int main(void)
{
adc_init();
spi_init();
switches_init();
encoders_init();
for (;;)
{
// Check the SS pin, if it is low, send the data through SPI.
if (spi_slave_selected())
{
spi_enable();
for (uint8_t i=0; i<ENCODER_COUNT; ++i)
{
spi_transfer16(g_encoderValues[i]);
}
spi_transfer8(g_downMask);
spi_disable();
}
switches_update();
encoders_update();
}
}
int main()
{
for (;;) {
if ( azimuth_pwm_calc_event.signalled()) {
azimuth::motor::do_calc();
azimuth_pwm_calc_event.clear();
}
if(ms1_event.signalled()) {
switches_update();
ms1_event.clear();
}
if(ms20_event.signalled()) {
on_20ms_event();
ms20_event.clear();
}
if ( telemetry::serial_port.in_avail()) {
telemetry::parse_input();
}
}
}
