void QMV_UART_Config( pFunc pUARTx )
{
UART6_irqEven = pUARTx;
Serial_Config();
printf("\r\nHello World!\r\n\r\n");
}
/*====================================================================================================*/
void System_Init( void )
{
MPU_InitTypeDef MPU_InitStruct;
HAL_Init();
GPIO_Config();
Serial_Config();
MPU6050_Config();
Delay_100ms(1);
printf("\r\nHello World!\r\n\r\n");
LED_B_Reset();
MPU_InitStruct.MPU_Gyr_FullScale = MPU_GyrFS_2000dps;
MPU_InitStruct.MPU_Gyr_LowPassFilter = MPU_GyrLPS_41Hz;
MPU_InitStruct.MPU_Acc_FullScale = MPU_AccFS_4g;
MPU_InitStruct.MPU_Acc_LowPassFilter = MPU_AccLPS_41Hz;
while(MPU6050_Init(&MPU_InitStruct) != SUCCESS) {
LED_R_Toggle();
Delay_100ms(1);
}
LED_R_Set();
LED_B_Set();
Delay_100ms(1);
}
/*====================================================================================================*/
void System_Init( void )
{
uint8_t state = ERROR;
MPU_InitTypeDef MPU_InitStruct;
HAL_Init();
SystemClock_Config();
GPIO_Config();
Serial_Config();
LED_R_Reset;
Delay_100ms(1);
MPU_InitStruct.MPU_Gyr_FullScale = MPU_GyrFS_2000dps;
MPU_InitStruct.MPU_Gyr_LowPassFilter = MPU_GyrLPS_41Hz;
MPU_InitStruct.MPU_Acc_FullScale = MPU_AccFS_4g;
MPU_InitStruct.MPU_Acc_LowPassFilter = MPU_AccLPS_41Hz;
state = IMU_Init(&MPU_InitStruct);
while(state != SUCCESS) {
LED_G_Toggle;
Delay_100ms(1);
}
LED_G_Reset;
Delay_100ms(1);
}
/** Configures the board hardware and chip peripherals for the demo's functionality. */
void SetupHardware(void)
{
/* Disable watchdog if enabled by bootloader/fuses */
MCUSR &= ~(1 << WDRF);
wdt_disable();
/* enable clock division, run on 16MHz */
clock_prescale_set(clock_div_1);
/* enable Interrupts */
GlobalInterruptEnable();
/* disable JTAG since we use the pins for I/O, e.g. the STBY pin */
JTAG_DISABLE();
/* pull STBY low, so enough power can be provided */
DDRF |= (PWR_STBY);
PORTF &= ~(PWR_STBY);
/* reset sensors */
DDRC |= PWR_SENSORS;
PORTC &= ~(PWR_SENSORS);
/* enable pushbutton */
DDRB |= ~(PWR_BUTTON);
/* set default uart configuration */
Serial_Config(1000000, 8, CDC_LINEENCODING_OneStopBit, CDC_PARITY_None);
/* get off the spi-bus */
DDRB &= ~JEN_SPIMISO;
DDRB &= ~JEN_SPIMOSI;
DDRB &= ~JEN_CLOCK;
DDRE &= ~JEN_SPISS;
}
void KDWM_UART1_Config( pFunc pUARTx )
{
UART1_Rx_irqEven = pUARTx;
Serial_Config();
printf("\r\nHello World!\r\n\r\n");
}
/*====================================================================================================*/
void System_Init( void )
{
MPU_InitTypeDef MPU_InitStruct;
CLOCK_SourceXTAL(NRF_CLOCK_XTALFREQ_16MHz);
CLOCK_SourceLFCLK(NRF_CLOCK_LF_SRC_RC);
CLOCK_CmdHFCLK(ENABLE);
CLOCK_CmdLFCLK(ENABLE);
GPIO_Config();
Serial_Config();
MPU9250_Config();
Delay_100ms(1);
printf("\r\nHello World!\r\n\r\n");
MPU_InitStruct.MPU_Gyr_FullScale = MPU_GyrFS_2000dps;
MPU_InitStruct.MPU_Gyr_LowPassFilter = MPU_GyrLPS_41Hz;
MPU_InitStruct.MPU_Acc_FullScale = MPU_AccFS_4g;
MPU_InitStruct.MPU_Acc_LowPassFilter = MPU_AccLPS_41Hz;
printf("MPU9250 Init ...");
if(MPU9250_Init(&MPU_InitStruct) != SUCCESS) {
printf("ERROR\r\n");
while(1) {
LED2_Toggle();
Delay_100ms(1);
}
}
printf("SUCCESS\r\n");
LED2_Set();
Delay_100ms(1);
}
/*=====================================================================================================*/
void System_Init( void )
{
HAL_Init();
Serial_Config();
Delay_100ms(1);
printf("\r\nHello World!\r\n\r\n");
}
/*====================================================================================================*/
void System_Init( void )
{
HAL_Init();
GPIO_Config();
Serial_Config();
delay_ms(100);
printf("\r\nHello World!\r\n\r\n");
}
/*====================================================================================================*/
void System_Init( void )
{
Clock_Config();
GPIO_Config();
SAADC_Config();
Serial_Config();
printf("\fHello World!!\r\n");
}
void lufaLoop(void)
{
if(!jennic_in_programming_mode){
CDC_Device_USBTask(&VirtualSerial_CDC0_Interface);
CDC_Arduino_In_Task();
}
do{
if (jennic_reset_event)
{
if (!jennic_in_programming_mode)
{
jennic_in_programming_mode = true;
Serial_Config(38400, 8, CDC_LINEENCODING_OneStopBit, CDC_PARITY_None);
Jennic_Set_Mode(true); /* pull jennic into programming mode */
}
else
{
jennic_in_programming_mode = false;
Serial_Config(1000000, 8, CDC_LINEENCODING_OneStopBit, CDC_PARITY_None);
Jennic_Set_Mode(false); /* pull jennic into normal mode */
}
jennic_reset_event = false;
}
//if(jennic_in_programming_mode){
Jennic_In_Task();
CDC_In_Task();
CDC_Device_USBTask(&VirtualSerial_CDC1_Interface);
USB_USBTask();
/* do house-keeping */
// UDRE Interrupt enable (USART)
// cause if our USB->USART ringbuf is full we disable the interrupt.
