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-rw-r--r--main.cpp21
-rw-r--r--usart.h2
-rw-r--r--xbee.h6
3 files changed, 22 insertions, 7 deletions
diff --git a/main.cpp b/main.cpp
index d9faac1..5a0cd4d 100644
--- a/main.cpp
+++ b/main.cpp
@@ -57,11 +57,24 @@ class PID {
}
};
+I2C i2c;
+ITG3200 gyro(i2c);
+
void threadmain() {
while(1) {
GPIOB.ODR ^= 1 << 1;
- xbee_send(3, (uint8_t*)"hei");
+ uint8_t buf[] = {
+ gyro.x & 0xff,
+ gyro.x >> 8,
+ gyro.y & 0xff,
+ gyro.y >> 8,
+ gyro.z & 0xff,
+ gyro.z >> 8,
+ };
+
+ xbee_send(6, buf);
+ Time::sleep(100);
}
}
@@ -84,10 +97,12 @@ int main() {
GPIOB.CRH = 0x44444444;
GPIOB.ODR = 1 << 1;
- I2C i2c;
+ Time::sleep(10);
+
+ //I2C i2c;
i2c.enable();
- ITG3200 gyro(i2c);
+ //ITG3200 gyro(i2c);
gyro.init();
PPMSum ppmsum;
diff --git a/usart.h b/usart.h
index ab7fb3f..8fde39a 100644
--- a/usart.h
+++ b/usart.h
@@ -9,7 +9,7 @@ void interrupt<Interrupt::USART1>() {
void usart_enable() {
RCC.enable(RCC.USART1);
- USART1.BRR = 7500; // 9600 baud
+ USART1.BRR = 625; // 115200 baud
USART1.CR1 = 0x202c;
Interrupt::enable(Interrupt::USART1);
diff --git a/xbee.h b/xbee.h
index 2b577b2..f99fe55 100644
--- a/xbee.h
+++ b/xbee.h
@@ -21,12 +21,12 @@ void xbee_send(int len, const uint8_t* buf) {
usart_send(0x19);
usart_send(0xf1);
- usart_send(0x00);
- usart_send(0x00);
+ usart_send(0xff);
+ usart_send(0xfe);
usart_send(0x00);
usart_send(0x00);
- uint8_t chsum = 0x80;
+ uint8_t chsum = 0x83;
// Payload
for(int i = 0; i < len; i++) {