59 lines
918 B
C
59 lines
918 B
C
#include <msp430.h>
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#include <math.h>
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#include "SPI.h"
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#include "motorDriver.h"
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#include "motionController.h"
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#include "NFC.h"
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/* pinout
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*
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* motor driver:
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* CLK <-> P1.4*
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* MOSI <-> P1.1*
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* MISO <-> P1.2*
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* CS <-> P1.3
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*
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* motion controller:
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* CLK <-> P1.4*
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* MOSI <-> P1.1*
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* MISO <-> P1.2*
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* CS <-> P1.0
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*
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* NFC tag reader:
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* CLK <-> P1.4*
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* MOSI <-> P1.1*
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* MISO <-> P1.2*
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* CS <-> P1.6
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* RST <-> P1.7
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*
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* Lijndetectie:
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* front right <-> P2.0
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* front left <-> P2.1
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* back right <-> P2.2
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* back left <-> P2.3
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*
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* *) this is a shared SPI pin.
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*
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* */
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/**
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* main.c
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*/
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int main(void)
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{
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int v;
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WDTCTL = WDTPW | WDTHOLD; // stop watchdog timer
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// set cpu op 16MHz
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BCSCTL1 = CALBC1_16MHZ;
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DCOCTL = CALDCO_16MHZ;
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SPIInit();
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MDInit();
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MCInit();
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NFCInit();
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return 0;
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}
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