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;
}
int main(void) {
/* Init Clock */
PLLFBD = 126;
CLKDIVbits.PLLPOST = 0;
CLKDIVbits.PLLPRE = 1;
__builtin_write_OSCCONH(0x03);
__builtin_write_OSCCONL(OSCCON | 0x01);
while (OSCCONbits.COSC != 3) ;
while (OSCCONbits.LOCK != 1) ;
tx_fifo.head=0;
tx_fifo.tail=0;
rx_fifo.head=0;
rx_fifo.tail=0;
/* Init PORT I/O */
init_io();
init_pps();
init_uart();
init_can();
while (true) {
counter++;
counter_can++;
fifo_putchar(&tx_fifo);
if (can_test_receive())
print_rom_fifo("received CAN packet\r\n", &tx_fifo);
if (counter_can == 30000) {
can_test_send();
counter_can = 0;
}
if (counter == 50000) {
print_rom_fifo("Hello dsPIC33 !\r\n", &tx_fifo);
//print_debug_fifo(&tx_fifo);
// ClrWdt();
counter = 0;
}
__delay_us(10);
__builtin_btg((unsigned int *)&LATA, 0);
__builtin_btg((unsigned int *)&LATA, 0);
__builtin_btg((unsigned int *)&LATA, 0);
__builtin_btg((unsigned int *)&LATA, 0);
__builtin_btg((unsigned int *)&LATA, 0);
__builtin_btg((unsigned int *)&LATA, 0);
__builtin_btg((unsigned int *)&LATA, 0);
__builtin_btg((unsigned int *)&LATA, 0);
}
}
void __attribute__((interrupt, auto_psv)) _DMA0Interrupt(void)
{
if(DmaBuffer == 0)
{
ProcessADCSamples(BufferA);
}
else
{
ProcessADCSamples(BufferB);
}
DmaBuffer ^= 1;
__builtin_btg((unsigned int *)&LATA, 6); // Toggle RA6
IFS0bits.DMA0IF = 0; //Clear the DMA0 Interrupt Flag
}
