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Line 18... Line 18...
18 
#pragma config UPLLEN    = ON       // USB PLL Enable
 18 
#pragma config UPLLEN    = ON       // USB PLL Enable
19 
#pragma config UPLLIDIV  = DIV_2    // USB PLL Input Divider
 19 
#pragma config UPLLIDIV  = DIV_2    // USB PLL Input Divider
20 
#pragma config FVBUSONIO = OFF      // USB VBUS ON Selection
 20 
#pragma config FVBUSONIO = OFF      // USB VBUS ON Selection
21 
#pragma config FUSBIDIO  = OFF      // USB USID Selection
 21 
#pragma config FUSBIDIO  = OFF      // USB USID Selection
22 
/* Other Peripheral Device Settings */
 22 
/* Other Peripheral Device Settings */
23 
#pragma config FWDTEN    = ON       // Watchdog Timer Enable
 23 
#pragma config FWDTEN    = OFF      // Watchdog Timer Enable
24 
#pragma config WDTPS     = PS1048576    // Watchdog Timer Postscaler (1048.576s)
 24 
#pragma config WDTPS     = PS1048576    // Watchdog Timer Postscaler (1048.576s)
25 
#pragma config FSRSSEL   = PRIORITY_7   // SRS Interrupt Priority
 25 
#pragma config FSRSSEL   = PRIORITY_7   // SRS Interrupt Priority
26 
#pragma config FCANIO    = OFF      // CAN I/O Pin Select (default/alternate)
 26 
#pragma config FCANIO    = OFF      // CAN I/O Pin Select (default/alternate)
27 
#pragma config FETHIO    = ON       // Ethernet I/O Pin Select (default/alternate)
 27 
#pragma config FETHIO    = ON       // Ethernet I/O Pin Select (default/alternate)
28 
#pragma config FMIIEN    = OFF      // Ethernet MII/RMII select (OFF=RMII)
 28 
#pragma config FMIIEN    = OFF      // Ethernet MII/RMII select (OFF=RMII)
Line 43... Line 43...
43 
#include "TIMER4.h"
 43 
#include "TIMER4.h"
44 
#include "TIMER5.h"
 44 
#include "TIMER5.h"
45 
#include "CUBE.h"
 45 
#include "CUBE.h"
46 
#include "BTN.h"
 46 
#include "BTN.h"
47 
#include "ANIMATIONS.h"
 47 
#include "ANIMATIONS.h"
- 
 
 48 
#include "CONTROLLERS.h"
- 
 
 49 
#include "SNAKE.h"
48 
 
 50 
 
49 
void BTN1_Interrupt(void);
 51 
void BTN1_Interrupt(void);
50 
void BTN2_Interrupt(void);
 52 
void BTN2_Interrupt(void);
51 
void BTN3_Interrupt(void);
 53 
void BTN3_Interrupt(void);
52 
 
 54 
 
Line 64... Line 66...
64 
    uint32_t delay = delay_us * US_TO_CT_TICKS;
 66 
    uint32_t delay = delay_us * US_TO_CT_TICKS;
65 
    uint32_t startTime = ReadCoreTimer();
 67 
    uint32_t startTime = ReadCoreTimer();
66 
    while ((uint32_t)(ReadCoreTimer() - startTime) < delay) {};
 68 
    while ((uint32_t)(ReadCoreTimer() - startTime) < delay) {};
67 
}
 69 
}
68 
 
