/****************************************************************************
Function
Roach_Init
Parameters
None.
Returns
SUCCESS if operation successful
ERROR otherwise
Description
Performs all the initialization necessary for the roach.
this includes initializing the PWM module, the A/D converter, the
data directions on some pins, and setting the initial motor directions.
Notes
None.
Author
Max Dunne, 2012.01.06
****************************************************************************/
char Roach_Init(void) {
//Initialize the serial port
SERIAL_Init();
TIMERS_Init();
//set the control pins for the motors
PWM_Init(LEFT_PWM | RIGHT_PWM, 200);
LEFT_DIR_TRIS = 0;
LEFT_DIR_INV_TRIS = 0;
RIGHT_DIR_TRIS = 0;
RIGHT_DIR_INV_TRIS = 0;
LEFT_DIR = 0;
LEFT_DIR_INV = ~LEFT_DIR;
RIGHT_DIR = 0;
RIGHT_DIR_INV = ~RIGHT_DIR;
//set up the hall effect and divorce all the A/D pins
AD1PCFG = 0xFF;
HALL_FRONT_LEFT_TRIS = 1;
HALL_FRONT_RIGHT_TRIS = 1;
HALL_REAR_RIGHT_TRIS = 1;
HALL_REAR_LEFT_TRIS = 1;
//Initialize the light sensor
AD_Init(LIGHT_SENSOR);
//enable interrupts
INTEnableSystemMultiVectoredInt();
}
int main(void) {
SERIAL_Init();
TIMERS_Init();
char i, j = 0;
int k, l = 0;
int time = GetTime();
INTEnableSystemMultiVectoredInt();
AD_Init(IR_PINS);
IR_Init();
while (1) {
k = ReadADPin(IR_LEFT);
l = ReadADPin(IR_RIGHT);
char leftTrig = '_';
char rightTrig = '_';
if (IR_LeftTriggered())
leftTrig = 'x';
if (IR_RightTriggered())
rightTrig = 'x';
//if (time > GetTime() + 500) {
if (IsTransmitEmpty()) {
printf("\n %cLeft : %d \n %cRight : %d",leftTrig, k, rightTrig, l);
}
wait();
//time = GetTime();
//}
//while (!IsTransmitEmpty()); // bad, this is blocking code
}
return 0;
}
int main(void) {
//DEVCFG1bits.FCKSM = 0;
int c = 0;
// for (c = 0; c < 100000; c++) {
// Nop();
// }
BOARD_Init();
//INTEnableSystemMultiVectoredInt();
//SERIAL_Init();
//DEVCFG1bits.FCKSM
//TIMERS_Init();
// SYSKEY = 0;
// SYSKEY = 0xAA996655;
// SYSKEY = 0x556699AA;
// OSCCONbits.FRCDIV = 0b111;
// OSCConfig(OSC_FRC_PLL, OSC_PLL_MULT_20, OSC_PLL_POST_1, OSC_PB_DIV_1);
LED_Init(LED_BANK1);
LED_SetBank(LED_BANK1,~2);
//while(1);
//SERIAL_Init();
//LATBbits.LATB7 = 1;
TIMERS_Init();
unsigned char count=0;
//while (1) {
// LATCbits.LATC3 ^= 1;
//}
printf("Hello World\r\n");
while (1) {
if (!IsTimerActive(0)) {
// LATCbits.LATC5 ^= 1;
//LATBbits.LATB9 ^= 1;
InitTimer(0, 500);
printf("TOP: %X\r\n",count);
LED_SetBank(LED_BANK1,count);
count++;
}
if (!IsReceiveEmpty()) {
//LATBbits.LATB8 ^= 1;
printf("%c", GetChar());
}
}
while (1);
}
int main(void) {
int i = 0;
SERIAL_Init();
TIMERS_Init();
INTEnableSystemMultiVectoredInt();
printf("\r\nUno Timers Test Harness\r\n");
printf("Setting each timer for one second longer than the last and waiting for all to expire. There are %d available timers\r\n", TIMERS_IN_TEST);
