void mma_calibrate_offset( int16_t x, int16_t y, int16_t z )
{
int16_t offset_x = ( 0 - x ) << 1;
int16_t offset_y = ( 0 - y ) << 1;
int16_t offset_z = ( 64 - z ) << 1;
mma_write( MMA_XOFFL, offset_x & 0x00ff );
mma_write( MMA_XOFFL + 1, ( offset_x & 0xff00 ) >> 8 );
mma_write( MMA_YOFFL, offset_y & 0x00ff );
mma_write( MMA_YOFFL + 1, ( offset_y & 0xff00 ) >> 8 );
mma_write( MMA_ZOFFL, offset_z & 0x00ff );
mma_write( MMA_ZOFFL + 1, ( offset_z & 0xff00 ) >> 8 );
}
void main(void){
u8 i,cmd, param[9],c;
u16 temp; // TODO to be removed later on
long l;
signed int x, y, z;
signed char x8, y8, z8;
static unsigned char ledtrig;
initCDC(); // JTR this function has been highly modified It no longer sets up CDC endpoints.
init(); //setup the crystal, pins
mma_init();
usb_init(cdc_device_descriptor, cdc_config_descriptor, cdc_str_descs, USB_NUM_STRINGS); // TODO: Remove magic with macro
usb_start();
usbbufflush(); //flush USB input buffer system
i = mma_read( MMA_I2CAD );
//if((i&~0b10000000)!=0x1d)while(1);
mma_write( MMA_I2CAD, 0x1d | MMA_I2CDIS_bit ); // disable I2C
i = mma_read( MMA_CTL1 );
mma_write( MMA_CTL1, i |= MMA_DFBW_bit ); // high output data rate
mma_write( MMA_MCTL, 0b00000101 ); // 2g range; measurement mode
//mma_calibrate_offset( 0, 0, 0 );
//LEDs
//PWM on cathode
TRISAbits.TRISA0=0;
LATAbits.LATA0=1; //enable cathode
//setup LEDs
LATB=0;
TRISB=0;
ledtrig=1; //only shut LED off once
// Never ending loop services each task in small increments
while (1) {
do {
if (!TestUsbInterruptEnabled()) //JTR3 added
USBDeviceTasks(); ////service USB tasks Guaranteed one pass in polling mode even when usb_device_state == CONFIGURED_STATE
if ((usb_device_state < DEFAULT_STATE)) { // JTR2 no suspendControl available yet || (USBSuspendControl==1) ){
//LedOff();
} else if (usb_device_state < CONFIGURED_STATE) {
//LedOn();
}else if((ledtrig==1) && (usb_device_state == CONFIGURED_STATE)){
//LedOff();
ledtrig=0;
}
} while (usb_device_state < CONFIGURED_STATE);
usbbufservice();//load any USB data into byte buffer
if(usbbufgetbyte(&inByte) == 1){
switch(inByte){//switch on the command
case 0x00:
WaitInReady(); //it's always ready, but this could be done better
param[0]='B';
param[1]='B';
param[2]='I';
param[3]='O';
param[4]='1';
putUnsignedCharArrayUsbUsart(param,5);
break;
case 0x01:
mma_get_average8( 4, &x8, &y8, &z8 );
param[0]=x8;
param[1]=y8;
param[2]=z8;
WaitInReady(); //it's always ready, but this could be done better
putUnsignedCharArrayUsbUsart(param,3);
break;
default: //error
break;
}
}//if data
}//while
//#endif
}//end main