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Line 28... Line 28...
28 
// </editor-fold>
 28 
// </editor-fold>
29 
 
 29 
 
30 
UART_DATA uart_data;
 30 
UART_DATA uart_data;
31 
I2C_DATA i2c_data;
 31 
I2C_DATA i2c_data;
32 
 
 32 
 
- 
 
 33 
char LED_R_ON = 0;
- 
 
 34 
char LED_G_ON = 0;
- 
 
 35 
char LED_B_ON = 0;
- 
 
 36 
 
33 
void Error(char ID) {
 37 
void Error(char ID) {
34 
    while(1) {
 38 
    while(1) {
35 
        for (char i = 0; i < ID; i++) {
 39 
        for (char i = 0; i < ID; i++) {
36 
            LED_LAT = 1;
 40 
            LED_R_ON = 1;
37 
            __delay_ms(120);
 41 
            __delay_ms(120);
38 
            LED_LAT = 0;
 42 
            LED_R_ON = 0;
39 
            __delay_ms(150);
 43 
            __delay_ms(150);
40 
        }
 44 
        }
41 
        __delay_ms(1000);
 45 
        __delay_ms(1000);
42 
    }
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    }
43 
}
 47 
}
44 
 
 48 
 
45 
void Startup_Check(void) {
 49 
void Startup_Check(void) {
46 
    char buffer[20];
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    char buffer[20];
47 
    char result, length;
 51 
    char result, length;
48 
 
 52 
 
49 
    BLE_RESET_LAT = 0;
 53 
//    BLE_RESET_LAT = 0;
50 
    __delay_ms(3000);
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//    __delay_ms(3000);
51 
    BLE_RESET_LAT = 1;
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//    BLE_RESET_LAT = 1;
52 
    __delay_ms(200);
 56 
//    __delay_ms(200);
53 
 
 57 
 
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    // Check BLE Module
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//    // Check BLE Module
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    length = UART_Read(buffer);
 59 
//    length = UART_Read(buffer);
56 
    if (memcmp(buffer, "\r\nBR-LE4.0-S2\r\n", 15)) {
 60 
//    if (memcmp(buffer, "\r\nBR-LE4.0-S2\r\n", 15)) {
57 
        Error(1);
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//        Error(1);
58 
    }
 62 
//    }
59 
    UART_Write("AT\r", 3);
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//    UART_Write("AT\r", 3);
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    __delay_ms(10);
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//    __delay_ms(10);
61 
    length = UART_Read(buffer);
 65 
//    length = UART_Read(buffer);
62 
    if (memcmp(buffer, "\r\nOK\r\n", 6)) {
 66 
//    if (memcmp(buffer, "\r\nOK\r\n", 6)) {
63 
        Error(1);
 67 
//        Error(1);
64 
    }
 68 
//    }
65 
 
 69 
 
66 
    // Check Battery Gauge
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    // Check Battery Gauge
67 
    I2C_Master_Restart(ADDRESS_LIPO, 0x0C, 2);
 71 
    I2C_Master_Restart(ADDRESS_LIPO, 0x0C, 2);
68 
    do {
 72 
    do {
69 
        result = I2C_Get_Status();
 73 
        result = I2C_Get_Status();
Line 73... Line 77...
73 
    }
 77 
    }
74 
    length = I2C_Read_Buffer(buffer);
 78 
    length = I2C_Read_Buffer(buffer);
75 
    if ((buffer[0] != 0x97) || (buffer[1] != 0x00) || (length != 2)) {
 79 
    if ((buffer[0] != 0x97) || (buffer[1] != 0x00) || (length != 2)) {
76 
        Error(2);
 80 
        Error(2);
77 
    }
 81 
    }
78
82 
 
