/*Starts the SPI2 Driver and the MMC object */
void startMMC(void) {
/*
* Initializes the MMC driver to work with SPI2.
*/
SPI2Init() ;
mmcObjectInit(&MMCD1);
mmcStart(&MMCD1, &mmccfg);
}
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;
}
