int main(void)
{
init_buttons();
init_LEDs();
while(1)
{
if (BUT1) setLED1; else clearLED1;
if (BUT2) setLED2; else clearLED2;
if (BUT3) setLED3; else clearLED3;
if (BUT4) setLED4; else clearLED4;
}
}
void initialise_board(void) {
int i;
central_data_t *central_data=central_data_get_pointer_to_struct();
irq_initialize_vectors();
cpu_irq_enable();
Disable_global_interrupt();
// Initialize the sleep manager
sleepmgr_init();
sysclk_init();
INTC_init_interrupts();
delay_init(sysclk_get_cpu_hz());
time_keeper_init();
// time_keeper_init_synchronisation();
init_LEDs();
switch_LED(1, LED_ON);
switch_LED(0, LED_ON);
pwm_servos_init(true);
// set up UART for main telemetry
uart_int_set_usart_conf(0, asv_xbee_uart_conf());
uart_int_init(0);
uart_int_register_write_stream(uart_int_get_uart_handle(0), ¢ral_data->xbee_out_stream);
//init_UART_DMA(0);
//register_write_stream_dma(get_UART_handle(0), ¢ral_data->xbee_out_stream);
buffer_make_buffered_stream(&(central_data->xbee_in_buffer), &(central_data->xbee_in_stream));
uart_int_register_read_stream(uart_int_get_uart_handle(0), &(central_data->xbee_in_stream));
uart_int_set_usart_conf(4, asv_debug_uart_conf());
uart_int_init(4);
uart_int_register_write_stream(uart_int_get_uart_handle(4), ¢ral_data->wired_out_stream);
//init_UART_DMA(0);
//register_write_stream_dma(get_UART_handle(0), ¢ral_data->wired_out_stream);
buffer_make_buffered_stream(&(central_data->wired_in_buffer), &(central_data->wired_in_stream));
uart_int_register_read_stream(uart_int_get_uart_handle(4), &(central_data->wired_in_stream));
// set up UART for GPS
uart_int_set_usart_conf(3, asv_gps_uart_conf());
uart_int_init(3);
uart_int_register_write_stream(uart_int_get_uart_handle(3), ¢ral_data->gps_out_stream);
buffer_make_buffered_stream(&(central_data->gps_in_buffer), &(central_data->gps_in_stream));
uart_int_register_read_stream(uart_int_get_uart_handle(3), &(central_data->gps_in_stream));
multistream_init(¢ral_data->multi_telemetry_down_stream);
multistream_init(¢ral_data->multi_telemetry_up_stream);
multistream_add_stream(¢ral_data->multi_telemetry_down_stream, ¢ral_data->wired_out_stream);
multistream_add_stream(¢ral_data->multi_telemetry_down_stream, ¢ral_data->xbee_out_stream);
multistream_add_stream(¢ral_data->multi_telemetry_up_stream, ¢ral_data->wired_in_stream);
multistream_add_stream(¢ral_data->multi_telemetry_up_stream, ¢ral_data->xbee_in_stream);
/*
can_bus_init(1, asv_can1_conf());
can_bus_register_write_stream(¢ral_data->ext_can_out_stream_data, ¢ral_data->ext_can_out_stream, 1, MAVLINK_COMPONENT_ID, 0x3ff);
can_bus_register_read_stream(¢ral_data->ext_can_in_stream_data, ¢ral_data->ext_can_in_stream, 1, MAVLINK_COMPONENT_ID, 0x00);
*/
// set telemetry stream for mavlink
//central_data->telemetry_down_stream=&(central_data->xbee_out_stream);
//central_data->telemetry_up_stream =&(central_data->xbee_in_stream);
//central_data->telemetry_down_stream=&(central_data->wired_out_stream);
