/**
* @brief Set the default register settings
* @return 0 if successful, -1 if not
*/
static int32_t PIOS_BMA180_Config()
{
/*
0x35 = 0x81 //smp-skip = 1 for less interrupts
0x33 = 0x81 //shadow-dis = 1, update MSB and LSB synchronously
0x27 = 0x01 //dis-i2c
0x21 = 0x02 //new_data_int = 1
*/
PIOS_DELAY_WaituS(20);
if(PIOS_BMA180_Validate(dev) != 0)
return -1;
while(PIOS_BMA180_EnableEeprom() != 0);
while(PIOS_BMA180_SetReg(BMA_RESET, BMA_RESET_CODE) != 0);
while(PIOS_BMA180_SetReg(BMA_OFFSET_LSB1, 0x81) != 0);
while(PIOS_BMA180_SetReg(BMA_GAIN_Y, 0x81) != 0);
while(PIOS_BMA180_SetReg(BMA_CTRREG3, 0xFF) != 0);
while(PIOS_BMA180_SelectBW(dev->cfg->bandwidth) != 0);
while(PIOS_BMA180_SetRange(dev->cfg->range) != 0);
while(PIOS_BMA180_DisableEeprom() != 0);
return 0;
}
int32_t PIOS_USB_Reenumerate()
{
/* Force USB reset and power-down (this will also release the USB pins for direct GPIO control) */
_SetCNTR(CNTR_FRES | CNTR_PDWN);
/* Using a "dirty" method to force a re-enumeration: */
/* Force DPM (Pin PA12) low for ca. 10 mS before USB Tranceiver will be enabled */
/* This overrules the external Pull-Up at PA12, and at least Windows & MacOS will enumerate again */
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
PIOS_DELAY_WaitmS(50);
/* Release power-down, still hold reset */
_SetCNTR(CNTR_PDWN);
PIOS_DELAY_WaituS(5);
/* CNTR_FRES = 0 */
_SetCNTR(0);
/* Clear pending interrupts */
_SetISTR(0);
/* Configure USB clock */
/* USBCLK = PLLCLK / 1.5 */
RCC_USBCLKConfig(RCC_USBCLKSource_PLLCLK_1Div5);
/* Enable USB clock */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_USB, ENABLE);
return 0;
}
/**
* Trigger sonar sensor
*/
void PIOS_HCSR04_Trigger(void)
{
CapCounter=0;
PIOS_HCSR04_TRIG_GPIO_PORT->BSRR = PIOS_HCSR04_TRIG_PIN;
PIOS_DELAY_WaituS(15);
PIOS_HCSR04_TRIG_GPIO_PORT->BRR = PIOS_HCSR04_TRIG_PIN;
TIM_ITConfig(TIM3, TIM_IT_CC2, ENABLE);
}
/**
* Waits for a specific number of mS
*
* Example:<BR>
* \code
* // Wait for 500 mS
* PIOS_DELAY_Wait_mS(500);
* \endcode
* \param[in] mS delay (1..65535 milliseconds)
* \return < 0 on errors
*/
int32_t PIOS_DELAY_WaitmS(uint32_t mS)
{
while (mS--) {
PIOS_DELAY_WaituS(1000);
}
/* No error */
return 0;
}
/**
* Waits for a specific number of mS<BR>
* Example:<BR>
* \code
* // Wait for 500 mS
* PIOS_DELAY_Wait_mS(500);
* \endcode
* \param[in] mS delay (1..65535 milliseconds)
* \return < 0 on errors
*/
int32_t PIOS_DELAY_WaitmS(uint16_t mS)
{
for(int i = 0; i < mS; i++) {
PIOS_DELAY_WaituS(1000);
}
/* No error */
return 0;
}
/**
* @brief Initialize the flash object setting FS
* @return 0 if success, -1 if failure
*/
int32_t PIOS_FLASHFS_Init()
{
// Check for valid object table or create one
uint32_t object_table_magic;
uint32_t magic_fail_count = 0;
bool magic_good = false;
while(!magic_good) {
if (PIOS_Flash_W25X_ReadData(0, (uint8_t *)&object_table_magic, sizeof(object_table_magic)) != 0)
return -1;
if(object_table_magic != OBJECT_TABLE_MAGIC) {
if(magic_fail_count++ > MAX_BADMAGIC) {
PIOS_FLASHFS_ClearObjectTableHeader();
PIOS_LED_Toggle(LED1);
magic_fail_count = 0;
magic_good = true;
} else {
PIOS_DELAY_WaituS(1000);
}
}
else {
magic_good = true;
}
}
int32_t addr = OBJECT_TABLE_START;
struct objectHeader header;
numObjects = 0;
// Loop through header area while objects detect to count how many saved
while(addr < OBJECT_TABLE_END) {
// Read the instance data
if (PIOS_Flash_W25X_ReadData(addr, (uint8_t *)&header, sizeof(header)) != 0)
return -1;
// Counting number of valid headers
if(header.objMagic != OBJ_MAGIC)
break;
numObjects++;
addr += sizeof(header);
}
return 0;
}
/**
* @brief Initialize with good default settings
* @returns 0 for success, -1 for failure
*/
int32_t PIOS_BMA180_Init(uint32_t spi_id, uint32_t slave_num, const struct pios_bma180_cfg * cfg)
{
dev = PIOS_BMA180_alloc();
if(dev == NULL)
return -1;
dev->spi_id = spi_id;
dev->slave_num = slave_num;
dev->cfg = cfg;
if(PIOS_BMA180_Config() < 0)
return -1;
PIOS_DELAY_WaituS(50);
PIOS_EXTI_Init(dev->cfg->exti_cfg);
while(PIOS_BMA180_EnableIrq() != 0);
return 0;
}
