app.c

/*******************************************************************************
  MPLAB Harmony Application Source File
  
  Company:
    Microchip Technology Inc.
  
  File Name:
    app.c

  Summary:
    This file contains the source code for the MPLAB Harmony application.

  Description:
    This file contains the source code for the MPLAB Harmony application.  It 
    implements the logic of the application's state machine and it may call 
    API routines of other MPLAB Harmony modules in the system, such as drivers,
    system services, and middleware.  However, it does not call any of the
    system interfaces (such as the "Initialize" and "Tasks" functions) of any of
    the modules in the system or make any assumptions about when those functions
    are called.  That is the responsibility of the configuration-specific system
    files.
 *******************************************************************************/

// DOM-IGNORE-BEGIN
/*******************************************************************************
Copyright (c) 2013-2014 released Microchip Technology Inc.  All rights reserved.

Microchip licenses to you the right to use, modify, copy and distribute
Software only when embedded on a Microchip microcontroller or digital signal
controller that is integrated into your product or third party product
(pursuant to the sublicense terms in the accompanying license agreement).

You should refer to the license agreement accompanying this Software for
additional information regarding your rights and obligations.

SOFTWARE AND DOCUMENTATION ARE PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
EITHER EXPRESS OR IMPLIED, INCLUDING WITHOUT LIMITATION, ANY WARRANTY OF
MERCHANTABILITY, TITLE, NON-INFRINGEMENT AND FITNESS FOR A PARTICULAR PURPOSE.
IN NO EVENT SHALL MICROCHIP OR ITS LICENSORS BE LIABLE OR OBLIGATED UNDER
CONTRACT, NEGLIGENCE, STRICT LIABILITY, CONTRIBUTION, BREACH OF WARRANTY, OR
OTHER LEGAL EQUITABLE THEORY ANY DIRECT OR INDIRECT DAMAGES OR EXPENSES
INCLUDING BUT NOT LIMITED TO ANY INCIDENTAL, SPECIAL, INDIRECT, PUNITIVE OR
CONSEQUENTIAL DAMAGES, LOST PROFITS OR LOST DATA, COST OF PROCUREMENT OF
SUBSTITUTE GOODS, TECHNOLOGY, SERVICES, OR ANY CLAIMS BY THIRD PARTIES
(INCLUDING BUT NOT LIMITED TO ANY DEFENSE THEREOF), OR OTHER SIMILAR COSTS.
 *******************************************************************************/
// DOM-IGNORE-END


// *****************************************************************************
// *****************************************************************************
// Section: Included Files 
// *****************************************************************************
// *****************************************************************************

#include "app.h"
#include "i2c_master_noint.h"
#include "ST7735.h"
#include<stdio.h>

// *****************************************************************************
// *****************************************************************************
// Section: Global Data Definitions
// *****************************************************************************
// *****************************************************************************
// LSM6DS33 DEFINE

#define WHO_AM_I 0x0F       // Check the circuit
#define CTRL1_XL 0x10       // acceleration
#define CTRL2_G 0x11        // gyroscope
#define CTRL3_C 0x12        // register
#define OUT_TEMP_L 0x20
#define OUT_TEMP_H 0x21
#define OUTX_L_G 0x22
#define OUTX_H_G 0x23
#define OUTY_L_G 0x24
#define OUTY_H_G 0x25
#define OUTZ_L_G 0x26
#define OUTZ_H_G 0x27
#define OUTX_L_XL 0x28
#define OUTX_H_XL 0x29
#define OUTY_L_XL 0x2A
#define OUTY_H_XL 0x2B
#define OUTZ_L_XL 0x2C
#define OUTZ_H_XL 0x2D

// DEFINE
#define ADDR 0b1101011

// VARIABLE
static volatile int time = 24000000;

// I2C SETTING

void initExpander();
void writei2c(unsigned char reg, unsigned char val);
unsigned char readi2c(unsigned char reg);
void acce_init();
void I2C_read_multiple(unsigned char address, unsigned char register, unsigned char *data, int length);

// LCD SETTING
char message[100];
int i;
void drawChar(unsigned short x, unsigned short y, char mess, unsigned short c1, unsigned short c2);
void drawString(unsigned short x, unsigned short y, char message[100], unsigned short c1, unsigned short c2);

// *****************************************************************************
/* Application Data

  Summary:
    Holds application data

  Description:
    This structure holds the application's data.

