// Initialize and start the cog
int avrSPI_Init(uint8_t CS, uint8_t CLK, uint8_t MISO, uint8_t MOSI){
pins.CS = CS;
pins.CLK = CLK;
pins.MISO = MISO;
pins.MOSI = MOSI;
inputs.rotary = 0;
avrISP_cog = cog_run((void *)avrISP_Run, 128);
}
void motor_run()
{
cog_run(&pwm_run, 100);
while(1) {
int tmp = lastCommand;
switch(tmp) {
case COMMAND_WAKEUP:
quad_power(1000);
break;
case COMMAND_TAKEOFF:
quad_power(1200);
break;
case COMMAND_SHUTDOWN:
quad_power(1100);
break;
case 0x64:
quad_power(1300);
break;
case 0x65:
quad_power(1400);
break;
}
}
}
void LCD_Start(void) {
LCD_cog = cog_run((void *)LCD_Run, 512);
}
