/* Initializes the controller
*/
void controller_init( void )
{
/* initialize variables */
flag_check_delay = 0;
flag_new_request = 0;
/* clear data structures */
memset( &javiator_data, 0, sizeof( javiator_data ) );
/* initialize hardware */
ports_init( );
wdog_init( );
//adc_init( );
parallel_init( );
bmu09a_init( );
lsm215_init( );
//minia_init( );
leds_init( );
/* register watchdog event and start timer */
wdog_register_flag( (uint8_t *) &flag_check_delay, NOTIFY_PERIOD );
wdog_start( );
#if 0
/* register ADC channels */
adc_add_channel( ADC_CH_SONAR );
adc_add_channel( ADC_CH_BATT );
#endif
/* set Robostix signal LEDs */
LED_ON( RED );
LED_ON( BLUE );
LED_ON( YELLOW );
/* enable interrupts */
sei( );
}
static int __init ux500_wdt_probe(struct platform_device *pdev)
{
int ret;
/* retrieve prcmu fops from plat data */
ux500_wdt_ops = dev_get_platdata(&pdev->dev);
if (!ux500_wdt_ops) {
dev_err(&pdev->dev, "plat dat incorrect\n");
return -EIO;
}
/* Number of watch dogs */
ux500_wdt_ops->config(1, wdt_auto_off);
/* convert to ms */
ux500_wdt_ops->load(wdog_id, timeout * 1000);
ret = wdog_init(pdev);
if (ret < 0)
return ret;
/* no cause for alarm if dbg_init fails, just continue */
wdog_dbg_init();
dev_info(&pdev->dev, "initialized\n");
return 0;
}
/* Initializes the controller
*/
void controller_init( void )
{
/* initialize variables */
flag_shut_down = 1;
flag_check_delay = 0;
flag_new_signals = 0;
flag_new_sensors = 0;
/* clear data structures */
memset( &javiator_data, 0, sizeof( javiator_data ) );
memset( &motor_signals, 0, sizeof( motor_signals ) );
/* initialize hardware */
ports_init( );
wdog_init( );
adc_init( );
serial_init( );
//parallel_init( );
dm3gx1_init( );
minia_init( );
pwm_init( );
leds_init( );
/* register watchdog event and start timer */
wdog_register_flag( (uint8_t *) &flag_check_delay, NOTIFY_PERIOD );
wdog_start( );
/* set Robostix signal LEDs */
LED_ON( RED );
LED_ON( BLUE );
LED_ON( YELLOW );
/* enable interrupts */
sei( );
}
