/** * Digital "Etch A Sketch" * * Modified by Austin Lee, Andrew Bryan, and Jonya Chen * December 10, 2015 */ //////////////////////////////////// // clock AND protoThreads configure! // You MUST check this file! #include "config.h" // threading library #include "pt_cornell_1_2.h" #include #include #include // graphics libraries #include "tft_master.h" #include "tft_gfx.h" #include "declarations.h" #define SYS_FREQ 40000000 #define PB_DIV 8 #define PRESCALE 256 #define T1_TICK (SYS_FREQ/PB_DIV/PRESCALE/100) #define dt .01 #define g 8192 // == Thresholds for finger positions ============================== //thumb thresholds #define thumbOpen 130 #define thumbClosed 125 //pointer finger thresholds #define pointerOpen 400 #define pointerClosed 360 //middle finger thresholds #define middleOpen 430 #define middleClosed 390 //ring finger thresholds #define ringOpen 400 #define ringClosed 385 //pinky thresholds #define pinkyOpen 400 #define pinkyClosed 390 // === thread structures ============================================ // semaphores for controlling two threads // for guarding the UART and for allowing stread blink control static struct pt_sem control_t1, control_t2, control_t6; // thread control structs static struct pt pt_timer, pt_adc, pt3, pt_stuff; // system 1 second interval tick int sys_time_seconds; static int thumb, pointerFinger, middleFinger, ringFinger, pinky; unsigned static int draw; //1 is draw int done; // string buffer char buffer[60]; char timer1[60]; void Zero_Sensors() { float BUFFER_XANGLE = 0; float BUFFER_YANGLE = 0; float BUFFER_XOUT = 0; float BUFFER_YOUT = 0; float BUFFER_ZOUT = 0; int x = 0; for(x=0; x<500; x++) { Get_Accel_Values(); Get_Accel_Angles(); BUFFER_XANGLE += ACCEL_XANGLE; BUFFER_YANGLE += ACCEL_YANGLE; DelayMs(1); BUFFER_YOUT += (float)ACCEL_YOUT; BUFFER_XOUT += (float)ACCEL_XOUT; BUFFER_ZOUT += (float)ACCEL_ZOUT; } YOFFSET = BUFFER_YOUT/500.0; XOFFSET = BUFFER_XOUT/500.0; ZOFFSET = BUFFER_ZOUT/500.0; COMPLEMENTARY_XANGLE = BUFFER_XANGLE/500.0; COMPLEMENTARY_YANGLE = BUFFER_YANGLE/500.0; GYRO_XANGLE = BUFFER_XANGLE/500.0; GYRO_YANGLE = BUFFER_YANGLE/500.0; } unsigned static short THUMBS_UP; unsigned static short OPEN_HAND; unsigned static short FIST, ERASE; unsigned static short color, prevColor; //color state unsigned static short red, green, white, blue; //set by flex sensors to send to state machine unsigned static short debounce; static PT_THREAD(protothread_values(struct pt *pt)) { PT_BEGIN(pt); OPEN_HAND = 1; while(1) { PT_YIELD_TIME_msec(10); //Detect gesture thru finger readings if (thumb <= thumbClosed && pointerFinger <= pointerClosed && middleFinger <= middleClosed && ringFinger <= ringClosed && pinky <= pinkyClosed) { OPEN_HAND=0; FIST=1; THUMBS_UP=0; ERASE=0; } else if (thumb >= thumbOpen && pointerFinger >= pointerOpen && middleFinger >= middleOpen && ringFinger >= ringOpen && pinky >= pinkyOpen) { FIST=0; OPEN_HAND=1; THUMBS_UP=0; ERASE=0; } else if (thumb >= thumbOpen && pointerFinger <= pointerClosed && middleFinger <= middleClosed && ringFinger <= ringClosed && pinky <= pinkyClosed) { THUMBS_UP=1; FIST=0; OPEN_HAND=0; ERASE=0; } else if (thumb >= thumbOpen && pointerFinger <= pointerClosed && middleFinger <= middleClosed && ringFinger <= ringClosed && pinky >= pinkyClosed) { ERASE=1; THUMBS_UP=0; FIST=0; OPEN_HAND=1; } //Detect color mode thru finger readings if (draw==0){ if (thumb >= thumbOpen && pointerFinger >= pointerOpen && middleFinger >= middleOpen && ringFinger >= ringOpen && pinky >= pinkyOpen) { debounce=1; ERASE=0; } else if (thumb <= thumbClosed && pointerFinger >= pointerOpen && middleFinger <= middleClosed && ringFinger <= ringClosed && pinky <= pinkyClosed) { red=1; green=0; blue=0; white=0; ERASE=0; } else if (thumb <= thumbClosed && pointerFinger >= pointerOpen && middleFinger >= middleOpen && ringFinger <= ringClosed && pinky <= pinkyClosed) { red=0; green=1; blue=0; white=0; ERASE=0; } else if (thumb <= thumbClosed && pointerFinger >= pointerOpen && middleFinger >= middleOpen && ringFinger >= ringOpen && pinky <= pinkyClosed) { red=0; green=0; blue=1; white=0; ERASE=0; } else if (thumb <= thumbClosed && pointerFinger >= pointerOpen && middleFinger >= middleOpen && ringFinger >= ringOpen && pinky >= pinkyOpen) { red=0; green=0; blue=0; white=1; ERASE=0; } } } PT_END(pt); } // === Thread 3 ====================================================== static PT_THREAD(protothread3(struct pt *pt)) { PT_BEGIN(pt); unsigned static int state = 1; unsigned static int n; while (1) { PT_YIELD_TIME_msec(50); //FSM CODE switch (state) { case 1: //Color if (THUMBS_UP==1) state = 13; //MaybeFinish else if (FIST==1) state = 12; //MaybeDraw else if (ERASE==1){ PT_YIELD_TIME_msec(1000); //Debounce Erase if (ERASE==1) { tft_fillScreen(ILI9340_BLACK); //Clear screen tft_fillRoundRect(0, 18, 240, 1, 0, ILI9340_WHITE); // x,y,w,h,radius,color tft_fillRoundRect(0, 319, 240, 1, 0, ILI9340_WHITE); tft_fillRoundRect(0, 18, 1, 302, 0, ILI9340_WHITE); tft_fillRoundRect(239, 18, 1, 302, 0, ILI9340_WHITE); } ERASE = 0; } draw = 0; break; case 2: //Draw if (THUMBS_UP==1) state = 13; else if (OPEN_HAND==1) state = 11; //MaybeColor draw = 1; break; case 3: //Finish done = 1; tft_fillRoundRect(180, 0, 60, 15, 0, ILI9340_BLACK); tft_setCursor(180, 0); tft_setTextColor(ILI9340_BLUE); tft_writeString("DONE"); PT_YIELD_TIME_msec(1000); while(1); //Stop the program break; case 11: //MaybeColor PT_YIELD_TIME_msec(200); if (OPEN_HAND==1) { state = 1; //Color } else state = 2; //Draw break; case 12: //MaybeDraw PT_YIELD_TIME_msec(200); if (FIST==1) { state = 2; //Draw } else state = 1; break; case 13: //MaybeFinish n=0; while(n<20 && state != 1){ n++; PT_YIELD_TIME_msec(50); if (THUMBS_UP==1) state = 3; //Finish else { state = 1; //Color break; } } break; } //Color switching FSM switch(color){ case 0: //white if (red) color=11; //maybe red else if (green) color=12; //maybe green else if (blue) color=13; //maybe blue prevColor = 0; break; case 1: //red if (white) color=10; //maybe white else if (green) color=12; //maybe green else if (blue) color=13; //maybe blue prevColor = 1; break; case 2: //green if (red) color=11; //maybe red else if (white) color=10; //maybe white else if (blue) color=13; //maybe blue prevColor = 2; break; case 3: //blue if (red) color=11; //maybe red else if (green) color=12; //maybe green else if (white) color=10; //maybe white prevColor = 3; break; case 10: //maybe white PT_YIELD_TIME_msec(400); if (debounce) { color=prevColor; debounce= 0; } else if (white) color=0; else color=prevColor; break; case 11: //maybe red PT_YIELD_TIME_msec(400); if (debounce) { color=prevColor; debounce= 0; } else if (red) color=1; else color=prevColor; break; case 12: //maybe green PT_YIELD_TIME_msec(400); if (debounce) { color=prevColor; debounce= 