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#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);
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