void main(void)
{
WDTCTL = WDTPW + WDTHOLD; // Stop WDT
UART_Initialization(); // Initialize UART
SPI_Initialization(); // Initialize SPI
while (1)
{
__bis_SR_register(CPUOFF + GIE); // Enter LPM0 w/ interrupts
// Remain in LPM0 until all data
// is TX'd
_NOP(); // Set breakpoint >>here<< and read
// read out the UART_Data and
// SPI_Data variables
}
}
int main(void)
{
PWM_Initialization();
TIM1->CCR2 = 1000;
TIM1->CCR3 = 1000;
Delay_1us(500000);
RCC_Configuration();
PushButton_Initialization();
LED_Initialization();
//LCD_Initialization();
//terminalBufferInitilization();
Delay_1us(100000);
SPI_Initialization();
Delay_1us(100000);
IMU_Initialization();
Delay_1us(100000);
Timer5_Initialization(); //Filter
Timer2_Initialization(); //Print
Timer4_Initialization(); //Read IMU
USART3_Configuration();
USART3_puts("\r\nHello World!\r\n");
while(1)
{
if(PushButton_Read()){
if(f.arm == 0){
f.arm = 1;
Delay_1us(500000);
}
else if(f.arm == 1){
f.arm = 0;
Delay_1us(500000);
}
}
if(f.imu == 1){
//LED3_Toggle();
readIMU(gyroRaw, GYRO_DATA_REGISTER);
gyro_remove_offset(gyroRaw);
readIMU(accRaw, ACC_DATA_REGISTER);
f.imu = 0;
// }
// if(f.filter == 1){
//LED4_Toggle();
Filter(gyroRaw, gyroAngle, accRaw, accAngle, Angle);
if(f.arm == 1){
PID_control(Angle);
}
else{
TIM1->CCR2 = 1000;
TIM1->CCR3 = 1000;
errorI = 0;
errorD = 0;
previous_error = 0;
}
//f.filter = 0;
}
strcmd_main();
//if(f.print == 1){
// sprintf(lcd_text_main,"%.4f %.4f %d", Angle[0], Angle[1], f.arm);
// //sprintf(lcd_text_main,"G: %.3f %.3f %.3f", EstV.G.X, EstV.G.Y, EstV.G.Z);
// LCD_DisplayStringLine(LINE(1), lcd_text_main);
// //sprintf(lcd_text_main,"A: %.3f %.3f %.3f", EstV.A.X, EstV.A.Y, EstV.A.Z);
// //sprintf(lcd_text_main,"A: %.3f %.3f", sqX_sqZ, EstV.GA.X*EstV.GA.X + EstV.GA.Z*EstV.GA.Z);
// // sprintf(lcd_text_main,"%.4f %.4f %.4f \n", gyroAngle[0], gyroAngle[1], gyroAngle[2]);
// sprintf(lcd_text_main,"%d ", gyroRaw[2]);
// LCD_DisplayStringLine(LINE(2), lcd_text_main);
// sprintf(lcd_text_main,"GA: %.3f %.3f %.3f", EstV.GA.X, EstV.GA.Y, EstV.GA.Z);
// LCD_DisplayStringLine(LINE(3), lcd_text_main);
//sprintf(lcd_text_main,"%.3f %.3f %.3f\n", EstV.G.Z, EstV.A.Z, EstV.GA.Z);
//LCD_DisplayStringLine(LINE(2), (uint8_t*)" Ming6842 @ github");
//terminalWrite(lcd_text_main);
//PRINT_USART();
//f.print = 0;
//}
}
while(1); // Don't want to exit
}