void delay(int t){
_CP0_SET_COUNT(0); // set core timer counter to 0
time = 0;
while (time < t) { // 0.5ms = 12000 ticks
time = _CP0_GET_COUNT();
}
}
int 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
TRISAbits.TRISA4 = 0; // RA4 is output
TRISBbits.TRISB4 = 1; // RB4 is input
LATAbits.LATA4 = 1; // LED is on
__builtin_enable_interrupts();
while(1)
{
// use _CP0_SET_COUNT(0) and _CP0_GET_COUNT() to test the PIC timing
_CP0_SET_COUNT(0);
LATAINV = 0b10000;
for(;_CP0_GET_COUNT()<(WAIT_TIME+1);)
{
while(!PORTBbits.RB4){;}
}
}
}
int 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
__builtin_enable_interrupts();
TRISAbits.TRISA4 = 0; // set B4-B7 as digital outputs, 0-3 as digital inputs
TRISBbits.TRISB4 = 1;
while(1) {
_CP0_SET_COUNT(0);
LATAbits.LATA4=0;
while(_CP0_GET_COUNT()<12000){
;
}
_CP0_SET_COUNT(0);
LATAbits.LATA4=1;
while(_CP0_GET_COUNT()<12000){
;
}
while (PORTBbits.RB4==0){
;
}
// use _CP0_SET_COUNT(0) and _CP0_GET_COUNT() to test the PIC timing
// remember the core timer runs at half the CPU speed
}
}
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 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() {
__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
//set port4A to digital out
TRISAbits.TRISA4 = 0;
LATAbits.LATA4 = 1;
_CP0_SET_COUNT(0);
__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
if (_CP0_GET_COUNT()>2400000){
//change LED state
LATAbits.LATA4 = !LATAbits.LATA4;
//LATAbits.LATA4 = 0;
_CP0_SET_COUNT(0);
//LATAbits.LATA4 =1;j
}
}
}
int 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
TRISAbits.TRISA4 = 0; // Set RA4 to output (green LED)
TRISBbits.TRISB4 = 1; // Set RB4 to input (user button)
LATAbits.LATA4 = 0; //Set green LED to 0 to start
__builtin_enable_interrupts();
_CP0_SET_COUNT(0);
while(1) {
if(_CP0_GET_COUNT()>=2400000){
LATAbits.LATA4 = !LATAbits.LATA4;
_CP0_SET_COUNT(0);
}
while(PORTBbits.RB4 == 0){
LATAbits.LATA4 = 0;
}
}
}
int main(int argc, char** argv) {
__builtin_disable_interrupts();
__builtin_mtc0(_CP0_CONFIG, _CP0_CONFIG_SELECT, 0xa4210583);
BMXCONbits.BMXWSDRM = 0x0;
INTCONbits.MVEC = 0x1;
DDPCONbits.JTAGEN = 0;
// do your TRIS and LAT commands here
//TRISAbits.TRISA4=1;
TRISAbits.TRISA4 = 0;
TRISBbits.TRISB4 = 1;
__builtin_enable_interrupts();
int t = 24000;
int i = 0;
while(1) {
if (PORTBbits.RB4)
{
i = 22000;
}else
{
i = 3000;
}
//if (PORTBbits.RB4)
//__delay_ms(1000);
_CP0_SET_COUNT(0);
LATAbits.LATA4=1;
//__delay_ms(1000);
while (_CP0_GET_COUNT()<(t-i));
LATAbits.LATA4=0;
_CP0_SET_COUNT(0);
while (_CP0_GET_COUNT()<i);
//_CP0_SET_COUNT(0);
//_CP0_GET_COUNT();
// use _CP0_SET_COUNT(0) and _CP0_GET_COUNT() to test the PIC timing
// remember the core timer runs at half the CPU speed
}
return (EXIT_SUCCESS);
}
int 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
TRISAbits.TRISA4=0;
TRISBbits.TRISB4=1;
//spi_init();
i2c_master_setup();
// readaddress();
init_OC();
setlsm(0x10,0b10000000);
setlsm(0x11,0b10000000);
setlsm(0x12,0b00000100);
// i2c_readmulti();
__builtin_enable_interrupts();
LATAbits.LATA4=0;
while(1){
_CP0_SET_COUNT(0);
//LATAINV = 0x10; // make sure timer2 works
/*
if(PORTBbits.RB4==0)
{
if(read == 0x69)
LATAbits.LATA4=1;
else
LATAbits.LATA4=0;
}
else
LATAbits.LATA4=0;
*/
while(_CP0_GET_COUNT() < 480000) {
;
}
i2c_readmulti();
}
}
void sys_cpu_en_timer(uint32_t counts, uint8_t ien)
{
/* Disable Counter by setting DC bit to 1 in CP0.Cause */
_CP0_BIS_CAUSE(_CP0_CAUSE_DC_MASK);
_CP0_SET_COUNT(counts);
if (ien) {
jtvic_en_source(MEC14xx_GIRQ24_ID, 0, 0);
} else {
jtvic_dis_clr_source(MEC14xx_GIRQ24_ID, 0, 1);
}
/* Enable Counter */
_CP0_BIC_CAUSE(_CP0_CAUSE_DC_MASK);
}
int 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
TRISAbits.TRISA4 = 0; //RA4 (PIN#12) for Green LED
LATAbits.LATA4 = 1;
TRISBbits.TRISB4 = 1; //RB4 (PIN#11) for pushbutton
__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);
while(_CP0_GET_COUNT() < 12000) {
;
}
if (PORTBbits.RB4 == 0) {
LATAbits.LATA4 = 1; // push button will make LED not blink.