if ( ringbuf_elements(&USBtoUSART_Buffer) && !(UCSR1B & (1 << UDRIE1)) )
UCSR1B |= (1 << UDRIE1);
}while(jennic_in_programming_mode);
}
/** Event handler for the CDC Class driver Line Encoding Changed event.
*
* \param[in] CDCInterfaceInfo Pointer to the CDC class interface configuration structure being referenced
*/
void EVENT_CDC_Device_LineEncodingChanged(USB_ClassInfo_CDC_Device_t* const CDCInterfaceInfo)
{
if(CDCInterfaceInfo->Config.ControlInterfaceNumber == 2 && jennic_in_programming_mode)
{
/* only allowed in programming mode through programmer (jenprog) */
Serial_Config(CDCInterfaceInfo->State.LineEncoding.BaudRateBPS,
CDCInterfaceInfo->State.LineEncoding.DataBits,
CDCInterfaceInfo->State.LineEncoding.CharFormat,
CDCInterfaceInfo->State.LineEncoding.ParityType);
}
}
/*====================================================================================================*/
void System_Init( void )
{
CLOCK_SourceXTAL(NRF_CLOCK_XTALFREQ_16MHz);
CLOCK_SourceLFCLK(NRF_CLOCK_LF_SRC_RC);
CLOCK_CmdHFCLK(ENABLE);
CLOCK_CmdLFCLK(ENABLE);
GPIO_Config();
Serial_Config();
Delay_100ms(1);
Serial_SendStr("\r\nHello World!\r\n\r\n");
}
/** Main program entry point. This routine contains the overall program flow, including initial
* setup of all components and the main program loop.
*/
void lufaInit(void)
{
/* activate specific usb config */
SetupHardware();
USB_Init();
//CDC_Device_CreateStream(&VirtualSerial_CDC0_Interface, &stdout);
ringbuf_init(&USARTtoUSB_Buffer, uarttousb, sizeof(uarttousb));
ringbuf_init(&USBtoUSART_Buffer, usbtouart, sizeof(uarttousb));
ringbuf_init(&serialRx_Buffer, serialRx, sizeof(serialRx));
callback = nothing;
/* restart jennic and set to normal mode. XXX needs serial line ops */
Serial_Config(1000000, 8, CDC_LINEENCODING_OneStopBit, CDC_PARITY_None);
Jennic_Set_Mode(false);
}
void system_init(void)
{
LED_Config();
Serial_Config(Serial_Baudrate);
Motor_Config();
PWM_Capture_Config();
//IMU Config
Sensor_Config();
nRF24L01_Config();
//SD Config
if ((SD_status = SD_Init()) != SD_OK)
system.status = SYSTEM_ERROR_SD;
PID_Init(&PID_Pitch, 4.0, 0.0, 1.5);
PID_Init(&PID_Roll, 4.0, 0.0, 1.5);
PID_Init(&PID_Yaw, 5.0, 0.0, 15.0);
Delay_10ms(10);
Motor_Control(PWM_MOTOR_MIN, PWM_MOTOR_MIN, PWM_MOTOR_MIN, PWM_MOTOR_MIN);
/* nRF Check */
while (nRF_Check() == ERROR);
/* Sensor Init */
while (Sensor_Init() == ERROR);
Delay_10ms(10);
/* Lock */
SetLED(LED_R, DISABLE);
SetLED(LED_G, ENABLE);
SetLED(LED_B, ENABLE);
//Check if no error
if (system.status != SYSTEM_ERROR_SD)
system.status = SYSTEM_INITIALIZED;
}
/*====================================================================================================*/
void NRF51_UART_Config( void )
{
Serial_Config();
printf("\fHello World!!\r\n");
}
