Raspberry Piの割り込みについて

Raspberry Pi PicoからRaspberry Pi 4Bに一定時間ごとに割り込みをかけ、spi通信をおこない、Raspberry Pi 4BのSCLKの立ち上がりで、Raspberry Pi Picoに割り込みをかけて、Raspberry Pi PicoからMSBから順に16ビット送って、SCLKの立下りで、Raspberry Pi Picoからの信号をRaspberry Pi 4Bで読み取りたいと思うのですが、Raspberry Pi PicoからRaspberry Pi 4Bへの割り込みが一回しかかからないのですが、どうすれば良いでしょうか？

Raspberry Pi Picoに書き込んだC言語とpioアセンブリのプログラムは以下のものです。

C言語
1#include <stdio.h>
2#include <string.h>
3#include <math.h>
4
5#include "hardware/gpio.h"
6#include "pico/stdlib.h"
7#include "hardware/pio.h"
8#include "hardware/clocks.h"
9
10#include "myapp.pio.h"
11
12
13#define INTERRUPT_RASPBERRY4B 28
14
15#define MISO 26
16
17
18#define RASPBERRY4B_SCLK 27
19
20void callback_MISO2();
21void callback_MISO3();
22void callback_MISO4();
23void callback_MISO5();
24void callback_MISO6();
25void callback_MISO7();
26void callback_MISO8();
27void callback_MISO9();
28void callback_MISO10();
29void callback_MISO11();
30void callback_MISO12();
31void callback_MISO13();
32void callback_MISO14();
33void callback_MISO15();
34void callback_MISO16();
35
36static inline void INTERRUPT_RASPBERRY4B_select(){
37     asm volatile("nop \n nop \n nop");
38     gpio_put(INTERRUPT_RASPBERRY4B, 0);
39     asm volatile("nop \n nop \n nop");
40}
41
42static inline void INTERRUPT_RASPBERRY4B_deselect(){
43     asm volatile("nop \n nop \n nop");
44     gpio_put(INTERRUPT_RASPBERRY4B, 1);
45     asm volatile("nop \n nop \n nop");
46}     
47
48uint bitdata1;
49uint bitdata2;
50
51void callback_MISO1(){
52	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, false, callback_MISO1);
53	pio_sm_clear_fifos(pio1, 0);
54        
55	bitdata2 = bitdata1 & 0b1000000000000000>>15;
56	
57	pio_sm_put_blocking(pio1, 0, bitdata2);
58        sleep_us(10);
59	
60	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, true, callback_MISO2);
61}
62
63void callback_MISO2(){
64	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, false, callback_MISO2);
65	pio_sm_clear_fifos(pio1, 0);
66        
67	bitdata2 = (bitdata1 & 0b0100000000000000)>>14;
68       
69	pio_sm_put_blocking(pio1, 0, bitdata2);
70	sleep_us(10);
71
72	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, true, callback_MISO3);
73}
74
75void callback_MISO3(){
76	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, false, callback_MISO3);
77	pio_sm_clear_fifos(pio1, 0);
78        
79	bitdata2 = (bitdata1 & 0b0010000000000000)>>13;
80	
81	pio_sm_put_blocking(pio1, 0, bitdata2);
82	sleep_us(10);
83	
84	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, true, callback_MISO4);
85}
86
87void callback_MISO4(){
88	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, false, callback_MISO4);
89	pio_sm_clear_fifos(pio1, 0);
90	
91	bitdata2 = (bitdata1 & 0b0001000000000000)>>12;
92      
93	pio_sm_put_blocking(pio1, 0, bitdata2);
94	sleep_us(10);
95	
96	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, true, callback_MISO5);
97}
98
99void callback_MISO5(){
100	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, false, callback_MISO5);
101	pio_sm_clear_fifos(pio1, 0);
102	
103	bitdata2 = (bitdata1 & 0b0000100000000000)>>11;
104      
105	pio_sm_put_blocking(pio1, 0, bitdata2);
106	sleep_us(10);
107
108	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, true, callback_MISO6);
109}
110
111void callback_MISO6(){
112	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, false, callback_MISO6);
113	pio_sm_clear_fifos(pio1, 0);
114	
115	bitdata2 = (bitdata1 & 0b0000010000000000)>>10;
116        
117	pio_sm_put_blocking(pio1, 0, bitdata2);
118	sleep_us(10);
119	
120	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, true, callback_MISO7);
121}
122
123void callback_MISO7(){
124	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, false, callback_MISO7);
125	pio_sm_clear_fifos(pio1, 0);
126	
127	bitdata2 = (bitdata1 & 0b0000001000000000)>>9;
128	
129	sleep_us(10);
130	pio_sm_put_blocking(pio1, 0, bitdata2);
131	sleep_us(10);
132	
133	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, true, callback_MISO8);
134}
135
136void callback_MISO8(){
137	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, false, callback_MISO8);
138	pio_sm_clear_fifos(pio1, 0);
139	
140	bitdata2 = (bitdata1 & 0b0000000100000000)>>8;
141       
142	pio_sm_put_blocking(pio1, 0, bitdata2);
143	sleep_us(10);
144