}
else {
LATAINV = 0x10; // LED turn on/off for 0.5 ms, LED blinking.
}
}
}
int 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
TRISBbits.TRISB4 = 1; // Set B4 (push-button) as input pin
TRISAbits.TRISA4 = 0; // Set A4 (LED) as output
LATAbits.LATA4 = 1; // Set A4 as high
__builtin_enable_interrupts();
while(1) {
// Turn off LED while button is pressed
while(PORTBbits.RB4 == 0) {
LATAbits.LATA4 = 0;
}
// use _CP0_SET_COUNT(0) and _CP0_GET_COUNT() to test the PIC timing
// remember the core timer runs at half the CPU speed
// Toggle LED at 1000 Hz
if (_CP0_GET_COUNT() > 24000){
LATAbits.LATA4 = !LATAbits.LATA4;
_CP0_SET_COUNT(0);
}
}
}
int 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
TRISBbits.TRISB4 = 1; // RB4 is an input
TRISAbits.TRISA4 = 0; // RA4 is an output
LATAbits.LATA4 = 1; // RA4 is set high
__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
while(PORTBbits.RB4 == 0){} //wait while USER button is pressed
_CP0_SET_COUNT(0);
LATAbits.LATA4 = 1; // RA4 is set high
while (_CP0_GET_COUNT() < 12000){} // wait for 0.5ms
LATAbits.LATA4 = 0; // RA4 is set low
while (_CP0_GET_COUNT() < 24000){} // wait for 0.5ms
}
}
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 (RB13) as a digital input
ANSELBbits.ANSB13 = 0;
TRISBbits.TRISB13 = 1;
// set up LED1 pin (RB7) as a digital output
RPB7Rbits.RPB7R = 0b0001;
TRISBbits.TRISB7 = 0;
LATBbits.LATB7 = 1;
// set up LED2 as OC1 using Timer2 at 1kHz
RPB15Rbits.RPB15R = 0b0101;
T2CONbits.TCKPS = 2; // Timer2 prescaler N=4 (1:4)
PR2 = 9999; // period = (PR2+1) * N * 25 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
OC1RS = 5000; // duty cycle = OC1RS/(PR2+1) = 50%
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 A0 as AN0
ANSELAbits.ANSA0 = 1;
AD1CON3bits.ADCS = 3;
AD1CHSbits.CH0SA = 0;
AD1CON1bits.ADON = 1;
display_init();
display_clear();
char message[20];
int num = 1337;
sprintf(message, "Hello World %d!",num);
display_now(message, 28, 32);
while (1) {
_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) {
OC1RS = readADC() * PR2/1024;
if (PORTBbits.RB13 == 1) {
// nothing
} else {
LATBINV = 0x0080;
}
}
}
}
int 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;
__builtin_enable_interrupts();
initSPI1();
initI2C2();
i2c_master_setup();
initExpander();
//sine wave
int sine[1000];
int i;
for(i = 0; i < 1000; i++){
sine[i] = 128 + 127*sin(2*3.14*10*i/1000);
}
int triangle[1000];
i = 0;
for(i = 0; i < 1000; i++){
triangle[i] = .256*i;
}
i = 0;
while(1) {
_CP0_SET_COUNT(0);
if(_CP0_GET_COUNT() > 24000){
i++;
setVoltage(0, sine[i]);
setVoltage(1, triangle[i]);
_CP0_SET_COUNT(0);
}
if(i > 1000){
i = 0;
}
char status = getExpander(); //read the expander
char g7 = (status & 0x80) >> 7; //get level of pin g7
setExpander(0, g7); //set pin 0 to level of g7
}
}
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();
// 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
ANSELBbits.ANSB15 = 0;
RPB15Rbits.RPB15R = 0b0101;
// set up A0 as AN0
ANSELAbits.ANSA0 = 1;
AD1CON3bits.ADCS = 3;
AD1CHSbits.CH0SA = 0;
AD1CON1bits.ADON = 1;
//pwm
T2CONbits.TCKPS = 1; // Timer2 prescaler N=2
PR2 = 19999; // period = (PR2+1) * N * 25 ns => 1000 Hz
TMR2 = 0; // initial TMR4 count is 0
//OC1
OC1CONbits.OCM = 0b110; // PWM mode without fault pin; other OC1CON bits are defaults
OC1CONbits.OCTSEL = 0; // set timer select bit to 0 for using Timer2
OC1RS = 20000; // duty cycle = OC1RS/(PR3+1) = 75%
// OC1R = 19999; // initialize before turning OC1 on; afterward it is read-only
T2CONbits.ON = 1; //Turn Timer4 on
OC1CONbits.ON = 1; // turn on OC1
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 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 * 20000/1023;
if (PORTBbits.RB13 == 1) {
// nothing
//EVERYTHING
} else {
LATBINV = 0b10000000;
}
}
}
}
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() {