for (i = 0; i <= TIMERS_IN_TEST; i++) {
InitTimer(i, (i + 1)*1000); //for second scale
}
while (IsTimerActive(TIMERS_IN_TEST - 1) == TIMER_ACTIVE) {
for (i = 0; i <= TIMERS_IN_TEST; i++) {
if (IsTimerExpired(i) == TIMER_EXPIRED) {
printf("Timer %d has expired and the free running counter is at %d\r\n", i, GetTime());
ClearTimerExpired(i);
}
}
}
printf("All timers have ended\r\n");
printf("Setting and starting 1st timer to 2 seconds using alternative method. \r\n");
SetTimer(0, 2000);
StartTimer(0);
while (IsTimerExpired(0) != TIMER_EXPIRED);
printf("2 seconds should have elapsed\r\n");
printf("Starting 1st timer for 8 seconds but also starting 2nd timer for 4 second\r\n");
InitTimer(0, 8000);
InitTimer(1, 4000);
while (IsTimerExpired(1) != TIMER_EXPIRED);
printf("4 seconds have passed and now stopping 1st timer\r\n");
StopTimer(0);
printf("Waiting 6 seconds to verifiy that 1st timer has indeed stopped\r\n");
InitTimer(1, 3000);
i = 0;
while (IsTimerActive(1) == TIMER_ACTIVE) {
if (IsTimerExpired(0) == TIMER_EXPIRED) {
i++;
ClearTimerExpired(0);
}
}
if (i == 0) {
printf("Timer did not expire, module working correctly\r\n");
} else {
printf("Timer did expire, module not working correctly\r\n");
}
return 0;
}
void init_main()
{
/*Initialize modules*/
timer_init();
led_init();
/*Initialize peripherals*/
USART_Init(1);
TIMERS_Init();
EEPROM_Init();
ws2812Init();
ledStringInit();
ledEffectInit();
adcInit();
ExtIntInit();
ISR_init();
}
void IMU_Init(void) {
TIMERS_Init();
mympu_open(20);
/* my version of initialization
// reset the device
MPU6500_writeOneByte( MPU6500_RA_PWR_MGMT_1, 0x80);
InitTimer( 1, 100 );
while (IsTimerActive(1));
// reset gyro, accel, temp
MPU6500_writeOneByte( MPU6500_RA_SIGNAL_PATH_RESET, 0x07);
InitTimer( 1, 100 );
while (IsTimerActive(1));
uint8_t userCtrl = 0x10 | 0x8 | 0x4 | 0x1;
MPU6500_writeOneByte( MPU6500_RA_USER_CTRL, userCtrl );
#ifdef DEBUG
uint8_t tmp = MPU6500_readOneByte(MPU6500_RA_USER_CTRL);
printf("user control should be %0x: %0x\n", userCtrl, tmp);
#endif
InitTimer( 1, 1000 );
while (IsTimerActive(1));
MPU6500_writeOneByte( MPU6500_RA_CONFIG, 0x01);
uint8_t fifoEnConfig = MPU6500_FIFO_EN_ACC | MPU6500_FIFO_EN_GYRO;
MPU6500_writeOneByte( MPU6500_RA_FIFO_EN, fifoEnConfig);
#ifdef DEBUG
tmp = MPU6500_readOneByte(MPU6500_RA_FIFO_EN);
printf("fifo_en should be %0x: %0x\n", fifoEnConfig, tmp);
#endif
MPU6500_writeOneByte( MPU6500_RA_GYRO_CONFIG, 0b011000); // 2k dps
#ifdef DEBUG
tmp = MPU6500_readOneByte(MPU6500_RA_GYRO_CONFIG);
printf("gyro_config should be %0x: %0x\n", 0b011000, tmp);
#endif
MPU6500_writeOneByte( MPU6500_RA_USER_CTRL, 0x00 | 0x40 | 0x10 );
//*/
return;
}
int main(void)
{
BOARD_Init();
SYSTEMConfig(SYS_FREQ, SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE);
SERIAL_Init();
SPI_Init(SPI_SS1_CLKRATE, 0, 0);
