int srf02_init(srf02_t *dev, i2c_t i2c, uint8_t addr)
{
dev->i2c = i2c;
dev->addr = (addr >> 1); /* internally we right align the 7-bit addr */
uint8_t rev;
/* Acquire exclusive access to the bus. */
i2c_acquire(dev->i2c);
/* initialize i2c interface */
if (i2c_init_master(dev->i2c, BUS_SPEED) < 0) {
DEBUG("[srf02] error initializing I2C bus\n");
return -1;
}
/* try to read the software revision (read the CMD reg) from the device */
i2c_read_reg(i2c, dev->addr, REG_CMD, &rev);
if (rev == 0 || rev == 255) {
i2c_release(dev->i2c);
DEBUG("[srf02] error reading the devices software revision\n");
return -1;
} else {
DEBUG("[srf02] software revision: 0x%02x\n", rev);
}
/* Release the bus for other threads. */
i2c_release(dev->i2c);
DEBUG("[srf02] initialization successful\n");
return 0;
}
uint8_t u8x8_byte_riotos_hw_i2c(u8x8_t *u8g2, uint8_t msg, uint8_t arg_int, void *arg_ptr)
{
static uint8_t buffer[255];
static uint8_t index;
i2c_t dev = (i2c_t) u8g2->dev;
switch (msg) {
case U8X8_MSG_BYTE_SEND:
memcpy(&buffer[index], arg_ptr, arg_int);
index += arg_int;
break;
case U8X8_MSG_BYTE_INIT:
i2c_init_master(dev, I2C_SPEED_FAST);
break;
case U8X8_MSG_BYTE_SET_DC:
break;
case U8X8_MSG_BYTE_START_TRANSFER:
i2c_acquire(dev);
index = 0;
break;
case U8X8_MSG_BYTE_END_TRANSFER:
i2c_write_bytes(dev, u8x8_GetI2CAddress(u8g2), buffer, index);
i2c_release(dev);
break;
default:
return 0;
}
return 1;
}
int lps331ap_init(lps331ap_t *dev, i2c_t i2c, uint8_t address, lps331ap_rate_t rate)
{
uint8_t tmp;
/* save device specifics */
dev->i2c = i2c;
dev->address = address;
/* Acquire exclusive access to the bus. */
i2c_acquire(dev->i2c);
/* initialize underlying I2C bus */
if (i2c_init_master(dev->i2c, BUS_SPEED) < 0) {
/* Release the bus for other threads. */
i2c_release(dev->i2c);
return -1;
}
/* configure device, for simple operation only CTRL_REG1 needs to be touched */
tmp = LPS331AP_CTRL_REG1_DBDU | LPS331AP_CTRL_REG1_PD |
(rate << LPS331AP_CTRL_REG1_ODR_POS);
if (i2c_write_reg(dev->i2c, dev->address, LPS331AP_REG_CTRL_REG1, tmp) != 1) {
i2c_release(dev->i2c);
return -1;
}
i2c_release(dev->i2c);
return 0;
}
static void board_pic_init(void)
{
gpio_init(PIC_INT_WAKE_PIN, GPIO_OD);
gpio_set(PIC_INT_WAKE_PIN);
i2c_init_master(PIC_I2C, I2C_SPEED_NORMAL);
}
int isl29125_init(isl29125_t *dev, i2c_t i2c, gpio_t gpio,
isl29125_mode_t mode, isl29125_range_t range,
isl29125_resolution_t resolution)
{
DEBUG("isl29125_init\n");
/* initialize device descriptor */
dev->i2c = i2c;
dev->res = resolution;
dev->range = range;
dev->gpio = gpio;
/* configuration 1: operation mode, range, resolution */
uint8_t conf1 = 0x00;
conf1 |= mode;
conf1 |= range;
conf1 |= resolution;
