fopen(fileName, "r");
if (fp == NULL)
{
fprintf(stderr, "Failed to open file: '%s'!\n", fileName);
fclose(fp);
return -1;
}
//Obtain file size
fseek(fp, 0, SEEK_END); //Put file reader pointer to the very end
fileSize = ftell(fp); //Check current reader pointer position
rewind(fp); //Return reader pointer to the beginning of the file
printf("File size: %d bytes.\n", fileSize); //------------------DEBUG------------------
// 1 - Check if it "RIFF" file
// 2 - Check if it has "WAVE" format
// 3 - Check if it has "fmt " chunk ID
// 4 - Make decision based on wave format (PCM, nonPCM, extensible)
// 1 - Check if it "RIFF" file
result = fread(buffer, 1, 4, fp);
if(result != 4)
{
fprintf(stderr, "Failed reading file!\n");
fclose(fp);
return -1;
}
printf("Chunk ID: %s \n", buffer); //------------------DEBUG------------------
if (memcmp("RIFF", buffer, 4) != 0)
{
fprintf(stderr, "This wave file doesn't have RIFF chunk!\n");
fclose(fp);
return -2;
}
memcpy(waveData->chunkId, buffer, 4);
// read chunk RIFF size
result = fread(buffer, 1, 4, fp);
if(result != 4)
{
fprintf(stderr, "Failed reading file!\n");
fclose(fp);
return -2;
}
printf("Chunk size: %d\n", char2int(buffer));//------------------DEBUG------------------
waveData->chunkSize = char2int(buffer);
// 2 - Check if it has "WAVE" format
result = fread(buffer, 1, 4, fp);
if(result != 4)
{
fprintf(stderr, "Failed reading file!\n");
fclose(fp);
return -1;
}
printf("Wave ID: %s \n", buffer); //------------------DEBUG------------------
if (memcmp("WAVE", buffer, 4) != 0)
{
fprintf(stderr, "This wave file doesn't have WAVE format!\n");
fclose(fp);
return -2;
}
memcpy(waveData->format, buffer, 4);
// 3 - Check if it has "fmt " chunk ID
result = fread(buffer, 1, 4, fp);
if(result != 4)
{
fprintf(stderr, "Failed reading file!\n");
fclose(fp);
return -1;
}
printf("Sub Chunk 1 ID: %s \n", buffer); //------------------DEBUG------------------
if (memcmp("fmt ", buffer, 4) != 0)
{
fprintf(stderr, "This wave file doesn't have 'fmt ' chunk ID!\n");
fclose(fp);
return -2;
}
memcpy(waveData->subChunk1Id, buffer, 4);
// read sub chunk 1 size
result = fread(buffer, 1, 4, fp);
if(result != 4)
{
fprintf(stderr, "Failed reading file!\n");
fclose(fp);
return -2;
}
printf("Chunk size: %d\n", char2int(buffer)); //------------------DEBUG------------------
waveData->subChunk1Size = char2int(buffer);
// read wave audio format
result = fread(buffer, 1, 2, fp);
if(result != 2)
{
fprintf(stderr, "Failed reading file!\n");
fclose(fp);
return -2;
}
printf("wFormatTag: %d\n", char2short(buffer)); //------------------DEBUG------------------
waveFormat = char2short(buffer);
waveData->audioFormat = char2short(buffer);
// read number of channels
result = fread(buffer, 1, 2, fp);
if(result != 2)
{
fprintf(stderr, "Failed reading file!\n");
fclose(fp);
return -2;
}
printf("Number of channels: %d \n", char2short(buffer)); //------------------DEBUG------------------
waveData->numChannels = char2short(buffer);
// read sample rate
result = fread(buffer, 1, 4, fp);
if(result != 4)
{
fprintf(stderr, "Failed reading file!\n");
fclose(fp);
return -2;
}
printf("Samples per sec: %d \n", char2int(buffer)); //------------------DEBUG------------------
waveData->sampleRate = char2int(buffer);
result = fread(buffer, 1, 4, fp);
if(result != 4)
{
fprintf(stderr, "Failed reading file!\n");
fclose(fp);
return -2;
}
printf("AvgBytes per sec: %d \n", char2int(buffer)); //------------------DEBUG------------------
waveData->byteRate = char2int(buffer);
result = fread(buffer, 1, 2, fp);
if(result != 2)
{
fprintf(stderr, "Failed reading file!\n");
fclose(fp);
return -2;
}
printf("nBlockAlign: %d \n", char2short(buffer)); //------------------DEBUG------------------
waveData->blockAlign = char2short(buffer);
result = fread(buffer, 1, 2, fp);
if(result != 2)
{
fprintf(stderr, "Failed reading file!\n");
fclose(fp);
return -2;
}
printf("wBitsPerSample: %d \n", char2short(buffer)); //------------------DEBUG------------------
waveData->bitsPerSample = char2short(buffer);
