void BoardInitPeriph( void )
{
Gpio_t ioPin;
// Init the GPIO pins
GpioInit( &ioPin, SPARE_IO_EXT_4, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &ioPin, SPARE_IO_EXT_5, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &ioPin, SPARE_IO_EXT_6, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &ioPin, SPARE_IO_EXT_8, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &ioPin, IRQ_1_MPL3115, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 0 );
GpioInit( &ioPin, IRQ_2_MPL3115, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 0 );
GpioInit( &ioPin, IRQ_1_MMA8451, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 0 );
GpioInit( &ioPin, IRQ_2_MMA8451, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 0 );
// Init temperature, pressure and altitude sensor
MPL3115Init( );
// Init accelerometer
MMA8451Init( );
// Init GPS
GpsInit( );
// IRQ IO-Expander (active low)
GpioInit( &ioPin, IO_EXP_NINT, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 0 );
GpioSetInterrupt( &ioPin, IRQ_FALLING_EDGE, IRQ_MEDIUM_PRIORITY, ( GpioIrqHandler * )GpioIoeInterruptHandler );
}
/*******************************************************************************
* MODULE FUNCTIONS (PUBLIC)
******************************************************************************/
void BoardInitPeriph( void )
{
/* Init GPIO pins */
GpioInit(&Led1, LED_1, PIN_OUTPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1);
/* Init GPIO debug pins */
GpioInit(&dbgPin0, PB_0, PIN_OUTPUT, PIN_PUSH_PULL, PIN_NO_PULL, 0);
GpioInit(&dbgPin1, PB_2, PIN_OUTPUT, PIN_PUSH_PULL, PIN_NO_PULL, 0);
GpioInit(&dbgPin2, PB_3, PIN_OUTPUT, PIN_PUSH_PULL, PIN_NO_PULL, 0);
/* Init GPS */
GpsInit();
// Switch LED 1 OFF
GpioWrite(&Led1, 1);
}
void BoardInitPeriph( void )
{
GpioInit( &DcDcEnable, DC_DC_EN, PIN_OUTPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
/* Init the GPIO extender pins */
GpioInit( &IrqMpl3115, IRQ_MPL3115, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &IrqMag3110, IRQ_MAG3110, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &GpsPowerEn, GPS_POWER_ON, PIN_OUTPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &RadioPushButton, RADIO_PUSH_BUTTON, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &BoardPowerDown, BOARD_POWER_DOWN, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &NcIoe5, SPARE_IO_EXT_5, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &NcIoe6, SPARE_IO_EXT_6, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &NcIoe7, SPARE_IO_EXT_7, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &NIrqSx9500, N_IRQ_SX9500, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &Irq1Mma8451, IRQ_1_MMA8451, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &Irq2Mma8451, IRQ_2_MMA8451, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &TxEnSx9500, TX_EN_SX9500, PIN_OUTPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &Led1, LED_1, PIN_OUTPUT, PIN_PUSH_PULL, PIN_NO_PULL, 0 );
GpioInit( &Led2, LED_2, PIN_OUTPUT, PIN_PUSH_PULL, PIN_NO_PULL, 0 );
GpioInit( &Led3, LED_3, PIN_OUTPUT, PIN_PUSH_PULL, PIN_NO_PULL, 0 );
GpioInit( &Led4, LED_4, PIN_OUTPUT, PIN_PUSH_PULL, PIN_NO_PULL, 0 );
// Init Temperature, pressure and altitude sensor
MPL3115Init( );
// Init Accelerometer
MMA8451Init( );
// Init Magnetometer
MAG3110Init( );
// Init SAR
SX9500Init( );
// Init GPS
GpsInit( );
// Switch LED 1, 2, 3, 4 OFF
GpioWrite( &Led1, 1 );
GpioWrite( &Led2, 1 );
GpioWrite( &Led3, 1 );
GpioWrite( &Led4, 1 );
}
void init(void)
{
// Enable output for led
//DDRB |= _BV(DDB7);
//enable AD converter
adc_init();
//enable communication to PC over USB
HostInit();
//enable communications with gps
GpsInit();
//DebugInit();
//enable global interrupts
sei ();
}
void BoardInitPeriph( void )
{
Gpio_t ioPin;
// Init the GPIO pins