conf1 |= ISL29125_CON1_SYNCOFF; /* TODO: implement SYNC mode configuration */
/* TODO: implement configuration 2: infrared compensation configuration */
/* acquire exclusive access to the bus */
DEBUG("isl29125_init: i2c_acquire\n");
(void) i2c_acquire(dev->i2c);
/* initialize the I2C bus */
DEBUG("isl29125_init: i2c_init_master\n");
(void) i2c_init_master(i2c, I2C_SPEED_NORMAL);
/* verify the device ID */
DEBUG("isl29125_init: i2c_read_reg\n");
uint8_t reg_id;
int ret = i2c_read_reg(dev->i2c, ISL29125_I2C_ADDRESS, ISL29125_REG_ID, ®_id);
if ((reg_id == ISL29125_ID) && (ret == 1)) {
DEBUG("isl29125_init: ID successfully verified\n");
}
else {
DEBUG("isl29125_init: ID could not be verified, ret: %i\n", ret);
(void) i2c_release(dev->i2c);
return -1;
}
/* configure and enable the sensor */
DEBUG("isl29125_init: i2c_write_reg(ISL29125_REG_RESET)\n");
(void) i2c_write_reg(dev->i2c, ISL29125_I2C_ADDRESS, ISL29125_REG_RESET, ISL29125_CMD_RESET);
DEBUG("isl29125_init: i2c_write_reg(ISL29125_REG_CONF1)\n");
(void) i2c_write_reg(dev->i2c, ISL29125_I2C_ADDRESS, ISL29125_REG_CONF1, conf1);
/* release the I2C bus */
DEBUG("isl29125_init: i2c_release\n");
(void) i2c_release(dev->i2c);
DEBUG("isl29125_init: success\n");
return 0;
}
int mpu9150_init(mpu9150_t *dev, i2c_t i2c, mpu9150_hw_addr_t hw_addr,
mpu9150_comp_addr_t comp_addr)
{
char temp;
dev->i2c_dev = i2c;
dev->hw_addr = hw_addr;
dev->comp_addr = comp_addr;
dev->conf = DEFAULT_STATUS;
/* Initialize I2C interface */
if (i2c_init_master(dev->i2c_dev, I2C_SPEED_FAST)) {
DEBUG("[Error] I2C device not enabled\n");
return -1;
}
/* Acquire exclusive access */
i2c_acquire(dev->i2c_dev);
/* Reset MPU9150 registers and afterwards wake up the chip */
i2c_write_reg(dev->i2c_dev, dev->hw_addr, MPU9150_PWR_MGMT_1_REG, MPU9150_PWR_RESET);
hwtimer_wait(HWTIMER_TICKS(MPU9150_RESET_SLEEP_US));
i2c_write_reg(dev->i2c_dev, dev->hw_addr, MPU9150_PWR_MGMT_1_REG, MPU9150_PWR_WAKEUP);
/* Release the bus, it is acquired again inside each function */
i2c_release(dev->i2c_dev);
/* Set default full scale ranges and sample rate */
mpu9150_set_gyro_fsr(dev, MPU9150_GYRO_FSR_2000DPS);
mpu9150_set_accel_fsr(dev, MPU9150_ACCEL_FSR_2G);
mpu9150_set_sample_rate(dev, MPU9150_DEFAULT_SAMPLE_RATE);
/* Disable interrupt generation */
i2c_acquire(dev->i2c_dev);
i2c_write_reg(dev->i2c_dev, dev->hw_addr, MPU9150_INT_ENABLE_REG, REG_RESET);
/* Initialize magnetometer */
if (compass_init(dev)) {
i2c_release(dev->i2c_dev);
return -2;
}
/* Release the bus, it is acquired again inside each function */
i2c_release(dev->i2c_dev);
mpu9150_set_compass_sample_rate(dev, 10);
/* Enable all sensors */
i2c_acquire(dev->i2c_dev);
i2c_write_reg(dev->i2c_dev, dev->hw_addr, MPU9150_PWR_MGMT_1_REG, MPU9150_PWR_PLL);
