/********************************************************************* FileName: MainBrain32_0_10.c Dependencies: See #includes Processor: PIC32MX795F512 Hardware: MainBrain32 rev 0.10 Complier: XC32 4.35 Author: Larry Knight 2023 Software License Agreement: Description: File Description: Change History: /***********************************************************************/ #include #include #include #include "MainBrain.h" //#include "usb.h" #pragma config FMIIEN = OFF // Ethernet RMII/MII Enable (MII Enabled) #pragma config FETHIO = OFF // Ethernet I/O Pin Select (Default Ethernet I/O) #pragma config FUSBIDIO = OFF // USB USID Selection (Controlled by the USB Module) #pragma config FVBUSONIO = OFF // USB VBUS ON Selection (Controlled by USB Module) #pragma config FNOSC = PRIPLL // Oscillator Selection Bits #pragma config POSCMOD = EC // Primary Oscillator Configuration #pragma config FPLLIDIV = DIV_5 // PLL Input Divider const uint8_t PLL_In_Divisor = 4; #pragma config FSOSCEN = ON // Secondary Oscillator Enable /*************************************************************************/ /* System clock frequency */ /*************************************************************************/ #if clock_speed == 96 #pragma config FPLLMUL = MUL_24 // PLL Multiplier const uint8_t PLL_multiplier = 7; #endif #if clock_speed == 80 #pragma config FPLLMUL = MUL_20 // PLL Multiplier const uint8_t PLL_multiplier = 5; #endif /*************************************************************************/ #pragma config USERID = 0xFFFF // Enter Hexadecimal value #pragma config FPLLODIV = DIV_1 // System PLL Output Clock Divider const uint8_t PLL_Out_Divisor = 0; #pragma config FPBDIV = DIV_1 // Peripheral Clock Divisor #pragma config UPLLIDIV = DIV_5 // USB PLL Input Divider #pragma config UPLLEN = ON // USB PLL Enable #pragma config IESO = OFF // Internal/External Switch Over #pragma config OSCIOFNC = ON // CLKO Output Signal Active on the OSCO Pin #pragma config WDTPS = PS128 // Watchdog Timer Postscaler #pragma config FWDTEN = OFF // Watchdog Timer Enable #pragma config FCKSM = CSDCMD // Clock Switching and Monitor Selection #pragma config DEBUG = OFF // Background Debugger #pragma config FSRSSEL = PRIORITY_7 // SRS Select #pragma config ICESEL = ICS_PGx1 // ICE/ICD Comm Channel Select //USB handles - Must be initialized to 0 at startup extern void* USBGenericOutHandle; extern void* USBGenericInHandle; //Packet buffers extern unsigned char INPacket[64]; extern unsigned char OUTPacket[64]; //extend definitions here for dumping data with the utility manager extern volatile BDT_ENTRY BDT[8] __attribute__ ((coherent, aligned (512))); extern volatile USTAT_FIELDS USTATcopy; uint8_t Control; struct _MotionStruct MotionSequence; int j = 0; uint16_t SRAM_size = 0x1fff; int StatusPosition = 0; int SRAMposition = 0; int SRAMAddHigh = 0; int SRAMAddLow = 0; int MemoryAddress; //dummy register to read RSWRST register to trigger reset int ResetReg; unsigned RTC_delay_counter; const uint8_t OSCFREQ = 20; const uint8_t Pri_OSC_Source = 3; const uint8_t Pri_OSC_Mode = 0; char SRAM_Fail_Str[13] = "SRAM Failed "; char SRAM_Title_Str[11] = "SRAM Test:"; uint8_t NameArray[10] = {"MainBrain"}; uint8_t RevArray[9] = {"0.10.0001"}; uint8_t ProcessorRev = 0xA5; bool fault = false; bool faultACK = false; bool MotionBoardPresent = false; bool DeviceIsConnected = false; bool DumpBDT = false; bool GetRegData = false; bool GetSRAMData = false; bool GetDeviceData = false; bool SRAM_Valid = false; //This is the array that contains all the data to be passed to the host char DeviceData[64] = { //Device Name = "MainBrain " 'M','a','i','n','B','r','a','i','n',' ', //Revision = "0.10.0001" '0','.','1','0','.','0','0','0','1', //Processor Name = PIC32MX795F512l 'P','I','C','3','2','M','X','7','9','5','F','5','1','2','L',' ', //Processor Revision 0xA5, //Pri OSC Mode Pri_OSC_Mode, //Pri OSC Source Pri_OSC_Source, //OSCCON 0x00,0x00,0x00,0x00, //Primary Oscillator frequency OSCFREQ, //PLL out divisor PLL_Out_Divisor, //PLL multiplier, PLL_multiplier, //PLL in divisor PLL_In_Divisor, //SRAM Size 0x1f,0xff, //Flash Size 0x01,0xff,0xff, //Free 0x00,0x00,0x00,0x00,0x00, 0x00,0x00,0x00, //Backlight value (59) 0x05, //ADC - Board Current //Lo-Byte, Hi-Byte 0x00,0x00, //ADC - Input Voltage //Lo-Byte, Hi-Byte 0x00,0x00 }; char ConnectedStr[10] = {"Connected"}; char ReadyStr[10] = {"Ready "}; char OfflineStr[10] = {"Offline "}; char ProcessorArray[18] = {"PIC32MX795F512L-80"}; char SRAMsize[10] = {"8Kx8 SRAM"}; char FlashSize[13] = {"512Kx8 Flash"}; char USBver[8] = {"USB 2.0"}; DISPLAY_STATE displayState; bool Flash_test(void); void Backlight_Control(uint8_t); int main(void) { SRAMposition = 0; j = 0; uint32_t a = 0; //Unlock OSCCON //This is necessary to enable the secondary oscillator for the RTC SYSKEY = 0x0; // ensure OSCCON is locked SYSKEY = 0xAA996655; // Write Key1 to SYSKEY SYSKEY = 0x556699AA; // Write Key2 to SYSKEY //OSCCON is now unlocked // OSCCONbits.COSC = 1; //Internal Fast RC Oscillator with PLL module via Postscaler (FRCPLL) TRISCbits.TRISC15 = 1; //Hardware Initialization begins //Intialize LED Port LED_Port_Init(); //If we are using the PLL, wait for it to lock if((OSCCONbits.COSC == 3) || (OSCCONbits.COSC == 1)) { //Wait for PLL Lock for(a=0;a<0xffff;a++) { LED7 = !LED7; } } if(!OSCCONbits.SLOCK) { LED7 = 1; } else { LED7 = 0; } //enable secondary oscillator OSCCONbits.SOSCEN = 1; //wait for secondary oscillator warm up //If the OSC is not running the LED will stay lit for(a=0;a<0xffff;a++) { LED6 = 1; } if(!OSCCONbits.SOSCRDY) { LED6 = 1; } else { LED6 = 0; } //Data Memory SRAM wait states: Default Setting = 1; set it to 0 BMXCONbits.BMXWSDRM = 0; //Flash PM Wait States: MX Flash runs at 2 wait states @ 80 MHz CHECONbits.PFMWS = 2; //Prefetch-cache: Enable prefetch for cacheable PFM instructions CHECONbits.PREFEN = 1; //Disable JTAG Port DDPCONbits.JTAGEN = 0; //External Boards Reset TRISDbits.TRISD1 = 1; PORTDbits.RD1 = 1; //Setup the GPO-2 pins as inputs //GP0 TRISCbits.TRISC15 = 1; //GP1 TRISAbits.TRISA15 = 1; //GP2 TRISDbits.TRISD8 = 1; Timer2_Init(); Timer5_Init(); ADC_Init(); //Beep the speaker TRISDbits.TRISD14 = 0; int i; for(i=0;i<500;i++) { PORTDbits.RD14 = 1; Delay(20000); PORTDbits.RD14 = 0; Delay(20000); } //Initialize the Parallel Master Port PMP_Init(); //SRAM Init REN70V05_Init(); //Flash Init Flash_Init(); //Initialize the Display Display_Init(); //control is with a P-channel MOSFET //so the higher the number, the dimmer //the screen Backlight_Control(10); //Clear the Screen Display_CLRSCN(white); //Turn on the Display Display_DISPON(); //Real time