 70 
 
- 
 
 71 
uint8_t Get_Reset_Condition(void) {
- 
 
 72 
    uint8_t ret = 0;
- 
 
 73 
    if (RCONbits.POR && RCONbits.BOR)
- 
 
 74 
        ret = RESET_POR;
- 
 
 75 
    else if (RCONbits.BOR)
- 
 
 76 
        ret = RESET_BOR;
- 
 
 77 
    else if (RCONbits.EXTR)
- 
 
 78 
        ret = RESET_PIN;
- 
 
 79 
    else if (RCONbits.SWR)
- 
 
 80 
        ret = RESET_SWR;
- 
 
 81 
    else if (RCONbits.CMR)
- 
 
 82 
        ret = RESET_CFG;
- 
 
 83 
    else if (RCONbits.WDTO)
- 
 
 84 
        ret = RESET_WDT;
- 
 
 85 
    // Clear the RCON register
- 
 
 86 
    RCON = 0x0;
- 
 
 87 
    return ret;
- 
 
 88 
}
- 
 
 89 
 
- 
 
 90 
void Reset_Board(void) {
- 
 
 91 
    // Executes a software reset
- 
 
 92 
    INTDisableInterrupts();
- 
 
 93 
    SYSKEY = 0x00000000; // Write invalid key to force lock
- 
 
 94 
    SYSKEY = 0xAA996655; // Write key1 to SYSKEY
- 
 
 95 
    SYSKEY = 0x556699AA; // Write key2 to SYSKEY
- 
 
 96 
    /* OSCCON is now unlocked */
- 
 
 97 
    // Set SWRST bit to arm reset
- 
 
 98 
    RSWRSTSET = 1;
- 
 
 99 
    // Read RSWRST register to trigger reset
- 
 
 100 
    uint32_t dummy;
- 
 
 101 
    dummy = RSWRST;
- 
 
 102 
    // Prevent any unwanted code execution until reset occurs
- 
 
 103 
    while(1);
- 
 
 104 
}
- 
 
 105 
 
69 
int32_t main() {
 106 
void main() {
70 
    // WARNING!! THIS BOARD WILL RESET EVERY 1048.576s DUE TO THE WDT!!
 107 
    // WARNING!! THIS BOARD WILL RESET EVERY 1048.576s DUE TO THE WDT!!
- 
 
 108 
 
- 
 
 109 
    /* -------------------- BEGIN INITIALIZATION --------------------- */
71
110
72 
    /* Configure the target for maximum performance at 80 MHz. */
 111 
    // Configure the target for maximum performance at 80 MHz.
73 
    // Note: This overrides the peripheral clock to 80Mhz regardless of config
 112 
    // Note: This overrides the peripheral clock to 80Mhz regardless of config
74 
    SYSTEMConfigPerformance(CPU_CLOCK_HZ);
 113 
    SYSTEMConfigPerformance(CPU_CLOCK_HZ);
75 
 
 114 
 
76 
    // Configure the interrupts for multiple vectors
 115 
    // Configure the interrupts for multiple vectors
77 
    INTConfigureSystem(INT_SYSTEM_CONFIG_MULT_VECTOR);
 116 
    INTConfigureSystem(INT_SYSTEM_CONFIG_MULT_VECTOR);
78 
 
 117 
 
79 
    // Set all analog I/O pins to digital
 118 
    // Set all analog I/O pins to digital
80 
    AD1PCFGSET = 0xFFFF;
 119 
    AD1PCFGSET = 0xFFFF;
81 
 
 120 
 
- 
 
 121 
    // Enable the watchdog timer with windowed mode disabled
- 
 
 122 
    // WDT prescaler set to 1048576 (1048.576s) (see config bits)
- 
 
 123 
    WDTCON = 0x00008000;
- 
 
 124 
 
- 
 
 125 
    // Configure onboard LEDs
82 
    LED1_TRIS = 0;
 126 
    LED1_TRIS = 0;
83 
    LED2_TRIS = 0;
 127 
    LED2_TRIS = 0;
84 
    LED3_TRIS = 0;
 128 
    LED3_TRIS = 0;
85 
    LED4_TRIS = 0;
 129 
    LED4_TRIS = 0;
86 
    LED1_LAT = 0;
 130 
    LED1_LAT = 0;
87 
    LED2_LAT = 0;
 131 
    LED2_LAT = 0;
88 
    LED3_LAT = 0;
 132 
    LED3_LAT = 0;
89 
    LED4_LAT = 0;
 133 
    LED4_LAT = 0;
90 
 
 134 
 
- 
 
 135 
    // Initialize a persistent operational state machine
- 
 
 136 
    BOARD_STATE op_state __attribute__((persistent));
- 
 
 137 
 
91 
    // Initialize the SPI1 module
 138 
    // Initialize the SPI1 module
92 
    SPI1_DATA spi_1_data;
 139 
    SPI1_DATA spi_1_data;
93 
    SPI1_Init(&spi_1_data, NULL);
 140 
    SPI1_Init(&spi_1_data, NULL);
94 
 
 141 
 
95 
    // Initialize the SPI4 module
 142 
    // Initialize the SPI4 module
96 
    SPI4_DATA spi_4_data;
 143 
    SPI4_DATA spi_4_data;
97 
    SPI4_Init(&spi_4_data);
 144 
    SPI4_Init(&spi_4_data);
98 
 
 145 
 
- 
 
 146 
    // Initialize the I2C1 module
99 
    I2C1_DATA i2c_1_data;
 147 
    I2C1_DATA i2c_1_data;
100 
    I2C1_Init(&i2c_1_data, I2C1_400KHZ, 0x20);
 148 
    I2C1_Init(&i2c_1_data, I2C1_400KHZ, 0x20);
101 
 
