int main(void)
{
_delay_ms(1000);
ENABLE_DEBUG_LEDS;
LED3_ON;
wait_for_push();
twiInit();
// init_rgb_leds();
// init_optical_interrupt();
//test twi functions
uint8_t commands[] = {0x1B, 0x5B, 'j'}; // reset lcd cursor and clear screen
uint8_t data[] = {'H', 'E', 'L', 'L', 'O'};
twiMasterWrite(LCD_WRITE_ADDR, commands, 3);
twiMasterWrite(LCD_WRITE_ADDR, data, 5);
// test memory write to DS1307
uint8_t send_with_address[] = {0x08, 'h', 'e', 'l', 'l','o'};
twiMasterWrite(RTC_WRITE_ADDR, send_with_address, 6);
uint8_t receive_buffer[] = {0, 0, 0, 0, 0};
twiMasterReadFromLoc(RTC_READ_ADDR, RTC_WRITE_ADDR, 0x08, receive_buffer, 5);
twiMasterWrite(LCD_WRITE_ADDR, receive_buffer, 1);
while(1)
{
// do nothing
}
}
//Initialize the i2c communication and set the gyro to full scale range and 100 Hz update rate
void cITG3200::begin(void)
{
sbi(PORTD, GYRO_ADO); //Set the gyro pin high to select 0xD2 as gyro address
twiInit(80000); //Init. SCL speed to 50 kHz
//Set internal clock to 1kHz with 42Hz LPF and Full Scale to 3 for proper operation
write(DLPF_FS, DLPF_FS_SEL_0|DLPF_FS_SEL_1|DLPF_CFG_0);
//Set sample rate divider for 100 Hz operation
write(SMPLRT_DIV, 9); //Fsample = Fint / (divider + 1) where Fint is 1kHz
//Setup the interrupt to trigger when new data is ready.
write(INT_CFG, INT_CFG_RAW_RDY_EN | INT_CFG_ITG_RDY_EN);
//Select X gyro PLL for clock source
write(PWR_MGM, PWR_MGM_CLK_SEL_0);
}
/**
* Setup TWI
*/
void twi_setup(void) {
gpio_enable_module_pin(TWI_SCL, AVR32_TWI_SCL_0_0_FUNCTION);
gpio_enable_module_pin(TWI_DATA, AVR32_TWI_SDA_0_0_FUNCTION);
twiInit();
}
