int main(void) {
// Disable Watch Dog Timer
RCONbits.SWDTEN = 0;
// for LED
ODCAbits.ODA6 = 0;
TRISAbits.TRISA6 = 0;
TRISAbits.TRISA4 = 0;
TRISAbits.TRISA0 = 0;
//Enable channel
OpenI2C1(I2C_ON, I2C_BRG);
//Setup_MPU6050();
//LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_PWR_MGMT_1, 0x00);
SPI1Init();
SPI2Init();
LCDinit();
LCDProcessEvents();
//_05ms = false;
//TimerInit();
unsigned char fifocount[2];
while (1) {
if (updateScreen) {
LCDProcessEvents();
updateScreen = false;
}
if (getFifo) {
LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_FIFO_COUNTH, &fifocount[0], 2);
if (((((unsigned int) fifocount[0]) << 8) | fifocount[1]) == 1024) {
//need to reset
unsigned char temp = 0;
LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_USER_CTRL, &temp, 1);
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_USER_CTRL, 0b00000100 | temp);
/*
int i = 0;
for(i = data_p; i < data_p+CHUNK_SIZE; i++){
rpiData.imu[i] = 0;
}*/
__builtin_btg((unsigned int *) &LATA, 0);
} else if (((((unsigned int) fifocount[0]) << 8) | fifocount[1]) >= 42) {
LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_FIFO_R_W, &rpiData.imu[data_p], DMP_PACKET_SIZE);
__builtin_btg((unsigned int *) &LATA, 4);
}
getFifo = false;
}
__builtin_btg((unsigned int *) &LATA, 6);
}
return 0;
}
void
poll_hardware_address()
{
LCDProcessEvents(); /* continuously run the LCD state machine */
/* initialization: come up as slave0 by default */
if (hw_address == HW_ADDRESS__MAX)
{
hw_address = HW_ADDRESS__SLAVE0;
new_hw_address();
}
if (++hw_address == HW_ADDRESS__MAX)
hw_address = HW_ADDRESS__MASTER;
new_hw_address();
}
int main(void)
{
// Start from displaying of PIC24 banners
_display_state = DISP_HELLO;
// Setup PortA IOs as digital
AD1PCFG = 0xffff;
//IO Mapping for PIC24FJ64GA004
#ifdef __PIC24FJ64GA004__ //Defined by MPLAB when using 24FJ64GA004 device
ioMap();
lockIO();
#endif
// Setup SPI to communicate to EEPROM
SPIMPolInit();
// Setup EEPROM IOs
EEPROMInit();
// Setup the UART
UART2Init();
// Setup the timer
TimerInit();
// Setup the LCD
mLCDInit();
// Setup debounce processing
BtnInit();
// Setup the ADC
ADCInit();
// Setup the banner processing
BannerStart();
// Setup the RTCC
RTCCInit();
while (1) {
LCDProcessEvents();
ADCProcessEvents();
if (TimerIsOverflowEvent()){
// Button debounce processing
BtnProcessEvents();
// State dependent processing
switch (_display_state) {
// Show Microchip banners
case DISP_HELLO: BannerProcessEvents(); break;
// Show clock
case DISP_CLOCK: TBannerProcessEvents(); break;
// Show voltage and temperature
case DISP_VOLTAGE: VBannerProcessEvents(); break;
default: _display_state = DISP_HELLO;
}// End of switch (_display_state)...
// If S6 is pressed show the next example
if (BtnIsPressed(4)) {
// Change state and clear display
if(!TBannerIsSetup()){
_display_state++;
if(_display_state > DISP_MAX)
_display_state = 0;
// Initialize state
switch (_display_state) {
// Microchip banners
case DISP_HELLO: BannerInit(); break;
// Clock
case DISP_CLOCK: TBannerInit(); break;
// Voltage and temperature
case DISP_VOLTAGE: VBannerInit(); break;
default:
_display_state = 0;
}// End of switch (_display_state)...
mLCDClear();
}else
TBannerNext();
// wait for button released
while (BtnIsPressed(4)){
BtnProcessEvents();
}
}// End of if (BtnIsPressed(4)){...
if(_display_state == DISP_CLOCK){
if (BtnIsPressed(1)){
TBannerSetup();
// wait for button released
while (BtnIsPressed(1)) BtnProcessEvents();
}// End of if (BtnIsPressed(1 ...
if(TBannerIsSetup()){
if (BtnIsPressed(2)) {
TBannerChangeField(1);
// wait for button released
while (BtnIsPressed(2)) BtnProcessEvents();
}// End of if (BtnIsPressed(2)){...
if (BtnIsPressed(3)) {
// wait for button released
TBannerChangeField(0);
while (BtnIsPressed(3)) BtnProcessEvents();
}// End of if (BtnIsPressed(3)){...
}// End of if(TBannerIsSetup( ...
}// End of if(_display_state == DISP_SET_CLOCK ...
if(_display_state == DISP_VOLTAGE){
if (BtnIsPressed(2)){
ADCSetFromMemory();
// wait for button released
while (BtnIsPressed(2)){
BtnProcessEvents();
}
}// End of if (BtnIsPressed(2 ...
if (BtnIsPressed(3)){
ADCStoreTemperature();
// wait for button released
while (BtnIsPressed(3)){
BtnProcessEvents();
}
}// End of if (BtnIsPressed(3)){...
}// End of if(_display_state ...
}// End of if (TimerIsOverflowEvent()...
}// End of while(1)...
}// End of main()...