//central_data->telemetry_up_stream =&(central_data->wired_in_stream);
central_data->telemetry_down_stream= multistream_get_stream(¢ral_data->multi_telemetry_down_stream);
central_data->telemetry_up_stream = multistream_get_stream(¢ral_data->multi_telemetry_up_stream);
central_data->debug_out_stream=¢ral_data->wired_out_stream;
central_data->debug_in_stream=¢ral_data->wired_in_stream;
//central_data->debug_out_stream = ¢ral_data->xbee_out_stream;
//central_data->debug_in_stream = ¢ral_data->xbee_in_stream;
print_util_dbg_print_init(central_data->debug_out_stream);
// init error handler as plain text until mavlink is configured
error_handler_init_plaintext(central_data->debug_out_stream);
// init mavlink
// Init mavlink communication
mavlink_communication_conf_t mavlink_config =
{
.scheduler_config =
{
.max_task_count = 30,
.schedule_strategy = ROUND_ROBIN,
.debug = true
},
.mavlink_stream_config =
{
.rx_stream = central_data->telemetry_up_stream,
.tx_stream = central_data->telemetry_down_stream,
.sysid = MAVLINK_SYS_ID,
.compid = MAVLINK_COMPONENT_ID,
.use_dma = false
},
.message_handler_config =
void sys_init()
{
// char str[32];
// unsigned long ul;
// struct LogEntry entry;
struct NodeCfg ncfg;
unsigned long long _ull;
FILEDESCR_t fd;
int err;
static struct child c = {BAD_ADDRESS, 0};
// msg_count = 0;
// last_msg_pos = 0;
total_msg_count = 0;
for(err = MAX_CHILDREN; err--; )
memcopy(&children[err], &c, sizeof(struct child));
//memset(zone_state, 0, sizeof(zone_state));
for(err = STRG_MAX_ZONE_NUM; err--;)
zone_state[err] = ZONE_STATE_ON;
init_LEDs();
setNormalState();
//switchOnLED(LED_RED);
// scroll_pos = 0;
// port_attr_t p4;
// event_emit(0, INIT_EVT, 0);
/*
PIN_SET(p4.dir, 0x19, PIN_HI);
PIN_CLEAR(p4.sel, 0x19);
port_set_attr(4, 0x19, &p4);
port_write(4, 0x19, PIN_HI);
p4_val = 0x01;
*/
// SPI_init();
// err = initStorage();
// OLED_init();
// init_kbrd();
// menu_init(0);
// OLED_clr(68, 3*9, 2 * 6, 9);
// err = mmcReadBlock(23, 3, &ul);
//err = logEntriesNum();
//err = logAddEntry(&entry, "Test message3");
//err = strgFindNode(0x66ULL, &ncfg);
//itoa(err, fd.filename, 10);
//OLED_puts(0, 0, 0xff, font6x9, fd.filename);
//out_dump (0, 50, sizeof(struct NodeCfg), &ncfg);
/*
strcpy(str, "Pos: ");
ul = logstat.last_entry_pos;
//ul = (unsigned long)syscfg.log_state_pos << 9;
ultoa(ul, str + strlen(str), 10);
str[strlen(str) + 1] = 0;
str[strlen(str)] = ' ';
ul = syscfg.log_state_pos;
ultoa(ul, str + strlen(str), 10);
OLED_puts(0, 0, 0xff, font6x9, str);
*/
// init_FAT();
// Read_PBR();
// ultoa(fat.root_dir, fd.filename, 16);
// OLED_puts(17 * 6, 50, 0xff, font6x9, fd.filename);
/*
strcpy(fd.filename, "LOG ");
if(FindFile(fat.root_dir, &fd) != FAT_SUCCESS)
OLED_puts(0, 50, 0xff, font6x9, "FindFile failed");
else
{
itoa(fd.clust, fd.filename, 16);
OLED_puts(0, 50, 0xff, font6x9, fd.filename);
ultoa(fd.size, fd.filename, 16);
OLED_puts(10 * 6, 50, 0xff, font6x9, fd.filename);
}
*/
event_emit(LOW_PRIORITY, INIT_EVT, 0);
// stimer_set(1, 1000);
//
return;
}