  Remarks:
    This structure should be initialized by the APP_Initialize function.
    
    Application strings and buffers are be defined outside this structure.
*/

APP_DATA appData;

// *****************************************************************************
// *****************************************************************************
// Section: Application Callback Functions
// *****************************************************************************
// *****************************************************************************

/* TODO:  Add any necessary callback functions.
*/

// *****************************************************************************
// *****************************************************************************
// Section: Application Local Functions
// *****************************************************************************
// *****************************************************************************


/* TODO:  Add any necessary local functions.
*/


// *****************************************************************************
// *****************************************************************************
// Section: Application Initialization and State Machine Functions
// *****************************************************************************
// *****************************************************************************

/*******************************************************************************
  Function:
    void APP_Initialize ( void )

  Remarks:
    See prototype in app.h.
 */

void APP_Initialize ( void )
{
    /* Place the App state machine in its initial state. */
    TRISAbits.TRISA4=0;     // green LED. Define pin RPA4 to output.
    TRISBbits.TRISB4=1;     // push-bottom. Define pin RPB4 to input.
    LATAbits.LATA4=0;
    
    initExpander();
    LCD_init();
    SPI1_init();
    acce_init();
    LCD_clearScreen(WHITE);
    
    appData.state = APP_STATE_INIT;

    
    /* TODO: Initialize your application's state machine and other
     * parameters.
     */
}


/******************************************************************************
  Function:
    void APP_Tasks ( void )

  Remarks:
    See prototype in app.h.
 */

void APP_Tasks ( void )
{

    /* Check the application's current state. */
    switch ( appData.state )
    {
        /* Application's initial state. */
        case APP_STATE_INIT:
        {
            bool appInitialized = true;
       
            
            if (appInitialized)
            {
                
                appData.state = APP_STATE_SERVICE_TASKS;
            }
            break;
        }

        case APP_STATE_SERVICE_TASKS:
        {
            
            static volatile int time = 24000000;
            
            _CP0_SET_COUNT(0);
            
            i = 0;
            LATAbits.LATA4 = 1;

            signed short temp;
            signed short gyroX;
            signed short gyroY;
            signed short gyroZ;
            signed short accelX;
            signed short accelY;
            signed short accelZ;
            unsigned char data[14];

            // 1. READ WHO_AM_I
            unsigned char c;
            c= readi2c(WHO_AM_I);
            sprintf(message,"%d", c);
            drawString(100,150, message, BLACK, WHITE);
        
            
            I2C_read_multiple(ADDR, OUT_TEMP_L, data,14);
            temp=data[0]|(data[1]<<8);

            gyroX=data[2]|(data[3]<<8);
            gyroY=data[4]|(data[5]<<8);
            gyroZ=data[6]|(data[7]<<8);

            accelX=data[8]|(data[9]<<8);
            accelY=data[10]|(data[11]<<8);
            accelZ=data[12]|(data[13]<<8);
            
            int height= 160;
            int width= 128;
            unsigned short c1=GREEN;
            unsigned short c2=BLACK;
            int row = 0;
            int col = 0;
            int index = 0, index2=0;
            float d=0, d2=0;
            signed short x= accelX;

            d = (accelX-(-17000))/34000.0*128;
            index=d;

            d2= (accelY-(-17000))/34000.0*160;
            index2=d2;


            sprintf(message,"X = %d ", index-64);
            drawString(80,14, message, RED, WHITE);

            sprintf(message,"Y = %d ", index2-80);
            drawString(80,28, message, BLUE, WHITE);
    
            unsigned short h=4;




            // X axis Progress Bar

                for (row = 0; row < 128; row++) {
                    if (row<index){
                    for (col = 0; col < h; col++) {
                        LCD_drawPixel( row, 80+col, c2);
                    }}else if(row==index){
                        for (col = 0; col < h; col++) {
                        LCD_drawPixel( row, 80+col, c1);
                    }
                    }else{
                        for (col = 0; col < h; col++) {
                        LCD_drawPixel( row, 80+col, c2);
                    }
                    }
                }