// 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() {
// 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;
TRISBbits.TRISB13 = 1;
INT4Rbits.INT4R = 0b0100;
// set up LED1 pin as a digital output
ANSELBbits.ANSB14 = 0;
TRISBbits.TRISB14 = 0;
//RPB14Rbits.RPB14R = 0b0001;
LATBbits.LATB14 = 1;
// set up LED2 as OC1 using Timer2 at 1kHz
ANSELBbits.ANSB15 = 0;
TRISBbits.TRISB15 = 0;
RPB15Rbits.RPB15R = 0b0101;
T2CONbits.T32 = 0;
T2CONbits.TCS = 0;
T2CONbits.TGATE = 0;
T2CONbits.TCKPS = 0b100;
PR2 = 4999;
TMR2 = 0;
T2CONbits.ON = 1;
OC1CONbits.OCM = 0b110;
OC1RS = 2500; // 50% duty cycle
OC1R = 2500;
OC1CONbits.ON = 1;
// set up A0 as AN0
ANSELAbits.ANSA0 = 1;
AD1CON3bits.ADCS = 3;
AD1CHSbits.CH0SA = 0;
AD1CON1bits.ADON = 1;
while (1) {
_CP0_SET_COUNT(0); // set core timer to 0, remember it counts at half the CPU clock
LATBINV = 0b100000000000000; // 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*(5000/1024);
if (PORTBbits.RB13 == 1) {
// nothing
}
else {
LATBINV = 1<<14;
}
}
}
}
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();
}
}
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;
}
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;
}
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;
}
}
}
}
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 );
}
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();
}
void MIPS32 SetCP0Count(u32 count)
{
//asm("di"); // Disable all interrupts
_CP0_SET_COUNT(count);
//asm("ei"); // Enable all interrupts
}
int main(void)
{
//Startup code to run as fast as possible and get pins back from bad defaults
__builtin_disable_interrupts(); //Disable interrupts for configuration
// 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, 0xa4210582);
//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;
// Pin B13 as USER Pin
ANSELBbits.ANSB13 = 0; // pin B13 as digital
TRISBbits.TRISB13 = 1; // pin B13 as input
// Pin B7 as digital output (LED1)
TRISBbits.TRISB7 = 0; // pin B7 as output
LATBbits.LATB7 = 1; // LED1 ON
// Pin B15 as output compare OC1, using Timer2 (1kHz)
RPB15Rbits.RPB15R = 0b0101; // RB15 as OC1 (see Ouput Pin Selection TAble 11-2)
T2CONbits.TCKPS = 0; // Prescaler N=1
PR2 = 39999; // period = (PR2+1) * N * 25ns = 1ms, 10kHz --> period = 1ms
TMR2 = 0; // initialize timer to 0
OC1CONbits.OCM = 0b110; // PWM mode without fault pin;
OC1RS = 10000; // 25% duty cycle (PR2+1)/2 = 10000
OC1R = 20000; // initialize OC1 on; larter read-only
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;
// Set up timer1 for ISR
T1CONbits.TCKPS = 0b01; // Prescaler N=8
// T1CONbits.TGATE = 0; //(default)
// T1CONbits.TCS = 0; //(default)
PR1 = 499; // period = (PR1+1) * N * 25ns = 0.1ms, 10 kHz
TMR1 = 0; // initialize timer to 0
T1CONbits.ON = 1; // turn on Timer1
// Set Interrupt for Timer1
IPC1bits.T1IP = 7; // INT step 4: priority 7
IPC1bits.T1IS = 0; // subpriority 0
IFS0bits.T1IF = 0; // INT step 5: clear interrupt flag
IEC0bits.T1IE = 1; // INT step 6: enable interrupt
__builtin_enable_interrupts(); //re enable interrupts after configuration is complete
// Main while loop
while (1)
{
_CP0_SET_COUNT(0); // Reset core counter
while(_CP0_GET_COUNT() < 10000000) //The CP0 timer runs at 20kHZ (Half the core frequency)
{ if (PORTBbits.RB13 == 0){
break; } } //Skip the wait if USER Pin B13 is pushed
if (PORTBbits.RB13 == 1){ LATBINV = 0x0080; } // toggle LED1
else{ LATBbits.LATB7 = 1; } // LED1 ON
//*****This logic is better in an an ISR to guarantee a smoother dimmer*****//
// unsigned int ADCval;
// ADCval = readADC(); // read ADC (0-1024)
// OC1RS = 40000* ADCval/1024; //convert ADV calue to duty cycle
}
}
void NU32_WriteCoreTimer(unsigned int value) {
// the core timer updates the cp0 COUNT register, so set that
_CP0_SET_COUNT(value);
}
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(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;
}
}
}
}