i2c_read_reg(dev->i2c_dev, dev->hw_addr, MPU9150_PWR_MGMT_2_REG, &temp);
temp &= ~(MPU9150_PWR_ACCEL | MPU9150_PWR_GYRO);
i2c_write_reg(dev->i2c_dev, dev->hw_addr, MPU9150_PWR_MGMT_2_REG, temp);
i2c_release(dev->i2c_dev);
hwtimer_wait(HWTIMER_TICKS(MPU9150_PWR_CHANGE_SLEEP_US));
return 0;
}
int l3g4200d_init(l3g4200d_t *dev, i2c_t i2c, uint8_t address,
gpio_t int1_pin, gpio_t int2_pin,
l3g4200d_mode_t mode, l3g4200d_scale_t scale)
{
char tmp;
/* Acquire exclusive access to the bus. */
i2c_acquire(dev->i2c);
/* initialize the I2C bus */
if (i2c_init_master(i2c, I2C_SPEED) < 0) {
/* Release the bus for other threads. */
i2c_release(dev->i2c);
return -1;
}
i2c_release(dev->i2c);
/* write device descriptor */
dev->i2c = i2c;
dev->addr = address;
dev->int1 = int1_pin;
dev->int2 = int2_pin;
/* set scale */
switch (scale) {
case L3G4200D_SCALE_250DPS:
dev->scale = 250;
break;
case L3G4200D_SCALE_500DPS:
dev->scale = 500;
break;
case L3G4200D_SCALE_2000DPS:
dev->scale = 2000;
break;
default:
dev->scale = 500;
break;
}
/* configure CTRL_REG1 */
tmp = ((mode & 0xf) << L3G4200D_CTRL1_MODE_POS) | L3G4200D_CTRL1_ALLON;
i2c_acquire(dev->i2c);
if (i2c_write_reg(dev->i2c, dev->addr, L3G4200D_REG_CTRL1, tmp) != 1) {
i2c_release(dev->i2c);
return -1;
}
tmp = ((scale & 0x3) << L3G4200D_CTRL4_FS_POS) | L3G4200D_CTRL4_BDU;
if (i2c_write_reg(dev->i2c, dev->addr, L3G4200D_REG_CTRL4, tmp) != 1) {
i2c_release(dev->i2c);
return -1;
}
i2c_release(dev->i2c);
return 0;
}
int mma8652_init(mma8652_t *dev, i2c_t i2c, uint8_t address, uint8_t dr, uint8_t range, uint8_t type)
{
uint8_t reg;
/* write device descriptor */
dev->i2c = i2c;
dev->addr = address;
dev->initialized = false;
if (dr > MMA8652_DATARATE_1HZ56 || range > MMA8652_FS_RANGE_8G || type >= MMA8x5x_TYPE_MAX) {
return -1;
}
dev->type = type;
i2c_acquire(dev->i2c);
/* initialize the I2C bus */
if (i2c_init_master(i2c, I2C_SPEED) < 0) {
i2c_release(dev->i2c);
return -2;
}
i2c_release(dev->i2c);
if (mma8652_test(dev)) {
return -3;
}
if (mma8652_set_standby(dev) < 0) {
return -4;
}
reg = MMA8652_XYZ_DATA_CFG_FS(range);
i2c_acquire(dev->i2c);
if (i2c_write_regs(dev->i2c, dev->addr, MMA8652_XYZ_DATA_CFG, ®, 1) != 1) {
i2c_release(dev->i2c);
return -5;
}
reg = MMA8652_CTRL_REG1_DR(dr);
if (i2c_write_regs(dev->i2c, dev->addr, MMA8652_CTRL_REG1, ®, 1) != 1) {
i2c_release(dev->i2c);
return -5;
}
i2c_release(dev->i2c);
dev->initialized = true;
dev->scale = 1024 >> range;
return 0;
}
int tsl2561_init(tsl2561_t *dev,
i2c_t i2c, uint8_t addr, uint8_t gain, uint8_t integration)
{
dev->i2c_dev = i2c;
dev->addr = addr;
dev->gain = gain;
dev->integration = integration;
_print_init_info(dev);