clock RTC_Init(); //Lock OSCCON to prevent any clock switching //SYSKEY = 0x0; //OSCCON is now locked //Initialize the Interrupts InterruptsInit(); //SRAM test //SRAM_Test(); //All LEDs ON LED_Port(0xff); //Display the Logo ShowSplashScreen(); //Turn the LEDs OFF LED_Port(0x0); //Hold External Boards in Reset so that the SRAM can be tested TRISDbits.TRISD1 = 0; PORTDbits.RD1 = 0; //Release the Reset on the Motion Board PORTDbits.RD1 = 1; TRISDbits.TRISD1 = 1; //Initialize the Endpoint Handles USBGenericOutHandle = 0; USBGenericInHandle = 0; //Setup the USB Procedures USB_Init(); //USB - Configure the pull ups, full/low-speed mode, //set the ping pong mode, and set internal transceiver USBDeviceAttach(); //Read OSCCON and place it in the DeviceData[] array //0x41 is the hi-byte int osccon_data = OSCCON; DeviceData[38] = osccon_data; DeviceData[39] = osccon_data >> 8; DeviceData[40] = osccon_data >> 16; DeviceData[41] = osccon_data >> 24; displayState = MAIN; //Main program loop while(1) { //This shows the main loop is running LED3 = !LED3; //USB I/O ProcessIO(); //this switches to the various program screens switch(displayState) { case MAIN: if(USBDeviceState == CONFIGURED_STATE) { vchar = 280; hchar = 10; if(DeviceIsConnected == true) { WriteString(hchar, vchar, ConnectedStr, blue); } else { WriteString(hchar, vchar, ReadyStr, black); } } if(USBDeviceState == DEFAULT_STATE) { vchar = 280; hchar = 10; WriteString(hchar, vchar, OfflineStr, red); } break; case DUMP_BDT: DisplayUSBData(); //displayState = MAIN; break; case DUMP_MEM: break; case CLOCK: //Clock(ClockData); break; case DUMP_SRAM: break; case MOTION: MotionInterface(); break; case SEQ: BuildSeqInterface(); break; } } } void SRAM_Test(void) { //Check SRAM //If the SRAM test fails the LED will stay on int failure_count = 0; int a; uint16_t i; fore_color = black; back_color = white; hchar = 10; vchar = 20; //SRAM Test String WriteString(hchar, vchar, SRAM_Title_Str, blue); hchar = 10; vchar = 40; for(i=0;i<=SRAM_size;i++) { //First write '0's while(REN70V05_WR(i, 0x0) == false); mdata_70V05 == 0x55; while(REN70V05_RD(i) == -1); Binary2ASCIIHex(i); WriteChar(hchar, vchar, d_hex[3], fore_color); WriteChar(hchar, vchar, d_hex[2], fore_color); WriteChar(hchar, vchar, d_hex[1], fore_color); WriteChar(hchar, vchar, d_hex[0], fore_color); hchar = 10; vchar = 40; if(mdata_70V05 > 0) { failure_count++; WriteString(hchar, vchar, SRAM_Fail_Str, fore_color); WriteChar(hchar, vchar, ':', fore_color); Binary2ASCIIHex(i); WriteChar(hchar, vchar, d_hex[3], fore_color); WriteChar(hchar, vchar, d_hex[2], fore_color); WriteChar(hchar, vchar, d_hex[1], fore_color); WriteChar(hchar, vchar, d_hex[0], fore_color); WriteChar(hchar, vchar, ':', fore_color); Binary2ASCIIHex(mdata_70V05); WriteChar(hchar, vchar, d_hex[1], fore_color); WriteChar(hchar, vchar, d_hex[0], fore_color); WriteChar(hchar, vchar, ':', fore_color); WriteChar(hchar, vchar, '0', fore_color); hchar = 10; vchar = vchar + 20; } } for(i=0;i<=SRAM_size;i++) { //Now write '0xf's while(REN70V05_WR(i, 0xff) == false); mdata_70V05 == 0x55; while(REN70V05_RD(i) == -1); if(mdata_70V05 < 0xff) { failure_count++; WriteString(hchar, vchar, SRAM_Fail_Str, red); WriteChar(hchar, vchar, ':', fore_color); Binary2ASCIIHex(i); WriteChar(hchar, vchar, d_hex[3], fore_color); WriteChar(hchar, vchar, d_hex[2], fore_color); WriteChar(hchar, vchar, d_hex[1], fore_color); WriteChar(hchar, vchar, d_hex[0], fore_color); WriteChar(hchar, vchar, ':', fore_color); Binary2ASCIIHex(mdata_70V05); WriteChar(hchar, vchar, d_hex[1], fore_color); WriteChar(hchar, vchar, d_hex[0], fore_color); WriteChar(hchar, vchar, ':', fore_color); WriteChar(hchar, vchar, 'f', fore_color); WriteChar(hchar, vchar, 'f', fore_color); hchar = 10; vchar = vchar + 20; } } if(failure_count > 0) { LED5 = 1; SRAM_Valid = false; while(1); } if(failure_count == 0) { LED5 = 0; SRAM_Valid = true; hchar = 100; WriteChar(hchar, vchar, 'O', green); WriteChar(hchar, vchar, 'K', green); //Beep speaker TRISDbits.TRISD14 = 0; int i; for(i=0;i<500;i++) { PORTDbits.RD14 = 1; Delay(20000); PORTDbits.RD14 = 0; Delay(20000); } } //short delay for viewing results LongDelay(2); } bool Flash_Test(void) { if(!Flash_DID) { return false; } if(Flash_DID) { return true; } } void ProcessIO(void) { uint8_t ctrl = 0; //Read the ADC and store the data in a buffer //ADC reads the voltage on pin #33 (AN9) TRISBbits.TRISB9 = 1; AD1PCFGbits.PCFG9 = 0; AD1CHSbits.CH0SA = 9; //Channel 0 positive input is AN9 //wait for ADC Delay(2500); /**************************************************************************/ IFS1bits.AD1IF = 0; //Clear interrupt flag AD1CON1bits.ASAM = 1; //Auto start sampling for 31 TAD, then convert while(!IFS1bits.AD1IF); //Wait for conversion to complete AD1CON1bits.ASAM = 0; //Stop sample/convert INPacket[60] = ADC1BUF0; INPacket[61] = ADC1BUF0 >> 8; //ADC reads the voltage on pin #21 (AN4) TRISBbits.TRISB4 = 1; AD1PCFGbits.PCFG4 = 0; AD1CHSbits.CH0SA = 4; //Channel 0 positive input is AN4 Delay(2500); ADC1BUF0 = 0; IFS1bits.AD1IF = 0; //Clear interrupt flag AD1CON1bits.ASAM = 1; //Auto start sampling for 31 TAD, then convert while(!IFS1bits.AD1IF); //Wait for conversion to complete AD1CON1bits.ASAM = 0; //Stop sample/convert //Read the buffer INPacket[62] = ADC1BUF0; INPacket[63] = ADC1BUF0 >> 8; //User Application USB tasks below. //Note: The user application should not begin attempting to read/write over the USB //until after the device has been fully enumerated. After the device is fully //enumerated, the USBDeviceState will be set to "CONFIGURED_STATE". if((USBDeviceState < CONFIGURED_STATE)||(U1PWRCbits.USUSPEND == 1)) { return; } //As the device completes the enumeration process, the USBCBInitEP() function will //get called. In this function, we initialize the user application endpoints (in this //example code, the user application makes use of endpoint 1 IN and endpoint 1 OUT). //The USBGenRead() function call in the USBCBInitEP() function initializes endpoint 1 OUT //and "arms" it so that it can receive a packet of data from the host. Once the endpoint //has been armed, the host can then send data to it (assuming some kind of application software //is running on the host, and the application software tries to send data to the USB device). //If the host sends a packet of data to the endpoint 1 OUT buffer, the hardware of the SIE will //automatically receive it and store the data at the memory location pointed to when we called //USBGenRead(). Additionally, the endpoint handle (in this case USBGenericOutHandle) will indicate //that the endpoint is no longer busy. At this point, it is safe for this firmware to begin reading //from the endpoint buffer, and processing the data. In this example, we have implemented a few very //simple commands. For example, if the host sends a packet of data to the endpoint 1 OUT buffer, with the //first byte = 0x80, this is being used as a command to indicate that the firmware should "Toggle LED(s)". //Check if the endpoint has received any data from the host. //if(!USBHandleBusy(USBGenericOutHandle)) if(!