 149 
 
102 
    // Initialize the UART1 module
 150 
    // Initialize the UART1 module
103 
    UART1_DATA uart_data;
 151 
    UART1_DATA uart_data;
104 
    UART1_Init(&uart_data, &Cube_Data_In);
 152 
    UART1_Init(&uart_data, &Cube_Data_In);
105 
 
 153 
 
106 
    // Initializs the PWM2 output to 20MHz
 154 
    // Initializs the PWM2 output to 20MHz
107 
    PWM2_Init();
 155 
    PWM2_Init();
108 
    PWM2_Start();
 - 
 
109 
 
 156 
 
110 
    // Initialize the cube variables
 157 
    // Initialize the cube variables
111 
    CUBE_DATA cube_data;
 158 
    CUBE_DATA cube_data;
112 
    Cube_Init(&cube_data, 0x40);
 159 
    Cube_Init(&cube_data, 0x40);
113 
 
 160 
 
114 
    // Start the cube update layer interrupt
 161 
    // Start the cube update layer interrupt
115 
    // 2083 = 60Hz, 500 = 250Hz, 250 = 500Hz
 162 
    // 2083 = 60Hz, 500 = 250Hz, 250 = 500Hz
116 
    TIMER5_DATA timer_5_data;
 163 
    TIMER5_DATA timer_5_data;
117 
    TIMER5_Init(&timer_5_data, &Cube_Timer_Interrupt, 500);
 164 
    TIMER5_Init(&timer_5_data, &Cube_Timer_Interrupt, 500);
118 
    TIMER5_Start();
 - 
 
119 
 
 165 
 
120 
    // Start the overlay rotation interrupt
 166 
    // Start the controller polling and overlay rotation interrupt
121 
    TIMER4_DATA timer_4_data;
 167 
    TIMER4_DATA timer_4_data;
122 
    TIMER4_Init(&timer_4_data, &Cube_Text_Interrupt, 90000);
 168 
    TIMER4_Init(&timer_4_data, &Controller_Update, NULL, 0);
123 
 
 169 
 
124 
    // Process button inputs
 170 
    // Process button inputs
125 
    BTN_DATA btn_data;
 171 
    BTN_DATA btn_data;
126 
    BTN_Init(&btn_data, &BTN1_Interrupt, &BTN2_Interrupt, &BTN3_Interrupt);
 172 
    BTN_Init(&btn_data, &BTN1_Interrupt, &BTN2_Interrupt, NULL);
- 
 
 173 
 
- 
 
 174 
    CONTROLLER_DATA ctrl_data;
- 
 
 175 
    Controller_Init(&ctrl_data, &op_state, &Controller_Set_Leds);
- 
 
 176 
 
- 
 
 177 
    // Determine what to do at this point. We either choose to idle (on POR)
- 
 