145	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, true, callback_MISO9);
146}
147
148void callback_MISO9(){
149	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, false, callback_MISO9);
150	pio_sm_clear_fifos(pio1, 0);
151	
152	bitdata2 = (bitdata1 & 0b0000000010000000)>>7;
153       
154	pio_sm_put_blocking(pio1, 0, bitdata2);
155	sleep_us(10);
156	
157	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, true, callback_MISO10);
158}
159
160void callback_MISO10(){
161	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, false, callback_MISO10);
162	pio_sm_clear_fifos(pio1, 0);
163	
164	bitdata2 = (bitdata1 & 0b0000000001000000)>>6;
165       
166	pio_sm_put_blocking(pio1, 0, bitdata2);
167	sleep_us(10);
168	
169	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, true, callback_MISO11);
170}
171
172void callback_MISO11(){
173	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, false, callback_MISO11);
174	pio_sm_clear_fifos(pio1, 0);
175	
176	bitdata2 = (bitdata1 & 0b0000000000100000)>>5;
177        
178	pio_sm_put_blocking(pio1, 0, bitdata2);
179	sleep_us(10);
180
181	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, true, callback_MISO12);
182}
183
184void callback_MISO12(){
185	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, false, callback_MISO12);
186	pio_sm_clear_fifos(pio1, 0);
187
188	bitdata2 = (bitdata1 & 0b0000000000010000)>>4;
189       
190	pio_sm_put_blocking(pio1, 0, bitdata2);
191	sleep_us(10);
192	
193	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, true, callback_MISO13);
194}
195
196void callback_MISO13(){
197	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, false, callback_MISO13);
198	pio_sm_clear_fifos(pio1, 0);
199
200	bitdata2 = (bitdata1 & 0b0000000000001000)>>3;
201        
202	pio_sm_put_blocking(pio1, 0, bitdata2);
203	sleep_us(10);
204	
205	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, true, callback_MISO14);
206}
207
208void callback_MISO14(){
209	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, false, callback_MISO14);
210	pio_sm_clear_fifos(pio1, 0);
211
212	bitdata2 = (bitdata1 & 0b0000000000000100)>>2;
213       
214	pio_sm_put_blocking(pio1, 0, bitdata2);
215	sleep_us(10);
216	
217	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, true, callback_MISO15);
218}
219
220void callback_MISO15(){
221	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, false, callback_MISO15);
222	pio_sm_clear_fifos(pio1, 0);
223        	
224	bitdata2 = (bitdata1 & 0b0100000000000010)>>1;
225        
226	pio_sm_put_blocking(pio1, 0, bitdata2);
227	sleep_us(10);
228
229	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, true, callback_MISO16);
230}
231
232
233void callback_MISO16(){
234	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, false, callback_MISO16);
235	pio_sm_clear_fifos(pio1, 0);
236		
237	bitdata2 = bitdata1 & 0b0000000000000001;
238        
239	pio_sm_put_blocking(pio1, 0, bitdata2);
240	sleep_us(10);
241	
242	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, true, callback_MISO1);
243}
244
245
246
247
248
249
250
251int main()
252{
253	stdio_init_all();
254	
255	sleep_ms(3000);
256	
257	gpio_init(INTERRUPT_RASPBERRY4B);
258	gpio_set_dir(INTERRUPT_RASPBERRY4B, GPIO_OUT);
259	
260        gpio_init(RASPBERRY4B_SCLK);
261	gpio_set_dir(RASPBERRY4B_SCLK, GPIO_IN);
262	gpio_pull_down(RASPBERRY4B_SCLK);
263	
264	
265	
266	uint addr = pio_add_program(pio1, &pioasm_program);
267
268        sleep_ms(5000);
269        
270        pioasm_exec(
271	    pio1,
272	    0,
273	    addr,
274	    
275	    
276	    MISO,
277	    1,
278	    
279	    
280	    0,
281	    0,
282	    
283	    
284	    0,
285	    0,
286	    
287	    
288	    125.0
289        );
290        
291        
292        
293        bitdata1 = 43690;
294             
295             
296        gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, false, callback_MISO1);
297        
298        
299        while(true){    
300	     INTERRUPT_RASPBERRY4B_deselect();	
301	     sleep_us(5);
302             INTERRUPT_RASPBERRY4B_select();
303	     gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, true, callback_MISO1);
304	     sleep_ms(8000);
305	     gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, false, callback_MISO1);
306        
307	}
308	
309	return 0;		
310        
311}
312       
313	
314
315    
316        
317