(USBGenericOutHandle==0?0:((volatile BDT_ENTRY*)USBGenericOutHandle)->STAT.UOWN)) { //Turn on LED10 to show data transfer LED9 = !LED9; //Data arrived, check what kind of command might be in the packet of data. switch(OUTPacket[0]) { int i; //These are the Device Program Commands 0x20 - 0x2f /*The Program List 0 Dump BDT 1 Dump Device Memory 2 Clock 3 Set Time 4 Get Device Info 5 Read SRAM 6 Dump SRAM to Display 7 Write File to SRAM 8 Read Flash 9 Write Flash 10 Restart Device 11 Set LEDs 12 Update Firmware 13 Home 14 Motion Interface */ case 0x20: //Dump BDT Display_CLRSCN(white); displayState = DUMP_BDT; break; case 0x21: //Dump Device Memory displayState = DUMP_MEM; int temp = 0; //Get the address temp = OUTPacket[1]; MemoryAddress = temp << 24; temp = OUTPacket[2]; temp = temp << 16; MemoryAddress = MemoryAddress | temp; temp = OUTPacket[3]; temp = temp << 8; MemoryAddress = MemoryAddress | temp; MemoryAddress = MemoryAddress | OUTPacket[4]; DumpMemory(); break; case 0x22: //Clock Display_CLRSCN(white); displayState = CLOCK; break; case 0x23: //Set Time setTime(); break; case 0x24: //Get Device Information break; case 0x25: //Read SRAM SRAMAddHigh = OUTPacket[1]; SRAMAddLow = OUTPacket[2]; //SRAMAddLow = SRAMAddLow & 0xff; //now combine the 2 bytes to form a word SRAMAddHigh = SRAMAddHigh << 8; //SRAMAddHigh = SRAMAddHigh & 0xff00; SRAMposition = SRAMAddHigh + SRAMAddLow; GetSRAMData = true; break; case 0x26: //Dump SRAM to Display displayState = DUMP_SRAM; //OUTPacket[1] = SRAM Block to display SRAM_Block = OUTPacket[1]; DumpSRAM(); break; case 0x27: Display_CLRSCN(white); hchar = 10; vchar = 20; Binary2ASCIIHex(OUTPacket[1]); WriteChar(hchar, vchar, d_hex[7], 0x0); WriteChar(hchar, vchar, d_hex[6], 0x0); WriteChar(hchar, vchar, d_hex[5], 0x0); WriteChar(hchar, vchar, d_hex[4], 0x0); WriteChar(hchar, vchar, d_hex[3], 0x0); WriteChar(hchar, vchar, d_hex[2], 0x0); WriteChar(hchar, vchar, d_hex[1], 0x0); WriteChar(hchar, vchar, d_hex[0], 0x0); //Write File to SRAM for(i=1;i<64;i++) { //Write Data to SRAM while(REN70V05_WR((j), OUTPacket[i]) == false); j++; } i = 1; j = 0; LED6 = 1; break; case 0x28: break; case 0x29: break; case 0x2a: //Reset Device SystemReset(); break; //Set LEDs case 0x2b: LED0 = OUTPacket[8]; LED1 = OUTPacket[7]; LED2 = OUTPacket[6]; LED3 = OUTPacket[5]; LED4 = OUTPacket[4]; LED5 = OUTPacket[3]; LED6 = OUTPacket[2]; LED7 = OUTPacket[1]; break; case 0x2d: //Home displayState = MAIN; ShowSplashScreen(); break; //Motion Interface case 0x2e: //Set default end position while(REN70V05_WR(0x3e6, 0xbb) == false); while(REN70V05_WR(0x3e7, 0x0b) == false); while(REN70V05_WR(0x3e8, 0x00) == false); while(REN70V05_WR(0x3e9, 0x00) == false); //Clear the Screen Display_CLRSCN(white); displayState = MOTION; break; //Motor Run Command case 0x2f: while(REN70V05_RD(0x3ff) == -1); Control = mdata_70V05 | 0x01; while(REN70V05_WR(0x3ff, Control) == false); break; //Motor Stop Command case 0x30: Control = Control & 0xfe; while(REN70V05_WR(0x3ff, Control) == false); break; //Motor DIR Toggle Command case 0x31: //Toggle direction if((Control & 0x02) == 2) { Control = Control & 0x0d; } else { Control = Control | 0x02; } while(REN70V05_WR(0x3ff, Control) == false); break; //Run Sequence case 0x32: while(REN70V05_RD(0x3ff) == -1); Control = mdata_70V05 | 0x81; while(REN70V05_WR(0x3ff, Control) == false); break; //Write Sequence Data case 0x33: //Sequence number while(REN70V05_WR(0x300, OUTPacket[2]) == false); //Sequence command while(REN70V05_WR(0x301, OUTPacket[3]) == false); //Sequence end while(REN70V05_WR(0x302, OUTPacket[4]) == false); while(REN70V05_WR(0x303, OUTPacket[5]) == false); while(REN70V05_WR(0x304, OUTPacket[6]) == false); while(REN70V05_WR(0x305, OUTPacket[7]) == false); //Sequence ramp up //MotionSequence.ramp = OUTPacket[8]; while(REN70V05_WR(0x306, OUTPacket[8]) == false); //Sequence Direction //MotionSequence.dir = OUTPacket[9]; while(REN70V05_WR(0x307, OUTPacket[9]) == false); //Speed //MotionSequence.speed = OUTPacket[10]; while(REN70V05_WR(0x308, OUTPacket[10]) == false); //Sequence Length while(REN70V05_WR(0x3d0, OUTPacket[11]) == false); break; //Clear count case 0x34: // //DEBUG - simulate a drive fault // while(REN70V05_RD(0x3fe) == -1); // int s = mdata_70V05; // if((s & 0x40) == 0x40) // { // s = s & 0xbf; // LED6 = 1; // LED5 = 0; // } // else // { // s = s | 0x40; // LED6 = 0; // LED5 = 1; // } // while(REN70V05_WR(0x3fe, s) == false); while(REN70V05_RD(0x3ff) == -1); Control = (mdata_70V05 | 0x04); while(REN70V05_WR(0x3ff, Control) == false); break; //Reset Motion Board case 0x35: TRISDbits.TRISD1 = 0; PORTDbits.RD1 = 0; Delay(50000); PORTDbits.RD1 = 1; TRISDbits.TRISD1 = 1; break; //Motion Home case 0x36: Control = Control | 0x80; while(REN70V05_WR(0x3ff, Control) == false); break; case 0x37: //Build Sequence Screen Display_CLRSCN(white); displayState = SEQ; break; //Set Back light case 0x61: Backlight_Control(OUTPacket[1]); break; //Set Connected = true case 0x62: DeviceIsConnected = true; break; case 0x63: DeviceIsConnected = false; break; case 0x64: SetMotorData(OUTPacket[1], OUTPacket[2]); break; //Set SRAM read start address case 0x70: if(displayState == DUMP_BDT) { Display_CLRSCN(white); displayState = MAIN; ShowSplashScreen(); } GetSRAMData = true; break; case 0x71: GetRegData = true; break; case 0x72: GetDeviceData = true; break; case 0x73: //GetADCISense = true; break; case 0x74: SRAMposition = 0; GetSRAMData = false; break; case 0x75: //If the SRAM is missing or fails test an endless loop can occur // if this function does not allow the program to pass through if(SRAM_Valid == true) { //Find Motion Interface while(REN70V05_RD(0x3ec) == -1); if(mdata_70V05 == 0x99) { MotionBoardPresent = true; } } break; //Read SRAM starting from SRAMposition case 0x81: //Turn on LED10 to show data transfer LED10 = !LED10; //If any attempts are still pending, we do not want to write to the endpoint 1 IN buffer again, until the previous //transaction is complete. //Otherwise the unsent data waiting in the buffer will get overwritten and will result in unexpected behavior. //if(!USBHandleBusy(USBGenericInHandle)) if(!