TIMERS_Init();
printf("program begins...\n");
uint16_t i, j;
/* timer test: sucess
SET_OUTPUT_PIN(D, 10);
TIMERS_Init();
while (1) {
WRITE_HIGH(D, 10);
InitTimer(1, 100);
while (IsTimerActive(1));
WRITE_LOW(D, 10);
InitTimer(1, 100);
while (IsTimerActive(1)) ;
}
//*/
/* SPI read test 1: need to get 0x70 to ensure SPI reading is good
printf("IMU: SPI read test 1\n");
IMU_Init();
uint8_t id;
while (1) {
id = MPU6500_readOneByte( MPU6500_RA_WHO_AM_I );
printf( "id should be 0x70: 0x%x\n", id );
InitTimer(1, 1000);
while (IsTimerActive(1)) ;
}
//*/
/* SPI read test 2: need to get 0x70 to ensure SPI reading is good
printf("IMU: SPI read test 2\n");
IMU_Init();
uint8_t id;
while (1) {
MPU6500_readBytes(SPI_SS2_ID, MPU6500_RA_WHO_AM_I, 1, &id);
printf( "id should be 0x70: 0x%x\n", id );
InitTimer(1, 1000);
while (IsTimerActive(1)) ;
}
//*/
/* inv_mpu test: porting invense IMU library
printf("inv_mpu test: read test\n");
uint8_t buf[3] = {0};
uint8_t flag;
while (1) {
flag = mpu_read_reg(MPU6500_RA_WHO_AM_I, buf);
printf("flag: %d\n", flag);
printf( "id should be 0x70: 0x%x\n", buf[0]);
InitTimer(2, 1000);
while (IsTimerActive(2)) {
//printf("timer is still active\n");
}
}
//*/
/* porting inv_mpu test: init and read gyro
printf("inv_mpu test: read test\n");
uint16_t buf[3] = {0};
uint8_t flag = mpu_init(0);
mpu_reset_fifo();
mpu_set_sensors(INV_XYZ_GYRO|INV_XYZ_ACCEL);
mpu_configure_fifo(INV_XYZ_GYRO|INV_XYZ_ACCEL);
printf("flag: %d\n", flag);
uint16_t gyro[3], accel[3];
// flag = mpu_run_6500_self_test(gyro, accel, 0);
printf("flag=%d, gyro: % 5d, % 5d, % 5d", flag, gyro[0], gyro[1], gyro[2]);
printf(", accel: % 5d, % 5d, % 5d\n", accel[0], accel[1], accel[2]);
while (1) {
flag = mpu_get_gyro_reg(buf, 0);
printf("flag=%d, gyro: % 5d, % 5d, % 5d", flag, buf[0], buf[1], buf[2]);
mpu_get_accel_reg(buf, 0);
printf(", accel: % 5d, % 5d, % 5d\n", buf[0], buf[1], buf[2]);
InitTimer(2, 1000);
while (IsTimerActive(2));
}
//*/
/* test: reading multiple times from the same register: the internal pointer +1 when it read once
int vals;
uint16_t gyro[3], accel[3];
vals = mympu_open(200);
printf("MPU Init: %d\n", vals);
struct s_mympu mympu;
uint8_t flag;
while(1) {
mpu_get_accel_reg(accel, 0);
printf("all accel: % 5d, % 5d, % 5d\n", accel[0], accel[1], accel[2]);
uint8_t tmp = MPU6500_readOneByte(MPU6500_RA_ACCEL_XOUT_H);
accel[0] = tmp << 8;
tmp = MPU6500_readOneByte(MPU6500_RA_ACCEL_XOUT_L);
accel[0] |= tmp;
tmp = MPU6500_readOneByte(MPU6500_RA_ACCEL_YOUT_H);
accel[1] = tmp << 8;
tmp = MPU6500_readOneByte(MPU6500_RA_ACCEL_YOUT_L);
accel[1] |= tmp;
tmp = MPU6500_readOneByte(MPU6500_RA_ACCEL_ZOUT_H);
accel[2] = tmp << 8;
tmp = MPU6500_readOneByte(MPU6500_RA_ACCEL_ZOUT_L);
accel[2] |= tmp;
printf("byte accel: % 5d, % 5d, % 5d\n", accel[0], accel[1], accel[2]);
