#include <msp430.h>
#include <math.h>
#include "SPI.h"
#include "motorDriver.h"
#include "motionController.h"
#include "NFC.h"

/* pinout
 *
 * motor driver:
 * CLK  <-> P1.4*
 * MOSI <-> P1.1*
 * MISO <-> P1.2*
 * CS   <-> P1.3
 * 
 * motion controller:
 * CLK  <-> P1.4*
 * MOSI <-> P1.1*
 * MISO <-> P1.2*
 * CS   <-> P1.0
 * 
 * NFC tag reader:
 * CLK  <-> P1.4*
 * MOSI <-> P1.1*
 * MISO <-> P1.2*
 * CS   <-> P1.6
 * RST  <-> P1.7
 * 
 * Lijndetectie:
 * front right <-> P2.0
 * front left  <-> P2.1
 * back right  <-> P2.2
 * back left   <-> P2.3
 * 
 * *) this is a shared SPI pin.
 * 
 * */

/**
 * main.c
 */
int main(void)
{
    WDTCTL = WDTPW | WDTHOLD;   // stop watchdog timer

    // set cpu op 16MHz
    BCSCTL1 = CALBC1_16MHZ;
    DCOCTL  = CALDCO_16MHZ;

    SPIInit();
    MDInit();
    MCInit();
    //NFCInit();

    return 0;
}