(USBGenericInHandle==0?0:((volatile BDT_ENTRY*)USBGenericInHandle)->STAT.UOWN)) { //The endpoint was not "busy", therefore it is safe to write to the buffer and arm the endpoint. int temp; if(GetDeviceData == true) { for(i=0;i<60;i++) { INPacket[i] = DeviceData[i]; } GetDeviceData == false; } if(GetRegData == true) { //Device Name Array int i; for(i=0;i<10;i++) { INPacket[i] = NameArray[i]; } //Revision Array for(i=0;i<9;i++) { INPacket[i + 10] = RevArray[i]; } //Processor Array for(i=0;i<16;i++) { INPacket[i + 19] = ProcessorArray[i]; } //Processor Revision INPacket[35] = ProcessorRev; //Primary Oscillator Mode INPacket[36] = DEVCFG1bits.POSCMOD; //Current Primary Oscillator Source INPacket[37] = DEVCFG1bits.FNOSC; //OSCCON INPacket[38] = (char)OSCCON; temp = OSCCON >> 8; INPacket[39] = (char)temp; temp = OSCCON >> 16; INPacket[40] = (char)temp; temp = OSCCON >> 24; INPacket[41] = (char)temp; //Oscillator frequency INPacket[42] = OSCFREQ; //PLL out divisor INPacket[43] = OSCCONbits.PLLODIV; //PLL multiplier INPacket[44] = OSCCONbits.PLLMULT; //PLL in divisor INPacket[45] = DEVCFG2bits.FPLLIDIV; GetRegData = false; } if(GetSRAMData == true) { for(i=0;i<64;i++) { while(REN70V05_RD((SRAMposition + i)) == -1); INPacket[i] = mdata_70V05; } SRAMposition = SRAMposition + 64; } if(MotionBoardPresent == true) { INPacket[0] = 0x99; MotionBoardPresent = false; } //The USBGenWrite() function call "arms" the endpoint (and makes the handle indicate the endpoint is busy). //Once armed, the data will be automatically sent to the host (in hardware by the SIE) the next time the //host polls the endpoint. Once the data is successfully sent, the handle (in this case USBGenericInHandle) //will indicate the the endpoint is no longer busy. USBGenericInHandle = USBTransferOnePacket(1,1,(uint8_t*)&INPacket,64); } } //Clear the LEDs //LED9 = _OFF; //LED10 = _OFF; //Re-arm the OUT endpoint for the next packet: //The USBGenRead() function call "arms" the endpoint (and makes it "busy"). If the endpoint is armed, the SIE will //automatically accept data from the host, if the host tries to send a packet of data to the endpoint. Once a data //packet addressed to this endpoint is received from the host, the endpoint will no longer be busy, and the application //can read the data which will be sitting in the buffer. USBGenericOutHandle = USBTransferOnePacket(1, 0, (uint8_t*)&OUTPacket, 64); //#define USBRxOnePacket(ep,data,len) USBTransferOnePacket(ep,OUT_FROM_HOST,data,len) } } void MotionInterface(void) { uint8_t sram_data; hchar = 10; vchar = 20; //check for Drive Fault while(REN70V05_RD(0x3fe) == -1); if((mdata_70V05 & 0x40) == 0x40 && faultACK == false) { Display_CLRSCN(white); Display_Rect(130, 380, 100, 200, black); Display_Rect(132, 378, 102, 198, white); char FaultBuffer[13] = {"DRIVE FAULT!"}; WriteString(165, 135, FaultBuffer, red); faultACK = true; fault = true; } if((mdata_70V05 & 0x40) == 0x0 && fault == false) { char MotionBuffer[18] = {"Motion Registers:"}; WriteString(hchar, vchar, MotionBuffer, black); hchar = 10; vchar = vchar + 30; char MotionBuffer1[11] = {"Control - "}; WriteString(hchar, vchar, MotionBuffer1, black); while(REN70V05_RD(0x3ff) == -1); Binary2ASCIIHex(mdata_70V05); WriteChar(hchar, vchar, d_hex[1], black); WriteChar(hchar, vchar, d_hex[0], black); hchar = hchar + 20; char MotionBuffer2[10] = {"Status - "}; WriteString(hchar, vchar, MotionBuffer2, black); while(REN70V05_RD(0x3fe) == -1); Binary2ASCIIHex(mdata_70V05); WriteChar(hchar, vchar, d_hex[1], black); WriteChar(hchar, vchar, d_hex[0], black); hchar = 10; vchar = vchar + 30; //the board key that shows motion board is present and ready char MotionBuffer3[6] = {"Key - "}; WriteString(hchar, vchar, MotionBuffer3, black); while(REN70V05_RD(0x3ec) == -1); Binary2ASCIIHex(mdata_70V05); WriteChar(hchar, vchar, d_hex[1], black); WriteChar(hchar, vchar, d_hex[0], black); hchar = 10; vchar = vchar + 30; char MotionBuffer4[10] = {"Position:"}; WriteString(hchar, vchar, MotionBuffer4, blue); //Display the position while(REN70V05_RD(0x3f3) == -1); Binary2ASCIIHex(mdata_70V05); WriteChar(hchar, vchar, d_hex[1], red); WriteChar(hchar, vchar, d_hex[0], red); while(REN70V05_RD(0x3f2) == -1); Binary2ASCIIHex(mdata_70V05); WriteChar(hchar, vchar, d_hex[1], red); WriteChar(hchar, vchar, d_hex[0], red); while(REN70V05_RD(0x3f1) == -1); Binary2ASCIIHex(mdata_70V05); WriteChar(hchar, vchar, d_hex[1], red); WriteChar(hchar, vchar, d_hex[0], red); while(REN70V05_RD(0x3f0) == -1); Binary2ASCIIHex(mdata_70V05); WriteChar(hchar, vchar, d_hex[1], red); WriteChar(hchar, vchar, d_hex[0], red); hchar = hchar + 20; char MotionBuffer5[5] = {"PWM:"}; WriteString(hchar, vchar, MotionBuffer5, blue); //Display the position while(REN70V05_RD(0x3d5) == -1); Binary2ASCIIHex(mdata_70V05); WriteChar(hchar, vchar, d_hex[1], red); WriteChar(hchar, vchar, d_hex[0], red); hchar = 10; vchar = vchar + 30; char MotionBuffer6[10] = {"Setpoint:"}; WriteString(hchar, vchar, MotionBuffer6, blue); //Display the set speed while(REN70V05_RD(0x3f8) == -1); Binary2ASCIIHex(mdata_70V05); WriteChar(hchar, vchar, d_hex[1], red); WriteChar(hchar, vchar, d_hex[0], red); hchar = hchar + 20; char MotionBuffer7[10] = {"Endpoint:"}; WriteString(hchar, vchar, MotionBuffer7, blue); while(REN70V05_RD(0x305) == -1); Binary2ASCIIHex(mdata_70V05); WriteChar(hchar, vchar, d_hex[1], red); WriteChar(hchar, vchar, d_hex[0], red); while(REN70V05_RD(0x304) == -1); Binary2ASCIIHex(mdata_70V05); WriteChar(hchar, vchar, d_hex[1], red); WriteChar(hchar, vchar, d_hex[0], red); while(REN70V05_RD(0x303) == -1); Binary2ASCIIHex(mdata_70V05); WriteChar(hchar, vchar, d_hex[1], red); WriteChar(hchar, vchar, d_hex[0], red); while(REN70V05_RD(0x302) == -1); Binary2ASCIIHex(mdata_70V05); WriteChar(hchar, vchar, d_hex[1], red); WriteChar(hchar, vchar, d_hex[0], red); hchar = 10; vchar = vchar + 30; char MotionBuffer8[10] = {"QEI1STAT:"}; WriteString(hchar, vchar, MotionBuffer8, blue); while(REN70V05_RD(0x3dd) == -1); Binary2ASCIIHex(mdata_70V05); WriteChar(hchar, vchar, d_hex[1], red); WriteChar(hchar, vchar, d_hex[0], red); while(REN70V05_RD(0x3dc) == -1); Binary2ASCIIHex(mdata_70V05); WriteChar(hchar, vchar, d_hex[1], red); WriteChar(hchar, vchar, d_hex[0], red); hchar = 10; vchar = vchar + 30; char MotionBuffer9[7] = {"0x3ff:"}; WriteString(hchar, vchar, MotionBuffer9, blue); while(REN70V05_RD(0x3ff) == -1); Binary2ASCIIHex(mdata_70V05); WriteChar(hchar, vchar, d_hex[1], red); WriteChar(hchar, vchar, d_hex[0], red); hchar = hchar + 20; char MotionBuffer10[7] = {"0x3fe:"}; WriteString(hchar, vchar, MotionBuffer10, blue); while(REN70V05_RD(0x3fe) == -1); Binary2ASCIIHex(mdata_70V05); WriteChar(hchar, vchar, d_hex[1], red); WriteChar(hchar, vchar, d_hex[0], red); } } void BuildSeqInterface() { uint8_t sram_data; int r; int s; hchar = 10; vchar = 20; //check for Drive Fault while(REN70V05_RD(0x3fe) == -1); if((mdata_70V05 & 0x40) == 0x40 && faultACK == false) { //Display_CLRSCN(white); Display_Rect(130, 380, 100, 200, black); Display_Rect(132, 378, 102, 198, white); char FaultBuffer[13] = {"DRIVE FAULT!"