got it so the gyro should work
I basically split the linear code from the gyro board up into a state
machine that runs in ISRs.
diff --git a/bbb_cape/src/cape/led.c b/bbb_cape/src/cape/led.c
new file mode 100644
index 0000000..1968f96
--- /dev/null
+++ b/bbb_cape/src/cape/led.c
@@ -0,0 +1,48 @@
+#include "cape/led.h"
+
+#include <STM32F2XX.h>
+
+#include "cape/util.h"
+
+#define LED_SPEED 0
+
+// DB = PC3
+// Z = PB1
+// HB = PB4
+// ERR = PB11
+
+static void do_led_set(GPIO_TypeDef *port, int number, int on) {
+ if (on) {
+ port->BSRRL = 1 << number;
+ } else {
+ port->BSRRH = 1 << number;
+ }
+}
+
+void led_set(enum LED led, int on) {
+ switch (led) {
+ case LED_ERR:
+ do_led_set(GPIOB, 11, on);
+ break;
+ case LED_HB:
+ do_led_set(GPIOB, 4, on);
+ break;
+ case LED_Z:
+ do_led_set(GPIOB, 1, on);
+ break;
+ case LED_DB:
+ do_led_set(GPIOC, 3, on);
+ break;
+ }
+}
+
+void led_init(void) {
+ gpio_setup_out(GPIOB, 11, LED_SPEED);
+ led_set(LED_ERR, 0);
+ gpio_setup_out(GPIOB, 4, LED_SPEED);
+ led_set(LED_HB, 0);
+ gpio_setup_out(GPIOB, 1, LED_SPEED);
+ led_set(LED_Z, 0);
+ gpio_setup_out(GPIOC, 3, LED_SPEED);
+ led_set(LED_DB, 0);
+}