InitTimer(2, 100);
while (IsTimerActive(2));
}
//*/
/* test: reading multiple times from the same register: the internal pointer +1 when it read once
int vals;
uint8_t buf[20] = {0};
uint16_t gyro[3] = {0}, accel[3] = {0};
vals = mympu_open(200);
printf("MPU Init: %d\n", vals);
//IMU_Init();
uint8_t id = MPU6500_readOneByte( MPU6500_RA_WHO_AM_I );
printf( "id should be 0x70: 0x%x\n", id);
struct s_mympu mympu = {0};
int flag;
//MPU6500_writeOneByte( MPU6500_RA_USER_CTRL, 0x40 | 0x10 );
while(1) {
flag = mympu_update(&mympu);
//printf("yaw=[%d, %d], pitch=[%d,%d], roll=[%d,%d]\n", mympu.ypr[0], mympu.gyro[0], mympu.ypr[1], mympu.gyro[1], mympu.ypr[2], mympu.gyro[2]);
//printf("flag=%d, yaw=% 11f, pitch=% 11f, roll=% 11f\n", flag, mympu.ypr[0], mympu.ypr[1], mympu.ypr[2]);
printf("yaw=[%.3f, %.3f], pitch=[%.3f,%.3f], roll=[%.3f,%.3f]\n",
mympu.ypr[0], mympu.gyro[0], mympu.ypr[1], mympu.gyro[1], mympu.ypr[2], mympu.gyro[2]);
//flag = dmp_read_fifo(gyro, accel, buf, NULL,&vals,&vals);
//buf[0] = MPU6500_readOneByte(MPU6500_RA_FIFO_COUNTH);
//buf[1] = MPU6500_readOneByte(MPU6500_RA_FIFO_COUNTL);
//uint16_t count = (buf[0] << 8) | buf[1];
//printf("fifo count: %d\n", count);
//flag = mpu_read_fifo(gyro, accel, &vals, &vals, &vals);
//flag = mpu_read_fifo_stream(10, buf, &vals);
//read_fifo(buf, gyro, accel);
//printf("flag=%d, gyro: % 5d, % 5d, % 5d", flag, gyro[0], gyro[1], gyro[2]);
// printf(", accel: % 5d, % 5d, % 5", accel[0], accel[1], accel[2]);
//printf(", quat: %d, %d, %d, %d\n", buf[0], buf[1], buf[2], buf[3]);
InitTimer(2, 50);
while (IsTimerActive(2));
}
//*/
/* test: calibration by adding offset
int vals = mympu_open(200);
printf("MPU Init: %d\n", vals);
uint8_t id = MPU6500_readOneByte( MPU6500_RA_WHO_AM_I );
printf( "id should be 0x70: 0x%x\n", id);
struct s_mympu mympu = {0};
int flag;
printf("waiting for initial drift\n");
InitTimer(2, 20000); // wait for 20s to pass initial drift
while (IsTimerActive(2));
printf("get average offset\n");
float offsetX = 0, offsetY = 0, offsetZ = 0;
float offsetPrev[3] = {0};
float alpha = 0;
uint8_t k;
for (k=1; k <= 200; k++) {
flag = mympu_update(&mympu);
//printf("yaw=% 3.3f, pitch=% 3.3f, roll=% 3.3f\n",
//mympu.ypr[0], mympu.ypr[1], mympu.ypr[2]);
alpha = ((float) k - 1.) / k;
offsetX = alpha*offsetPrev[0] + (1. - alpha) * mympu.ypr[0];
offsetY = alpha*offsetPrev[1] + (1. - alpha) * mympu.ypr[1];
offsetZ = alpha*offsetPrev[2] + (1. - alpha) * mympu.ypr[2];
offsetPrev[0] = offsetX;
offsetPrev[1] = offsetY;
offsetPrev[2] = offsetZ;
InitTimer(2, 50);
while (IsTimerActive(2));
}
printf("average: x offset= %3.3f, y offset= %3.3f, z offset= %3.3f\n",
offsetX, offsetY, offsetZ);
//offsetX = abs(offsetX);
offsetY = abs(offsetY);
//offsetZ = abs(offsetZ);
while(1) {
flag = mympu_update(&mympu);
