// ----------- My devices ----------------------- SWITCH _button_ = MAKE_SWITCH(D5); SEGLED _led_display_ = MAKE_SEGLED(C3,C2,C0,D6,D7,C4,C5,null,false); static const SEGLED_LIST PROGMEM marquee_list[] = { &_led_display_ }; static MAKE_WRITER(marquee_put_char); /* Fwd Def */ MARQUEE _marquee_ = MAKE_MARQUEE(marquee_list,500000,2000000,&marquee_put_char); // Create a Writer to write to marquee // Do NOT call it directly instead, to write the char 'A' use: // marqueeGetWriter(&marquee)('A'); static MAKE_WRITER(marquee_put_char){ /* createWriter */ return marqueeSendByte(&_marquee_,byte); } SERVO _servo_ = MAKE_SERVO(false,B5,1500,1000); SERVO _servo2_ = MAKE_SERVO(false,B6,1500,1000); SERVO _servo3_ = MAKE_SERVO(false,B7,1500,1000); SERVO _servo4_ = MAKE_SERVO(false,E3,1500,1000); SERVO _servo5_ = MAKE_SERVO(false,E4,1500,1000); SERVO _servo6_ = MAKE_SERVO(false,E5,1500,1000); static const SERVO_LIST PROGMEM Servos1_list[] = { &_servo_, &_servo2_, &_servo3_, &_servo4_, &_servo5_, &_servo6_ }; SERVO_DRIVER _Servos1_ = MAKE_SERVO_DRIVER(Servos1_list); SERVO _servo7_ = MAKE_SERVO(false,H3,1500,1000);
long int currDraw; struct RACC RAcc1; struct ATTITUDE AtAcc, AtGyr, AtEst0, AtEst1; float RAccSize1; // size of accelerometer vector static int AccOffset = 0x200; // offset of accelerometer sensor float GyroBias = 100; // effect of Gyro vs Accelerometer. float GyroAmp = .1; // amplitude of Gyro output. #define DATA_FLAG_CHANGED 0x01 #define DATA_FLAG_TX_EEPROM 0x02 #define DATA_FLAG_RX_EEPROM 0x04 uint16_t uptime; // Define servos SERVO servo_0 = MAKE_SERVO(TRUE , B7, 1000, 1000); SERVO servo_1 = MAKE_SERVO(TRUE , B6, 1500, 500); SERVO servo_2 = MAKE_SERVO(TRUE , B5, 1500, 500); SERVO servo_3 = MAKE_SERVO(TRUE , E5, 1500, 500); SERVO servo_4 = MAKE_SERVO(TRUE , E4, 1500, 500); SERVO servo_5 = MAKE_SERVO(TRUE , E3, 1500, 500); // Create the list - remember to place an & at the // start of each servo name SERVO_LIST servos[] = {&servo_0,&servo_1,&servo_2,&servo_3,&servo_4,&servo_5}; // Create a driver for the list of servos SERVO_DRIVER bank1 = MAKE_SERVO_DRIVER(servos); // define CYRF6936 RF modules on SPI bus. #define MAKE_SPI_GENERIC_DEVICE(mode,order,select,filler) { MAKE_SPI_DEVICE(mode,order,select,filler) } CYPRESS_CYRF cyrf_0 = MAKE_SPI_GENERIC_DEVICE(SPI_MODE_0,SPI_DATA_ORDER_MSB,B0,0x00);