// Dibuja la interfaz en blanco de la informacion de la bateria.
void Mot_initInterface(GLCD *glcd_p){
//Limpiamos la pantalla de lo que sea que tenga
LCD_clearScreen(glcd_p);
// Imprimimos el titulo.
LCD_print(glcd_p, 13, 0, 15, "Sistema Motores");
delay(30);
//Imprimimos la informacion de las fases
LCD_print(glcd_p, 0,32,6,"F C V");
delay(30);
LCD_print(glcd_p, 0,40,1,"1");
delay(30);
LCD_print(glcd_p, 0,48,1,"2");
delay(30);
LCD_print(glcd_p, 0,56,1,"3");
delay(50);
//Imprimimos RC y RF.
LCD_print(glcd_p, 50, 44, 2, "Rc");
delay(30);
LCD_print(glcd_p, RC_pos_x + 18, RC_pos_y, 1, "v");
delay(20);
LCD_print(glcd_p, 50, 55, 2, "Rf");
delay(20);
LCD_print(glcd_p, RF_pos_x + 18, RF_pos_y, 1, "v");
delay(20);
//imprimimos Indc
LCD_print(glcd_p, 95, 44, 4, "InDC");
delay(20);
LCD_print(glcd_p, InDC_pos_x + 24, InDC_pos_y, 1, "A");
delay(60);
//Imprimimos las letras gigantes de RPM
LCD_print(glcd_p, 95, 25, 3, "RPM");
}
void main() {
__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
TRISA = 0xFFCF;
TRISB = 0b0001111001110011;
i2c_master_setup();
ANSELBbits.ANSB2 = 0; //SDA2 set to digital
ANSELBbits.ANSB3 = 0; //SCL2 set to digital
__builtin_enable_interrupts();
// SYSTEMConfigPerformance(48000000);
SPI1_init();
LCD_init();
LCD_clearScreen(0);
// RPB13Rbits.RPB13R = 0b0011; //SDO
// SDI1Rbits.SDI1R = 0b0000; //A1
RPB7Rbits.RPB7R = 0b0101; //OC1
RPB8Rbits.RPB8R = 0b0101; //OC2
PORTAbits.RA4 = 1; //led init
T2CONbits.TCKPS = 2; //timer 2 prescale = 1:4
PR2 = 1999; //period = (PR2+1) * N * 12.5 ns = 100 us, 10 kHz
TMR2 = 0;
OC1RS = 1000;
OC1R = 1000;
OC2RS = 1000;
OC2R = 1000;
OC1CONbits.OCTSEL = 0; //select timer2
OC2CONbits.OCTSEL = 0;
OC1CONbits.OCM = 0b110; //set pwm mode
OC2CONbits.OCM = 0b110;
T2CONbits.ON = 1;
OC1CONbits.ON = 1;
OC2CONbits.ON = 1;
unsigned char x = 0; //sine counter
unsigned char y = 0; //triangle counter
char pressed = 0; //for tracking button logic
char counter = 0;
char m = 100; //(triangle wave frequency is 1000/2m)
unsigned char voltage = 0;
unsigned char channel = 0;
int bytes = 14;
unsigned char i2cdata[bytes];
unsigned char i2cdatatest;
unsigned char i2cwhoami;
short temp = 0;
short accel_x = 0;
short accel_y = 0;
short accel_z = 0;
short gyro_x = 0;
short gyro_y = 0;
short gyro_z = 0;
char i2cdatacount = 0;
char textbuffer[20];
char length = 0;
i2cwhoami = i2c_master_read(GYRO,WHOAMI,0,0);
i2c_master_write(GYRO,CTRL1_XL,0b10000000,0);
i2c_master_write(GYRO,CTRL2_G,0b10000000,0);
i2c_master_write(GYRO,CTRL3_C,0b00000100);
//i2cdatatest = i2c_master_read(GYRO,CTRL1_XL,0,0);
// i2c_master_write(GYRO,CTRL1_XL,0b10000000,1);
// i2c_master_send(0b10000000);
// i2c_master_send(0b00000100);
// i2c_master_stop();
CS = 1;
int leet = 1337;
sprintf(textbuffer,"Hello world %d!",leet);
char text[2] = {'H','6'};
//int text[5] = {40,30,50,30,20};
LCD_clearScreen(0);
while(1) {
length = sizeof(textbuffer);//size must be taken here otherwise pointer size is taken instead of
LCD_type(28,32,textbuffer,length,0b1111100000000000);
//LCD_char(28,32,30,0b1111100000000000);
i2c_master_multiread(GYRO,OUT_TEMP_L,bytes,i2cdata);
// //i2cdatatest = i2c_master_read(GYRO,0x28,0,0);
temp = i2cdata[1];
temp = (temp<<8)|i2cdata[0];
temp = (unsigned short)temp;
gyro_x = i2cdata[3];
gyro_x = (gyro_x<<8)|i2cdata[2];
gyro_x = (unsigned short)gyro_x;
gyro_y = i2cdata[5];
gyro_y = (gyro_y<<8)|i2cdata[4];
gyro_y = (unsigned short)gyro_y;
gyro_z = i2cdata[7];
gyro_z = (gyro_z<<8)|i2cdata[6];
gyro_z = (unsigned short)gyro_z;
accel_x = i2cdata[9];
accel_x = (i2cdata[9]<<8)|i2cdata[8];
accel_x = (unsigned short)accel_x;
accel_y = i2cdata[11];
accel_y = (i2cdata[11]<<8)|i2cdata[10];
accel_y = (unsigned short)accel_y;
accel_z = i2cdata[13];
accel_z = (accel_z<<8)|i2cdata[12];
accel_z = (unsigned short)accel_z;
OC1RS = floor((accel_x/16.768));
OC2RS = floor((accel_y/16.768));
if(OC1RS>2999){
OC1RS = 2000;
}
else if(OC1RS<1000){
OC1RS = 0;
}
else{
OC1RS = OC1RS - 1000;
}
if(OC2RS>2999){
OC2RS = 2000;
}
else if(OC2RS<1000){
OC2RS = 0;
}
else{
