Separated AHRS and telemetry code.

1 files changed, 55 insertions, 0 deletions

diff --git a/telemetry.cpp b/telemetry.cpp
new file mode 100644
index 0000000..d44412f
--- /dev/null
+++ b/telemetry.cpp
@@ -0,0 +1,55 @@
+#include "telemetry.h"
+
+#include <time.h>
+
+#include "stm32.h"
+#include "ahrs.h"
+#include "xbee.h"
+
+extern volatile uint16_t motors[4];
+extern AHRS ahrs;
+
+volatile uint16_t dmabuf[2];
+
+void telemetry_main() {
+	ADC1.CR2 = 0x9;
+	while(ADC1.CR2 & 0x8);
+	ADC1.CR2 = 0x5;
+	while(ADC1.CR2 & 0x4);
+	
+	DMA1.CH[0].CMAR = (uint32_t)&dmabuf;
+	DMA1.CH[0].CPAR = (uint32_t)&ADC1.DR;
+	DMA1.CH[0].CNDTR = 2;
+	DMA1.CH[0].CCR = 0x05a1;
+	
+	ADC1.SMPR2 = 0x003f000;
+	ADC1.SQR1 = 0x100000;
+	ADC1.SQR3 = 5 | (4 << 5);
+	ADC1.CR1 = 0x100;
+	ADC1.CR2 = 0x103;
+	ADC1.CR2 = 0x103;
+	
+	while(1) {
+		uint16_t buf[] = {
+			ahrs.gyro.x,
+			ahrs.gyro.y,
+			ahrs.gyro.z,
+			ahrs.accel.x,
+			ahrs.accel.y,
+			ahrs.accel.z,
+			motors[0],
+			motors[1],
+			motors[2],
+			motors[3],
+			dmabuf[0],
+			dmabuf[1],
+		};
+		
+		xbee_send(1, sizeof(buf), (uint8_t*)buf);
+		Time::sleep(100);
+	}
+}
+
+uint32_t telemetry_stack[1024];
+
+Thread telemetry_thread(telemetry_stack, sizeof(telemetry_stack), telemetry_main);
\ No newline at end of file