}; WriteString(165, 135, FaultBuffer, red); faultACK = true; fault = true; } //Build Interface if((mdata_70V05 & 0x40) == 0x0 && fault == false) { //Header char MotionBuffer[18] = {"Motion Registers:"}; WriteString(hchar, vchar, MotionBuffer, black); hchar = 10; vchar = vchar + 30; //Control Register char MotionBuffer1[11] = {"Control - "}; WriteString(hchar, vchar, MotionBuffer1, black); while(REN70V05_RD(0x3ff) == -1); Binary2ASCIIHex(mdata_70V05); WriteChar(hchar, vchar, d_hex[1], black); WriteChar(hchar, vchar, d_hex[0], black); hchar = hchar + 20; //Status register+ char MotionBuffer2[10] = {"Status - "}; WriteString(hchar, vchar, MotionBuffer2, black); while(REN70V05_RD(0x3fe) == -1); Binary2ASCIIHex(mdata_70V05); WriteChar(hchar, vchar, d_hex[1], black); WriteChar(hchar, vchar, d_hex[0], black); hchar = 10; vchar = vchar + 30; //the board key that shows motion board is present and ready char MotionBuffer3[6] = {"Key - "}; WriteString(hchar, vchar, MotionBuffer3, black); while(REN70V05_RD(0x3ec) == -1); Binary2ASCIIHex(mdata_70V05); WriteChar(hchar, vchar, d_hex[1], black); WriteChar(hchar, vchar, d_hex[0], black); hchar = 10; vchar = vchar + 30; char MotionBuffer4[10] = {"Position:"}; WriteString(hchar, vchar, MotionBuffer4, blue); //Display the position while(REN70V05_RD(0x3f3) == -1); Binary2ASCIIHex(mdata_70V05); WriteChar(hchar, vchar, d_hex[1], red); WriteChar(hchar, vchar, d_hex[0], red); while(REN70V05_RD(0x3f2) == -1); Binary2ASCIIHex(mdata_70V05); WriteChar(hchar, vchar, d_hex[1], red); WriteChar(hchar, vchar, d_hex[0], red); while(REN70V05_RD(0x3f1) == -1); Binary2ASCIIHex(mdata_70V05); WriteChar(hchar, vchar, d_hex[1], red); WriteChar(hchar, vchar, d_hex[0], red); while(REN70V05_RD(0x3f0) == -1); Binary2ASCIIHex(mdata_70V05); WriteChar(hchar, vchar, d_hex[1], red); WriteChar(hchar, vchar, d_hex[0], red); hchar = hchar + 20; char MotionBuffer5[5] = {"PWM:"}; WriteString(hchar, vchar, MotionBuffer5, blue); //Display the position while(REN70V05_RD(0x3d5) == -1); Binary2ASCIIHex(mdata_70V05); WriteChar(hchar, vchar, d_hex[1], red); WriteChar(hchar, vchar, d_hex[0], red); hchar = 10; vchar = vchar + 30; char MotionBuffer6[10] = {"Setpoint:"}; WriteString(hchar, vchar, MotionBuffer6, blue); //Display the set speed while(REN70V05_RD(0x3f8) == -1); Binary2ASCIIHex(mdata_70V05); WriteChar(hchar, vchar, d_hex[1], red); WriteChar(hchar, vchar, d_hex[0], red); hchar = hchar + 20; //Display the Endpoint char MotionBuffer7[10] = {"Endpoint:"}; WriteString(hchar, vchar, MotionBuffer7, blue); while(REN70V05_RD(0x305) == -1); s = mdata_70V05; s = s << 24; while(REN70V05_RD(0x304) == -1); int x = mdata_70V05; x = x << 16; s = s + x; while(REN70V05_RD(0x303) == -1); x = mdata_70V05; x = x << 8; s = s + x; while(REN70V05_RD(0x302) == -1); s = s + mdata_70V05; Binary2ASCIIHex(s); WriteChar(hchar, vchar, d_hex[7], red); WriteChar(hchar, vchar, d_hex[6], red); WriteChar(hchar, vchar, d_hex[5], red); WriteChar(hchar, vchar, d_hex[4], red); WriteChar(hchar, vchar, d_hex[3], red); WriteChar(hchar, vchar, d_hex[2], red); WriteChar(hchar, vchar, d_hex[1], red); WriteChar(hchar, vchar, d_hex[0], red); hchar = 10; vchar = vchar + 30; char MotionBuffer8[10] = {"QEI1STAT:"}; WriteString(hchar, vchar, MotionBuffer8, blue); while(REN70V05_RD(0x3dd) == -1); Binary2ASCIIHex(mdata_70V05); WriteChar(hchar, vchar, d_hex[1], red); WriteChar(hchar, vchar, d_hex[0], red); while(REN70V05_RD(0x3dc) == -1); Binary2ASCIIHex(mdata_70V05); WriteChar(hchar, vchar, d_hex[1], red); WriteChar(hchar, vchar, d_hex[0], red); hchar = 10; vchar = vchar + 30; } //Dump the first two Sequences vchar = vchar + 30; hchar = 40; int i; for(i=0;i<20;i++) { while(REN70V05_RD(0x300 + i) == -1); Binary2ASCIIHex(mdata_70V05); WriteChar(hchar, vchar, d_hex[1], black); WriteChar(hchar, vchar, d_hex[0], black); hchar = hchar + 10; if(hchar > 430) { vchar = vchar + 30; hchar = 40; } } } void SetMotorData(uint8_t MotorSpeed, uint8_t Accel) { //MotorSpeed while(REN70V05_WR(0x3f8, MotorSpeed) == false); //Acceleration Factor while(REN70V05_WR(0x3fa, Accel) == false); } void SystemReset(void) { //unlock the system SYSKEY = 0x00000000; //write invalid key to force lock SYSKEY = 0xAA996655; //write key1 to SYSKEY SYSKEY = 0x556699AA; //write key2 to SYSKEY // OSCCON is now unlocked /* set SWRST bit to arm reset */ RSWRSTSET = 1; /* read RSWRST register to trigger reset */ ResetReg = RSWRST; /* prevent any unwanted code execution until reset occurs*/ while(1); } void ShowSplashScreen(void) { int i; //Clear the Screen Display_CLRSCN(white); //Load Splash Image /****************************/ Display_CASET(0, 479); Display_RASET(120, 170); Display_RAMWR(); //Data //RF3 = D/C 1=Data, 0=Command PORTFbits.RF3 = 1; for(i=0;i<=23040; i++) { #if DisplayType == ILI19488 PMDIN = SplashImage[i*2]; #endif #if DisplayType == HX8357B PMDIN = ~SplashImage[i*2]; #endif while(PMMODEbits.BUSY == 1); } LongDelay(2); /****************************/ //Clear the Screen Display_CLRSCN(white); //Draw header fore_color = black; //Draw Header Bar back_color = HeaderBarBackColor; Display_Rect(0, 480, 0, 40, back_color); hchar = 115; vchar = 7; //Display Header Text char MyString[10] = {"MainBrain "}; WriteString(hchar, vchar, MyString, black); WriteString(hchar, vchar, RevArray, black); back_color = white; hchar = 10; vchar = 50; //Display device information //Processor hchar = 10; vchar = 50; WriteString(hchar, vchar, ProcessorArray, black); //Device ID hchar = hchar + 20; Binary2ASCIIHex(DEVID); //Upper 4 bits is the processor revision //WriteChar(hchar, vchar, d_hex[7], black); WriteChar(hchar, vchar, d_hex[6], black); WriteChar(hchar, vchar, d_hex[5], black); WriteChar(hchar, vchar, d_hex[4], black); WriteChar(hchar, vchar, d_hex[3], black); WriteChar(hchar, vchar, d_hex[2], black); WriteChar(hchar, vchar, d_hex[1], black); WriteChar(hchar, vchar, d_hex[0], black); //SRAM size hchar = 10; vchar = vchar + 25; WriteString(hchar, vchar, SRAMsize, black); //Flash Size hchar = 10; vchar = vchar + 25; WriteString(hchar, vchar, FlashSize, black); //USB ver hchar = 10; vchar = vchar + 25; WriteString(hchar, vchar, USBver, black); } void Clock(int ClockData) { fore_color = black; //Colon 1 Display_Rect(151, 163, 120, 