//printf("yaw=% 3.0f, pitch=% 3.0f, roll=% 3.0f\n",
//printf("%4.1f, %4.1f, %4.1f\n", mympu.ypr[0] - offsetX, mympu.ypr[1] - offsetY, mympu.ypr[2] - offsetZ);
printf("yaw=[%.3f, %.3f], pitch=[%.3f,%.3f], roll=[%.3f,%.3f]\n", mympu.ypr[0] - offsetX, mympu.gyro[0], mympu.ypr[1] - offsetY, mympu.gyro[1], mympu.ypr[2] - offsetZ, mympu.gyro[2]);
InitTimer(2, 50);
while (IsTimerActive(2));
}
//*/
//* test: two SPI devices, OLED and IMU
int vals = mympu_open(10);
OLED_Init();
OpenTimer2(T2_ON | T2_SOURCE_INT | T2_PS_1_1, 0x2710);
ConfigIntTimer2(T2_INT_ON | T2_INT_PRIOR_2);
printf("MPU Init: %d\n", vals);
uint8_t id = MPU6500_readOneByte( MPU6500_RA_WHO_AM_I );
printf( "id should be 0x70: 0x%x\n", id);
UG_SetForecolor(0x0F);
UG_SetBackcolor(0x00);
UG_FontSelect(FONT_6X8);
char str[50] = "";
while(1) {
//mympu_update(&mympu);
sprintf(str, "%.3f, %.3f, %.3f\n", mympu.ypr[0], mympu.ypr[1], mympu.ypr[2]);
printf("%s\n",str);
flag_writingScreen = 1;
UG_PutString(0, 0, str);
flag_writingScreen = 0;
InitTimer(1, 200);
while (IsTimerActive(1));
}
//*/
/*
flag = mpu_run_6500_self_test(gyro, accel, 0);
printf("\nflag=%d, gyro: % 5d, % 5d, % 5d", flag, gyro[0], gyro[1], gyro[2]);
printf(", accel: % 5d, % 5d, % 5d\n", accel[0], accel[1], accel[2]);
MPU6500_writeOneByte(MPU6500_RA_XA_OFFS_H, (accel[0] & 0x7F80) >> 8);
MPU6500_writeOneByte(MPU6500_RA_XA_OFFS_L_TC, accel[0] & 0x7F);
MPU6500_writeOneByte(MPU6500_RA_YA_OFFS_H, (accel[1] & 0x7F80) >> 8);
MPU6500_writeOneByte(MPU6500_RA_YA_OFFS_L_TC, accel[1] & 0x7F);
MPU6500_writeOneByte(MPU6500_RA_ZA_OFFS_H, (accel[2] & 0x7F80) >> 8);
MPU6500_writeOneByte(MPU6500_RA_ZA_OFFS_L_TC, accel[2] & 0x7F);
MPU6500_writeOneByte(MPU6500_RA_XG_OFFS_USRH, gyro[0] >> 8);
MPU6500_writeOneByte(MPU6500_RA_XG_OFFS_USRL, gyro[0] & 0xFF);
MPU6500_writeOneByte(MPU6500_RA_YG_OFFS_USRH, gyro[1] >> 8);
MPU6500_writeOneByte(MPU6500_RA_YG_OFFS_USRL, gyro[1] & 0xFF);
MPU6500_writeOneByte(MPU6500_RA_ZG_OFFS_USRH, gyro[2] >> 8);
MPU6500_writeOneByte(MPU6500_RA_ZG_OFFS_USRL, gyro[2] & 0xFF);
//*/
printf("program ended...\n");
return 0;
}
int main(void) {
//unsigned char size = 0, i;
BOARD_Init();
printf("Anima Small Scale FreeScale Accelerometer test\r\n");
TIMERS_Init();
LED_Init(LED_BANK1);
int count=0;
// while (1) {
// if (!IsTimerActive(0)) {
// // LATCbits.LATC5 ^= 1;
// //LATBbits.LATB9 ^= 1;
// InitTimer(0, 500);
// printf("TOP: %X\r\n", count);
// LED_SetBank(LED_BANK1, count);
// count++;
//
// }
// }
//
// while (1);
free_accel_init();
printf("Scale is set to %d \r\n", free_GetScale());
free_SetScale(FREE_8GSCALE);
printf("Scale is set to %d and should be %d\r\n", free_GetScale(), FREE_4GSCALE);
free_SetScale(FREE_2GSCALE);
printf("Scale is set to %d and should be %d\r\n", free_GetScale(), FREE_2GSCALE);
printf("Rate is set to %d \r\n", free_GetRate());
