int main()
{
MSS_UART_init
(
&g_mss_uart1,
MSS_UART_115200_BAUD,
MSS_UART_DATA_8_BITS | MSS_UART_NO_PARITY | MSS_UART_ONE_STOP_BIT
);
clear_screen();
float x = -90;
while (1)
{
print_degrees(x);
//Busy
int i;
for (i = 0; i < 1000000; i++)
{
}
x += 10;
if (x > 90)
x = -90;
}
return 0;
}
void init_kinect() {
//initialize the UART
MSS_UART_init(&g_mss_uart0, MSS_UART_57600_BAUD, MSS_UART_DATA_8_BITS | MSS_UART_NO_PARITY | MSS_UART_ONE_STOP_BIT );
//set irq handler for image data
MSS_UART_set_rx_handler(&g_mss_uart0, kinect_data_handler, MSS_UART_FIFO_FOUR_BYTES);
}
static void prvConfigureUART( void )
{
/* Initialise the UART which is used for printf() and CLI IO. */
MSS_UART_init( ( mss_uart_instance_t * ) pxUART, MSS_UART_115200_BAUD, MSS_UART_DATA_8_BITS | MSS_UART_NO_PARITY | MSS_UART_ONE_STOP_BIT );
/* Characters are only ever received slowly on the CLI so it is ok to pass
received characters from the UART interrupt to the task on a queue. Create
the queue used for that purpose. */
xRxedChars = xQueueCreate( cmdRXED_CHARS_QUEUE_LENGTH, sizeof( char ) );
/* The interrupt handler makes use of FreeRTOS API functions, so its
priority must be at or below the configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY
setting (the higher the numeric priority, the lower the logical priority). */
NVIC_SetPriority( xUART_IRQ, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY );
/* Set the UART Rx notification function. */
MSS_UART_set_rx_handler( ( mss_uart_instance_t * ) pxUART, prvUARTRxNotificationHandler, MSS_UART_FIFO_SINGLE_BYTE );
}
int xbee_interface_init() {
int check;
check = _xbee_interface_alloc_init();
if (check < 0) return check;
MSS_GPIO_config(MSS_GPIO_5, MSS_GPIO_OUTPUT_MODE);
MSS_GPIO_set_output(MSS_GPIO_5, 0x0);
MSS_GPIO_set_output(MSS_GPIO_5, 0x1);
MSS_UART_init(&g_mss_uart1,
MSS_UART_57600_BAUD,
MSS_UART_DATA_8_BITS | MSS_UART_NO_PARITY | MSS_UART_ONE_STOP_BIT);
_xbee_interface_rx_init();
_xbee_interface_tx_init();
return 0;
}
void debugInit(uint32_t baudrate)
{
//Initialize UART0
MSS_UART_init(&g_mss_uart0, MSS_UART_115200_BAUD,
MSS_UART_DATA_8_BITS | MSS_UART_NO_PARITY | MSS_UART_ONE_STOP_BIT);
}