130, fore_color); Display_Rect(151, 163, 160, 170, fore_color); //Colon 2 Display_Rect(317, 329, 120, 130, fore_color); Display_Rect(317, 329, 160, 170, fore_color); if(ClockData == 0) { //segment A Display_Rect(hchar + 10, hchar + 50, vchar, vchar + 10, fore_color); //segment B Display_Rect(hchar + 50, hchar + 60, vchar, vchar + 50, fore_color); //Segment C Display_Rect(hchar + 50, hchar + 60, vchar + 60, vchar + 110, fore_color); //Segment D Display_Rect(hchar + 10, hchar + 50, vchar + 100, vchar + 110, fore_color); //Segment E Display_Rect(hchar, hchar + 10, vchar + 60, vchar + 110, fore_color); //Segment F Display_Rect(hchar, hchar + 10, vchar, vchar + 50, fore_color); //Segment G Display_Rect(hchar + 10, hchar + 50, vchar + 50, vchar + 60, white); } if(ClockData == 1) { //segment A Display_Rect(hchar + 10, hchar + 50, vchar, vchar + 10, white); //segment B Display_Rect(hchar + 50, hchar + 60, vchar, vchar + 50, fore_color); //Segment C Display_Rect(hchar + 50, hchar + 60, vchar + 60, vchar + 110, fore_color); //Segment D Display_Rect(hchar + 10, hchar + 50, vchar + 100, vchar + 110, white); //Segment E Display_Rect(hchar, hchar + 10, vchar + 60, vchar + 110, white); //Segment F Display_Rect(hchar, hchar + 10, vchar, vchar + 50, white); //Segment G Display_Rect(hchar + 10, hchar + 50, vchar + 50, vchar + 60, white); } if(ClockData == 2) { //segment A Display_Rect(hchar + 10, hchar + 50, vchar, vchar + 10, fore_color); //segment B Display_Rect(hchar + 50, hchar + 60, vchar, vchar + 50, fore_color); //Segment C Display_Rect(hchar + 50, hchar + 60, vchar + 60, vchar + 110, white); //Segment D Display_Rect(hchar + 10, hchar + 50, vchar + 100, vchar + 110, fore_color); //Segment E Display_Rect(hchar, hchar + 10, vchar + 60, vchar + 110, fore_color); //Segment F Display_Rect(hchar, hchar + 10, vchar, vchar + 50, white); //Segment G Display_Rect(hchar + 10, hchar + 50, vchar + 50, vchar + 60, fore_color); } if(ClockData == 3) { //segment A Display_Rect(hchar + 10, hchar + 50, vchar, vchar + 10, fore_color); //segment B Display_Rect(hchar + 50, hchar + 60, vchar, vchar + 50, fore_color); //Segment C Display_Rect(hchar + 50, hchar + 60, vchar + 60, vchar + 110, fore_color); //Segment D Display_Rect(hchar + 10, hchar + 50, vchar + 100, vchar + 110, fore_color); //Segment E Display_Rect(hchar, hchar + 10, vchar + 60, vchar + 110, white); //Segment F Display_Rect(hchar, hchar + 10, vchar, vchar + 50, white); //Segment G Display_Rect(hchar + 10, hchar + 50, vchar + 50, vchar + 60, fore_color); } if(ClockData == 4) { //segment A Display_Rect(hchar + 10, hchar + 50, vchar, vchar + 10, white); //segment B Display_Rect(hchar + 50, hchar + 60, vchar, vchar + 50, fore_color); //Segment C Display_Rect(hchar + 50, hchar + 60, vchar + 60, vchar + 110, fore_color); //Segment D Display_Rect(hchar + 10, hchar + 50, vchar + 100, vchar + 110, white); //Segment E Display_Rect(hchar, hchar + 10, vchar + 60, vchar + 110, white); //Segment F Display_Rect(hchar, hchar + 10, vchar, vchar + 50, fore_color); //Segment G Display_Rect(hchar + 10, hchar + 50, vchar + 50, vchar + 60, fore_color); } if(ClockData == 5) { //segment A Display_Rect(hchar + 10, hchar + 50, vchar, vchar + 10, fore_color); //segment B Display_Rect(hchar + 50, hchar + 60, vchar, vchar + 50, white); //Segment C Display_Rect(hchar + 50, hchar + 60, vchar + 60, vchar + 110, fore_color); //Segment D Display_Rect(hchar + 10, hchar + 50, vchar + 100, vchar + 110, fore_color); //Segment E Display_Rect(hchar, hchar + 10, vchar + 60, vchar + 110, white); //Segment F Display_Rect(hchar, hchar + 10, vchar, vchar + 50, fore_color); //Segment G Display_Rect(hchar + 10, hchar + 50, vchar + 50, vchar + 60, fore_color); } if(ClockData == 6) { //segment A Display_Rect(hchar + 10, hchar + 50, vchar, vchar + 10, white); //segment B Display_Rect(hchar + 50, hchar + 60, vchar, vchar + 50, white); //Segment C Display_Rect(hchar + 50, hchar + 60, vchar + 60, vchar + 110, fore_color); //Segment D Display_Rect(hchar + 10, hchar + 50, vchar + 100, vchar + 110, fore_color); //Segment E Display_Rect(hchar, hchar + 10, vchar + 60, vchar + 110, fore_color); //Segment F Display_Rect(hchar, hchar + 10, vchar, vchar + 50, fore_color); //Segment G Display_Rect(hchar + 10, hchar + 50, vchar + 50, vchar + 60, fore_color); } if(ClockData == 7) { //segment A Display_Rect(hchar + 10, hchar + 50, vchar, vchar + 10, fore_color); //segment B Display_Rect(hchar + 50, hchar + 60, vchar, vchar + 50, fore_color); //Segment C Display_Rect(hchar + 50, hchar + 60, vchar + 60, vchar + 110, fore_color); //Segment D Display_Rect(hchar + 10, hchar + 50, vchar + 100, vchar + 110, white); //Segment E Display_Rect(hchar, hchar + 10, vchar + 60, vchar + 110, white); //Segment F Display_Rect(hchar, hchar + 10, vchar, vchar + 50, white); //Segment G Display_Rect(hchar + 10, hchar + 50, vchar + 50, vchar + 60, white); } if(ClockData == 8) { //segment A Display_Rect(hchar + 10, hchar + 50, vchar, vchar + 10, fore_color); //segment B Display_Rect(hchar + 50, hchar + 60, vchar, vchar + 50, fore_color); //Segment C Display_Rect(hchar + 50, hchar + 60, vchar + 60, vchar + 110, fore_color); //Segment D Display_Rect(hchar + 10, hchar + 50, vchar + 100, vchar + 110, fore_color); //Segment E Display_Rect(hchar, hchar + 10, vchar + 60, vchar + 110, fore_color); //Segment F Display_Rect(hchar, hchar + 10, vchar, vchar + 50, fore_color); //Segment G Display_Rect(hchar + 10, hchar + 50, vchar + 50, vchar + 60, fore_color); } if(ClockData == 9) { //segment A Display_Rect(hchar + 10, hchar + 50, vchar, vchar + 10, fore_color); //segment B Display_Rect(hchar + 50, hchar + 60, vchar, vchar + 50, fore_color); //Segment C Display_Rect(hchar + 50, hchar + 60, vchar + 60, vchar + 110, fore_color); //Segment D Display_Rect(hchar + 10, hchar + 50, vchar + 100, vchar + 110, white); //Segment E Display_Rect(hchar, hchar + 10, vchar + 60, vchar + 110, white); //Segment F Display_Rect(hchar, hchar + 10, vchar, vchar + 50, fore_color); //Segment G Display_Rect(hchar + 10, hchar + 50, vchar + 50, vchar + 60, fore_color); } } void setTime(void) { //Unlock the registers RTCCONbits.RTCWREN = 1; hchar = 10; vchar = 280; //24 to 12 hour conversion if(OUTPacket[1] > 12) { Binary2ASCIIBCD(OUTPacket[1] - 12); } else { Binary2ASCIIBCD(OUTPacket[1]); } // WriteChar(hchar, vchar, d1, 0x0); // WriteChar(hchar, vchar, d0, 0x0); RTCTIMEbits.HR10 = d1; RTCTIMEbits.HR01 = d0; hchar = hchar + 20; Binary2ASCIIBCD(OUTPacket[2]); // WriteChar(hchar, vchar, d1, 0x0); // WriteChar(hchar, vchar, d0, 0x0); RTCTIMEbits.MIN10 = d1; RTCTIMEbits.MIN01 = d0; hchar = hchar + 20; Binary2ASCIIBCD(OUTPacket[3]); // WriteChar(hchar, vchar, d1, 