//
//
void BMX055_GET_ACC(unsigned char acc_data[]) {
//    unsigned char data[7];
    
    LATAbits.LA1 = 1;
    
    I2C_Master_Start();
    I2C_Master_Write(BMX055_ACC_ADDR);      // ??????
    I2C_Master_Write(BMX055_ACC_DATA);      // Select data register
    I2C_Master_Stop();
    
    I2C_Master_Start();
    I2C_Master_Write(BMX055_ACC_ADDR+1);      // ???????
    for (int i = 0; i < 6; i++) {
        acc_data[i] = I2C_Master_Read(0);  // Request 1 byte of data
        // Read 7 bytes of data
        // xAccl lsb,msb, yAccl lsb,msb, zAccl lsb,msb temp
    }
    acc_data[6] = I2C_Master_Read(1);  // Request 1 byte of data
    I2C_Master_Stop();
    //data[0] = 0xFF;
    //data[1] = 0xFF;
    //acc_data[6] = 0xFF;
  
//    acc_data[0] = (data[0] >> 4) + (data[1] << 4);
//    acc_data[1] = (data[2] >> 4) + (data[3] << 4);
//    acc_data[2] = (data[4] >> 4) + (data[5] << 4);
//    acc_data[3] = data[6];
//    if(acc_data[0] > 2047) acc_data[0] = acc_data[0] - 4096;
//    if(acc_data[1] > 2047) acc_data[1] = acc_data[1] - 4096;
//    if(acc_data[2] > 2047) acc_data[2] = acc_data[2] - 4096;
//    if(acc_data[3] > 127) acc_data[3] = acc_data[3] - 256;
//    acc_data[3] = acc_data[3] + 46;     // 23*2 0.5???
            
    LATAbits.LA1 = 0;
}

//
// ??????
void BMX055_GET_GYRO(unsigned char gyro_data[]) {
//    unsigned char data[6];
    
    LATAbits.LA1 = 1;
    
    I2C_Master_Start();
    I2C_Master_Write(BMX055_GYRO_ADDR);      // ???????
    I2C_Master_Write(BMX055_GYRO_DATA);      // Select data register
    I2C_Master_Stop();
    
    I2C_Master_Start();
    I2C_Master_Write(BMX055_GYRO_ADDR+1);      // ??????????
    for (int i = 0; i < 5; i++) {
        gyro_data[i] = I2C_Master_Read(0);  // Request 1 byte of data
        // Read 6 bytes of data
        // xAccl lsb,msb, yAccl lsb,msb, zAccl lsb,msb temp
    }
    gyro_data[5] = I2C_Master_Read(1);  // Request 1 byte of data
    I2C_Master_Stop();
    //data[0] = 0xFF;
    //data[1] = 0xFF;
  
//    gyro_data[0] = data[0] + (data[1] << 8);
//    gyro_data[1] = data[2] + (data[3] << 8);
//    gyro_data[2] = data[4] + (data[5] << 8);
//    if(gyro_data[0] > 32767) gyro_data[0] = gyro_data[0] - 65536;
//    if(gyro_data[1] > 32767) gyro_data[1] = gyro_data[1] - 65536;
//    if(gyro_data[2] > 32767) gyro_data[2] = gyro_data[2] - 65536;
            
    LATAbits.LA1 = 0;
}

void APP_DeviceCustomHIDTasks()
{   
    /* If the USB device isn't configured yet, we can't really do anything
     * else since we don't have a host to talk to.  So jump back to the
     * top of the while loop. */
    if( USBGetDeviceState() < CONFIGURED_STATE )
    {
        return;
    }

    /* If we are currently suspended, then we need to see if we need to
     * issue a remote wakeup.  In either case, we shouldn't process any
     * keyboard commands since we aren't currently communicating to the host
     * thus just continue back to the start of the while loop. */
    if( USBIsDeviceSuspended()== true )
    {
        return;
    }
    
    //Check if we have received an OUT data packet from the host
    if(HIDRxHandleBusy(USBOutHandle) == false)
    {   
        //We just received a packet of data from the USB host.
        //Check the first uint8_t of the packet to see what command the host
        //application software wants us to fulfill.
        switch(ReceivedDataBuffer[0])				//Look at the data the host sent, to see what kind of application specific command it sent.
        {
            case COMMAND_TOGGLE_LED:  //Toggle LEDs command
                LED_Toggle(LED_USB_DEVICE_HID_CUSTOM);
                break;
            case COMMAND_GET_BUTTON_STATUS:  //Get push button state
                //Check to make sure the endpoint/buffer is free before we modify the contents
                
                BMX055_GET_ACC(acc_data);
                //__delay_ms(10) ;        // ms
                BMX055_GET_GYRO(gyro_data);

                if(!HIDTxHandleBusy(USBInHandle))
                {
                    ToSendDataBuffer[0] = 0x81;				//Echo back to the host PC the command we are fulfilling in the first uint8_t.  In this case, the Get Pushbutton State command.
                    if(BUTTON_IsPressed(BUTTON_USB_DEVICE_HID_CUSTOM) == false)	//pushbutton not pressed, pull up resistor on circuit board is pulling the PORT pin high
                    {
                            ToSendDataBuffer[1] = 0x01;
                    }
                    else									//sw3 must be == 0, pushbutton is pressed and overpowering the pull up resistor
                    {
                            ToSendDataBuffer[1] = 0x00;
                    }
                    
                    for (ix = 0; ix < 6;ix++) {
                        ToSendDataBuffer[ix+2] = acc_data[ix];
                        ToSendDataBuffer[ix+9] = gyro_data[ix];
                    }
                    ToSendDataBuffer[8] = acc_data[6];
                    