0; } else if (green) color=2; else color=prevColor; break; case 13: //maybe blue PT_YIELD_TIME_msec(400); if (debounce) { color=prevColor; debounce= 0; } else if (blue) color=3; else color=prevColor; break; } tft_setTextSize(2); tft_fillRoundRect(0, 0, 240, 15, 0, ILI9340_BLACK); tft_setCursor(180, 0); //Print current draw mode if(draw == 1){ tft_setTextColor(ILI9340_GREEN); tft_writeString("DRAW"); } else if(draw == 0){ tft_setTextColor(ILI9340_RED); tft_writeString("STOP"); } //Print current color mode tft_setCursor(0, 0); if (color==0) { tft_setTextColor(ILI9340_WHITE); tft_writeString("WHITE"); } else if (color==1){ tft_setTextColor(ILI9340_RED); tft_writeString("RED"); } else if (color==2) { tft_setTextColor(ILI9340_GREEN); tft_writeString("GREEN"); } else if (color==3) { tft_setTextColor(ILI9340_BLUE); tft_writeString("BLUE"); } // never exit while } // END WHILE(1) PT_END(pt); } // thread 3 // === ADC Thread ============================================= static PT_THREAD(protothread_adc(struct pt *pt)) { PT_BEGIN(pt); int y; int z; unsigned static int cursorX=120; unsigned static int cursorY=160; unsigned int angle=1; while (1) { PT_YIELD_TIME_msec(100); // read the ADC outputs for each finger SetChanADC10(ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN5); PT_YIELD_TIME_msec(2); ringFinger = ReadADC10(0); PT_YIELD_TIME_msec(2); SetChanADC10(ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN11); PT_YIELD_TIME_msec(2); pointerFinger = ReadADC10(0); PT_YIELD_TIME_msec(2); SetChanADC10(ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN0); PT_YIELD_TIME_msec(2); pinky = ReadADC10(0); PT_YIELD_TIME_msec(2); SetChanADC10(ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN3); PT_YIELD_TIME_msec(2); thumb = ReadADC10(0); PT_YIELD_TIME_msec(2); SetChanADC10(ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN9); PT_YIELD_TIME_msec(2); middleFinger = ReadADC10(0); PT_YIELD_TIME_msec(2); Get_Accel_Values(); y= (ACCEL_YOUT+8192)/2000; z= ACCEL_ZOUT/4000; //Set angle if(z<0) angle=7; //if ACCEL_ZOUT is negative, move cursor DOWN else if(y==0) angle=7; else if(y==1) angle=6; else if(y==2) angle=4; else if(y==3) angle=1; else if(y==4) angle=2; else if(y==5) angle=3; else if(y==6) angle=5; else if(y==7) angle=8; else if(y==8 || y==9) angle=7; if(draw == 1){ //DRAW //Make cursor adjustments, based on angle switch (angle) { case 1: cursorX=cursorX-2; cursorY=cursorY-2; break; case 2: cursorX=cursorX; cursorY=cursorY-2; break; case 3: cursorX=cursorX+2; cursorY=cursorY-2; break; case 4: cursorX=cursorX-2; cursorY=cursorY; break; case 5: cursorX=cursorX+2; cursorY=cursorY; break; case 6: cursorX=cursorX-2; cursorY=cursorY+2; break; case 7: cursorX=cursorX; cursorY=cursorY+2; break; case 8: cursorX=cursorX+2; cursorY=cursorY+2; break; } //Stop drawing further if cursor goes past borders if(cursorX>237) cursorX=237; else if(cursorX<2) cursorX=2; if(cursorY<20) cursorY=20; else if(cursorY>317) cursorY=317; //Draw corresponding color... yellow for testing if(color==1) tft_fillCircle(cursorX,cursorY,1,ILI9340_RED); else if(color==2) tft_fillCircle(cursorX,cursorY,1,ILI9340_GREEN); else if(color==3) tft_fillCircle(cursorX,cursorY,1,ILI9340_BLUE); else if(color==0) tft_fillCircle(cursorX,cursorY,1,ILI9340_WHITE); else tft_fillCircle(cursorX,cursorY,1,ILI9340_YELLOW); } // NEVER exit while } // END WHILE(1) PT_END(pt); } // // === Main ====================================================== // set up UART, timer2, threads // then schedule them as fast as possible int main(void) { ANSELA = 0; ANSELB = 0; CM1CON = 0; CM2CON = 0; // === config the uart, DMA, vref, timer5 ISR ============= PT_setup(); // the ADC /////////////////////////////////////// // configure and enable the ADC CloseADC10(); // ensure the ADC is off before setting the configuration // define setup parameters for OpenADC10 // Turn module on | ouput in integer | trigger mode auto | enable autosample // ADC_CLK_AUTO -- Internal counter ends sampling and starts conversion (Auto convert) // ADC_AUTO_SAMPLING_ON -- Sampling begins immediately after last conversion completes; SAMP bit is automatically set // ADC_AUTO_SAMPLING_OFF -- Sampling begins with AcquireADC10(); #define PARAM1 ADC_FORMAT_INTG16 | ADC_CLK_AUTO | ADC_AUTO_SAMPLING_ON // // define setup parameters for OpenADC10 // ADC ref external | disable offset test | disable scan mode | do 1 sample | use single buf | alternate mode off #define PARAM2 ADC_VREF_AVDD_AVSS | ADC_OFFSET_CAL_DISABLE | ADC_SCAN_OFF | ADC_SAMPLES_PER_INT_1 | ADC_ALT_BUF_OFF | ADC_ALT_INPUT_OFF // // Define setup parameters for OpenADC10 // use peripherial bus clock | set sample time | set ADC clock divider // ADC_CONV_CLK_Tcy2 means divide CLK_PB by 2 (max speed) // ADC_SAMPLE_TIME_5 seems to work with a source resistance < 1kohm #define PARAM3 ADC_CONV_CLK_PB | ADC_SAMPLE_TIME_5 | ADC_CONV_CLK_Tcy2 //ADC_SAMPLE_TIME_15| ADC_CONV_CLK_Tcy2 // define setup parameters for OpenADC10 // set AN4 and as analog inputs #define PARAM4 ENABLE_AN9_ANA | ENABLE_AN11_ANA | ENABLE_AN0_ANA | ENABLE_AN5_ANA | ENABLE_AN3_ANA // define setup parameters for OpenADC10 // do not assign channels to scan #define PARAM5 SKIP_SCAN_ALL SetChanADC10(ADC_CH0_NEG_SAMPLEA_NVREF | ADC_CH0_POS_SAMPLEA_AN9); // configure to sample AN4 OpenADC10(PARAM1, PARAM2, PARAM3, PARAM4, PARAM5); // configure ADC using the parameters defined above EnableADC10(); // Enable the ADC /////////////////////////////////////////////////////// // init the display tft_init_hw(); tft_begin(); tft_fillScreen(ILI9340_BLACK); tft_fillRoundRect(0, 18, 240, 1, 0, ILI9340_WHITE); // x,y,w,h,radius,color tft_fillRoundRect(0, 319, 240, 1, 0, ILI9340_WHITE); tft_fillRoundRect(0, 18, 1, 302, 0, ILI9340_WHITE); tft_fillRoundRect(239, 18, 1, 302, 0, ILI9340_WHITE); //240x320 vertical display tft_setRotation(0); // Use tft_setRotation(1) for 320x240 //I2C SETUP CODE int error = 1; Setup_I2C(); tft_fillRoundRect(120, 160, 15, 15, 0, ILI9340_GREEN); // x,y,w,h,radius,color do { Setup_MPU6050(); MPU6050_Test_I2C(); error = MPU6050_Check_Registers(); } while (error == 1); //Green square displayed if stuck in loop Zero_Sensors(); tft_fillRoundRect(120, 160, 15, 15, 0, ILI9340_BLACK); // x,y,w,h,radius,color // === setup system wide interrupts ==================== INTEnableSystemMultiVectoredInt(); // === now the threads ==================== // init the thread control semaphores PT_SEM_INIT(&control_t1, 0); // start blocked PT_SEM_INIT(&control_t2, 1); // start unblocked PT_SEM_INIT(&control_t6, 0); // start blocked // init the threads PT_INIT(&pt_adc); PT_INIT(&pt3); PT_INIT(&pt_stuff); // schedule the threads while (1) { // round robin PT_SCHEDULE(protothread3(&pt3)); PT_SCHEDULE(protothread_values(&pt_stuff)); PT_SCHEDULE(protothread_adc(&pt_adc)); } } // main