/***************************************************************************//**
OLED_init()
See "oled.h" for details of how to use this function.
*/
void OLED_init(void )
{
uint8_t oled_init_sequence1[] =
{
OLED_COMMAND_CODE, CMD_DISPLAY_NON_INV,
OLED_COMMAND_CODE, CMD_DISPLAY_ALL_OFF,
OLED_COMMAND_CODE, CMD_MIRROR_HORI_ON,
OLED_COMMAND_CODE, CMD_MIRROR_VERT_OFF,
OLED_COMMAND_CODE, CMD_HORI_SCRL_OFF,
OLED_COMMAND_CODE, CMD_CONTRAST,
OLED_COMMAND_CODE, CONTRAST_DEFAULT,
OLED_COMMAND_CODE, CMD_ARECOL_LPM,
OLED_COMMAND_CODE, CMD_ARECOL_MONO^CMD_LPM_OFF
};
uint8_t oled_init_sequence2[] =
{
OLED_COMMAND_CODE, CMD_START_LINE,
OLED_COMMAND_CODE, CMD_PANEL_ON
};
MSS_I2C_init( g_p_oled_i2c, OLED_SLAVE_ADDRESS, MSS_I2C_PCLK_DIV_60 );
MSS_I2C_write( g_p_oled_i2c, OLED_SLAVE_ADDRESS, oled_init_sequence1, sizeof(oled_init_sequence1), MSS_I2C_RELEASE_BUS );
MSS_I2C_wait_complete( g_p_oled_i2c );
OLED_clear_display(BOTH_LINES);
MSS_I2C_write( g_p_oled_i2c, OLED_SLAVE_ADDRESS, oled_init_sequence2, sizeof(oled_init_sequence2), MSS_I2C_RELEASE_BUS );
MSS_I2C_wait_complete( g_p_oled_i2c );
OLED_set_cursor( FIRST_LINE, FIRST_CHARACTER );
}
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;
}
