void ICACHE_FLASH_ATTR user_init(void) {
uart_div_modify(0, UART_CLK_FREQ / BAUD);
wifi_set_opmode(STATION_MODE);
wifi_station_connect();
/*** I²C init ***/
i2c_master_gpio_init();
mpu9250_init();
ak8963_init();
os_delay_us(10000);
i2c_scanbus();
/*** LCD Init ***/
ssd1306_init(0);
ssd1306_text_small(10, 10, "Init...");
ssd1306_flip();
// ~Charge input
PIN_FUNC_SELECT(PERIPHS_IO_MUX_MTCK_U, FUNC_GPIO13);
gpio_output_set(0, 0, 0, BIT13);
// Button inputs
buttons_init();
ak8963_calibration_start(10000, on_ak8963_calibration);
os_printf("Startup\r\n");
}
void mpu9250_i2c_init(struct Mpu9250_I2c *mpu, struct i2c_periph *i2c_p, uint8_t addr)
{
/* set i2c_peripheral */
mpu->i2c_p = i2c_p;
/* slave address */
mpu->i2c_trans.slave_addr = addr;
/* set inital status: Success or Done */
mpu->i2c_trans.status = I2CTransDone;
/* set default MPU9250 config options */
mpu9250_set_default_config(&(mpu->config));
mpu->data_available = false;
mpu->config.initialized = false;
mpu->config.init_status = MPU9250_CONF_UNINIT;
/* "internal" ak8963 magnetometer */
ak8963_init(&mpu->akm, i2c_p, MPU9250_MAG_ADDR);
/* mag is declared as slave to call the configure function,
* regardless if it is an actual MPU slave or passthrough
*/
mpu->config.nb_slaves = 1;
/* set callback function to configure mag */
mpu->config.slaves[0].configure = &imu_mpu9250_configure_mag_slave;
/* read the mag directly for now */
mpu->config.i2c_bypass = true;
mpu->slave_init_status = MPU9250_I2C_CONF_UNINIT;
}
void enter_cmps_mode()
{
xprintf("\r\nEnter the compass mode...\r\n");
oled_cmps_mode();
ak8963_init();
ak8963_cs1_mode();
}
void sensor_init()
{
nrf_gpio_cfg_input(4, NRF_GPIO_PIN_PULLDOWN);
nrf_gpio_cfg_input(5, NRF_GPIO_PIN_PULLDOWN);
nrf_gpio_cfg_input(6, NRF_GPIO_PIN_PULLDOWN);
MMA845x_Init();
bmp180_init_interface();
bmi055_init();
ak8963_init();
}
/**
* Navstik IMU initializtion of the MPU-60x0 and HMC58xx
*/
void imu_impl_init(void)
{
/* MPU-60X0 */
mpu60x0_i2c_init(&imu_bebop.mpu, &(BEBOP_MPU_I2C_DEV), MPU60X0_ADDR);
imu_bebop.mpu.config.smplrt_div = BEBOP_SMPLRT_DIV;
imu_bebop.mpu.config.dlpf_cfg = BEBOP_LOWPASS_FILTER;
imu_bebop.mpu.config.gyro_range = BEBOP_GYRO_RANGE;
imu_bebop.mpu.config.accel_range = BEBOP_ACCEL_RANGE;
/* AKM8963 */
ak8963_init(&imu_bebop.ak, &(BEBOP_MAG_I2C_DEV), AK8963_ADDR);
}
/**
* Navstik IMU initializtion of the MPU-60x0 and HMC58xx
*/
void imu_bebop_init(void)
{
/* MPU-60X0 */
mpu60x0_i2c_init(&imu_bebop.mpu, &(BEBOP_MPU_I2C_DEV), MPU60X0_ADDR);
imu_bebop.mpu.config.smplrt_div = BEBOP_SMPLRT_DIV;
imu_bebop.mpu.config.dlpf_cfg = BEBOP_LOWPASS_FILTER;
imu_bebop.mpu.config.gyro_range = BEBOP_GYRO_RANGE;
imu_bebop.mpu.config.accel_range = BEBOP_ACCEL_RANGE;
/* AKM8963 */
ak8963_init(&imu_bebop.ak, &(BEBOP_MAG_I2C_DEV), AK8963_ADDR);
#if BEBOP_VERSION2
//the magnetometer of the bebop2 is located on the gps board,
//which is under a slight angle
struct FloatEulers imu_to_mag_eulers =
{0.0, RadOfDeg(8.5), 0.0};
orientationSetEulers_f(&imu_to_mag_bebop, &imu_to_mag_eulers);
#endif
}