0x0); // WriteChar(hchar, vchar, d0, 0x0); RTCTIMEbits.SEC10 = d1; RTCTIMEbits.SEC01 = d0; //Re-lock the registers RTCCONbits.RTCWREN = 0; } void DumpSRAM(void) { //Clear the Screen Display_CLRSCN(white); hchar = 10; vchar = 10; int i; char MyBuffer10[5] = {"SRAM"}; WriteString(hchar, vchar, MyBuffer10, black); hchar = hchar + 50; char MyBuffer11[7] = {"block:"}; WriteString(hchar, vchar, MyBuffer11, black); Binary2ASCIIHex(SRAM_Block); WriteChar(hchar, vchar, d_hex[1], blue); WriteChar(hchar, vchar, d_hex[0], blue); WriteChar(hchar, vchar, ':', black); //hchar = hchar + 30; //SRAM Block must be 0 - 127 int mem; SRAM_Block = SRAM_Block * 64; Binary2ASCIIHex(SRAM_Block); WriteChar(hchar, vchar, d_hex[3], blue); WriteChar(hchar, vchar, d_hex[2], blue); WriteChar(hchar, vchar, d_hex[1], blue); WriteChar(hchar, vchar, d_hex[0], blue); hchar = 10; vchar = 35; for(i=1;i<=64;i++) { while(REN70V05_RD(SRAM_Block) == -1); Binary2ASCIIHex(mdata_70V05); WriteChar(hchar, vchar, d_hex[1], 0x0); WriteChar(hchar, vchar, d_hex[0], 0x0); SRAM_Block++; hchar = hchar + 10; if(hchar > 400) { vchar = vchar + 20; hchar = 10; } } } void DumpMemory(void) { //Clear the Screen Display_CLRSCN(white); hchar = 10; vchar = 10; char MyBuffer11[8] = {"Memory:"}; WriteString(hchar, vchar, MyBuffer11, red); hchar = hchar + 15; //display the address Binary2ASCIIHex(MemoryAddress); WriteChar(hchar, vchar, d_hex[7], fore_color); WriteChar(hchar, vchar, d_hex[6], fore_color); WriteChar(hchar, vchar, d_hex[5], fore_color); WriteChar(hchar, vchar, d_hex[4], fore_color); WriteChar(hchar, vchar, d_hex[3], fore_color); WriteChar(hchar, vchar, d_hex[2], fore_color); WriteChar(hchar, vchar, d_hex[1], fore_color); WriteChar(hchar, vchar, d_hex[0], fore_color); //My Pointer int i; vchar = 50; hchar = 30; //Pointer int *pTest; pTest = (int*)MemoryAddress;//MemoryAddress;//0xa0000220 for(i=0;i<36;i++) { Binary2ASCIIHex(*pTest); WriteChar(hchar, vchar, d_hex[7], fore_color); WriteChar(hchar, vchar, d_hex[6], fore_color); WriteChar(hchar, vchar, d_hex[5], fore_color); WriteChar(hchar, vchar, d_hex[4], fore_color); WriteChar(hchar, vchar, d_hex[3], fore_color); WriteChar(hchar, vchar, d_hex[2], fore_color); WriteChar(hchar, vchar, d_hex[1], fore_color); WriteChar(hchar, vchar, d_hex[0], fore_color); pTest++; hchar = hchar + 10; if(hchar > 360) { vchar = vchar + 20; hchar = 30; } } } void SRAM_Semaphore_Test(void) { int test; while(1) { hchar = 10; vchar = 200; while(REN70V05_RD(0x300) == -1); Binary2ASCIIHex(mdata_70V05); WriteChar(hchar, vchar, d_hex[1], fore_color); WriteChar(hchar, vchar, d_hex[0], fore_color); while(REN70V05_WR(0x301, 0x56) == false); hchar = 60; while(REN70V05_RD(0x302) == -1); Binary2ASCIIHex(mdata_70V05); WriteChar(hchar, vchar, d_hex[1], fore_color); WriteChar(hchar, vchar, d_hex[0], fore_color); } /*BEBUG - SRAM MEMORY TEST*/ // uint8_t q; // while(1) // { // hchar = 10; // vchar = 200; // q = REN70V05_RD(0x300); // Binary2ASCIIHex(q); // WriteChar(hchar, vchar, d_hex[2], fore_color); // WriteChar(hchar, vchar, d_hex[1], fore_color); // WriteChar(hchar, vchar, d_hex[0], fore_color); // } //READ SEMAPHORE VALUE uint8_t tp; while(1) { //pull SEMR low to access the flags PORTGbits.RG15 = 0; //write a zero to Flag PMADDR = 0; PMDIN = 0x0; while(PMMODEbits.BUSY == 1); ///SEM PORTGbits.RG15 = 1; //Flush PMDIN PMDIN = 0x55; while(PMMODEbits.BUSY == 1); ///SEM PORTGbits.RG15 = 0; //Read the result //Dummy read tp = PMDIN; while(PMMODEbits.BUSY == 1); tp = PMDIN; while(PMMODEbits.BUSY == 1); ///SEM PORTGbits.RG15 = 1; LED_Port(tp); } } void DisplayUSBData(void) { //BDT base address char MyBuffer1[5] = {"BDT:"}; hchar = 10; vchar = 20; fore_color = black; WriteString(hchar, vchar, MyBuffer1, fore_color); Binary2ASCIIHex((int)&BDT[0]); WriteChar(hchar, vchar, d_hex[7], fore_color); WriteChar(hchar, vchar, d_hex[6], fore_color); WriteChar(hchar, vchar, d_hex[5], fore_color); WriteChar(hchar, vchar, d_hex[4], fore_color); WriteChar(hchar, vchar, d_hex[3], fore_color); WriteChar(hchar, vchar, d_hex[2], fore_color); WriteChar(hchar, vchar, d_hex[1], fore_color); WriteChar(hchar, vchar, d_hex[0], fore_color); //U1ADDR hchar = hchar + 20; char MyBuffer2[8] = {"U1ADDR:"}; WriteString(hchar, vchar, MyBuffer2, fore_color); Binary2ASCIIHex(U1ADDR); WriteChar(hchar, vchar, d_hex[1], fore_color); WriteChar(hchar, vchar, d_hex[0], fore_color); //U1OTGIR hchar = 10; vchar = 45; char MyBuffer2a[9] = {"U1OTGIR:"}; WriteString(hchar, vchar, MyBuffer2a, fore_color); Binary2ASCIIHex(U1OTGIR); WriteChar(hchar, vchar, d_hex[1], fore_color); WriteChar(hchar, vchar, d_hex[0], fore_color); //U1OTGIE hchar = hchar + 20; char MyBuffer2b[9] = {"U1OTGIE:"}; WriteString(hchar, vchar, MyBuffer2b, fore_color); Binary2ASCIIHex(U1OTGIE); WriteChar(hchar, vchar, d_hex[1], fore_color); WriteChar(hchar, vchar, d_hex[0], fore_color); //UICON hchar = 10; vchar = vchar + 20; char MyBuffer3[7] = {"U1CON:"}; WriteString(hchar, vchar, MyBuffer3, fore_color); Binary2ASCIIHex(U1CON); WriteChar(hchar, vchar, d_hex[1], fore_color); WriteChar(hchar, vchar, d_hex[0], fore_color); //U1STAT hchar = hchar + 20; char MyBuffer4[15] = {"U1STAT:"}; WriteString(hchar, vchar, MyBuffer4, fore_color); Binary2ASCIIHex(USTATcopy.Val); WriteChar(hchar, vchar, d_hex[1], fore_color); WriteChar(hchar, vchar, d_hex[0], fore_color); //U1IE hchar = hchar + 20; char MyBuffer5[15] = {"U1IE:"}; WriteString(hchar, vchar, MyBuffer5, fore_color); Binary2ASCIIHex(U1IE); WriteChar(hchar, vchar, d_hex[1], fore_color); WriteChar(hchar, vchar, d_hex[0], fore_color); hchar = 10; vchar = 100; char MyBuffer6[15] = {"U1BDTP3:"}; WriteString(hchar, vchar, MyBuffer6, fore_color); Binary2ASCIIHex(U1BDTP3); WriteChar(hchar, vchar, d_hex[7], fore_color); WriteChar(hchar, vchar, d_hex[6], fore_color); WriteChar(hchar, vchar, d_hex[5], fore_color); WriteChar(hchar, vchar, d_hex[4], fore_color); WriteChar(hchar, vchar, d_hex[3], fore_color); WriteChar(hchar, vchar, d_hex[2], fore_color); WriteChar(hchar, vchar, d_hex[1], fore_color); WriteChar(hchar, vchar, d_hex[0], fore_color); hchar = 10; vchar = vchar + 20; char MyBuffer7[15] = {"U1BDTP2:"}; WriteString(hchar, vchar, MyBuffer7, fore_color); Binary2ASCIIHex(U1BDTP2); WriteChar(hchar, vchar, d_hex[7], fore_color); WriteChar(hchar, vchar, d_hex[6], fore_color); WriteChar(hchar, vchar, d_hex[5], fore_color); WriteChar(hchar, vchar, d_hex[4], fore_color); WriteChar(hchar, vchar, d_hex[3], fore_color); WriteChar(hchar, vchar, d_hex[2], fore_color); WriteChar(hchar, vchar, d_hex[1], fore_color); WriteChar(hchar, vchar, d_hex[0], fore_color); hchar = 10; vchar = vchar + 20; char