/* Initialize I2C interface */
if (i2c_init_master(dev->i2c_dev, I2C_SPEED_NORMAL)) {
DEBUG("[Error] I2C device not enabled\n");
return TSL2561_NOI2C;
}
DEBUG("[Info] I2C device initialized with success!\n");
/* Acquire exclusive access */
i2c_acquire(dev->i2c_dev);
DEBUG("[Info] Access acquired !\n");
/* Verify sensor ID */
uint8_t id;
i2c_read_reg(dev->i2c_dev, dev->addr,
TSL2561_COMMAND_MODE | TSL2561_REGISTER_ID, &id);
DEBUG("[Info] ID ? %d\n", id);
if (id != TSL2561_ID ) {
DEBUG("[Error] not a TSL2561 sensor\n");
return TSL2561_BADDEV;
}
_enable(dev);
/* configuring gain and integration time */
i2c_write_reg(dev->i2c_dev, dev->addr,
TSL2561_COMMAND_MODE | TSL2561_REGISTER_TIMING,
dev->integration | dev->gain);
#if ENABLE_DEBUG
uint8_t timing;
i2c_read_reg(dev->i2c_dev, dev->addr,
TSL2561_COMMAND_MODE | TSL2561_REGISTER_TIMING, &timing);
DEBUG("[Info] Timing ? %d (expected: %d)\n",
timing, dev->integration | dev->gain);
#endif
_disable(dev);
return TSL2561_OK;
}
int main(void)
{
hih6130_t dev;
puts("HIH6130 sensor driver test application\n");
printf("Initializing I2C_%i... ", TEST_HIH6130_I2C);
if (i2c_init_master(TEST_HIH6130_I2C, I2C_SPEED_FAST) < 0) {
puts("[Failed]");
return -1;
}
puts("[OK]");
printf("Initializing HIH6130 sensor at I2C_%i, address 0x%02x... ",
TEST_HIH6130_I2C, TEST_HIH6130_ADDR);
hih6130_init(&dev, TEST_HIH6130_I2C, TEST_HIH6130_ADDR);
puts("[OK]");
while (1) {
float hum = 0.f;
float temp = 0.f;
int status;
float integral = 0.f;
float fractional;
vtimer_usleep(SLEEP);
status = hih6130_get_humidity_temperature_float(&dev, &hum, &temp);
if (status < 0) {
printf("Communication error: %d\n", status);
continue;
} else if (status == 1) {
puts("Stale values");
}
/* Several platforms usually build with nano.specs, (without float printf) */
/* Split value into two integer parts for printing. */
fractional = modff(hum, &integral);
printf("humidity: %4d.%04u %%",
(int)integral, (unsigned int)abs(fractional * 10000.f));
fractional = modff(temp, &integral);
printf(" temperature: %4d.%04u C\n",
(int)integral, (unsigned int)abs(fractional * 10000.f));
}
return 0;
}
int lis3mdl_init(lis3mdl_t *dev,
i2c_t i2c,
uint8_t address,
lis3mdl_xy_mode_t xy_mode,
lis3mdl_z_mode_t z_mode,
lis3mdl_odr_t odr,
lis3mdl_scale_t scale,
lis3mdl_op_t op_mode) {
uint8_t tmp;
dev->i2c = i2c;
dev->addr = address;
i2c_acquire(dev->i2c);
if (i2c_init_master(i2c, I2C_SPEED_NORMAL) < 0) {
DEBUG("LIS3MDL: Master initialization failed\n");
return -1;
}
i2c_read_reg(dev->i2c, dev->addr, LIS3DML_WHO_AM_I_REG, &tmp);
if (tmp != LIS3MDL_CHIP_ID) {
DEBUG("LIS3MDL: Identification failed\n");
return -1;
}
tmp = ( LIS3MDL_MASK_REG1_TEMP_EN /* enable temperature sensor */
