*/
#include <ao.h>
+#include <ao_bmi088.h>
-static uint16_t blink_delay, blink_running;
+uint8_t ao_sensor_errors;
-static void blink(void) {
- blink_running = 1;
- while (blink_delay) {
- ao_led_on(AO_LED_GREEN);
- ao_delay(blink_delay);
- ao_led_off(AO_LED_GREEN);
- ao_delay(blink_delay);
- }
- blink_running = 0;
- ao_wakeup(&blink_running);
- ao_exit();
-}
-
-struct ao_task blink_task;
-
-static void blink_cmd() {
- ao_cmd_decimal();
- blink_delay = ao_cmd_lex_i;
- if (blink_delay && !blink_running)
- ao_add_task(&blink_task, blink, "blink");
- if (!blink_delay)
- while (blink_running)
- ao_sleep(&blink_running);
-}
-
-static const struct ao_cmds blink_cmds[] = {
- { blink_cmd, "b <delay, 0 off>\0Blink the green LED" },
- { 0, 0 }
-};
-
-void main(void)
+int main(void)
{
- ao_led_init(LEDS_AVAILABLE);
+ ao_led_init();
ao_clock_init();
ao_task_init();
ao_timer_init();
ao_dma_init();
ao_usb_init();
- ao_serial_init();
+ ao_spi_init();
+ ao_bmi088_init();
ao_cmd_init();
- ao_cmd_register(blink_cmds);
ao_start_scheduler();
}