diff options
Diffstat (limited to 'main.cpp')
| -rw-r--r-- | main.cpp | 27 |
1 files changed, 25 insertions, 2 deletions
@@ -63,7 +63,25 @@ I2C i2c; ITG3200 gyro(i2c); BMA150 accel(i2c); +volatile uint16_t dmabuf[2]; void threadmain() { + 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[] = { gyro.x, @@ -72,6 +90,8 @@ void threadmain() { accel.x, accel.y, accel.z, + dmabuf[0], + dmabuf[1], }; xbee_send(1, sizeof(buf), (uint8_t*)buf); @@ -107,13 +127,16 @@ int main() { RCC.enable(RCC.IOPA); RCC.enable(RCC.IOPB); - GPIOA.CRL = 0x4444bbbb; + GPIOA.CRL = 0x4400bbbb; GPIOA.CRH = 0x444444b4; GPIOB.CRL = 0xff444434; GPIOB.CRH = 0x44444444; GPIOB.ODR = 1 << 1; + RCC.enable(RCC.DMA1); + RCC.enable(RCC.ADC1); + // Give all hardware enough time to initialize. Time::sleep(100); @@ -144,7 +167,7 @@ int main() { gps.enable(); thread.start(); - gps_thread.start(); + //gps_thread.start(); while(1) { // Wait for a new update. |