| xy_mode /* set x-, y-axis operative mode */
| odr); /* set output data rate */
i2c_write_reg(dev->i2c, dev->addr, LIS3MDL_CTRL_REG1, tmp);
/* set Full-scale configuration */
i2c_write_reg(dev->i2c, dev->addr, LIS3MDL_CTRL_REG2, scale);
/* set continuous-conversion mode */
i2c_write_reg(dev->i2c, dev->addr, LIS3MDL_CTRL_REG3, op_mode);
/* set z-axis operative mode */
i2c_write_reg(dev->i2c, dev->addr, LIS3MDL_CTRL_REG4, z_mode);
i2c_release(dev->i2c);
return 0;
}
int tcs37727_init(tcs37727_t *dev, i2c_t i2c, uint8_t address, int atime_us)
{
/* write device descriptor */
dev->i2c = i2c;
dev->addr = address;
dev->initialized = false;
i2c_acquire(dev->i2c);
/* initialize the I2C bus */
if (i2c_init_master(i2c, I2C_SPEED) < 0) {
i2c_release(dev->i2c);
return -1;
}
i2c_release(dev->i2c);
if (tcs37727_test(dev)) {
return -2;
}
i2c_acquire(dev->i2c);
if (i2c_write_reg(dev->i2c, dev->addr, TCS37727_CONTROL,
TCS37727_CONTROL_AGAIN_4) != 1) {
i2c_release(dev->i2c);
return -3;
}
dev->again = 4;
if (i2c_write_reg(dev->i2c, dev->addr, TCS37727_ATIME,
TCS37727_ATIME_TO_REG(atime_us)) != 1) {
i2c_release(dev->i2c);
return -3;
}
dev->atime_us = atime_us;
dev->initialized = true;
i2c_release(dev->i2c);
return 0;
}
int cmd_init_master(int argc, char **argv)
{
int dev, speed, res;
if (argc != 3) {
puts("Error: Init: Invalid number of arguments!");
printf("Usage:\n%s: [DEVICE] [SPEED]\n", argv[0]);
puts(" with DEVICE:");
for (int i = 0; i < I2C_NUMOF; i++) {
printf(" %i -> I2C_%i\n", i, i);
}
puts(" SPEED:");
puts(" 0 -> SPEED_LOW (10kbit/s)");
puts(" 1 -> SPEED_NORMAL (100kbit/s)");
puts(" 2 -> SPEED_FAST (400kbit/s)");
puts(" 3 -> SPEED_FAST_PLUS (1Mbit/s)");
puts(" 4 -> SPEED_HIGH (3.4Mbit/s)\n");
return 1;
}
dev = atoi(argv[1]);
speed = atoi(argv[2]);
res = i2c_init_master(dev, speed);
if (res == -1) {
puts("Error: Init: Given device not available");
return 1;
}
else if (res == -2) {
puts("Error: Init: Unsupported speed value");
return 1;
}
else {
printf("I2C_%i successfully initialized as master!\n", dev);
i2c_dev = dev;
}
return 0;
}
int tcs37727_init(tcs37727_t *dev, const tcs37727_params_t *params)
{
uint8_t tmp;
/* check parameters */
assert(dev && params);
/* initialize the device descriptor */
memcpy(&dev->p, params, sizeof(tcs37727_params_t));
/* setup the I2C bus */
i2c_acquire(BUS);
if (i2c_init_master(BUS, I2C_SPEED) < 0) {
i2c_release(BUS);
LOG_ERROR("[tcs37727] init: error initializing I2C bus\n");
return TCS37727_NOBUS;
}
/* check if we can communicate with the device */
i2c_read_reg(BUS, ADR, TCS37727_ID, &tmp);
if (tmp != TCS37727_ID_VALUE) {
i2c_release(BUS);
LOG_ERROR("[tcs37727] init: error while reading ID register\n");
return TCS37727_NODEV;
}
