int16_t main(void) {
init_clock();
init_timer();
init_ui();
init_pin();
init_spi();
init_oc();
init_md();
// Current measurement pin
pin_analogIn(&A[0]);
// SPI pin setup
ENC_MISO = &D[1];
ENC_MOSI = &D[0];
ENC_SCK = &D[2];
ENC_NCS = &D[3];
pin_digitalOut(ENC_NCS);
pin_set(ENC_NCS);
// Open SPI in mode 1
spi_open(&spi1, ENC_MISO, ENC_MOSI, ENC_SCK, 2e6, 1);
// Motor setup
md_velocity(&md1, 0, 0);
// Get initial angle offset
uint8_t unset = 1;
while (unset) {
ANG_OFFSET = enc_readReg((WORD) REG_ANG_ADDR);
unset = parity(ANG_OFFSET.w);
}
ANG_OFFSET.w &= ENC_MASK;
// USB setup
InitUSB();
while (USB_USWSTAT!=CONFIG_STATE) {
ServiceUSB();
}
// Timers
timer_setFreq(&timer2, READ_FREQ);
timer_setFreq(&timer3, CTRL_FREQ);
timer_start(&timer2);
timer_start(&timer3);
// Main loop
while (1) {
ServiceUSB();
if (timer_flag(&timer2)) {
timer_lower(&timer2);
get_readings();
}
if (timer_flag(&timer3)) {
timer_lower(&timer3);
set_velocity();
}
}
}
/**
* @brief Main thread of computation running in superloop to update sensor data and transmit
* and also subsequently run logic for PWM LED display and double tap detection
* @param void
*/
int main(void){
/* INITIALIZE SYSTEM CLOCK AND PERIPHERALS */
HAL_Init();
SystemClock_Config();
SPI_Init1();
MEMS_Config();
MEMS_Config_IT();
ADC_Config();
LED_Config();
PWM_Config();
/* CONFIG FOR PWM */
#ifdef LED_SPEED_SLOWER
speed = 1500;
#endif
#ifdef LED_SPEED_SLOW
speed = 1000;
#endif
#ifdef LED_SPEED_MEDIUM
speed = 800;
#endif
#ifdef LED_SPEED_FAST
speed = 400;
#endif
#ifdef LED_SPEED_FASTER
speed = 200;
#endif
#ifdef LED_ALL_ON
speed = 100;
#endif
/* CONFIG FOR DOUBLE TAP */
counter2 = 0;
thresh1 = 1300;
assert1 = 0;
assert2 = 0;
assertFall = 0;
assertRise2 = 0;
assertDoubleTap = 0;
/* BEGIN SUPERLOOP */
while(1){
/* SET SAMPLING DELAY FOR SENSORS */
if(interrupt != 0){
interrupt = 0;
get_readings();
}
/* TRANSMIT SENSOR DATA TO MASTER */
HAL_SPI_Transmit(&SpiHandle_2, txBuffer, 4, 10000);
/* LOGIC FOR IMPLEMENTING PWM DISPLAY LED */
pwm_display();
/* LOGIG FOR IMPLEMENTING DOUBLE TAP DETECTION */
double_tap();
}
}