OC2RS = OC2RS - 1000;
}
// OC1R = floor((gyro_x/3.2768 + 10000));
// OC2R = floor((gyro_y/3.2768 + 10000));
//-------------SPI debugging for IMU------------------
// if (!PORTBbits.RB4){
// CS = 0;
// channel = counter;
// //voltage = floor(100*sin((x*2*pi)/100)+100);
// voltage = i2cwhoami;
// //char voltage = 0b10101001;
// spi1_set(channel,voltage);
// //delay(6000);
// CS = 1;
// }
// else {
// CS = 0;
// channel = counter;
// //voltage = floor(100*sin((x*2*pi)/100)+100);
// voltage = i2cdata[0];
// //char voltage = 0b10101001;
// spi1_set(channel,voltage);
// //delay(6000);
// CS = 1;
// //++i2cdatacount %14;
// }
//-------------------------------------------------------
delay(960000);
}
}
void main(){
// *************** Initialize pins and chips ****************
//SYSTEMConfigPerformance(48000000);
__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
TRISA = 0xFFEF; // set pin 4 as output
TRISB = 0b0001111001110011; // set outputs/inputs
// turn off analog pins
ANSELBbits.ANSB2 = 0;
ANSELBbits.ANSB3 = 0;
// setup i2c
i2c_master_setup();
__builtin_enable_interrupts();
// setup accelerometer
i2c_write(ADDR, 0x10, 0b10000000);
i2c_write(ADDR, 0x11, 0b10000000);
i2c_write(ADDR, 0x12, 0b00000100);
// initialize PWM
RPB7Rbits.RPB7R = 0b0101; //OC1 on pin 16
RPB8Rbits.RPB8R = 0b0101; //OC2 on pin 17
T2CONbits.TCKPS = 4; // Timer2 prescaler N=16 (1:16)
PR2 = 4999; // period = (PR2+1) * N * 12.5 ns = 1 ms, 1 kHz
TMR2 = 0; // initial TMR2 count is 0
OC1RS = 2500; // duty cycle = OC1RS/(PR2+1) = 50%
OC1R = 2500; // initialize before turning OC1 on; afterward it is read-only
OC2RS = 2500;
OC2R = 2500;
OC1CONbits.OCTSEL = 0; // select timer2
OC2CONbits.OCTSEL = 0;
OC1CONbits.OCM = 0b110; // PWM mode without fault pin; other OC1CON bits are defaults
OC2CONbits.OCM = 0b110;
T2CONbits.ON = 1; // turn on Timer2
OC1CONbits.ON = 1; // turn on OC1
OC2CONbits.ON = 1;
// RPB13Rbits.RPB13R = 0b0011; //SDO
// CS = 1;
// initialize SPI
SPI_init();
LCD_init();
LCD_clearScreen(RED);
//***********************************************************
//****************** constants ***************************
char length = 14;
unsigned char IMUdata[length];
short temp;
unsigned short temperature;
short gx;
short gy;
short gz;
unsigned short gyrox;
unsigned short gyroy;
unsigned short gyroz;
short ax;
short ay;
short az;
unsigned short accelx;
unsigned short accely;
unsigned short accelz;
char text[100];
//**********************************************************
while(1){
int var = 1337;
sprintf(text,"Hello World %d!",var);
LCD_print(28,32,text,WHITE);
//************ TEST IF IMU WORKS ***********************
// unsigned char data = 0;
// data = i2c_read(ADDR,0x0F);
//
// // read output from SPI
// CS=0;
// setVoltage(0,data);
// CS=1;
//************* SHOULD GET 01101001 *******************
//********** READ MULTI REGISTERS FROM IMU ***************
// i2c_multiread(ADDR,0x20,IMUdata,length);
//
// temp = (IMUdata[1]<<8) | IMUdata[0];
// temperature = temp + 32768;
//
// gx = (IMUdata[3]<<8) | IMUdata[2];
// gyrox = gx + 32768;
//
// gy = (IMUdata[5]<<8) | IMUdata[4];
// gyroy = gy + 32768;
//
// gz = (IMUdata[7]<<8) | IMUdata[6];
// gyroz = gz + 32768;
//
// ax = (IMUdata[9]<<8) | IMUdata[8];
// accelx = ax + 32768;
//
// ay = (IMUdata[11]<<8) | IMUdata[10];
// accely = ay + 32768;
//
// az = (IMUdata[13]<<8) | IMUdata[12];
// accelz = az + 32768;
//
// //********************************************************
//
//
//
// //*********************** PWM ****************************
// // Calculate OC1RS and OC2RS
// OC1RS = floor(accelx/6.5535);
// OC2RS = floor(accely/6.5535);
//
// // Set OC1 limits
// if (OC1RS > 7500){
// OC1RS = 5000;
// }
// else if (OC1RS < 2500){
// OC1RS = 0;
// }
// else {
// OC1RS = OC1RS-2500;
// }
//
// // Set OC2 limits
// if (OC2RS > 7500){
// OC2RS = 5000;
// }
// else if (OC2RS < 2500){
// OC2RS = 0;
// }
// else {
// OC2RS = OC2RS-2500;
// }
//******************************************************
delay(24000); // Delay 1ms
}
}