#include <ex_usb_common.h>
#define MPU_SDA PIN_E0
#define MPU_SCL PIN_E1
#use I2C(master, sda=MPU_SDA, scl=MPU_SCL)
#use TIMER(TIMER=1, TICK=1ms, BITS=16, NOISR)
#define RAD_TO_DEG 180/PI
#define LCD_ENABLE_PIN PIN_D2
#define LCD_RS_PIN PIN_D0
#define LCD_RW_PIN PIN_D1
#define LCD_DATA4 PIN_D4
#define LCD_DATA5 PIN_D5
#define LCD_DATA6 PIN_D6
#define LCD_DATA7 PIN_D7
#include <lcd.c>
/////////////////////////////////////////////////////////////////////////////
//
// Include the CCS USB Libraries. See the comments at the top of these
// files for more information
//
/////////////////////////////////////////////////////////////////////////////
#if __USB_PIC_PERIF__
#if defined(__PCM__)
#include <pic16f_usb.h> //Microchip PIC16Fxxxx hardware layer for usb.c
#elif defined(__PCH__)
#include <pic18_usb.h> //Microchip PIC18Fxx5x hardware layer for usb.c
#elif defined(__PCD__)
#include <pic24_usb.h> //Microchip PIC18Fxx5x hardware layer for usb.c
#endif
#else
#include <usbn960x.h> //National 960x hardware layer for usb.c
#endif
#include <usb_desc_keyboard.h> //USB Configuration and Device descriptors for this UBS device
#include <usb.c> //handles usb setup tokens and get descriptor reports
#include "MPU6050.c"
#include "math.h"
#include "Kalman.h"
typedef enum
{
KB_MODIFIER_LEFT_CTRL = 1,
KB_MODIFIER_LEFT_SHIFT = 2,
KB_MODIFIER_LEFT_ALT = 4,
KB_MODIFIER_LEFT_GUI = 8,
KB_MODIFIER_RIGHT_CTRL = 16,
KB_MODIFIER_RIGHT_SHIFT = 32,
KB_MODIFIER_RIGHT_ALT = 64,
KB_MODIFIER_RIGHT_GUI = 128
} kb_modifier_t;
typedef enum
{
USB_KBD_SCANCODE_ESC = 0x29,
USB_KBD_SCANCODE_CAPS_LOC = 0x39,
USB_KBD_SCANCODE_F1 = 0x3A, //F2 is 0x3B, F3 is 0x3C, etc. this is valid up to F12
USB_KBD_SCANCODE_PRTSC = 0x46,
USB_KBD_SCANCODE_SCROLL_LOCK = 0x47,
USB_KBD_SCANCODE_PAUSE = 0x48,
USB_KBD_SCANCODE_INS = 0x49,
USB_KBD_SCANCODE_HOME = 0x4A,
USB_KBD_SCANCODE_PG_UP = 0x4B,
USB_KBD_SCANCODE_DEL = 0x4C,
USB_KBD_SCANCODE_END = 0x4D,
USB_KBD_SCANCODE_PG_DN = 0x4E,
USB_KBD_SCANCODE_RIGHT = 0x4F,
USB_KBD_SCANCODE_LEFT = 0x50,
USB_KBD_SCANCODE_DOWN = 0x51,
USB_KBD_SCANCODE_UP = 0x52,
USB_KBD_SCANCODE_NUM_LOCK = 0x53,
USB_KBD_SCANCODE_WIN_MENU = 0x65,
USB_KBD_SCANCODE_F13 = 0x68, //F14 is 0x69, F15 is 0x6A, etc. this is valid up to F24
USB_KBD_SCANCODE_HELP = 0x75,
USB_KBD_SCANCODE_UNDO = 0x7A,
USB_KBD_SCANCODE_CUT = 0x7B,
USB_KBD_SCANCODE_COPY = 0x7C,
USB_KBD_SCANCODE_PASTE = 0x7D,
USB_KBD_SCANCODE_MUTE = 0x7F,
USB_KBD_SCANCODE_VOL_UP = 0x80,
USB_KBD_SCANCODE_VOL_DOWN = 0x81
} kb_scancode_t;
signed int16 accX,accY, accZ;
SIGNED int16 gyroX,gyroY,gyroZ;
DOUBLE accXangle,accYangle;
DOUBLE gyroXangle,gyroYangle;
DOUBLE kalAngleX,kalAngleY;
UNSIGNED int16 timer;
UNSIGNED int16 key=0x00,key2=0x00;
unsigned int16 mpu_6050_task(void)
{
//chuong trinh
accX = Mpu6050_GetData(MPU6050_RA_ACCEL_XOUT_H);
accY = Mpu6050_GetData(MPU6050_RA_ACCEL_YOUT_H);
accZ = Mpu6050_GetData(MPU6050_RA_ACCEL_ZOUT_H);
gyroX = Mpu6050_GetData(MPU6050_RA_GYRO_XOUT_H);
gyroY = Mpu6050_GetData(MPU6050_RA_GYRO_YOUT_H);
gyroZ = Mpu6050_GetData(MPU6050_RA_GYRO_ZOUT_H);
set_ticks(0);