// ============= Make Decision based on format ===================================
switch(waveFormat)
{
case 0x0001: // WAVE_FORMAT_PCM
break;
case 0x0003: // WAVE_FORMAT_IEEE_FLOAT
result = fread(buffer, 1, 2, fp);
if(result != 2)
{
fprintf(stderr, "Failed reading file!\n");
fclose(fp);
return -2;
}
printf("cbSize: %d \n", char2short(buffer)); //------------------DEBUG------------------
waveData->cbSize = char2short(buffer);
result = fread(buffer, 1, 4, fp);
if(result != 4)
{
fprintf(stderr, "Failed reading file!\n");
fclose(fp);
return -2;
}
printf("ckID: %s \n", buffer); //------------------DEBUG------------------
memcpy(waveData->subChunk2Id, buffer, 4);
result = fread(buffer, 1, 4, fp);
if(result != 4)
{
fprintf(stderr, "Failed reading file!\n");
fclose(fp);
return -2;
}
printf("cksize: %d \n", char2int(buffer)); //------------------DEBUG------------------
waveData->subChunk2Size = char2int(buffer);
result = fread(buffer, 1, 4, fp);
if(result != 4)
{
fprintf(stderr, "Failed reading file!\n");
fclose(fp);
return -2;
}
printf("dwSampleLength: %d \n", char2int(buffer)); //------------------DEBUG------------------
waveData->sampleLength = char2int(buffer);
break;
case 0xFFFE: // WAVE_FORMAT_EXTENSIBLE
result = fread(buffer, 1, 2, fp);
if(result != 2)
{
fprintf(stderr, "Failed reading file!\n");
fclose(fp);
return -2;
}
printf("cbSize: %d \n", char2short(buffer)); //------------------DEBUG------------------
waveData->cbSize = char2short(buffer);
// 3 missing
result = fread(buffer, 1, 2, fp);
if(result != 2)
{
fprintf(stderr, "Failed reading file!\n");
fclose(fp);
return -2;
}
printf("wValidBitsPerSample: %d \n", char2short(buffer)); //------------------DEBUG------------------
waveData->wValidBitsPerSample = char2short(buffer);
result = fread(buffer, 1, 4, fp);
if(result != 4)
{
fprintf(stderr, "Failed reading file!\n");
fclose(fp);
return -2;
}
printf("dwChannelMask: %d \n", char2int(buffer)); //------------------DEBUG------------------
waveData->dwChannelMask = char2int(buffer);
result = fread(buffer, 1, 16, fp);
if(result != 16)
{
fprintf(stderr, "Failed reading file!\n");
fclose(fp);
return -2;
}
printf("SubFormat: %s \n", buffer); //------------------DEBUG------------------
memcpy(waveData->SubFormat, buffer, 16);
//---
result = fread(buffer, 1, 4, fp);
if(result != 4)
{
fprintf(stderr, "Failed reading file!\n");
fclose(fp);
return -2;
}
printf("ckID: %s \n", buffer); //------------------DEBUG------------------
memcpy(waveData->subChunk2Id, buffer, 4);
result = fread(buffer, 1, 4, fp);
if(result != 4)
{
fprintf(stderr, "Failed reading file!\n");
fclose(fp);
return -2;
}
printf("cksize: %d \n", char2int(buffer)); //------------------DEBUG------------------
waveData->subChunk2Size = char2int(buffer);
result = fread(buffer, 1, 4, fp);
if(result != 4)
{
fprintf(stderr, "Failed reading file!\n");
fclose(fp);
return -2;
}
printf("dwSampleLength: %d \n", char2int(buffer)); //------------------DEBUG------------------
waveData->sampleLength = char2int(buffer);
break;
default: // WAVE_FORMAT_ALAW or WAVE_FORMAT_MULAW
fprintf(stderr, "Unsupported wave format\n");
fclose(fp);
return -2;
break;
}
result = fread(buffer, 1, 4, fp);
if(result != 4)
{
fprintf(stderr, "Failed reading file!\n");
fclose(fp);
return -2;
}
printf("ckID: %s \n", buffer); //------------------DEBUG------------------
memcpy(waveData->subChunk3Id, buffer, 4);
result = fread(buffer, 1, 4, fp);
if(result != 4)
{
fprintf(stderr, "Failed reading file!\n");
fclose(fp);
return -2;
}
printf("cksize: %d \n", char2int(buffer)); //------------------DEBUG------------------
waveData->subChunk3Size = char2int(buffer);
// read actual data set
waveData->data = malloc(waveData->subChunk3Size * sizeof *waveData->data);
result = fread(waveData->data, 1, waveData->subChunk3Size, fp);
if(result != waveData->subChunk3Size)
{
fprintf(stderr, "Failed reading file!\n");
fclose(fp);
return -2;
}
waveData->playProgress = 0;
//Close the file
fclose(fp);
}
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;
}
}
}