[WIP] Wallaby2 #22
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[WIP] Wallaby2 #22
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jsoutherland
commented
Aug 27, 2017
| @@ -74,7 +74,7 @@ int main() | |||
| //readAccel(); | |||
| //readMag(); | |||
| //readGyro(); | |||
| readIMU(); | |||
| if(count%1000==0)readIMU(); | |||
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TODO: better update frequency control
| @@ -17,6 +17,11 @@ | |||
| #include "wallaby_uart.h" | |||
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| // Wallaby2 | |||
| #ifndef WALLABY2 | |||
| #define WALLABY2 | |||
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Don't default to WALLABY2 in this way if it is missing... what if we were a WALLABY
| initSPI4(); | ||
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| setup_I2C1(); | ||
| //initSPI4(); |
| // wait a bit | ||
| delay_us(5000); | ||
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| //setupAccelMag(); | ||
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| //setupGyro(); | ||
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| debug_printf("calling setupIMU()\r\n"); |
| @@ -65,7 +65,7 @@ void initSPI3() | |||
| SPI_InitStruct.SPI_CPOL = SPI_CPOL_Low; | |||
| SPI_InitStruct.SPI_CPHA = SPI_CPHA_1Edge; | |||
| SPI_InitStruct.SPI_NSS = SPI_NSS_Soft | SPI_NSSInternalSoft_Set; | |||
| SPI_InitStruct.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_64; | |||
| SPI_InitStruct.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_128; | |||
| setupIMU(); | ||
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| /* | ||
| setupUART2(); | ||
| setupUART3(); |
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Experimental support for the Wallaby2 board for firmware v8