accXangle = (atan2 (accY, accZ) + PI) * RAD_TO_DEG;
DOUBLE gyroXrate = (double) gyroX / 131.0;
gyroXangle += gyroXrate * ( (DOUBLE) (get_ticks () - timer) / 1000);
kalAngleX = kalmanCalculate (accXangle, gyroXrate, (get_ticks()-timer));
timer = get_ticks ();
set_ticks(0);
accYangle = (atan2 (accX, accZ) + PI) * RAD_TO_DEG;
DOUBLE gyroYrate = (double) gyroY / 131.0;
gyroYangle += gyroYrate * ( (DOUBLE) (get_ticks () - timer) / 1000);
kalAngleY = kalmanCalculate (accYangle, gyroYrate, (get_ticks()-timer));
timer = get_ticks ();
LCD_Gotoxy (1, 1) ;
printf (LCD_PUTC, "X=%f", kalAngleX);
key=0x00;
LCD_Gotoxy (10, 1) ;
printf (LCD_PUTC, " " );
if(kalAngleX>200)
{
LCD_Gotoxy (10, 1) ;
printf (LCD_PUTC, "back " );
key= 0x51;//Down
}
if((150<kalAngleX)&&(kalAngleX<170))
{
LCD_Gotoxy (10, 1) ;
printf (LCD_PUTC, "forward" );
key= 0x52;//Up
}
if(kalAngleX<150)
{
LCD_Gotoxy (10, 1) ;
printf (LCD_PUTC, "nitro " );
key= 0x2C;//Space
}
LCD_Gotoxy (1, 2) ;
printf (LCD_PUTC, "Y=%f", kalAngleY);
LCD_Gotoxy (10, 2) ;
printf (LCD_PUTC, " " );
key2=0x00;
if(kalAngleY>200)
{
LCD_Gotoxy (10, 2) ;
printf (LCD_PUTC, "left " );
key2= 0x50;
}
if(kalAngleY<160)
{
LCD_Gotoxy (10, 2) ;
printf (LCD_PUTC, "right " );
key2 = 0x4F;
}
delay_ms(50); //Khong co la se treo
return key;
}
//Het chuong trinh
void usb_debug_task(void)
{
static int8 last_connected;
static int8 last_enumerated;
int8 new_connected;
int8 new_enumerated;
new_connected=usb_attached();
new_enumerated=usb_enumerated();
if (new_connected)
LED_ON(LED2);
else
LED_OFF(LED2);
if (new_enumerated)
{
LED_ON(LED1);
LED_ON(LED2);
}
else
{
LED_OFF(LED1);
LED_OFF(LED2);
}
/*
if (new_connected && !last_connected)
printf (LCD_PUTC, "\fUSB connected\nwaiting for enumaration...");
if (!new_connected && last_connected)
printf (LCD_PUTC, "\fUSB disconnected\nwaiting for connection...");
if (new_enumerated && !last_enumerated)
printf (LCD_PUTC, "\fUSB enumerated\nby PC/HOST");
if (!new_enumerated && last_enumerated)
printf (LCD_PUTC, "\fUSB unenumerated by PC/HOST\nwaiting for enumeration...");
*/
last_connected=new_connected;
last_enumerated=new_enumerated;
}
/////////////////////////////////////////////////////////////////////////////
//
// usb_keyboard_task()
//
// Sends a packet of keyboard data. The protocol was specified in the HID
// report descriptor (see usb_desc_kbmouse.h), and is:
// tx_msg[0] = modifier (see kb_modifier_t)
// tx_msg[1] = const 0
// tx_msg[2:6] = an array of held down keys. a=4, b=5, etc.
// if msg[2:7]={0} then no keys are held down
//
// rx_msg[0] = 5bit bitmap of led status
//
/////////////////////////////////////////////////////////////////////////////
void usb_keyboard_task(void)
{
unsigned int8 tx_msg[7];
unsigned int8 leds;
unsigned int16 scancode;
if (usb_tbe(1))
{
memset(tx_msg, 0x00, sizeof(tx_msg));
//scancode =mpu_6050_task();
//if(scancode!=0x00)
mpu_6050_task();
if(key!=0x00)
{
tx_msg[2] =key;//scancode;
}
if(key2!=0x00)
{
tx_msg[3] =key2;//scancode;
}
usb_put_packet(1, tx_msg, sizeof(tx_msg), USB_DTS_TOGGLE);
}
//receive NUM LOCK, CAPS LOCK, etc LED status from PC.