free_SetRate(FREE_200HERTZ);
printf("Rate is set to %d and should be %d\r\n", free_GetRate(), FREE_200HERTZ);
free_SetRate(FREE_800HERTZ);
printf("Rate is set to %d and should be %d\r\n", free_GetRate(), FREE_800HERTZ);
//free_SetRate(FREE_1P56HERTZ);
//while(1);
char humanread = 1;
short dataArray[3];
int i, j, data;
for (i = 0; i != 1000; i++)
for (j = 0; j != 500; j++)
Nop();
while (1) {
//if (UART2HalfEmpty()){
if (humanread == 1) {
if (IsTransmitEmpty()) {
free_GetTriplet(dataArray);
printf("Accel: Cur X: %d \tCur Y: %d \tCur Z: %d\r\n", dataArray[0], dataArray[1], dataArray[2]);
}
} else {
data = free_GetXData();
//UART2PutChar('$');
//UART2PutChar('#');
// UART2PutChar(data >> 8);
// UART2PutChar(data & 0x00FF);
//UART2PutChar('\r');
//UART2PutChar('\n');
}
//for (i = 0; i != -1; i++)
// Nop();
//}
/*while(!UART2IsEmpty())
UART2PutChar(UART2GetChar());*/
}
}
int main(void) {
//unsigned char size = 0, i;
SERIAL_Init();
INTEnableSystemMultiVectoredInt();
TIMERS_Init();
printf("Uno32 FreeScale Magnetometer test\r\n");
printf("Size of short:%d\r\n", sizeof (short));
printf("Size of char:%d\r\n", sizeof (char));
printf("Size of int:%d\r\n", sizeof (int));
//while(1);
free_mag_init();
//printf("Scale is set to %d \r\n",free_mag_GetScale());
//free_mag_SetScale(free_mag_4GSCALE);
//printf("Scale is set to %d and should be %d\r\n",free_mag_GetScale(),free_mag_4GSCALE);
//free_mag_SetScale(free_mag_2GSCALE);
//printf("Scale is set to %d and should be %d\r\n",free_mag_GetScale(),free_mag_2GSCALE);
printf("Rate is set to %d \r\n", free_mag_GetRate());
free_mag_SetRate(FREE_MAG_0P08HERTZ_128_OVERRATIO);
printf("Rate is set to %d and should be %d\r\n", free_mag_GetRate(), FREE_MAG_0P08HERTZ_128_OVERRATIO);
//InitTimer(0, 1000);
//while (!IsTimerExpired(0));
free_mag_SetRate(FREE_MAG_40HERTZ_32_OVERRATIO);
printf("Rate is set to %d and should be %d\r\n", free_mag_GetRate(), FREE_MAG_40HERTZ_32_OVERRATIO);
while (1);
char humanread = 1;
int i, j, data;
//for (i = 0; i != 1600; i++)
//for (j = 0; j != 100; j++)
//Nop();
DELAY();
short AxisData[3];
while (1) {
//if (UART2HalfEmpty()){
//printf("%d",IsTransmitEmpty());
//DELAY();
if (humanread == 1) {
if (IsTransmitEmpty()) {
// printf("Cur X: %d \tCur Y: %d \tCur Z: %d\r\n", free_mag_GetXData(), free_mag_GetYData(), free_mag_GetZData());
free_mag_GetTriplet(AxisData);
printf("Cur X: %d \tCur Y: %d \tCur Z: %d\tTotal: %d\r\n", AxisData[0], AxisData[1], AxisData[2], AxisData[0] * AxisData[0] + AxisData[1] * AxisData[1] + AxisData[2] * AxisData[2]);
}
} else {
//data=free_mag_GetXData();
//UART2PutChar('$');
//UART2PutChar('#');
//UART2PutChar(data >> 8);
//UART2PutChar(data & 0x00FF);
//UART2PutChar('\r');
//UART2PutChar('\n');
}
//for (i = 0; i != -1; i++)
//Nop();
//}
/*while(!UART2IsEmpty())
UART2PutChar(UART2GetChar());*/
}
}
