void BoardInitPeriph( void )
{
GpioInit( &DcDcEnable, DC_DC_EN, PIN_OUTPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
/* Init the GPIO extender pins */
GpioInit( &IrqMpl3115, IRQ_MPL3115, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &IrqMag3110, IRQ_MAG3110, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &GpsPowerEn, GPS_POWER_ON, PIN_OUTPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &RadioPushButton, RADIO_PUSH_BUTTON, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &BoardPowerDown, BOARD_POWER_DOWN, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &NcIoe5, SPARE_IO_EXT_5, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &NcIoe6, SPARE_IO_EXT_6, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &NcIoe7, SPARE_IO_EXT_7, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &NIrqSx9500, N_IRQ_SX9500, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &Irq1Mma8451, IRQ_1_MMA8451, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &Irq2Mma8451, IRQ_2_MMA8451, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &TxEnSx9500, TX_EN_SX9500, PIN_OUTPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &Led1, LED_1, PIN_OUTPUT, PIN_PUSH_PULL, PIN_NO_PULL, 0 );
GpioInit( &Led2, LED_2, PIN_OUTPUT, PIN_PUSH_PULL, PIN_NO_PULL, 0 );
GpioInit( &Led3, LED_3, PIN_OUTPUT, PIN_PUSH_PULL, PIN_NO_PULL, 0 );
GpioInit( &Led4, LED_4, PIN_OUTPUT, PIN_PUSH_PULL, PIN_NO_PULL, 0 );
// Init Temperature, pressure and altitude sensor
MPL3115Init( );
// Init Accelerometer
MMA8451Init( );
// Init Magnetometer
MAG3110Init( );
// Init SAR
SX9500Init( );
// Init GPS
GpsInit( );
// Switch LED 1, 2, 3, 4 OFF
GpioWrite( &Led1, 1 );
GpioWrite( &Led2, 1 );
GpioWrite( &Led3, 1 );
GpioWrite( &Led4, 1 );
}
void BoardInitPeriph( void )
{
Gpio_t ioPin;
// Init the GPIO pins
GpioInit( &ioPin, IRQ_MPL3115, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &ioPin, IRQ_MAG3110, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &ioPin, SPARE_IO_EXT_3, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &ioPin, SPARE_IO_EXT_4, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &ioPin, SPARE_IO_EXT_5, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &ioPin, SPARE_IO_EXT_6, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &ioPin, SPARE_IO_EXT_7, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &ioPin, N_IRQ_SX9500, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &ioPin, IRQ_1_MMA8451, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &ioPin, IRQ_2_MMA8451, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &ioPin, TX_EN_SX9500, PIN_OUTPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &Led1, LED_1, PIN_OUTPUT, PIN_PUSH_PULL, PIN_NO_PULL, 0 );
GpioInit( &Led2, LED_2, PIN_OUTPUT, PIN_PUSH_PULL, PIN_NO_PULL, 0 );
GpioInit( &Led3, LED_3, PIN_OUTPUT, PIN_PUSH_PULL, PIN_NO_PULL, 0 );
// Init temperature, pressure and altitude sensor
MPL3115Init( );
// Init accelerometer
MMA8451Init( );
// Init magnetometer
MAG3110Init( );
// Init SAR
SX9500Init( );
// Init GPS
GpsInit( );
// Switch LED 1, 2, 3 OFF
GpioWrite( &Led1, 1 );
GpioWrite( &Led2, 1 );
GpioWrite( &Led3, 1 );
}
void BoardInitPeriph( void )
{
/* Init the GPIO extender pins */
GpioInit( &IrqMpl3115, IRQ_MPL3115, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &IrqMag3110, IRQ_MAG3110, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &GpsPowerEn, GPS_POWER_ON, PIN_OUTPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &NcIoe3, SPARE_IO_EXT_3, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &NcIoe4, SPARE_IO_EXT_4, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &NcIoe5, SPARE_IO_EXT_5, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &NcIoe6, SPARE_IO_EXT_6, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &NcIoe7, SPARE_IO_EXT_7, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &NIrqSx9500, N_IRQ_SX9500, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &Irq1Mma8451, IRQ_1_MMA8451, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &Irq2Mma8451, IRQ_2_MMA8451, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &TxEnSx9500, TX_EN_SX9500, PIN_OUTPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &Led1, LED_1, PIN_OUTPUT, PIN_PUSH_PULL, PIN_NO_PULL, 0 );
GpioInit( &Led2, LED_2, PIN_OUTPUT, PIN_PUSH_PULL, PIN_NO_PULL, 0 );
GpioInit( &Led3, LED_3, PIN_OUTPUT, PIN_PUSH_PULL, PIN_NO_PULL, 0 );
// Init temperature, pressure and altitude sensor
MPL3115Init( );
// Init accelerometer
MMA8451Init( );
// Init magnetometer
MAG3110Init( );
// Init SAR
SX9500Init( );
// Init GPS
GpsInit( );
// Switch LED 1, 2, 3 OFF
GpioWrite( &Led1, 1 );
GpioWrite( &Led2, 1 );
GpioWrite( &Led3, 1 );
}
void SoftwareInit()
{
//
// initialization BlueBird parameters for communication protocol.