//we won't do anything with it.
if (usb_kbhit(1))
{
usb_get_packet(1, &leds, 1);
}
}
void main(void)
{
lcd_init ();
printf (LCD_PUTC, "\f MuaLinhKien.Vn \nPIC 16/18 Basic Kit");
delay_ms(1000);
HW_INIT();
LED_ON(LED1);
LED_OFF(LED2);
LED_OFF(LED3);
Mpu6050_Init () ;
delay_ms (500) ;
INT8 x;
x = Mpu6050_Read(MPU6050_RA_WHO_AM_I);
IF (x != 0x68)
{
LCD_Gotoxy (2, 0) ;
printf (LCD_PUTC, "Connection ERR!!!");
return;
}
usb_init_cs();
printf (LCD_PUTC, "\f");
while (TRUE)
{
usb_task();
usb_debug_task();
if (usb_enumerated())
{
usb_keyboard_task();
}
}
}
Hi. Chào mừng bạn đến với blog của tôi. Đây là nơi tôi hay note lại những câu chuyện những trải nghiệm dưới góc nhìn của tôi. Hi vọng nó mang lại giá trị cho các bạn. Thông tin về tôi![[English] ex viết tắt của từ gì? ex là gì? ex nghĩa là gì?](https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhFiRP7spsayG2ppte_20L5qkUrX_HsatNpN8LxoNux1ewEve0IUrCurRVh7VfOvFvrgvnfloMyf_KXZnWfif-BDKLlU5A9zSat0y-Bvu3BeNedpCEJsmMzBTZ-KVRFPfIUZZI60uG8Z5k/s72-c/what-is-ex-meaning.jpg)
![[VI ĐIỀU KHIỂN PIC] - BÀI 6: TIMER/COUNTER CỦA PIC TRONG CCS](https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjCz787KDILJfZRV78M_FwKV1KfpbML6oDxg3VEpJgu0t0RJY02ANCf7h2BeqkgD5UgoufjwXLnxGh8Hj1RlBnjlkQYUBrrjUwObg3Ru4lGv0Slpmf1xEjvDJMp5sg425Oaoc_NCuUFqow/s72-c-d/pic-microcontrollers-examples-in-assembly-language-chapter-04-fig4-1.gif)
![[VI ĐIỀU KHIỂN PIC] - BÀI 7: ANALOG (ADC) CỦA PIC TRONG CCS](https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiUKGTlRMrOPiQlrL-hvj4au7WA4MEdUChYe_L6bH5mOIDDBpmEBaW_oIKQYz04kfHKY2FmcWb8urcsZgPXMNp5r4ZHqskRjbYNp12JvklYcXHrnweaizv7lKPyribPyxWtsUNzggwXfOI/s72-c/04-06-2017+10-28-24+PM.png)
![[VI ĐIỀU KHIỂN PIC***] - BÀI TẬP MẪU ĐẶC BIỆT CỦA VI ĐIỀU KHIỂN PIC16F877A](https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjeSJllTzabiuuA-Zd8LVZY9urJdd-InM0cVOkJtiqrwHcEGJQIajPm7BoERinwbHbEJ2fzFN_P49llQiqF-KyGMuY9NkP5HdA31GAcfcG4WjHdZl2RDngNbMNjts3gpkgib5sVR01eeKc/s72-c/1.png)
![[VI ĐIỀU KHIỂN PIC] - BÀI 9: KHỞI TẠO PWM TRONG PIC 16F877A VỚI CCS](https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjerTKUiWHBBUrmBbbOQILAmqhC73Ubt_nYZR9fSu1FCPX2aXz59Ir4kJRIkpphvjOK_Aljt1NCDqHct6fmoeX8JomWvOu06OkZ7fYQvK975ftMf1J4kP8iYpX6P9tPo3NmiSXTS_vUjRY/s72-c/10-06-2017+11-40-42+PM.png)
![[VI ĐIỀU KHIỂN PIC] - BÀI 8: GIAO TIẾP LM35 PIC16F877A TRONG CCS](https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgf6kgYQjVzdLTbPiEhjagyXQbubtwplknQ3H2kdg-7T6Di-5_oIpvAGdP3W4DL9sKeSUktz35CKibzHAz7j0eZI5sp1kGnbTYT5bBoy0P7Xv-RPxmUC_SXC9FkrCXS4Kdc3Ob1E7cI0eI/s72-c/HH.png)