 178 
    // or go into a mode specified prior to the software reset event
- 
 
 179 
    uint8_t last_reset = Get_Reset_Condition();
- 
 
 180 
    switch (last_reset) {
- 
 
 181 
        // If our last reset was a POR/BOR/PIN/WDT/CFG, go into idle mode
- 
 
 182 
        case RESET_POR:
- 
 
 183 
        case RESET_BOR:
- 
 
 184 
        case RESET_PIN:
- 
 
 185 
        case RESET_WDT:
- 
 
 186 
        case RESET_CFG:
- 
 
 187 
            op_state.cube_mode = BOARD_MODE_IDLE;
- 
 
 188 
            break;
- 
 
 189 
    }
- 
 
 190 
 
- 
 
 191 
    PWM2_Start();
- 
 
 192 
    TIMER5_Start();
- 
 
 193 
    TIMER4_Start();
- 
 
 194
- 
 
 195 
    /* -------------------- END OF INITIALIZATION -------------------- */
- 
 
 196 
    /* ------------------------ BEGIN DISPLAY ------------------------ */
- 
 
 197
- 
 
 198 
    switch (op_state.cube_mode) {
- 
 
 199 
        case BOARD_MODE_SNAKE:
- 
 
 200 
            LED3_LAT = 1;
- 
 
 201 
            LED4_LAT = 0;
- 
 
 202 
            SNAKE_DATA snake_data;
- 
 
 203 
            Snake_Init(&snake_data);
- 
 
 204 
            while(1);
- 
 
 205 
            break;
- 
 
 206 
        case BOARD_MODE_TRON:
- 
 
 207 
            LED3_LAT = 0;
- 
 
 208 
            LED4_LAT = 1;
- 
 
 209 
            while(1);
- 
 
 210 
            break;
- 
 
 211 
        case BOARD_MODE_IDLE:
- 
 
 212 
        default:
- 
 
 213 
            Idle_Animation_Sequence();
- 
 
 214 
            break;
- 
 
 215 
    }
- 
 
 216 
 
- 
 
 217 
}
127 
 
 218 
 
128 
    // Begin display
 219 
void Idle_Animation_Sequence(void) {
129 
 
 220 
 
130 
//    Cube_Set_All(RED);
 221 
//    Cube_Set_All(RED);
131 
//    Delay_MS(2000);
 222 
//    Delay_MS(2000);
132 
//    Cube_Set_All(GREEN);
 223 
//    Cube_Set_All(GREEN);
133 
//    Delay_MS(2000);
 224 
//    Delay_MS(2000);
134 
//    Cube_Set_All(BLUE);
 225 
//    Cube_Set_All(BLUE);
135 
//    Delay_MS(2000);
 226 
//    Delay_MS(2000);
- 
 
 227 
    Animation_Pseudo_Random_Colors(200);
136 
//    Animation_Pseudo_Random_Colors(10,300);
 228 
    Animation_Pseudo_Random_Colors(200);
- 
 
 229 
    Animation_Pseudo_Random_Colors(200);
- 
 
 230 
    Animation_Pseudo_Random_Colors(200);
- 
 
 231 
    Animation_Pseudo_Random_Colors(200);
- 
 
 232 
    Animation_Pseudo_Random_Colors(200);
- 
 
 233 
 
- 
 
 234 
    // Start the scrolling text
- 
 
 235 
    TIMER4_Stop();
- 
 
 236 
    TIMER4_Init(NULL, &Controller_Update, &Cube_Text_Interrupt, 100);
- 
 
 237 
    TIMER4_Start();
137 
 
 238 
 
138 
//    int8_t start_text[] = "Cube Initialized\r\n";
 239 
//    int8_t start_text[] = "Cube Initialized\r\n";
139 
//    UART1_Write(start_text, 18);
 240 
//    UART1_Write(start_text, 18);
140 
 
 241 
 
141 
    // Set the overlay text
 242 
    // Set the overlay text
142 
    uint8_t text_string[] = "Welcome to the AMP Lab     ";
 243 
    uint8_t text_string[] = "Welcome to the AMP Lab     ";
143 
    Cube_Text_Init(text_string, 27, 0xFF, 0xFF, 0xFF);
 244 
    Cube_Text_Init(text_string, 27, 0xFF, 0xFF, 0xFF);
144 
    TIMER4_Start();
 - 
 
145 
 
 245 
 
146 
    // Loop through some preset animations
 246 
    // Loop through some preset animations
147 
    uint8_t buffer1[2];
 - 
 
148 
    uint8_t buffer2[2];
 - 
 
149 
    uint8_t result, length;
 - 
 
150
- 
 
151 
    while(1) {
 247 
    while(1) {
152 
        I2C1_Master_Restart(0x24, 0xA, 1);
 248 
//        Animation_Solid_Colors(300);
153 
        do {
 - 
 
154 
            result = I2C1_Get_Status();
 249 
//        Animation_Layer_Alternate(300);
155 
        } while (!result);
 - 
 
156 
        if (result == I2C1_RECV_OK) {
 - 
 
157 
            LED1_LAT = 1;
 - 
 
158 
            length = I2C1_Read_Buffer(buffer1);
 - 
 
159 
            buffer1[1] = ~buffer1[0];
 - 
 
160 
            buffer1[0] = 0xB;
 - 
 
161 
        } else {
 - 
 
162 
            LED1_LAT = 0;
 - 
 
163 
        }
 - 
 
164
- 
 
165 
 
 - 
 
166 
        I2C1_Master_Restart(0x25, 0xA, 1);
 - 
 
167 
        do {
 - 
 
168 
            result = I2C1_Get_Status();
 250 
//        Animation_Pixel_Alternate(200);
169 
        } while (!result);
 - 
 
170 
        if (result == I2C1_RECV_OK) {
 - 
 
171 
            LED2_LAT = 1;
 - 
 
172 
            length = I2C1_Read_Buffer(buffer2);
 251 
//        Animation_Full_Color_Sweep(1000);
173 
            buffer2[1] = ~buffer2[0];
 - 
 