pioアセンブリ
1.program pioasm
2.wrap_target
3     pull   block                 
4
5    
6     out    pins,   1    
7.wrap
8     
9
10       
11
12   
13% c-sdk {
14
15void pioasm_exec(
16    PIO     pio,
17    uint    state_machine,
18    uint    prog_addr,
19
20    uint    outpin_base,
21    uint    num_outpin,
22  
23    uint    inpin_base,
24    uint    num_inpin,
25 
26    uint    sidepin_base,
27    uint    num_sidepin,
28
29    float   clkdiv
30)
31{
32 省略
33}
34
35
36%}
37
38Raspberry Pi 4Bに書き込んだPythonのプログラムは以下のものです。
39

Python
1#coding: utf-8
2
3import RPi.GPIO as GPIO
4import spidev
5import time
6import datetime
7
8dummyData = [0x00,0x00]
9
10spi = spidev.SpiDev()
11spi.open(0, 0)          
12
13# Settings
14spi.max_speed_hz = 10000      # 10kHz
15spi.mode = 0                    # SPI mode : 0
16
17def write_csv(bitData):
18    dt_now = datetime.datetime.now()
19    with open('ADS8329.csv', 'a') as f:
20        f.write(dt_now.strftime('%Y/%m/%d %H:%M:%S') + "," + str(bitData) + "\n")
21
22class CallBack:
23        
24    def __init__(self):
25        # 4番pinを入力、プルアップに設定
26        self.pin = 4
27        GPIO.setmode(GPIO.BCM)
28        GPIO.setup(self.pin, GPIO.IN, GPIO.PUD_UP) 
29                    
30    def callback_test(self):
31
32        while(True):
33            # 立下りエッジイベント、タイムアウトイベント待ち
34            isr = GPIO.wait_for_edge(self.pin, GPIO.FALLING, timeout=5,  bouncetime=1) 
35            if isr is None:
36                # 5m秒間割り込みがないときに実行される
37                print("5ms秒間割り込みなし")
38            else:              
39                readByteArray = spi.xfer2(dummyData)
40                bitData = ((readByteArray[0] & 0b11111111) << 8) | (readByteArray[1])
41                write_csv(bitData)
42cb = CallBack()
43cb.callback_test()
44
45

