void accelerometer_test(void){
unsigned char who,message[5];
acc_read_register(WHO_AM_I,&who,1);
sprintf(message,"%d",who);
write_OLED_message(message,0,0);
display_draw();
}
void OnGetACCReg(u_char param_len, const char * parametres, u_char * rep_len, char * reponse)
{
if(acc_read_register(*parametres,reponse))
{
*rep_len = strlen(reponse);
}
else
{
*rep_len = sprintf(reponse,"%c",203);
}
}
void accelerometer_pixel_bars(void){
short accels[3];
int xpix,ypix;
char x_acc_dir,y_acc_dir;
unsigned char x_dir[20],y_dir[20];
acc_read_register(OUT_X_L_A,(unsigned char *) accels, 6);
xpix = accel_to_pixels(accels[0]);
ypix = accel_to_pixels(accels[1]);
x_acc_dir = accel_pixel_direction(xpix);
y_acc_dir = accel_pixel_direction(ypix);
sprintf(x_dir,"X-Acc = %c",x_acc_dir);
sprintf(y_dir,"Y-Acc = %c",y_acc_dir);
display_clear();
write_OLED_message(x_dir,0,0);
write_OLED_message(y_dir,10,0);
accel_pixels(xpix,'x');
accel_pixels(ypix,'y');
display_draw();
}
void APP_Tasks ( void )
{
//static int8_t vector = 0;
static uint8_t movement_length = 0;
static bool sent_dont_move = false;
short accels[3];
double xvel;
double yvel;
//int8_t dir_table[] ={-4,-4,-4, 0, 4, 4, 4, 0};
/* 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)
{
acc_read_register(OUT_X_L_A, (unsigned char *) accels, 6);
xvel = accels[0]/10000;
yvel = accels[1]/10000;
appData.xCoordinate = (double) xvel;
appData.yCoordinate = (double) yvel;
appData.mouseButton[0] = MOUSE_BUTTON_STATE_RELEASED;
appData.mouseButton[1] = MOUSE_BUTTON_STATE_RELEASED;
//appData.xCoordinate =(int8_t)dir_table[vector & 0x07] ;
//appData.yCoordinate =(int8_t)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 );
// string used for OLED
char str[200];
ANSELBbits.ANSB13 = 0; // make analog input digital
U1RXRbits.U1RXR = 0b0000; // set U1RX to pin A2
RPB15Rbits.RPB15R = 0b0101; // set B15 to U1TX
TRISBbits.TRISB13 = 1; // set up USER pin as input
TRISBbits.TRISB7 = 0; // set up LED1 pin as a digital output
APP_USBDeviceEventHandler();
__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;
// set up accelerometer
acc_setup();
__builtin_enable_interrupts();
short accels[3]; // accelerations for the 3 axes
short mags[3]; // magnetometer readings for the 3 axes
short temp; // temperature
display_init();
while ( true )
{
/* Maintain state machines of all polled MPLAB Harmony modules. */
// 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(str, "Hello world %d!", accels);
int x_acc = accels[0]*64/16000;
int y_acc = accels[1]*32/16000;
int xxx,yyy;
if (x_acc>=0){
if(x_acc>64) x_acc=64;
for (xxx=0;xxx<x_acc;xxx++){
display_pixel_set(31,64-xxx,1);
display_pixel_set(32,64-xxx,1);
display_pixel_set(33,64-xxx,1);
}
}
else{
if(x_acc<-64) x_acc=-64;
for (xxx=0;xxx>x_acc;xxx--){
display_pixel_set(31,64-xxx,1);
display_pixel_set(32,64-xxx,1);
display_pixel_set(33,64-xxx,1);
}
}
if (y_acc>=0){
if(y_acc>32) y_acc=32;
for (yyy=0;yyy<y_acc;yyy++){
display_pixel_set(32-yyy,63,1);
display_pixel_set(32-yyy,64,1);
display_pixel_set(32-yyy,65,1);
}
}
else{
if(y_acc<-32) y_acc=-32;
for (yyy=0;yyy>y_acc;yyy--){
display_pixel_set(32-yyy,63,1);
display_pixel_set(32-yyy,64,1);
display_pixel_set(32-yyy,65,1);
}
}
display_draw();
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) 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);
}
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(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 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;
}
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) {
/* 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;
}
}
