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Code: Select all

void setup() {
  // put your setup code here, to run once:

}

void loop() {
  // put your main code here, to run repeatedly:

}

Code: Select all

#include <driver/spi_master.h>
#include "esp_system.h" //This inclusion configures the peripherals in the ESP system.
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/timers.h"
#include "freertos/event_groups.h"
#include "sdkconfig.h"
////////////////////////////////////////////////////
#define TaskCore1 1
#define TaskCore0 0
#define SerialDataBits 115200
#define csPinAG 15
#define csPinM 15
#define spiCLK 14 // CLK
#define spiMOSI 13 // MOSI
#define spiMISO 12 // MISO
#define TaskStack30K 30000
#define Priority4 4




void setup()
{
  Serial.begin( SerialDataBits );
  xTaskCreatePinnedToCore ( fGetIMU, "v_getIMU", TaskStack30K, NULL, Priority4, NULL, TaskCore0 );

}

void loop() {}

void fGetIMU( void *pvParameters )
{

  spi_bus_config_t bus_config;
  bus_config.sclk_io_num = spiCLK; // CLK
  bus_config.mosi_io_num = spiMISO; // MOSI
  bus_config.miso_io_num = spiMISO; // MISO
  bus_config.quadwp_io_num = -1; // Not used
  bus_config.quadhd_io_num = -1; // Not used
  Serial.println("... Initializing bus.");

  spi_device_handle_t handle;
  spi_device_interface_config_t dev_config;
  dev_config.address_bits     = 0;
  dev_config.command_bits     = 0;
  dev_config.dummy_bits       = 0;
  dev_config.mode             = 0;
  dev_config.duty_cycle_pos   = 0;
  dev_config.cs_ena_posttrans = 0;
  dev_config.cs_ena_pretrans  = 0;
  dev_config.clock_speed_hz   = 10000;
  dev_config.spics_io_num     = csPinAG;
  dev_config.flags            = 0;
  dev_config.queue_size       = 1;
  dev_config.pre_cb           = NULL;
  dev_config.post_cb          = NULL;
  Serial.println("... Adding device bus.");
  ESP_ERROR_CHECK(spi_bus_add_device(HSPI_HOST, &dev_config, &handle))
  ESP_ERROR_CHECK(spi_bus_initialize(HSPI_HOST, &bus_config, 1));
  ////
//  char data[3];
//  spi_transaction_t trans_desc;
//  trans_desc.address   = 0;
//  trans_desc.command   = 0;
//  trans_desc.flags     = 0;
//  trans_desc.length    = 3 * 8;
//  trans_desc.rxlength  = 0;
//  trans_desc.tx_buffer = data;
//  trans_desc.rx_buffer = data;
//  data[0] = 0x12;
//  data[1] = 0x34;
//  data[2] = 0x56;
//  Serial.println("... Transmitting.");
//  ESP_ERROR_CHECK(spi_device_transmit(handle, &trans_desc));



  TickType_t xLastWakeTime;
  const TickType_t xFrequency = pdMS_TO_TICKS( 1000 );
  // Initialise the xLastWakeTime variable with the current time.
  xLastWakeTime = xTaskGetTickCount();

  while (1)
  {
    vTaskDelayUntil( &xLastWakeTime, xFrequency );
Serial.println ( " doing a loop " );


    xLastWakeTime = xTaskGetTickCount();
  }
  vTaskDelete(NULL);
}