y_waiwai

2022/06/21 04:13

回路図がわからないのであれですが、ラズパイ４の４番ピンにはちゃんと繰り返し波形がきているでしょうか

Billiecharlie

2022/06/21 04:30

申し訳ございません。 Raspberry Pi4BのGPIO4は、Raspberry Pi PicoのGPIO28に接続しています。 Raspberry Pi4BのGPIO11(SCLK)はRaspberry Pi PicoのGPIO27に接続しています。 Raspberry Pi4BのGPIO9(MISO)はRaspberry Pi PicoのGPIO26に接続しています。

Billiecharlie

2022/06/21 04:36

Raspberry Pi Picoが最初に1回GPIO28から信号を出したあと、ずっと割り込みがかかった状態になって、GPIO28から信号を出せなくなっているのではないかと思いました。

y_waiwai

2022/06/21 04:40

まずはそこの信号を確認しないと、いくらコードをいじっても無駄になりますんで、オシロスコープ持ってきてそこの波形を確認しよう

Billiecharlie

2022/06/21 05:10 編集

回答ありがとうございます。オシロスコープで確認したら、やはりRaspberr Pi PicoのGPIO28からの信号は1回しか出てないようでした。

y_waiwai

2022/06/21 05:46

これで、pico側に不具合があるということがわかったわけですね

行動規範の内容に同意します

回答1件

下のソースコードのように、callback関数の中のsleep時間をsleep_us(1);とすると、GPIO26の信号の立ち上がり時間が1μsしかないので、SCLKの立ち下がりのタイミングで、信号を出すことは出来ませんが、無限ループで周期的にプログラムを動かすことは出来ました。

