File content as of revision 53:71f59e195f06:

#include "SETUP.hpp"

int SPI_RX_DATA = 0;
int Cubelet_Colours[9] = {0,0,0,0,0,0,0,0,0};//9 cubelets store colours here
int Received_data = 0;
bool Data_from_slave[16] = {0};

//Interrupt service routine for handling the timeout of SW1
void SW1TimeOutHandler() {
    SW1TimeOut.detach();        //Stop the timeout counter firing
    SW1.fall(&SW1FallingEdge);  //Now wait for a falling edge
}
//Interrupt service routive for SW2 falling edge (release)
void SW1FallingEdge() {
    SW1.fall(NULL);                             //Disable this interrupt
    SW1TimeOut.attach(&SW1TimeOutHandler, SW1_SW2_Timeout_Time); //Start timeout counter    
}
//Interrupt service routine for handling the timeout of SW2
void SW2TimeOutHandler() {
    SW2TimeOut.detach();        //Stop the timeout counter firing
    SW2.fall(&SW2FallingEdge);  //Now wait for a falling edge
}
//Interrupt service routive for SW2 falling edge (release)
void SW2FallingEdge() {
    SW2.fall(NULL);                             //Disable this interrupt
    SW2TimeOut.attach(&SW2TimeOutHandler, SW1_SW2_Timeout_Time); //Start timeout counter    
}
void LCD_Output()
{
    while(1)
    {
        //Write to the LCD
    }
}
void Serial_Commands()
{
    while(1)
    {
        Serial_Commands_Output();           //Enable Serial Commands
    }
}
void LED_Logging()
{
    while(1)
    {
       Log_Leds();                          //Flashes the yellow led to indicate the logging mode
    }
}

void SPI_INTERFACE()
{
    //pc.printf("SPI Test \n");
    Thread::wait(1000);
    while(1)
    {
        //Do stuff
        cs= 0;
        SPI_RX_DATA = spi.write(0xCB);
        wait_us(3);
        cs= 1;
        //SPI_RX_DATA = SPI_RX_DATA >> 7;
        //SPI_RX_DATA = SPI_RX_DATA << 1;
        //pc.printf("Received data : %x\n",SPI_RX_DATA);

        std::bitset<16> bits(SPI_RX_DATA);
        cout << bits << endl;
        pc.printf("Received data = %d\n", SPI_RX_DATA);
        //wait_us(3);
         Thread::wait(1000);
     
    }   
}
void Motor_Control()
{
    while(1)
    {
        if(Motor_To_Select !=0 and steps !=0)
        {
            if(Motor_To_Select == 1)
            {
                STEPPER_MOTOR_1.Rotate_Steps(steps ,direction);
                //Motor_To_Select = 0;
            }
            else if(Motor_To_Select == 2)
            {
                STEPPER_MOTOR_2.Rotate_Steps(steps ,direction);
                //Motor_To_Select = 0;
            }
             else if(Motor_To_Select == 3)
            {
                STEPPER_MOTOR_3.Rotate_Steps(steps ,direction);
                //Motor_To_Select = 0;
            }
             else if(Motor_To_Select == 4)
            {
                STEPPER_MOTOR_4.Rotate_Steps(steps ,direction);
                //Motor_To_Select = 0;
            }
             else if(Motor_To_Select == 5)
            {
                STEPPER_MOTOR_5.Rotate_Steps(steps ,direction);
                //Motor_To_Select = 0;
            }
            
             else if(Motor_To_Select == 6)
            {
                STEPPER_MOTOR_6.Rotate_Steps(steps ,direction);
                //Motor_To_Select = 0;
            }
            
        }
    }
}

int main()
{
    set_time(1515530152);                                   //Sets time
    pc.baud(9600);                                          //Sets the Serial Comms Baud Rate
    //SPI_INIT();
    cs = 1; //Active Low

    // Setup the spi for 8 bit data, high steady state clock,
    // second edge capture, with a 1MHz clock rate
    spi.format(16,1); // 8 Data bits phase 0 polarity 0
    spi.frequency(1000000);//Output clock frequency 1Mhz
    //post();                                                 //Power on Self Test

    //Start Threads
    t1.start(Motor_Control);
    t2.start(SPI_INTERFACE);
    t3.start(Serial_Commands);
    //Interrupts
    SW1.fall(&SW1FallingEdge);
    SW2.fall(&SW2FallingEdge);
    
    //Main thread ID
    idMain = osThreadGetId();   //CMSIS RTOS call


    //Thread ID
    id1 = t1.gettid();
    id2 = t2.gettid();
    id3 = t3.gettid();
    id4 = t4.gettid();
    id5 = t5.gettid();
    id6 = t6.gettid();
    
    while(true) 
    {
        //Do nothing main thread will sleep        
    }
}