static void app_rover_setup(app_common *com, app_remote *rem, configuration_t *cnf) {
common = com;
remote = rem;
app_cfg = cnf;
#ifdef CONFIG_SPYBOT_HCSR
RANGE_SENS_init(app_rover_radar_cb);
#endif
#ifdef CONFIG_I2C
I2C_config(_I2C_BUS(0), 100000);
STMPE_init();
#ifdef CONFIG_SPYBOT_LSM
task *config_lsm_t = TASK_create(app_rover_setup_lsm, 0);
ASSERT(config_lsm_t);
TASK_run(config_lsm_t, 0, NULL);
#endif
CFG_EE_init(&eeprom_dev, app_rover_cfg_cb);
CFG_EE_load_config();
#endif // CONFIG_I2C
#ifdef CONFIG_SPYBOT_MOTOR
MOTOR_init();
#endif
#ifdef CONFIG_SPYBOT_SERVO
SERVO_init();
#endif
mech_task = TASK_create(app_rover_mech_task, TASK_STATIC);
TASK_start_timer(mech_task, &mech_timer, 0, 0, 0, 20, "mech");
#ifdef CONFIG_SPYBOT_HCSR
radar_task = TASK_create(app_rover_radar_task, TASK_STATIC);
TASK_start_timer(radar_task, &radar_timer, 0, 0, 100, 65, "radar");
#endif // CONFIG_SPYBOT_HCSR
#ifdef CONFIG_SPYBOT_LSM
int i;
for (i = 0; i < 3; i++) {
acc_extremes[i][0] = S16_MAX;
acc_extremes[i][1] = S16_MIN;
mag_extremes[i][0] = S16_MAX;
mag_extremes[i][1] = S16_MIN;
}
#endif
COMRAD_init();
}
///*
int main(void)
{
char keyVal;
static bool sw_adxl345 = true,sw_l3g4200d = true, sw_hmc5883l=true,sw_bmp085 =true;
SystemInit();
USART3_Config();
I2C_config();
L3G4200D_Init();
printf("Initial successed!\n\r");
while(1)
{
// L3G4200D_MultRead(&l3g4200d); //讀陀螺儀數據(速度:較快)
L3G4200D_Read(&l3g4200d);
L3G4200D_Printf(&l3g4200d);
Delayms(10);
}
}
static void app_rover_lsm_task(u32_t a, void *b) {
TRACE_USR_MSG(0x00);
if (reading_lsm) {
TRACE_USR_MSG(0x01);
return;
}
if (!TASK_mutex_lock(&i2c_mutex)) {
TRACE_USR_MSG(0x02);
return;
}
TRACE_USR_MSG(0x10);
reading_lsm = TRUE;
int res = lsm_read_both(&lsm_dev);
if (res != I2C_OK) {
TRACE_USR_MSG(0x11);
I2C_reset(_I2C_BUS(0));
I2C_config(_I2C_BUS(0), 100000);
TASK_mutex_unlock(&i2c_mutex);
reading_lsm = FALSE;
}
}
/*
* @ open I2C port
*/
int I2C_open(i2c_mode_t type) {
I2C_GPIO_INIT();
I2C_config(type);
return 0;
}