//
InitParams();
ITG3200Init();
#ifdef USE_BMA180_INTERRUPT
BMA180Init();
#endif
MAG3110Init();
//
// Set the priorities of the interrupts.
// The following interrupts are used
// (listed in priority from highest to lowest):
//
// QEI-ROLL - The input from the quadrature encoder.
//
// QEI-PITCH - The input from the quadrature encoder.
//
// PWM0 - The periodic control loop for the application.
//
// PWM1 - The periodic control loop for the application.
//
// UART0 - The UART <-> BBGCS. This must be the same
// priority as the PAYLOAD interrupt in order to provide the
// required mutual exclusion between the two.
//
// UART1 - The UART <-> PAYLOAD. This must be the same
// priority as the BBGCS interrupt in order to provide the
// required mutual exclusion between the two.
//
//
// Set the priorities of the interrupts used by the application.
//
//
// Enable the peripherals used by this example.
//
IntPrioritySet(INT_I2C0, 0x00);
IntPrioritySet(INT_GPIOA, 0x02);
IntPrioritySet(INT_GPIOE, 0x40);
IntPrioritySet(QEI_PITCH_PHA_INT, 0x60);
IntPrioritySet(QEI_ROLL_PHA_INT, 0x60);
IntPrioritySet(INT_PWM0, 0x80);
IntPrioritySet(INT_PWM1, 0x80);
IntPrioritySet(INT_UART0, 0xA0);
IntPrioritySet(INT_UART1, 0xA0);
//
// PITCH_MOTOR is PORTB & J6- PITCH Encoder
//
// moves gimbal to extreme right and down
MotorBrakePositionClean(PITCH_MOTOR);
//GeneralPitchRoll(PITCH_MOTOR,A3906_FORWARD,500);
//EncoderInitReset(QEI0_BASE,PITCH_MOTOR,A3906_REVERSE); // J6 PITCH Encoder
//EncoderInitReset(QEI0_BASE,PITCH_MOTOR,A3906_FORWARD); // J6 PITCH Encoder
//EncoderInitReset(QEI0_BASE,PITCH_MOTOR,A3906_REVERSE); // J6 PITCH Encoder
//
// ROLL_MOTOR is PORTA & J8- ROLL Encoder
//
// moves gimbal to extreme right and down
MotorBrakePositionClean(ROLL_MOTOR);
//GeneralPitchRoll(ROLL_MOTOR,A3906_FORWARD,800);
//EncoderInitReset(QEI1_BASE,ROLL_MOTOR,A3906_FORWARD); // J8 ROLL Encoder
//EncoderInitReset(QEI1_BASE,ROLL_MOTOR,A3906_REVERSE); // J8 ROLL Encoder
//EncoderInitReset(QEI1_BASE,ROLL_MOTOR,A3906_FORWARD); // J8 ROLL Encoder
#ifdef USE_BMA180_INTERRUPT
AHRS_Init();
#endif
lastitg = g_ulTickCount;
StabilizeInit();
//SetBitMode();
}