174 
            buffer2[0] = 0xB;
 - 
 
175 
        } else {
 - 
 
176 
            LED2_LAT = 0;
 - 
 
177 
        }
 - 
 
178
- 
 
179 
        I2C1_Master_Send(0x24, buffer1, 2);
 - 
 
180 
        do {
 - 
 
181 
            result = I2C1_Get_Status();
 252 
        Animation_Row_Column_Sweep(40);
182 
        } while (!result);
 - 
 
183
- 
 
184 
        I2C1_Master_Send(0x25, buffer2, 2);
 - 
 
185 
        do {
 - 
 
186 
            result = I2C1_Get_Status();
 253 
        Animation_Row_Column_Sweep(40);
187 
        } while (!result);
 - 
 
188 
 
 - 
 
189 
        Delay_MS(1);
 - 
 
190
- 
 
191 
//        Animation_Solid_Colors(2,300);
 254 
        Animation_Row_Column_Sweep(40);
192 
//        Animation_Layer_Alternate(2,300);
 255 
        Animation_Cube_In_Cube(300);
193 
//        Animation_Pixel_Alternate(1,200);
 256 
        Animation_Cube_In_Cube(300);
194 
//        Animation_Full_Color_Sweep(2,1000);
 257 
        Animation_Cube_In_Cube(300);
195 
//        Animation_Row_Column_Sweep(2,40);
 258 
        Animation_Double_Rotation(40);
196 
//        Animation_Cube_In_Cube(4,300);
 259 
        Animation_Double_Rotation(40);
197 
//        Animation_Double_Rotation(2,40);
 260 
        Animation_Double_Rotation(40);
198 
//        Animation_Pseudo_Random_Colors(10,300);
 261 
//        Animation_Pseudo_Random_Colors(300);
199 
//        Animation_Random_Colors(10,300);
 262 
//        Animation_Random_Colors(300);
200 
 
 263 
 
201 
//        ClearWDT(); // Clear the WDT if we dont want the board to reset
 264 
//        ClearWDT(); // Clear the WDT if we dont want the board to reset
202 
    }
 265 
    }
203 
}
 266 
}
204 
 
 267 
 
Line 259... Line 322...
259 
    }
 322 
    }
260 
    Cube_Write_DCS(BC);
 323 
    Cube_Write_DCS(BC);
261 
    TIMER5_Start();
 324 
    TIMER5_Start();
262 
}
 325 
}
263 
 
 326 
 
264 
// Function call on button 3 press to change text scroll speed
 327 
//// Function call on button 3 press to change text scroll speed
265 
void BTN3_Interrupt(void)  {
 328 
//void BTN3_Interrupt(void)  {
266 
    static uint8_t state;
 329 
//    static uint8_t state;
267 
    state = (state == 4) ? 0 : state + 1;
 330 
//    state = (state == 4) ? 0 : state + 1;
268 
    TIMER4_Stop();
 331 
//    TIMER4_Stop();
269 
    switch (state) {
 332 
//    switch (state) {
270 
        case 0:
 333 
//        case 0:
271 
            TIMER4_Init(NULL, &Cube_Text_Interrupt, 209712);
 334 
//            TIMER4_Init(NULL, &Cube_Text_Interrupt, 209712);
272 
            break;
 335 
//            break;
273 
        case 1:
 336 
//        case 1:
274 
            TIMER4_Init(NULL, &Cube_Text_Interrupt, 180000);
 337 
//            TIMER4_Init(NULL, &Cube_Text_Interrupt, 180000);
275 
            break;
 338 
//            break;
276 
        case 2:
 339 
//        case 2:
277 
            TIMER4_Init(NULL, &Cube_Text_Interrupt, 150000);
 340 
//            TIMER4_Init(NULL, &Cube_Text_Interrupt, 150000);
278 
            break;
 341 
//            break;
279 
        case 3:
 342 
//        case 3:
280 
            TIMER4_Init(NULL, &Cube_Text_Interrupt, 120000);
 343 
//            TIMER4_Init(NULL, &Cube_Text_Interrupt, 120000);
281 
            break;
 344 
//            break;
282 
        case 4:
 345 
//        case 4:
283 
            TIMER4_Init(NULL, &Cube_Text_Interrupt, 90000);
 346 
//            TIMER4_Init(NULL, &Cube_Text_Interrupt, 90000);
284 
            break;
 347 
//            break;
285 
    }
 348 
//    }
286 
    TIMER4_Start();
 349 
//    TIMER4_Start();
287 
}
 350 
//}