void spi_begin(void)
{
spi_pin_init();
SPI0_CONTROL = 0;
SPI0_CONTROL |= BIT(SPI_C_CLEAR_RX) | BIT(SPI_C_CLEAR_TX); // Clear TX and RX fifos
SPI0_CONTROL &= ~(BIT(SPI_C_CPOL) | BIT(SPI_C_CPHA)); // Set data mode = 0
SPI0_CONTROL &= ~(BIT(SPI_C_CS0) | BIT(SPI_C_CS1)); // Set to CS0 and Chip Select Polarity=LOW
SPI0_CONTROL &= ~BIT(SPI_C_CSPOL0);
SPI0_CLK = 16; // Set clock to ???
}
/*! \fn __attribute__((no_instrument_function)) void not_main(void)
* \brief The main, or not so main function.
*
* not_main is a thing i picked up from some example code online and haven't done anything with it since :S This is the entry point of the c program.
*/
__attribute__((no_instrument_function)) void not_main(void)
{
/* board initialisation */
uart_init();
spi_pin_init();
flag = 0;
struct mpu60x0_stateType mpu60x0_state[NUM_FACES];
for (int i=0; i<NUM_FACES; i++)
{
mpu60x0_state[i].gyro_rate = INV_MPU60x0_FSR_250DPS;
mpu60x0_state[i].accel_rate = INV_MPU60x0_FS_02G;
mpu60x0_state[i].filter_cutoff = INV_MPU60x0_FILTER_256HZ_NOLPF2;
}
int init_failed = 0;
/* initialise all mpu 6000 boards */
for (int i=0; i<NUM_FACES; i++)
{
if (!mpu60x0_init(shape_cs_mappings[i], &(mpu60x0_state[i])))
{
init_failed = 1;
printf("MPUDev: %d failed\n", i);
}
}
if (init_failed)
return;
//Configure SD Status LED for output
gpio_function_select(16, GPIO_FUNC_OUTPUT);
int mode = select_mode();
printf("mode is: %d\n", mode);
/* interrupt pin config */
gpio_set_interrupts();
c_enable_irq();
//assign function to handle gpio_irqs
register_irq_handler ( GPIO_INT0, gpio_irq );
register_irq_handler ( GPIO_INT1, gpio_irq );
register_irq_handler ( GPIO_INT2, gpio_irq );
register_irq_handler ( GPIO_INT3, gpio_irq );
//enable irq handling on gpio interrupts
enable_interrupt_for_irq(GPIO_INT0);
enable_interrupt_for_irq(GPIO_INT1);
enable_interrupt_for_irq(GPIO_INT2);
enable_interrupt_for_irq(GPIO_INT3);
flag = 0;
unsigned int prevTs = 0;
GPIO_OUTPUT_LEVEL prevLevel = GPIO_OUTPUT_HIGH;
switch (mode)
{
case 0:
main_readings(mpu60x0_state);
return;
case 1:
static_calibration(mpu60x0_state);
return;
case 2:
main_debug(mpu60x0_state);
return;
default:
printf("invalid mode\n");
return;
}
}
