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| #include <xc.h> |
| #include <string.h> |
| #include "main.h" |
| #include "TIMER.h" |
| #include "INTERRUPT.h" |
| #include "UART.h" |
| #include "I2C.h" |
| #include "L3G.h" |
| #include "LSM303.h" |
| #include "RN-42.h" |
| #include "MAX17040.h" |
| |
| // <editor-fold defaultstate="collapsed" desc="Configuration Bits"> |
| // CONFIG1 |
| #pragma config FOSC = INTOSC // Oscillator Selection (INTOSC oscillator: I/O function on CLKIN pin) |
| #pragma config WDTE = OFF // Watchdog Timer Enable (WDT disabled) |
| #pragma config PWRTE = OFF // Power-up Timer Enable (PWRT disabled) |
| #pragma config MCLRE = ON // MCLR Pin Function Select (MCLR/VPP pin function is MCLR) |
| #pragma config CP = OFF // Flash Program Memory Code Protection (Program memory code protection is disabled) |
| #pragma config CPD = OFF // Data Memory Code Protection (Data memory code protection is disabled) |
| #pragma config BOREN = ON // Brown-out Reset Enable (Brown-out Reset enabled) |
| #pragma config CLKOUTEN = OFF // Clock Out Enable (CLKOUT function is disabled. I/O or oscillator function on the CLKOUT pin) |
| #pragma config IESO = ON // Internal/External Switchover (Internal/External Switchover mode is enabled) |
| #pragma config FCMEN = ON // Fail-Safe Clock Monitor Enable (Fail-Safe Clock Monitor is enabled) |
| |
| // CONFIG2 |
| #pragma config WRT = OFF // Flash Memory Self-Write Protection (Write protection off) |
| #pragma config PLLEN = ON // PLL Enable (4x PLL disabled) |
| #pragma config STVREN = ON // Stack Overflow/Underflow Reset Enable (Stack Overflow or Underflow will cause a Reset) |
| #pragma config BORV = LO // Brown-out Reset Voltage Selection (Brown-out Reset Voltage (Vbor), low trip point selected.) |
| #pragma config LVP = OFF // Low-Voltage Programming Enable (High-voltage on MCLR/VPP must be used for programming) |
| // </editor-fold> |
| |
| UART_DATA uart_data; |
| I2C_DATA i2c_data; |
| |
| char LED_R_ON = 0; |
| char LED_G_ON = 0; |
| char LED_B_ON = 0; |
| char timer_2_pwm = 0; |
| char connected = 0; |
| |
| void Error(char ID) { |
| while(1) { |
| for (char i = 0; i < ID; i++) { |
| LED_R_ON = 1; |
| __delay_ms(120); |
| LED_R_ON = 0; |
| __delay_ms(150); |
| } |
| __delay_ms(1000); |
| } |
| } |
| |
| void Startup_Check(void) { |
| char buffer[20]; |
| char result, length; |
| |
| // BLE_RESET_LAT = 0; |
| // __delay_ms(3000); |
| // BLE_RESET_LAT = 1; |
| // __delay_ms(200); |
| |
| // // Check BLE Module |
| // length = UART_Read(buffer); |
| // if (memcmp(buffer, "\r\nBR-LE4.0-S2\r\n", 15)) { |
| // Error(1); |
| // } |
| // UART_Write("AT\r", 3); |
| // __delay_ms(10); |
| // length = UART_Read(buffer); |
| // if (memcmp(buffer, "\r\nOK\r\n", 6)) { |
| // Error(1); |
| // } |
| |
| // Check Battery Gauge |
| I2C_Master_Restart(ADDRESS_LIPO, 0x0C, 2); |
| do { |
| result = I2C_Get_Status(); |
| } while (!result); |
| if ((result != I2C_SEND_OK) && (result != I2C_RECV_OK)) { |
| Error(2); |
| } |
| length = I2C_Read_Buffer(buffer); |
| if ((buffer[0] != 0x97) || (buffer[1] != 0x00) || (length != 2)) { |
| Error(2); |
| } |
| |
| // Check Gyroscope |
| I2C_Master_Restart(ADDRESS_GYRO, 0x0F, 1); |
| do { |
| result = I2C_Get_Status(); |
| } while (!result); |
| if ((result != I2C_SEND_OK) && (result != I2C_RECV_OK)) { |
| Error(3); |
| } |
| length = I2C_Read_Buffer(buffer); |
| if ((buffer[0] != 0xD4) || (length != 1)) { |
| Error(3); |
| } |
| |
| // Check Accelerometer |