C言語
1#include <stdio.h>
2#include <string.h>
3#include <math.h>
4
5#include "hardware/gpio.h"
6#include "pico/stdlib.h"
7#include "hardware/pio.h"
8#include "hardware/clocks.h"
9
10#include "myapp.pio.h"
11
12
13#define INTERRUPT_RASPBERRY4B 28
14
15#define MISO 26
16
17
18#define RASPBERRY4B_SCLK 27
19
20void callback_MISO2();
21void callback_MISO3();
22void callback_MISO4();
23void callback_MISO5();
24void callback_MISO6();
25void callback_MISO7();
26void callback_MISO8();
27void callback_MISO9();
28void callback_MISO10();
29void callback_MISO11();
30void callback_MISO12();
31void callback_MISO13();
32void callback_MISO14();
33void callback_MISO15();
34void callback_MISO16();
35
36static inline void INTERRUPT_RASPBERRY4B_select(){
37     asm volatile("nop \n nop \n nop");
38     gpio_put(INTERRUPT_RASPBERRY4B, 0);
39     asm volatile("nop \n nop \n nop");
40}
41
42static inline void INTERRUPT_RASPBERRY4B_deselect(){
43     asm volatile("nop \n nop \n nop");
44     gpio_put(INTERRUPT_RASPBERRY4B, 1);
45     asm volatile("nop \n nop \n nop");
46}     
47
48uint bitdata1;
49uint bitdata2;
50
51void callback_MISO1(){
52	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, false, callback_MISO1);
53	pio_sm_clear_fifos(pio1, 0);
54        
55	bitdata2 = (bitdata1 & 0b1000000000000000)>>15;
56	
57	pio_sm_put_blocking(pio1, 0, bitdata2);
58        sleep_us(1);
59	pio_sm_put_blocking(pio1, 0, 0x00000000);
60	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, true, callback_MISO2);
61}
62
63void callback_MISO2(){
64	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, false, callback_MISO2);
65	pio_sm_clear_fifos(pio1, 0);
66        
67	bitdata2 = (bitdata1 & 0b0100000000000000)>>14;
68        
69	pio_sm_put_blocking(pio1, 0, bitdata2);
70	sleep_us(1);
71        pio_sm_put_blocking(pio1, 0, 0x00000000);
72	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, true, callback_MISO3);
73}
74
75void callback_MISO3(){
76	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, false, callback_MISO3);
77	pio_sm_clear_fifos(pio1, 0);
78        
79	bitdata2 = (bitdata1 & 0b0010000000000000)>>13;
80	
81	pio_sm_put_blocking(pio1, 0, bitdata2);
82	sleep_us(1);
83	pio_sm_put_blocking(pio1, 0, 0x00000000);
84	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, true, callback_MISO4);
85}
86
87void callback_MISO4(){
88	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, false, callback_MISO4);
89	pio_sm_clear_fifos(pio1, 0);
90	
91	bitdata2 = (bitdata1 & 0b0001000000000000)>>12;
92        
93	pio_sm_put_blocking(pio1, 0, bitdata2);
94	sleep_us(1);
95	pio_sm_put_blocking(pio1, 0, 0x00000000);
96	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, true, callback_MISO5);
97}
98
99void callback_MISO5(){
100	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, false, callback_MISO5);
101	pio_sm_clear_fifos(pio1, 0);
102	
103	bitdata2 = (bitdata1 & 0b0000100000000000)>>11;
104        
105	pio_sm_put_blocking(pio1, 0, bitdata2);
106	sleep_us(1);
107        pio_sm_put_blocking(pio1, 0, 0x00000000);
108	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, true, callback_MISO6);
109}
110
111void callback_MISO6(){
112	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, false, callback_MISO6);
113	pio_sm_clear_fifos(pio1, 0);
114	
115	bitdata2 = (bitdata1 & 0b0000010000000000)>>10;
116        
117	pio_sm_put_blocking(pio1, 0, bitdata2);
118	sleep_us(1);
119	pio_sm_put_blocking(pio1, 0, 0x00000000);
120	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, true, callback_MISO7);
121}
122
123void callback_MISO7(){
124	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, false, callback_MISO7);
125	pio_sm_clear_fifos(pio1, 0);
126	
127	bitdata2 = (bitdata1 & 0b0000001000000000)>>9;
128	
129	
130	pio_sm_put_blocking(pio1, 0, bitdata2);
131	sleep_us(1);
132	pio_sm_put_blocking(pio1, 0, 0x00000000);
133	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, true, callback_MISO8);
134}
135
136void callback_MISO8(){
137	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, false, callback_MISO8);
138	pio_sm_clear_fifos(pio1, 0);
139	
140	bitdata2 = (bitdata1 & 0b0000000100000000)>>8;
141        
142	pio_sm_put_blocking(pio1, 0, bitdata2);
143	sleep_us(1);
144        pio_sm_put_blocking(pio1, 0, 0x00000000);
145	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, true, callback_MISO9);
146}
147
148void callback_MISO9(){