MyBuffer8[15] = {"U1BDTP1:"}; WriteString(hchar, vchar, MyBuffer8, fore_color); Binary2ASCIIHex(U1BDTP1); WriteChar(hchar, vchar, d_hex[7], fore_color); WriteChar(hchar, vchar, d_hex[6], fore_color); WriteChar(hchar, vchar, d_hex[5], fore_color); WriteChar(hchar, vchar, d_hex[4], fore_color); WriteChar(hchar, vchar, d_hex[3], fore_color); WriteChar(hchar, vchar, d_hex[2], fore_color); WriteChar(hchar, vchar, d_hex[1], fore_color); WriteChar(hchar, vchar, d_hex[0], fore_color); hchar = 10; vchar = 180; //EP0-0 char MyBuffer9[15] = {"EP00:"}; WriteString(hchar, vchar, MyBuffer9, fore_color); Binary2ASCIIHex(BDT[0].ADR); WriteChar(hchar, vchar, d_hex[7], fore_color); WriteChar(hchar, vchar, d_hex[6], fore_color); WriteChar(hchar, vchar, d_hex[5], fore_color); WriteChar(hchar, vchar, d_hex[4], fore_color); WriteChar(hchar, vchar, d_hex[3], fore_color); WriteChar(hchar, vchar, d_hex[2], fore_color); WriteChar(hchar, vchar, d_hex[1], fore_color); WriteChar(hchar, vchar, d_hex[0], fore_color); WriteChar(hchar, vchar, ':', fore_color); Binary2ASCIIHex(BDT[0].CNT); WriteChar(hchar, vchar, d_hex[7], fore_color); WriteChar(hchar, vchar, d_hex[6], fore_color); WriteChar(hchar, vchar, d_hex[5], fore_color); WriteChar(hchar, vchar, d_hex[4], fore_color); WriteChar(hchar, vchar, d_hex[3], fore_color); WriteChar(hchar, vchar, d_hex[2], fore_color); WriteChar(hchar, vchar, d_hex[1], fore_color); WriteChar(hchar, vchar, d_hex[0], fore_color); WriteChar(hchar, vchar, ':', fore_color); Binary2ASCIIHex(BDT[0].STAT.Val); WriteChar(hchar, vchar, d_hex[7], fore_color); WriteChar(hchar, vchar, d_hex[6], fore_color); WriteChar(hchar, vchar, d_hex[5], fore_color); WriteChar(hchar, vchar, d_hex[4], fore_color); WriteChar(hchar, vchar, d_hex[3], fore_color); WriteChar(hchar, vchar, d_hex[2], fore_color); WriteChar(hchar, vchar, d_hex[1], fore_color); WriteChar(hchar, vchar, d_hex[0], fore_color); hchar = 10; vchar = vchar + 20; //EP0-1 char MyBuffer10[6] = {"EP01:"}; WriteString(hchar, vchar, MyBuffer10, fore_color); Binary2ASCIIHex(BDT[2].ADR); WriteChar(hchar, vchar, d_hex[7], fore_color); WriteChar(hchar, vchar, d_hex[6], fore_color); WriteChar(hchar, vchar, d_hex[5], fore_color); WriteChar(hchar, vchar, d_hex[4], fore_color); WriteChar(hchar, vchar, d_hex[3], fore_color); WriteChar(hchar, vchar, d_hex[2], fore_color); WriteChar(hchar, vchar, d_hex[1], fore_color); WriteChar(hchar, vchar, d_hex[0], fore_color); WriteChar(hchar, vchar, ':', fore_color); Binary2ASCIIHex(BDT[2].CNT); WriteChar(hchar, vchar, d_hex[7], fore_color); WriteChar(hchar, vchar, d_hex[6], fore_color); WriteChar(hchar, vchar, d_hex[5], fore_color); WriteChar(hchar, vchar, d_hex[4], fore_color); WriteChar(hchar, vchar, d_hex[3], fore_color); WriteChar(hchar, vchar, d_hex[2], fore_color); WriteChar(hchar, vchar, d_hex[1], fore_color); WriteChar(hchar, vchar, d_hex[0], fore_color); WriteChar(hchar, vchar, ':', fore_color); Binary2ASCIIHex(BDT[2].STAT.Val); WriteChar(hchar, vchar, d_hex[7], fore_color); WriteChar(hchar, vchar, d_hex[6], fore_color); WriteChar(hchar, vchar, d_hex[5], fore_color); WriteChar(hchar, vchar, d_hex[4], fore_color); WriteChar(hchar, vchar, d_hex[3], fore_color); WriteChar(hchar, vchar, d_hex[2], fore_color); WriteChar(hchar, vchar, d_hex[1], fore_color); WriteChar(hchar, vchar, d_hex[0], fore_color); hchar = 10; vchar = vchar + 20; //EP1-0 char MyBuffer11[6] = {"EP10:"}; WriteString(hchar, vchar, MyBuffer11, fore_color); Binary2ASCIIHex(BDT[4].ADR); WriteChar(hchar, vchar, d_hex[7], fore_color); WriteChar(hchar, vchar, d_hex[6], fore_color); WriteChar(hchar, vchar, d_hex[5], fore_color); WriteChar(hchar, vchar, d_hex[4], fore_color); WriteChar(hchar, vchar, d_hex[3], fore_color); WriteChar(hchar, vchar, d_hex[2], fore_color); WriteChar(hchar, vchar, d_hex[1], fore_color); WriteChar(hchar, vchar, d_hex[0], fore_color); WriteChar(hchar, vchar, ':', fore_color); Binary2ASCIIHex(BDT[4].CNT); WriteChar(hchar, vchar, d_hex[7], fore_color); WriteChar(hchar, vchar, d_hex[6], fore_color); WriteChar(hchar, vchar, d_hex[5], fore_color); WriteChar(hchar, vchar, d_hex[4], fore_color); WriteChar(hchar, vchar, d_hex[3], fore_color); WriteChar(hchar, vchar, d_hex[2], fore_color); WriteChar(hchar, vchar, d_hex[1], fore_color); WriteChar(hchar, vchar, d_hex[0], fore_color); WriteChar(hchar, vchar, ':', fore_color); Binary2ASCIIHex(BDT[4].STAT.Val); WriteChar(hchar, vchar, d_hex[7], fore_color); WriteChar(hchar, vchar, d_hex[6], fore_color); WriteChar(hchar, vchar, d_hex[5], fore_color); WriteChar(hchar, vchar, d_hex[4], fore_color); WriteChar(hchar, vchar, d_hex[3], fore_color); WriteChar(hchar, vchar, d_hex[2], fore_color); WriteChar(hchar, vchar, d_hex[1], fore_color); WriteChar(hchar, vchar, d_hex[0], fore_color); hchar = 10; vchar = vchar + 20; //EP1-1 char MyBuffer12[6] = {"EP11:"}; WriteString(hchar, vchar, MyBuffer12, fore_color); Binary2ASCIIHex(BDT[6].ADR); WriteChar(hchar, vchar, d_hex[7], fore_color); WriteChar(hchar, vchar, d_hex[6], fore_color); WriteChar(hchar, vchar, d_hex[5], fore_color); WriteChar(hchar, vchar, d_hex[4], fore_color); WriteChar(hchar, vchar, d_hex[3], fore_color); WriteChar(hchar, vchar, d_hex[2], fore_color); WriteChar(hchar, vchar, d_hex[1], fore_color); WriteChar(hchar, vchar, d_hex[0], fore_color); WriteChar(hchar, vchar, ':', fore_color); Binary2ASCIIHex(BDT[6].CNT); WriteChar(hchar, vchar, d_hex[7], fore_color); WriteChar(hchar, vchar, d_hex[6], fore_color); WriteChar(hchar, vchar, d_hex[5], fore_color); WriteChar(hchar, vchar, d_hex[4], fore_color); WriteChar(hchar, vchar, d_hex[3], fore_color); WriteChar(hchar, vchar, d_hex[2], fore_color); WriteChar(hchar, vchar, d_hex[1], fore_color); WriteChar(hchar, vchar, d_hex[0], fore_color); WriteChar(hchar, vchar, ':', fore_color); Binary2ASCIIHex(BDT[6].STAT.Val); WriteChar(hchar, vchar, d_hex[7], fore_color); WriteChar(hchar, vchar, d_hex[6], fore_color); WriteChar(hchar, vchar, d_hex[5], fore_color); WriteChar(hchar, vchar, d_hex[4], fore_color); WriteChar(hchar, vchar, d_hex[3], fore_color); WriteChar(hchar, vchar, d_hex[2], fore_color); WriteChar(hchar, vchar, d_hex[1], fore_color); WriteChar(hchar, vchar, d_hex[0], fore_color); vchar = vchar + 30; hchar = 10; //Pointer int *pTest; pTest = (int*)0xa0000220; Binary2ASCIIHex(*pTest); WriteChar(hchar, vchar, d_hex[7], fore_color); WriteChar(hchar, vchar, d_hex[6], fore_color); WriteChar(hchar, vchar, d_hex[5], fore_color); WriteChar(hchar, vchar, d_hex[4], fore_color); WriteChar(hchar, vchar, d_hex[3], fore_color); WriteChar(hchar, vchar, d_hex[2], fore_color); WriteChar(hchar, vchar, d_hex[1], fore_color); WriteChar(hchar, vchar, d_hex[0], fore_color); }