void main(void)
{
int i = 0;
InitMicrocontroller();
//initialize variables to known state
for(i=0;i<8;i++){
if(i%2)
sensors.sensor[i] = 1988;
else
sensors.sensor[i] = 7705;
}
flags.bit.start_new_transmit = 1;
flags.bit.wait_for_master = 1;
init_fcu_packet(&sensor_tx_packet, RAW_SENSOR_DATA);
fcu_tx_packet = &sensor_tx_packet;
InitGpio(); //set gpio for general i/o pins, not peripheral pins.
InitSpi(); //sets gpio and all registers for spiA and spiB
IER |= M_INT6; //turn on group 6 interrupts
PieCtrlRegs.PIEIER6.all = 0x0F; // turn on all spi interrupts
EINT; // Enable Global interrupt INTM
ERTM; // Enable Global realtime interrupt DBGM //not sure what this is for
// IMU_PWR_ON();
// //wait for IMU_SENSE to power up
// while(ADC_DRDY())
// ;
//loop forever
for(;;){
if(flags.bit.start_new_transmit){
SpiaRegs.SPITXBUF = 0xFA00;
while(!SpiaRegs.SPISTS.bit.INT_FLAG){} //wait for tranfer to finish
SpiaRegs.SPIRXBUF; //throw away data, clear INT_FLAG
SpiaRegs.SPITXBUF = 0xCE00; //finish sending FACE
while(!SpiaRegs.SPISTS.bit.INT_FLAG){} //wait for tranfer to finish
SpiaRegs.SPIRXBUF; //throw away data, clear INT_FLAG
SpiaRegs.SPICTL.bit.SPIINTENA = 1; //enable interrupts, the rest is interrupt driven.
SpiaRegs.SPITXBUF = 0x0000; //start next transmission, will cause interrupt at finish.
flags.bit.start_new_transmit = 0;
}
//only modify packet when we want to make a new packet and the SPI FIFO is
//disabled(means we are not in the middle of a transmission)
// if(flags.bit.make_new_fcu_packet && flags.bit.wait_for_master){
// flags.bit.make_new_fcu_packet = 0;
// make_fcu_packet(&sensor_tx_packet);
// }
}
}
void main(void)
{
int i = 0;
InitMicrocontroller();
//initialize variables to known state
for(i=0;i<8;i++){
sensors.sensor[i] = i;
}
flags.all = 0x0000; //clear flags
flags.bit.want_new_adc_data = 1;
flags.bit.wait_for_master = 1;
init_fcu_packet(&sensor_tx_packet, RAW_SENSOR_DATA);
fcu_tx_packet = &sensor_tx_packet;
InitGpio(); //set gpio for general i/o pins, not peripheral pins.
InitSpi(); //sets gpio and all registers for spiA and spiB
IER |= M_INT6 | M_INT11; //turn on group 6 and 11 interrupts
PieCtrlRegs.PIEIER6.all = 0x0F; // turn on all spi interrupts
PieCtrlRegs.PIEIER11.all = 0x03; // turn on CLA INT1 and INT2
EINT; // Enable Global interrupt INTM
ERTM; // Enable Global realtime interrupt DBGM //not sure what this is for
IMU_PWR_ON();
//wait for IMU_SENSE to power up
while(ADC_DRDY())
;
//loop forever
for(;;){
if(flags.bit.want_new_adc_data && ADC_DRDY()){
//load SPI TX FIFO to get ADC data.
SpiaRegs.SPITXBUF = 0x0000;
SpiaRegs.SPITXBUF = 0x0000;
SpiaRegs.SPITXBUF = 0x0000;
SpiaRegs.SPITXBUF = 0x0000;
}
//only modify packet when we want to make a new packet and we are not tx with master
if(flags.bit.make_new_fcu_packet && flags.bit.wait_for_master){
flags.bit.make_new_fcu_packet = 0;
make_fcu_packet(&sensor_tx_packet);
}
}
}
int main(void)
{
/*~~~~~~~~~~~~~~~~*/
/*
*/
DDRB = 0xFF;
PORTB = 0xFF;
DDRA = 0xFF;
PORTA =0xFF;
InitSpi();
LcdInit();
_delay_ms(1000);
while(1)
;
return 0;
}