GpioInit( &ioPin, IRQ_MPL3115, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &ioPin, IRQ_MAG3110, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &ioPin, SPARE_IO_EXT_3, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &ioPin, SPARE_IO_EXT_4, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &ioPin, SPARE_IO_EXT_5, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &ioPin, SPARE_IO_EXT_6, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &ioPin, SPARE_IO_EXT_7, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &ioPin, N_IRQ_SX9500, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &ioPin, IRQ_1_MMA8451, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &ioPin, IRQ_2_MMA8451, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &ioPin, TX_EN_SX9500, PIN_OUTPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &Led1, LED_1, PIN_OUTPUT, PIN_PUSH_PULL, PIN_NO_PULL, 0 );
GpioInit( &Led2, LED_2, PIN_OUTPUT, PIN_PUSH_PULL, PIN_NO_PULL, 0 );
GpioInit( &Led3, LED_3, PIN_OUTPUT, PIN_PUSH_PULL, PIN_NO_PULL, 0 );
// Init temperature, pressure and altitude sensor
MPL3115Init( );
// Init accelerometer
MMA8451Init( );
// Init magnetometer
MAG3110Init( );
// Init SAR
SX9500Init( );
// Init GPS
GpsInit( );
// Switch LED 1, 2, 3 OFF
GpioWrite( &Led1, 1 );
GpioWrite( &Led2, 1 );
GpioWrite( &Led3, 1 );
}
void BoardInitPeriph( void )
{
/* Init the GPIO extender pins */
GpioInit( &IrqMpl3115, IRQ_MPL3115, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &IrqMag3110, IRQ_MAG3110, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &GpsPowerEn, GPS_POWER_ON, PIN_OUTPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &NcIoe3, SPARE_IO_EXT_3, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &NcIoe4, SPARE_IO_EXT_4, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &NcIoe5, SPARE_IO_EXT_5, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &NcIoe6, SPARE_IO_EXT_6, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &NcIoe7, SPARE_IO_EXT_7, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &NIrqSx9500, N_IRQ_SX9500, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &Irq1Mma8451, IRQ_1_MMA8451, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &Irq2Mma8451, IRQ_2_MMA8451, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &TxEnSx9500, TX_EN_SX9500, PIN_OUTPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &Led1, LED_1, PIN_OUTPUT, PIN_PUSH_PULL, PIN_NO_PULL, 0 );
GpioInit( &Led2, LED_2, PIN_OUTPUT, PIN_PUSH_PULL, PIN_NO_PULL, 0 );
GpioInit( &Led3, LED_3, PIN_OUTPUT, PIN_PUSH_PULL, PIN_NO_PULL, 0 );
// Init temperature, pressure and altitude sensor
MPL3115Init( );
// Init accelerometer
MMA8451Init( );
// Init magnetometer
MAG3110Init( );
// Init SAR
SX9500Init( );
// Init GPS
GpsInit( );
// Switch LED 1, 2, 3 OFF
GpioWrite( &Led1, 1 );
GpioWrite( &Led2, 1 );
GpioWrite( &Led3, 1 );
}
//--------------------------------------------------------------------
// Main Init function
//--------------------------------------------------------------------
void init(void)
{
uint16_t dummy = 0;
int16_t ret;
LED_ERROR_ON;
//enable AD converter
adc_init();
ResetImu();
//enable communication to PC over USB
HostInit();
//enable communication to the bus
BusInit();
//enable communications with gps
GpsInit();
InitLeds();
XbeeInit();
//timer for sending out estop status
timer3_init();
//timer3_set_overflow_callback(SendEstopStatus);
timer3_set_overflow_callback(globalTimerOverflow);
timer4_init();
timer4_set_compa_callback(Rs485ResponseTimeout);
timer4_disable_compa_callback();
timer1_init();
timer1_set_compa_callback(EncodersRequestFcn);
//generate the request packets:
encoderRequestRawPacketSize = DynamixelPacketWrapData(MMC_MOTOR_CONTROLLER_DEVICE_ID,
MMC_MOTOR_CONTROLLER_ENCODERS_REQUEST,
&dummy,sizeof(dummy),
encoderRequestRawPacket,
encoderRequestRawPacketMaxSize);
Servo1Init(GlobalTimerGetTime());
//buzzer port
BUZZER_DDR |= _BV(BUZZER_PIN);
//enable global interrupts
sei();
DDRL |= _BV(PL3) | _BV(PL5) | _BV(PL4);
PORTL |= _BV(PL3) | _BV(PL5) | _BV(PL4);
//PORTL |= _BV(PL3);
/*
TCCR5A |= _BV(WGM51) | _BV(WGM50);
TCCR5B |= _BV(WGM52) | _BV(WGM53);
OCR5A = 2000;
TCCR5A |= _BV(COM5A0);
TCCR5A |= _BV(COM5B0);
TCCR5A |= _BV(COM5C0);
*/
LED_ERROR_OFF;
}