            // Y axis Progress Bar

                for (col = 0; col < 160; col++) {
                    if (col<index2){
                    for (row = 0; row < h; row++) {
                        LCD_drawPixel( 64+row, col, c2);
                    }}else if(col==index2){
                        for (row = 0; row < h; row++) {
                        LCD_drawPixel( 64+row, col, c1);
                    }
                    }else{
                        for (row = 0; row < h; row++) {
                        LCD_drawPixel( 64+row, col, c2);
                        }
                    }
                }


                while (_CP0_GET_COUNT() < time/20) {
                    LATAbits.LATA4 = 1;
                }
                _CP0_SET_COUNT(0);
                while (_CP0_GET_COUNT() < time/20) {
                    LATAbits.LATA4 = 0;

                }
                
            break;
        }

        /* TODO: implement your application state machine.*/
        

        /* The default state should never be executed. */
        default:
        {
            /* TODO: Handle error in application's state machine. */
            break;
        }
    }
}

void initExpander() {
    ANSELBbits.ANSB2 = 0;
    ANSELBbits.ANSB3 = 0;
    i2c_master_setup();

}

void writei2c(unsigned char reg, unsigned char val) {
    i2c_master_start(); // make the start bit
    i2c_master_send(ADDR << 1 | 0); // write the address, shifted left by 1, or'ed with a 0 to indicate writing
    i2c_master_send(reg); // the register to write to
    i2c_master_send(val); // the value to put in the register
    i2c_master_stop(); // make the stop bit
}

unsigned char readi2c(unsigned char reg) {
    i2c_master_start(); // make the start bit
    i2c_master_send(ADDR << 1 | 0); // write the address, shifted left by 1, or'ed with a 0 to indicate writing(ADDR=0x09))
    i2c_master_send(reg); // the register to read from
    i2c_master_restart(); // make the restart bit
    i2c_master_send(ADDR << 1 | 1); // write the address, shifted left by 1, or'ed with a 1 to indicate reading
    unsigned char r = i2c_master_recv(); // save the value returned
    i2c_master_ack(1); // make the ack so the slave knows we got it
    i2c_master_stop(); // make the stop bit
    return r;

}

void acce_init(){
    writei2c(CTRL1_XL, 0b10000010);
    writei2c(CTRL2_G, 0b10001000);
    writei2c(CTRL3_C, 0b00000100);
}

void I2C_read_multiple(unsigned char address, unsigned char regist, unsigned char *data, int length){
    int i=0;

    i2c_master_start(); // make the start bit
    i2c_master_send(ADDR << 1 | 0); // write the address, shifted left by 1, or'ed with a 0 to indicate writing(ADDR=0x09))
    i2c_master_send(regist); // the register to read from
    i2c_master_restart(); // make the restart bit
    i2c_master_send(ADDR << 1 | 1); // write the address, shifted left by 1, or'ed with a 1 to indicate reading
    //unsigned char r = i2c_master_recv(); // save the value returned
    for(i=0;i<length;i++){
        data[i]=i2c_master_recv();
        if(i<length-1){
        i2c_master_ack(0);}
        else{
            i2c_master_ack(1);
        }
    }
    i2c_master_stop(); // make the stop bit
    
}


// HELPER FUNCTION: LCD

void drawChar(unsigned short x, unsigned short y, char mess, unsigned short c1, unsigned short c2) {
    char row = mess - 0x20;
    int col = 0;

    for (col = 0; col < 5; col++) {
        char pixels = ASCII[row][col];
        int j = 0;
        for (j = 0; j < 8; j++) {
            if (x + col < 128 & y + j < 160) {
                if (((pixels >> j)&0x01) == 1) {
                    LCD_drawPixel(x + col, y + j, c1);
                } else {
                    LCD_drawPixel(x + col, y + j, c2);
                }
            }
        }
    }


}

void drawString(unsigned short x, unsigned short y, char message[100], unsigned short c1, unsigned short c2) {
    int i = 0;
    while (message[i]) {
        drawChar(x + 5 * i, y, message[i], c1, c2);
        i++;
    }
}

/*******************************************************************************
 End of File
 */