149	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, false, callback_MISO9);
150	pio_sm_clear_fifos(pio1, 0);
151	
152	bitdata2 = (bitdata1 & 0b0000000010000000)>>7;
153        
154	pio_sm_put_blocking(pio1, 0, bitdata2);
155	sleep_us(1);
156	pio_sm_put_blocking(pio1, 0, 0x00000000);
157	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, true, callback_MISO10);
158}
159
160void callback_MISO10(){
161	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, false, callback_MISO10);
162	pio_sm_clear_fifos(pio1, 0);
163	
164	bitdata2 = (bitdata1 & 0b0000000001000000)>>6;
165        
166	pio_sm_put_blocking(pio1, 0, bitdata2);
167	sleep_us(1);
168	pio_sm_put_blocking(pio1, 0, 0x00000000);
169	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, true, callback_MISO11);
170}
171
172void callback_MISO11(){
173	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, false, callback_MISO11);
174	pio_sm_clear_fifos(pio1, 0);
175	
176	bitdata2 = (bitdata1 & 0b0000000000100000)>>5;
177        
178	pio_sm_put_blocking(pio1, 0, bitdata2);
179	sleep_us(1);
180        pio_sm_put_blocking(pio1, 0, 0x00000000);
181	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, true, callback_MISO12);
182}
183
184void callback_MISO12(){
185	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, false, callback_MISO12);
186	pio_sm_clear_fifos(pio1, 0);
187
188	bitdata2 = (bitdata1 & 0b0000000000010000)>>4;
189        
190	pio_sm_put_blocking(pio1, 0, bitdata2);
191	sleep_us(1);
192	pio_sm_put_blocking(pio1, 0, 0x00000000);
193	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, true, callback_MISO13);
194}
195
196void callback_MISO13(){
197	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, false, callback_MISO13);
198	pio_sm_clear_fifos(pio1, 0);
199
200	bitdata2 = (bitdata1 & 0b0000000000001000)>>3;
201        
202	pio_sm_put_blocking(pio1, 0, bitdata2);
203	sleep_us(1);
204	pio_sm_put_blocking(pio1, 0, 0x00000000);
205	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, true, callback_MISO14);
206}
207
208void callback_MISO14(){
209	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, false, callback_MISO14);
210	pio_sm_clear_fifos(pio1, 0);
211
212	bitdata2 = (bitdata1 & 0b0000000000000100)>>2;
213        
214	pio_sm_put_blocking(pio1, 0, bitdata2);
215	sleep_us(1);
216	pio_sm_put_blocking(pio1, 0, 0x00000000);
217	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, true, callback_MISO15);
218}
219
220void callback_MISO15(){
221	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, false, callback_MISO15);
222	pio_sm_clear_fifos(pio1, 0);
223        	
224	bitdata2 = (bitdata1 & 0b0100000000000010)>>1;
225       
226	pio_sm_put_blocking(pio1, 0, bitdata2);
227	sleep_us(1);
228        pio_sm_put_blocking(pio1, 0, 0x00000000);
229	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, true, callback_MISO16);
230}
231
232
233void callback_MISO16(){
234	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, false, callback_MISO16);
235	pio_sm_clear_fifos(pio1, 0);
236		
237	bitdata2 = bitdata1 & 0b0000000000000001;
238        
239	pio_sm_put_blocking(pio1, 0, bitdata2);
240	sleep_us(1);
241	pio_sm_put_blocking(pio1, 0, 0x00000000);
242	gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, true, callback_MISO1);
243	
244}
245
246
247
248
249
250
251
252int main()
253{
254	stdio_init_all();
255	
256	sleep_ms(3000);
257	
258	gpio_init(INTERRUPT_RASPBERRY4B);
259	gpio_set_dir(INTERRUPT_RASPBERRY4B, GPIO_OUT);
260	
261        gpio_init(RASPBERRY4B_SCLK);
262	gpio_set_dir(RASPBERRY4B_SCLK, GPIO_IN);
263	gpio_pull_down(RASPBERRY4B_SCLK);
264	
265	
266	
267	uint addr = pio_add_program(pio1, &pioasm_program);
268
269        sleep_ms(5000);
270        
271        pioasm_exec(
272	    pio1,
273	    0,
274	    addr,
275	    
276	    
277	    MISO,
278	    1,
279	    
280	    
281	    0,
282	    0,
283	    
284	    
285	    0,
286	    0,
287	    
288	    
289	    125.0
290        );
291        
292        
293        
294        bitdata1 = 43690;
295             
296             
297       
298        gpio_set_irq_enabled_with_callback(RASPBERRY4B_SCLK, 0x8u, true, callback_MISO1);
299        
300        
301        
302        
303             
304        while(true){    
305	     INTERRUPT_RASPBERRY4B_deselect();
306	     sleep_us(8);
307	     INTERRUPT_RASPBERRY4B_select();
308	     sleep_ms(8000);
309                 
310       
311       	     
312       	}
313	
314	return 0;		
315        
316}