int main()
{
MSS_GPIO_init();
Yellowstone_init();
Max19706_init(MSS_SPI_SLAVE_1);
Joshua_init();
Teton_init();
Max2830_set_frequency(2405000000uL);
Max2830_set_tx_gain(15);
set_mode(RADIO_TX_MODE);
BB_CTRL->MUX1 = MUX_PATH_TX;
BB_CTRL->MUX2 = MUX_PATH_TX;
MSS_TIM1_init(MSS_TIMER_PERIODIC_MODE);
MSS_TIM1_enable_irq();
MSS_TIM2_init(MSS_TIMER_ONE_SHOT_MODE);
MSS_TIM2_enable_irq();
MSS_TIM1_load_background(packet_rate * MICRO_SEC_DIV);
MSS_TIM1_start();
while( 1 )
{
if (spi_cmd_length > 0)
{
process_spi_cmd_buf((const char*)spi_cmd_buf, spi_cmd_length);
spi_cmd_length = 0;
}
if (tx_done_it_flag)
{
tx_done_it_flag = 0;
int32_t jitter = ((int8_t)lfsr_rand()) * packet_var;
MSS_TIM1_load_background((uint32_t)((int32_t)packet_rate + jitter) * MICRO_SEC_DIV);
}
if (sfd_it_flag)
{
sfd_it_flag = 0;
}
if (rx_done_it_flag)
{
rx_done_it_flag = 0;
}
}
}
int main()
{
//uint32_t count;
MSS_GPIO_init();
MSS_GPIO_config( MSS_GPIO_0, MSS_GPIO_OUTPUT_MODE);
MSS_GPIO_config( MSS_GPIO_1, MSS_GPIO_OUTPUT_MODE);
MSS_I2C_init(&g_mss_i2c1 , IMU_ADDRESS_WRITE, MSS_I2C_PCLK_DIV_256 );
imu_init();
//one timer tick is 10ns at 100Mhz
MSS_TIM1_init( MSS_TIMER_PERIODIC_MODE);
MSS_TIM1_enable_irq();
MSS_TIM1_load_background(100000);
MSS_TIM1_start();
MSS_TIM2_init( MSS_TIMER_ONE_SHOT_MODE);
while( 1 ) {
//int16_t x_accl = imu_accl_x();
//int16_t y_accl = imu_accl_y();
//int16_t z_accl = imu_accl_z();
X_GYRO = imu_gyro_x();
Y_ACCL = imu_accl_y();
//uint16_t y_gyro = imu_gyro_y();
//uint16_t z_gyro = imu_gyro_z();
//printf("Avg X: %f\r\n", avg_x);
//printf("Accel X: %i\n\r", x_accl);
//printf("Accel Y: %u\n\r", y_accl);
//printf("Accel Z: %u\n\r", z_accl);
//printf("Gyro X: %u\r\n", x_gyro);
//printf("Gyro Y: %u\r\n", y_gyro);
//printf("Gyro Z: %u\r\n", z_gyro);
//150000 = 1.5ms pulse
//1.49ms pulse = equilibrium point
uint32_t pulsewidth_right = 150000 + (angle/90.0)*100000;
uint32_t pulsewidth_left = 150000 - (angle/90.0)*100000;
uint32_t period = 2000000;
MSS_TIM2_load_immediate(period);
MSS_TIM2_start();
while (MSS_TIM2_get_current_value() > 0) {
if (MSS_TIM2_get_current_value() > (period - pulsewidth_right))
MSS_GPIO_set_output( MSS_GPIO_0, 1);
else
MSS_GPIO_set_output( MSS_GPIO_0, 0);
if (MSS_TIM2_get_current_value() > (period - pulsewidth_left))
MSS_GPIO_set_output( MSS_GPIO_1, 1);
else
MSS_GPIO_set_output( MSS_GPIO_1, 0);
}
}
return 0;
}