void Sensor::initSensors() {
sensGPIO.begin(1);
//Address pins
sensGPIO.pinMode(FRPIN, OUTPUT);
sensGPIO.pinMode(LTRPIN, OUTPUT);
sensGPIO.pinMode(LTLPIN, OUTPUT);
sensGPIO.pinMode(FLPIN, OUTPUT);
sensGPIO.pinMode(MRPIN, OUTPUT);
sensGPIO.pinMode(MLPIN, OUTPUT);
sensGPIO.pinMode(BRPIN, OUTPUT);
sensGPIO.pinMode(BLPIN, OUTPUT);
//-------Set all sensor select pins to high---------------
sensGPIO.writeGPIOA(0xFF);
//Ultrasonic pins
pinMode(A0, OUTPUT);
pinMode(A1, INPUT);
for (byte i = sC::FR; i < sC::invalid; i++) {
SelectSensor(i);
tsl.begin(TSL2561_ADDR_0);
tsl.setTiming(TSL2561_GAIN_16X, TSL2561_INTEGRATIONTIME_14MS);
tsl.setPowerUp();
}
delay(14);
_sensorInitComplete = true;
}
static void ioSetup() {
digitalWrite(PIN_IO_RST,LOW);
delay(100);
digitalWrite(PIN_IO_RST,HIGH);
delay(100);
mcp_.begin(IO_ADDR);
mcp_.pinMode(PIN_EP_EN,OUTPUT);
mcp_.pinMode(PIN_LED_EN,OUTPUT);
mcp_.pinMode(PIN_SRV_EN,OUTPUT);
mcp_.pinMode(PIN_FAN_EN,OUTPUT);
mcp_.pinMode(PIN_FAN_TACHO,INPUT);
mcp_.pinMode(PIN_HOST_INT,OUTPUT);
mcp_.pinMode(PIN_STEP_SLP,OUTPUT);
mcp_.pullUp(PIN_FRAME_STOP,HIGH);
mcp_.pullUp(PIN_STEP_STOP1,HIGH);
mcp_.pullUp(PIN_STEP_STOP2,HIGH);
mcp_.pullUp(PIN_BTN11,HIGH);
mcp_.pullUp(PIN_BTN12,HIGH);
mcp_.pullUp(PIN_BTN13,HIGH);
mcp_.pullUp(PIN_BTN21,HIGH);
mcp_.pullUp(PIN_BTN22,HIGH);
mcp_.pullUp(PIN_BTN23,HIGH);
mcp_.setupInterruptPin(PIN_BTN11,CHANGE);
mcp_.setupInterruptPin(PIN_BTN12,CHANGE);
mcp_.setupInterruptPin(PIN_BTN13,CHANGE);
mcp_.setupInterruptPin(PIN_BTN21,CHANGE);
mcp_.setupInterruptPin(PIN_BTN22,CHANGE);
mcp_.setupInterruptPin(PIN_BTN23,CHANGE);
mcp_.setupInterrupts(false,false,LOW);
if(st_.active())
stepperInterrupt(true);
if(fan_.tachoActive())
fanInterrupt(true);
}