| I2C_Master_Restart(ADDRESS_ACCL, 0x20, 1); |
| do { |
| result = I2C_Get_Status(); |
| } while (!result); |
| if ((result != I2C_SEND_OK) && (result != I2C_RECV_OK)) { |
| Error(4); |
| } |
| length = I2C_Read_Buffer(buffer); |
| if ((buffer[0] != 0x07) || (length != 1)) { |
| Error(4); |
| } |
| |
| // Check Magnometer |
| I2C_Master_Restart(ADDRESS_MAGN, 0x0A, 1); |
| do { |
| result = I2C_Get_Status(); |
| } while (!result); |
| if ((result != I2C_SEND_OK) && (result != I2C_RECV_OK)) { |
| Error(4); |
| } |
| length = I2C_Read_Buffer(buffer); |
| if ((buffer[0] != 0x48) || (length != 1)) { |
| Error(4); |
| } |
| } |
| |
| void Timer_2_Callback(void) { |
| // Here we manually 'PWM' the LEDs |
| // Note: this is terribly inefficient but we need to do this |
| // otherwise we will blow out the blue LED (max 10mA) |
| if (timer_2_pwm == 0) { |
| LED_R_LAT = (LED_R_ON) ? 0 : 1; |
| LED_G_LAT = (LED_G_ON) ? 0 : 1; |
| LED_B_LAT = (LED_B_ON) ? 0 : 1; |
| } |
| if (timer_2_pwm == LED_R_MAX_BRIGHTNESS) { |
| LED_R_LAT = 1; |
| } |
| if (timer_2_pwm == LED_G_MAX_BRIGHTNESS) { |
| LED_G_LAT = 1; |
| } |
| if (timer_2_pwm == LED_B_MAX_BRIGHTNESS) { |
| LED_B_LAT = 1; |
| } |
| timer_2_pwm++; |
| } |
| |
| void Timer_1_Callback(void) { |
| // int A_X,A_Y,A_Z; |
| // int G_X,G_Y,G_Z; |
| // int M_X,M_Y,M_Z; |
| |
| // LSM303_Read_Accl(&A_X, &A_Y, &A_Z); |
| // L3G_Read_Gyro(&G_X, &G_Y, &G_Z); |
| // LSM303_Read_Magn(&output[6], &output[7], &output[8]); |
| |
| // UART_Write("Hello", 5); |
| } |
| |
| int main() { |
| |
| OSCCON = 0xF0; // Software PLL enabled, 32MHz |
| ANSELA = 0; |
| ANSELB = 0; |
| ANSELC = 0; |
| |
| LED_R_TRIS = 0; |
| LED_R_LAT = 1; |
| LED_G_TRIS = 0; |
| LED_G_LAT = 1; |
| LED_B_TRIS = 0; |
| LED_B_LAT = 1; |
| |
| BLE_RESET_TRIS = 0; |
| BLE_RESET_LAT = 1; |
| |
| UART_CTS_TRIS = 1; |
| UART_RTS_TRIS = 0; |
| UART_RTS_LAT = 0; |
| |
| // Initialize all peripherals |
| TIMER_1_Init(&Timer_1_Callback); |
| TIMER_2_Init(&Timer_2_Callback); |
| UART_Init(&uart_data); |
| I2C_Init(&i2c_data); |
| INTERRUPT_Init(); |
| |
| I2C_Configure_Master(I2C_400KHZ); |
| INTERRUPT_Enable(); |
| // TIMER_1_Start(); |
| TIMER_2_Start(); |
| |
| // A small delay is needed for the sensors to start up |
| __delay_ms(1000); |
| |
| // Run a check to ensure that all sensors are properly connected |
| Startup_Check(); |
| |
| // Initialze the sensors |
| L3G_Init(); |
| LSM303_Init(); |
| RN42_Init(); |
| MAX17040_Init(); |
| |
| char output[21] = {0}; |
| output[20] = '\n'; |
| |
| // char len, buffer[30]; |
| |
| LED_B_ON = 1; |
| |
| while(1) { |
| __delay_ms(10); |
| |
| // len = UART_Read(buffer); |
| // if (len != 0) { |
| // if (!strncmp(buffer, "!CONNECT", 8)) { |
| // connected = 1; |
| // LED_G_ON = 1; |
| // } |
| // if (!strncmp(buffer, "!DISCONNECT", 11)) { |
| // connected = 0; |
| // LED_G_ON = 0; |
| // } |
| // } |
| |
| // if (connected) { |
| LSM303_Read_Accl(&output[0], &output[1], &output[2], &output[3], &output[4], &output[5]); |
| L3G_Read_Gyro(&output[6], &output[7], &output[8], &output[9], &output[10], &output[11]); |
| LSM303_Read_Magn(&output[12], &output[13], &output[14], &output[15], &output[16], &output[17]); |
| MAX17040_Read_Batt(&output[18], &output[19]); |
| |
| UART_Write((char *)&output[0], 21); |
| // } |
| |
| // LED_B_ON = 0; |
| // LED_R_ON = 1; |
| // __delay_ms(250); |
| // LED_R_ON = 0; |
| // LED_G_ON = 1; |
| // __delay_ms(250); |
| // LED_G_ON = 0; |
| // LED_B_ON = 1; |
| // __delay_ms(250); |
| } |
| } |