Ejemplos de SPISlaveInit en C++ (Cpp)

Ejemplo n.º 1

Archivo: InitilizationCallbacks.c Proyecto: NeuronRobotics/dyio

void UserInit(void){
	StartCritical();

	//println_W(startmessage);// All printfDEBUG functions do not need to be removed from code if debug is disabled
//#if defined(DEBUG)
//	ConfigureUART(115200);
//	if(GetChannelMode(16)!=IS_UART_TX)
//		setMode(16,IS_UART_TX);
//#endif
	setPrintLevelInfoPrint();
	println_I(/*PSTR*/("\e[1;1H\e[2J ***Starting User initialization***"));
	InitFlagPins();
	InitBankLEDs();
	SetPowerState0(0,0);
	SetPowerState1(0,0);


	//_delay_ms(1);

#if defined(WPIRBE)
	SPISlaveInit();
#endif


	//_delay_ms(100);
	println_I(/*PSTR*/("Starting Pin Functions"));
	InitPinFunction();
	println_I(/*PSTR*/("Starting Pin Modes"));
	InitPinModes();
	int i=0;
	//println_I(/*PSTR*/("Starting hardware modes"));
	for(i=0;i<GetNumberOfIOChannels();i++){
		initPinState(i);
		configAdvancedAsyncNotEqual(i,10);
		setAsyncLocal(i,true) ;
	}
	//println_I(/*PSTR*/("DONE pin initialization"));

	//println_I(/*PSTR*/("Adding IO Initialization"));
	addNamespaceToList((NAMESPACE_LIST *)get_bcsIoNamespace());
	//println_I(/*PSTR*/("Adding IO.SETMODE Initialization"));
	addNamespaceToList((NAMESPACE_LIST *)get_bcsIoSetmodeNamespace());
	//println_I(/*PSTR*/("Adding Internal Initialization"));
	addNamespaceToList((NAMESPACE_LIST *)get_internalNamespace());
	setNoAsyncMode(true);
	setIgnoreAddressing(true);
	//SetPinTris(0,OUTPUT);
	//SetDIO(0,OFF);

#if defined(USE_AS_LIBRARY)
	InitializeUserCode();
#endif
	EndCritical();
	println_I(/*PSTR*/("Starting Core"));
//	setMode(22,IS_DO);
//	setMode(23,IS_DI);
//	println_I(/*PSTR*/("Pin done"));
}

Ejemplo n.º 2

Archivo: main.c Proyecto: ctraabe/NaviCtrl

//------------------------------------------------------------------------------
int main(void)
{
  VICConfig();
  TimingInit();
  LEDInit();
  UART1Init();
  UART2Init();
  I2CInit();
  SPISlaveInit();

  Wait(100);
  UART1Printf("University of Tokyo NaviCtrl firmware V2");

  ReadEEPROM();
  UBloxInit();
  LSM303DLInit();
  FlightCtrlCommsInit();
  SDCardInit();
  NavigationInit();

  ExternalButtonInit();

  // Enable the "new data" interrupt.
  VIC_Config(EXTIT0_ITLine, VIC_IRQ, IRQ_PRIORITY_NEW_DATA);
  VIC_ITCmd(EXTIT0_ITLine, ENABLE);

  // Enable the 50Hz Interrupt.
  VIC_Config(EXTIT3_ITLine, VIC_IRQ, IRQ_PRIORITY_50HZ);
  VIC_ITCmd(EXTIT3_ITLine, ENABLE);

  // Main loop.
  uint32_t led_timer = GetTimestamp();
  for (;;)
  {
#ifndef VISION
    // Check for new data from the magnetometer.
    ProcessIncomingLSM303DL();

    // Skip the rest of the main loop if mag calibration is ongoing.
    if (MagCalibration(mag_calibration_)) continue;

    // Check for new data on the GPS UART port.
    ProcessIncomingUBlox();
#endif

    // Check for new data from the FlightCtrl.
    if (NewDataFromFlightCtrl())
    {
      ClearNewDataFromFlightCtrlFlag();

#ifdef VISION
      KalmanAccelerometerUpdate();
#endif

      UpdateNavigation();

      PrepareFlightCtrlDataExchange();

#ifndef VISION
      RequestLSM303DL();
#endif

      // Check if new data has come while processing the data. This indicates
      // that processing did not complete fast enough.
      if (NewDataFromFlightCtrl())
      {
        overrun_counter_++;
      }
    }

#ifndef VISION
    CheckUBXFreshness();
    CheckLSM303DLFreshness();

    // Normally the magnetometer is read every time new data comes from the
    // FlightCtrl. The following statement is a backup that ensures the
    // magnetometer is updated even if there is no connection to the FlightCtrl
    // and also deals with read errors.
    if (LSM303DLDataStale())
    {
      if (MillisSinceTimestamp(LSM303DLLastRequestTimestamp()) > 20)
        RequestLSM303DL();
      if (LSM303DLErrorBits() & LSM303DL_ERROR_BIT_I2C_BUSY)
        I2CReset();
    }
#else
    CheckVisionFreshness();
#endif

    // Check for incoming data on the "update & debug" UART port.
    ProcessIncomingUART1();

    // Check for incoming data on the "FligthCtrl" UART port.
    ProcessIncomingUART2();

    ProcessLogging();

    if (TimestampInPast(led_timer))
    {
      GreenLEDToggle();

      while (TimestampInPast(led_timer)) led_timer += 100;

      // Debug output for GPS and magnetomter. Remove after testing is completed

      // UART1Printf("%+5.2f,%+5.2f,%+5.2f",
      //   MagneticVector()[0],
      //   MagneticVector()[1],
      //   MagneticVector()[2]);

      // UART1Printf("%i,%i,%i",
      //   MagnetometerVector()[0],
      //   MagnetometerVector()[1],
      //   MagnetometerVector()[2]);

      // UART1Printf("%i,%i,%i",
      //   MagnetometerBiasVector()[0],
      //   MagnetometerBiasVector()[1],
      //   MagnetometerBiasVector()[2]);

      // UART1Printf("%f", CurrentHeading());

      // UART1Printf("%f,%f,%f",
      //   (float)(UBXPosLLH()->longitude * 1e-7),
      //   (float)(UBXPosLLH()->latitude * 1e-7),
      //   (float)(UBXPosLLH()->height_above_ellipsoid * 1e-3));

      UART1PrintfSafe("%+5.2f,%+5.2f,%+5.2f,%+5.2f",
        PositionVector()[0],
        PositionVector()[1],
        PositionVector()[2],
        CurrentHeading());
    }
  }
}