/* configure gain and conversion time */
i2c_write_reg(BUS, ADR, TCS37727_ATIME, TCS37727_ATIME_TO_REG(dev->p.atime));
i2c_write_reg(BUS, ADR, TCS37727_CONTROL, TCS37727_CONTROL_AGAIN_4);
dev->again = 4;
/* enable the device */
tmp = (TCS37727_ENABLE_AEN | TCS37727_ENABLE_PON);
i2c_write_reg(BUS, ADR, TCS37727_ENABLE, tmp);
i2c_release(BUS);
return TCS37727_OK;
}
int lis3mdl_init(lis3mdl_t *dev, const lis3mdl_params_t *params)
{
dev->params = *params;
uint8_t tmp;
i2c_acquire(DEV_I2C);
if (i2c_init_master(DEV_I2C, I2C_SPEED_NORMAL) < 0) {
DEBUG("LIS3MDL: Master initialization failed\n");
return -1;
}
i2c_read_reg(DEV_I2C, DEV_ADDR, LIS3DML_WHO_AM_I_REG, &tmp);
if (tmp != LIS3MDL_CHIP_ID) {
DEBUG("LIS3MDL: Identification failed, %02X != %02X\n",
tmp, LIS3MDL_CHIP_ID);
return -1;
}
tmp = ( LIS3MDL_MASK_REG1_TEMP_EN /* enable temperature sensor */
| dev->params.xy_mode /* set x-, y-axis operative mode */
| dev->params.odr); /* set output data rate */
i2c_write_reg(DEV_I2C, DEV_ADDR, LIS3MDL_CTRL_REG1, tmp);
/* set Full-scale configuration */
i2c_write_reg(DEV_I2C, DEV_ADDR, LIS3MDL_CTRL_REG2, dev->params.scale);
/* set continuous-conversion mode */
i2c_write_reg(DEV_I2C, DEV_ADDR, LIS3MDL_CTRL_REG3, dev->params.op_mode);
/* set z-axis operative mode */
i2c_write_reg(DEV_I2C, DEV_ADDR, LIS3MDL_CTRL_REG4, dev->params.z_mode);
i2c_release(DEV_I2C);
return 0;
}
int si70xx_init(si70xx_t *dev, i2c_t i2c_dev, uint8_t address)
{
dev->i2c_dev = i2c_dev;
dev->address = address;
/* setup the i2c bus */
i2c_acquire(dev->i2c_dev);
int result = i2c_init_master(dev->i2c_dev, I2C_SPEED_NORMAL);
if (result != 0) {
i2c_release(dev->i2c_dev);
return result;
}
/* initialize the peripheral */
i2c_write_byte(dev->i2c_dev, dev->address, SI70XX_RESET);
/* sensor is ready after at most 25 ms */
xtimer_usleep(25 * MS_IN_USEC);
i2c_release(dev->i2c_dev);
return 0;
}
int hdc1000_init(hdc1000_t *dev, i2c_t i2c, uint8_t address)
{
char reg[2];
/* write device descriptor */
dev->i2c = i2c;
dev->addr = address;
dev->initialized = false;
i2c_acquire(dev->i2c);
/* initialize the I2C bus */
if (i2c_init_master(i2c, I2C_SPEED) < 0) {
i2c_release(dev->i2c);
return -1;
}
i2c_release(dev->i2c);
if (hdc1000_test(dev)) {
return -2;
}
/* set 14 bit resolution for both sensors and sequence mode */
uint16_t tmp = HDC1000_CONFG_SEQ_MOD;
reg[0] = (uint8_t)(tmp >> 8);
reg[1] = (uint8_t)tmp;
i2c_acquire(dev->i2c);
if (i2c_write_regs(dev->i2c, dev->addr, HDC1000_CONFG, reg, 2) != 2) {
i2c_release(dev->i2c);
return -3;
}
dev->initialized = true;
i2c_release(dev->i2c);
return 0;
}
int main(void)
{
int test_mode;
int vm_present;
int i;
unsigned int seed;
// Needs to be called ASAP as rf need a looooooong time to wake up.
