/** * Function: initMasterSM * @return None. * @remark Initializes the master state machine for the command canter. * @author David Goodman * @date 2013.03.10 */ void initMasterSM() { Board_init(); Serial_init(); Timer_init(); // CC buttons LOCK_BUTTON_TRIS = 1; ZERO_BUTTON_TRIS = 1; Encoder_init(); #ifdef USE_XBEE Xbee_init(); #endif #ifdef USE_NAVIGATION Navigation_init(); #endif #ifdef USE_ENCODERS I2C_init(I2C_BUS_ID, I2C_CLOCK_FREQ); #endif #ifdef USE_ACCELEROMETER //printf("Initializing accelerometer...\n"); if (Accelerometer_init() != SUCCESS) { printf("Failed to initialize the accelerometer.\n"); //return; } //printf("Initialized the accelerometer.\n"); // Configure ports as outputs LED_N_TRIS = OUTPUT; LED_S_TRIS = OUTPUT; LED_E_TRIS = OUTPUT; LED_W_TRIS = OUTPUT; Timer_new(TIMER_ACCELEROMETER, LED_DELAY ); #endif }
/********************************************************************** * Function: initializeAtlas * @return None. * @remark Initializes the boat's master state machine and all modules. * @author David Goodman * @date 2013.04.24 **********************************************************************/ static void initializeAtlas() { Board_init(); Serial_init(); Timer_init(); #ifdef USE_DRIVE Drive_init(); #endif // I2C bus I2C_init(I2C_BUS_ID, I2C_CLOCK_FREQ); #ifdef USE_TILTCOMPASS TiltCompass_init(); #endif #ifdef USE_GPS GPS_init(); #endif #ifdef USE_NAVIGATION Navigation_init(); #endif #ifdef USE_OVERRIDE Override_init(); #endif #ifdef USE_BAROMETER Barometer_init(); Timer_new(TIMER_BAROMETER_SEND, BAROMETER_SEND_DELAY); #endif // Start calibrating before use startSetOriginSM(); Timer_new(TIMER_HEARTBEAT, HEARTBEAT_SEND_DELAY); Mavlink_sendStatus(MAVLINK_STATUS_ONLINE); }