Diff: main.cpp

Revision:

1:709be64ca63c

Parent:

0:830ddddc129f

Child:

2:ec30613f2b2b

--- a/main.cpp	Thu Jun 09 09:46:38 2016 +0000
+++ b/main.cpp	Tue Jun 21 18:11:46 2016 +0000
@@ -4,7 +4,33 @@
 #include "SensorFusion.h"
 #include "SPI_9dSensor.h"
 #include "RobotBicycleConst.h"
+/****************************
+Wiring Map
 
+CK3 PC_10 | PC_11   MI3||re  PC_9      | PC_8   rw
+MO3 PC_12 | PD_2       ||   |-----------------|
+    3.3V  | E5V        ||rs |PB_8  D15 | PC_6 |
+    BOOT0 | GND        ||ra |PB_9  D14 | PC_5 |
+   |---------------|   ||   |AVDD      | U5V  |
+   |NC    | NC     |   ||   |GND       | NC   |
+   |NC    | IOREF  |   ||rk |PA_5  D13 | PA_12|
+   |PA_13 | NRST   |   ||   |PA_6  D12 | PA_11| rl
+   |PA_14 | 3.3V   |   ||   |PA_7  D11 | PB_12|
+   |PA_15 | 5.0V   |   ||rb |PB_6  D10 | NC   |
+   |GND   | GND    |   ||   |PC_7  D9  | GND  |
+   |PB_7  | GND    |   ||lb |PA_9  D8  | PB_2 |CSG
+   |PC_13 | VIN    |   ||   |-----------------|
+   |---------------|   ||   |-----------------|
+    PC_14 | NC         ||ll |PA_8  D7  | PB_1 |CSX
+   |---------------|   ||lk |PB_10 D6  | PB_15|MO2
+   |PC_15 | PA_0 A0|   ||la |PB_4  D5  | PB_14|MI2
+   |PH_0  | PA_1 A1|   ||ls |PB_5  D4  | PB_13|CK2
+   |PH_1  | PA_4 A2|   ||le |PB_3  D3  | AGND |
+   |VBAT  | PB_0 A3|   ||lw |PA_10 D2  | PC_4 |
+   |PC_2  | PC_1 A4|   ||   |PA_2  D1  | NC   |
+   |PC_3  | PC_0 A5|   ||   |PA_3  D0  | NC   |
+   |---------------|   ||   |-----------------|
+****************************/
 AnalogIn analog_value(A5);//When using the ADC module, those pins connected to  AnalogIn can't be used to output.
 
 Ticker timer1;
@@ -19,6 +45,7 @@
 
 int main() {
     setupServo();
+    setup_spi();
     
     timer1.attach_us(&timer1_interrupt, 4000);//4.0ms interrupt period (250 Hz)
     timer2.attach_us(&timer2_interrupt, 4098);//4.098ms interrupt period (244 Hz)