// This function is just sending a pulse over the SCL line.
rf_wakeup();
clock_set_speed(16000000UL,16);
setup_pps();
setup_io();
leds_init();
CHARGE_500MA = 0; // Switch back to 100mA charge.
// Switch on one led to say we are powered on
leds_set(LED_BATTERY_0, 32);
// Enable the poweroff softirq.
_INT3IF = 0;
_INT3IP = 1;
_INT3IE = 1;
// Sound must be enabled before analog, as
// The analog interrupt callback into sound processing ...
// But must be initialised _after_ leds as it use one led IO for enabling amp.
sound_init();
tone_init(); // Init tone generator
pwm_motor_init();
pid_motor_init();
// We need the settings for the horizontal prox.
load_settings_from_flash();
for (i = 0; i < 2; i++) {
// Settings is definitely wrong....
if(settings.mot256[i] <= 0)
settings.mot256[i] = 256;
// 1024 (AD resolution is 10 bits) * 256 / 9 fits in signed 16 bits.
if (settings.mot256[i] < 9)
settings.mot256[i] = 9;
}
// This is the horizontal prox. Vertical one are handled by the ADC
// but ADC sync the motor mesurment with the prox, so we don't pullute it with noise ...
timer_init(TIMER_IR_COMM, 0,-1); // The period will be changed later.
prox_init(PRIO_SENSORS); // Same priority as analog (maybe should be at 7 ...)
// Warning: We cannot use the SD before the analog init as some pin are on the analog port.
analog_init(TIMER_ANALOG, PRIO_SENSORS);
wait_valid_vbat();
log_init(); // We will need to read vbat to be sure we can flash.
ntc_init(ntc_callback, PRIO_1KHZ);
// i2c_init(I2C_3);
i2c_init_master(I2C_3, 400000, PRIO_I2C);
I2C3CON = 0x9000;
mma7660_init(I2C_3, MMA7660_DEFAULT_ADDRESS, acc_cb, 0);
mma7660_set_mode(MMA7660_120HZ, 1);
rc5_init(TIMER_RC5, rc5_callback, PRIO_RC5);
sd_init();
timer_init(TIMER_1KHZ, 1000, 6);
timer_enable_interrupt(TIMER_1KHZ, timer_1khz, PRIO_1KHZ);
rf_init(I2C_3);
timer_enable(TIMER_1KHZ);
sd_log_file();
vm_present = init_aseba_and_fifo();
if(vm_present)
log_analyse_bytecode();
vmVariables.fwversion[0] = FW_VERSION;
vmVariables.fwversion[1] = FW_VARIANT;
// SD file is more important than internal flash
if(!sd_load_aseba_code()) {
log_set_flag(LOG_FLAG_VMCODESD);
vm_present = 1;
log_analyse_bytecode();
}
// Behavior is on INT4 (softirq trigged by 1khz timer).
behavior_init(PRIO_BEHAVIOR);
test_mode = sd_test_file_present();
if(!test_mode)
mode_init(vm_present);
// Enable the LVD interrupt
_LVDIE = 1;
play_sound(SOUND_POWERON);
if(test_mode) {
test_mode_start();
while(1)
idle_without_aseba();
}
while(behavior_enabled(B_MODE))
idle_without_aseba();
// If usb did not put us out of behavior mode, then start the rf link
if(!usb_uart_serial_port_open() && (rf_get_status() & RF_PRESENT)) {
rf_set_link(RF_UP);
}
// get the random seed
seed = 0;
for(i = 0; i < 5; i++) {
seed += vmVariables.buttons_mean[i];
seed += vmVariables.buttons_noise[i];
}
seed += vmVariables.vbat[0];
seed += vmVariables.vbat[1];
for(i = 0; i < 3; i++)
seed += vmVariables.acc[i];
AsebaSetRandomSeed(seed);
for(i = 0; i < 3; i++)
AsebaGetRandom();
// Give full control to aseba. No way out (except reset).
run_aseba_main_loop();
}
