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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" |
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// <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) |
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// 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> |
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UART_DATA uart_data; |
I2C_DATA i2c_data; |
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char LED_R_ON = 0; |
char LED_G_ON = 0; |
char LED_B_ON = 0; |
char timer_2_pwm = 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); |
} |
} |
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void Startup_Check(void) { |
char buffer[20]; |
char result, length; |
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// BLE_RESET_LAT = 0; |
// __delay_ms(3000); |
// BLE_RESET_LAT = 1; |
// __delay_ms(200); |
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// // 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++; |
} |
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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]); |
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// UART_Write("Hello", 5); |
} |
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int main() { |
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OSCCON = 0xF0; // Software PLL enabled, 32MHz |
ANSELA = 0; |
ANSELB = 0; |
ANSELC = 0; |
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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; |
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UART_CTS_TRIS = 1; |
UART_RTS_TRIS = 0; |
UART_RTS_LAT = 0; |
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// 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(); |
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// A small delay is needed for the sensors to start up |
__delay_ms(10); |
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// Run a check to ensure that all sensors are properly connected |
Startup_Check(); |
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// Initialze the sensors |
L3G_Init(); |
LSM303_Init(); |
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char output[19] = {0}; |
output[18] = '\n'; |
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LED_B_ON = 1; |
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__delay_ms(3000); |
|
while(1) { |
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]); |
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UART_Write((char *)&output[0], 19); |
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__delay_ms(10); |
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// 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); |
} |
} |