File content as of revision 57:aba1296e51b1:

#include "SETUP.hpp"

#define Cubelet_data_ready 1
#define Not_Cubelet_data_ready 0
/*
Colour lookup table
1 = White
2 = Red
3 = Orange
4 = Blue
5 = Green
6 = Yellow
*/
int SPI_RX_DATA = 0;


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(){while(1){SPI_INTERFACE_SERIAL();}}    //Outputs SPI data to serial
void SPI_INTERFACE()
{
    //pc.printf("SPI Test \n");
    Thread::wait(1000);
    while(1)
    {
        cs= 0;
        SPI_RX_DATA = spi.write(0xF0);
        wait_us(3);
        cs= 1;
        colour_data = SPI_RX_DATA;
        if(Log_Value == 1){pc.printf("Received data = %d\n", SPI_RX_DATA);}
        
        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()
{
    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 //CHECK THIS
    spi.frequency(1000000);//Output clock frequency 1Mhz
    //post();                                                 //Power on Self Test
    memset(Move_list, 0, sizeof(Move_list));
    Move_list_pointer = 0;
    //Start Threads
    t1.start(Motor_Control);
    t2.start(SPI_INTERFACE);
    t3.start(Serial_Commands);
    //Interrupts

    
    //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        
    }
}