                    //Prepare the USB module to send the data packet to the host
                    USBInHandle = HIDTxPacket(CUSTOM_DEVICE_HID_EP, (uint8_t*)&ToSendDataBuffer[0],64);
                }
                break;

        }
        //Re-arm the OUT endpoint, so we can receive the next OUT data packet 
        //that the host may try to send us.
        USBOutHandle = HIDRxPacket(CUSTOM_DEVICE_HID_EP, (uint8_t*)&ReceivedDataBuffer[0], 64);
    }
}

void CBMX055APP01View::OnTimer(UINT_PTR nIDEvent)
{
	// TODO: ここにメッセージ ハンドラー コードを追加するか、既定の処理を呼び出します。
	CView::OnTimer(nIDEvent);

	DWORD BytesWritten = 0;
	DWORD BytesRead = 0;
	unsigned char OutputPacketBuffer[65];	//Allocate a memory buffer equal to our endpoint size + 1
	unsigned char InputPacketBuffer[65];	//Allocate a memory buffer equal to our endpoint size + 1
	CDC* pDC = GetDC();
	CBMX055APP01Doc* pDoc = GetDocument();

	int temp1;
	int temp2;
	int ix;
	int iy;

	CString str01;
//	SYSTEMTIME systime_s;  // 処理の開始時刻
//	SYSTEMTIME systime_e;  // 処理の終了時刻

	if (WriteHandle == INVALID_HANDLE_VALUE) return;

	GetLocalTime(&systime_s);		// 開始時刻を取得

	InputPacketBuffer[0] = 0;				//The first byte is the "Report ID" and does not get transmitted over the USB bus.  Always set = 0.
	OutputPacketBuffer[0] = 0;				//The first byte is the "Report ID" and does not get transmitted over the USB bus.  Always set = 0.

	OutputPacketBuffer[1] = 0x81;

	WriteFile(WriteHandle, &OutputPacketBuffer, 65, &BytesWritten, 0);

	ReadFile(ReadHandle, &InputPacketBuffer, 65, &BytesRead, 0);

	GetLocalTime(&systime_e);		// 終了時刻を取得

	acc_data[0] = (InputPacketBuffer[3] >> 4) + (InputPacketBuffer[4] << 4);
	acc_data[1] = (InputPacketBuffer[5] >> 4) + (InputPacketBuffer[6] << 4);
	acc_data[2] = (InputPacketBuffer[7] >> 4) + (InputPacketBuffer[8] << 4);
	if (acc_data[0] > 2047) acc_data[0] = acc_data[0] - 4096;
	if (acc_data[1] > 2047) acc_data[1] = acc_data[1] - 4096;
	if (acc_data[2] > 2047) acc_data[2] = acc_data[2] - 4096;

	gyro_data[0] = InputPacketBuffer[10] + (InputPacketBuffer[11] << 8);
	gyro_data[1] = InputPacketBuffer[12] + (InputPacketBuffer[13] << 8);
	gyro_data[2] = InputPacketBuffer[14] + (InputPacketBuffer[15] << 8);
	if (gyro_data[0] > 32767) gyro_data[0] = gyro_data[0] - 65536;
	if (gyro_data[1] > 32767) gyro_data[1] = gyro_data[1] - 65536;
	if (gyro_data[2] > 32767) gyro_data[2] = gyro_data[2] - 65536;

	temp_data = InputPacketBuffer[9];
	if (temp_data > 127) temp_data = temp_data - 256;

	cds_data = InputPacketBuffer[2];


	for (ix = 0; ix < 499; ix++) {
		for (iy = 0; iy < 3; iy++) {
			pDoc->Doc_acc_data[iy][ix] = pDoc->Doc_acc_data[iy][ix+1];
			pDoc->Doc_gyro_data[iy][ix] = pDoc->Doc_gyro_data[iy][ix+1];
		}
		pDoc->Doc_temp_data[ix] = pDoc->Doc_temp_data[ix + 1];
		pDoc->Doc_cds_data[ix] = pDoc->Doc_cds_data[ix + 1];
		pDoc->systime_d[ix] = pDoc->systime_d[ix + 1];
	}

	for (ix = 0; ix < 3; ix++) {
		pDoc->Doc_acc_data[ix][499] = acc_data[ix] - pDoc->calib_acc_data[ix];
		pDoc->Doc_gyro_data[ix][499] = gyro_data[ix];				// gyro は敏感
	}
//	pDoc->Doc_acc_data[2][499] = pDoc->Doc_acc_data[2][499] - 1000;		// Z軸は特別
	pDoc->Doc_temp_data[499] = temp_data;
	pDoc->Doc_cds_data[499] = cds_data;
	pDoc->systime_d[499] = systime_e;
		

	InvalidateRect(NULL, TRUE);
		
}

HOME