79 
    // Check Gyroscope
 83 
    // Check Gyroscope
80 
    I2C_Master_Restart(ADDRESS_GYRO, 0x0F, 1);
 84 
    I2C_Master_Restart(ADDRESS_GYRO, 0x0F, 1);
81 
    do {
 85 
    do {
82 
        result = I2C_Get_Status();
 86 
        result = I2C_Get_Status();
83 
    } while (!result);
 87 
    } while (!result);
Line 116... Line 120...
116 
    }
 120 
    }
117 
}
 121 
}
118 
 
 122 
 
119 
int main() {
 123 
int main() {
120 
 
 124 
 
121 
    OSCCON = 0x70; // PLL disabled, 8MHz
 125 
    OSCCON = 0xF0; // Software PLL enabled, 32MHz
122 
    ANSELA = 0;
 126 
    ANSELA = 0;
123 
    ANSELB = 0;
 127 
    ANSELB = 0;
124 
    ANSELC = 0;
 128 
    ANSELC = 0;
125 
 
 129 
 
126 
    LED_TRIS = 0;
 130 
    LED_R_TRIS = 0;
- 
 
 131 
    LED_R_LAT = 1;
- 
 
 132 
    LED_G_TRIS = 0;
- 
 
 133 
    LED_G_LAT = 1;
- 
 
 134 
    LED_B_TRIS = 0;
127 
    LED_LAT = 0;
 135 
    LED_B_LAT = 1;
128 
 
 136 
 
129 
    BLE_RESET_TRIS = 0;
 137 
    BLE_RESET_TRIS = 0;
130 
    BLE_RESET_LAT = 0;
 138 
    BLE_RESET_LAT = 1;
131 
 
 - 
 
132 
    BLE_SLEEP_TRIS = 0;
 - 
 
133 
    BLE_SLEEP_LAT = 0;
 - 
 
134 
 
 - 
 
135 
    BLE_MODE_TRIS = 0;
 - 
 
136 
    BLE_MODE_LAT = 0;
 - 
 
137 
 
 139 
 
- 
 
 140 
    UART_CTS_TRIS = 1;
- 
 
 141 
    UART_RTS_TRIS = 0;
- 
 
 142 
    UART_RTS_LAT = 0;
- 
 
 143 
 
- 
 
 144 
    // Initialize all peripherals
- 
 
 145 
//    TIMER_1_Init();
138 
    TIMER_1_Init();
 146 
    TIMER_2_Init();
139 
    UART_Init(&uart_data);
 147 
    UART_Init(&uart_data);
140 
    I2C_Init(&i2c_data);
 148 
    I2C_Init(&i2c_data);
141 
    INTERRUPT_Init();
 149 
    INTERRUPT_Init();
142 
 
 150 
 
143 
    I2C_Configure_Master(I2C_100KHZ);
 151 
    I2C_Configure_Master(I2C_100KHZ);
144 
    INTERRUPT_Enable();
 152 
    INTERRUPT_Enable();
145
153 
//    TIMER_1_Start();
146 
    Startup_Check();
 154 
    TIMER_2_Start();
147 
 
 155 
 
- 
 
 156 
    // A small delay is needed for the sensors to start up
148 
    TIMER_1_Start();
 157 
    __delay_ms(10);
149 
 
 158 
 
150 
    while(1);
 159 
    Startup_Check();
151 
}
 160 
 
- 
 
 161 
//    LED_R_ON = 1;
- 
 
 162 
//    LED_G_ON = 1;
- 
 
 163 
//    LED_B_ON = 1;
152 
 
 164 
 
- 
 
 165 
    while(1) {
- 
 
 166 
        UART_Write("Hello World \r\n", 14);
- 
 
 167 
        LED_B_ON = 0;
- 
 
 168 
        LED_R_ON = 1;
- 
 
 169 
        __delay_ms(250);
- 
 
 170 
        LED_R_ON = 0;
- 
 
 171 
        LED_G_ON = 1;
- 
 
 172 
        __delay_ms(250);
- 
 
 173 
        LED_G_ON = 0;
- 
 
 174 
        LED_B_ON = 1;
- 
 
 175 
        __delay_ms(250);
- 
 
 176 
    }
- 
 
 177 
}
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