void ATCommandHandler::run() {
std::cout << std::endl << "AtCommand handler started and working" << std::endl;
navDataDemoMode();
fTrim();
takeOff();
watchdog();
move();
land();
}
/**
* @brief
* Hardware initialization function
* This function initializes hardware at application start up prior
* to other initializations or OS operations.
*/
static void fHwInit(void)
{
/* Trim register settings */
fTrim();
/* Clock setting */
/** - Initialize clock */
fClockInit();
/** - Initialize pmu */
fPmuInit();
/** Orion has 4 interrupt bits in interrupt priority register
* The lowest 4 bits are not used.
*
@verbatim
+-----+-----+-----+-----+-----+-----+-----+-----+
|bit 7|bit 6|bit 5|bit 4|bit 3|bit 2|bit 1|bit 0|
| | | | | 0 | 0 | 0 | 0 |
+-----+-----+-----+-----+-----+-----+-----+-----+
|
INTERRUPT PRIORITY | NOT IMPLEMENTED,
| read as 0
Valid priorities are 0x00, 0x10, 0x20, 0x30
0x40, 0x50, 0x60, 0x70
0x80, 0x90, 0xA0, 0xB0
0xC0, 0xD0, 0xE0, 0xF0
@endverbatim
* Lowest number is highest priority
*
*
* This range is defined by
* configKERNEL_INTERRUPT_PRIORITY (lowest)
* and configMAX_SYSCALL_INTERRUPT_PRIORITY (highest). All interrupt
* priorities need to fall in that range.
*
* To be future safe, the LSbits of the priority are set to 0xF.
* This wil lmake sure that if more interrupt bits are used, the
* priority is maintained.
*/
/** - Set IRQs priorities */
NVIC_SetPriority(Tim0_IRQn, 14);
NVIC_SetPriority(Tim1_IRQn, 14);
NVIC_SetPriority(Tim2_IRQn, 14);
NVIC_SetPriority(Uart1_IRQn,14);
NVIC_SetPriority(Spi_IRQn, 14);
NVIC_SetPriority(I2C_IRQn, 14);
NVIC_SetPriority(Gpio_IRQn, 14);
NVIC_SetPriority(Rtc_IRQn, 14);
NVIC_SetPriority(MacHw_IRQn, 13);
NVIC_SetPriority(Aes_IRQn, 13);
NVIC_SetPriority(Adc_IRQn, 14);
NVIC_SetPriority(ClockCal_IRQn, 14);
NVIC_SetPriority(Uart2_IRQn, 14);
NVIC_SetPriority(Dma_IRQn, 14);
NVIC_SetPriority(Uvi_IRQn, 14);
NVIC_SetPriority(DbgPwrUp_IRQn, 14);
NVIC_SetPriority(Spi2_IRQn, 14);
NVIC_SetPriority(I2C2_IRQn, 14);
}
