/*====================================================================================================*/
void System_Init( void )
{
/* System Setup */
SystemInit();
/* Device Config */
GPIO_Config();
RS232_Config();
Sensor_Config();
LED_R = LED_ON;
Sensor_Init();
AHRS_Init(&NumQ, &AngE);
LED_R = LED_OFF;
}
void SoftwareInit()
{
//
// initialization BlueBird parameters for communication protocol.
//
InitParams();
ITG3200Init();
#ifdef USE_BMA180_INTERRUPT
BMA180Init();
#endif
MAG3110Init();
//
// Set the priorities of the interrupts.
// The following interrupts are used
// (listed in priority from highest to lowest):
//
// QEI-ROLL - The input from the quadrature encoder.
//
// QEI-PITCH - The input from the quadrature encoder.
//
// PWM0 - The periodic control loop for the application.
//
// PWM1 - The periodic control loop for the application.
//
// UART0 - The UART <-> BBGCS. This must be the same
// priority as the PAYLOAD interrupt in order to provide the
// required mutual exclusion between the two.
//
// UART1 - The UART <-> PAYLOAD. This must be the same
// priority as the BBGCS interrupt in order to provide the
// required mutual exclusion between the two.
//
//
// Set the priorities of the interrupts used by the application.
//
//
// Enable the peripherals used by this example.
//
IntPrioritySet(INT_I2C0, 0x00);
IntPrioritySet(INT_GPIOA, 0x02);
IntPrioritySet(INT_GPIOE, 0x40);
IntPrioritySet(QEI_PITCH_PHA_INT, 0x60);
IntPrioritySet(QEI_ROLL_PHA_INT, 0x60);
IntPrioritySet(INT_PWM0, 0x80);
IntPrioritySet(INT_PWM1, 0x80);
IntPrioritySet(INT_UART0, 0xA0);
IntPrioritySet(INT_UART1, 0xA0);
//
// PITCH_MOTOR is PORTB & J6- PITCH Encoder
//
// moves gimbal to extreme right and down
MotorBrakePositionClean(PITCH_MOTOR);
//GeneralPitchRoll(PITCH_MOTOR,A3906_FORWARD,500);
//EncoderInitReset(QEI0_BASE,PITCH_MOTOR,A3906_REVERSE); // J6 PITCH Encoder
//EncoderInitReset(QEI0_BASE,PITCH_MOTOR,A3906_FORWARD); // J6 PITCH Encoder
//EncoderInitReset(QEI0_BASE,PITCH_MOTOR,A3906_REVERSE); // J6 PITCH Encoder
//
// ROLL_MOTOR is PORTA & J8- ROLL Encoder
//
// moves gimbal to extreme right and down
MotorBrakePositionClean(ROLL_MOTOR);
//GeneralPitchRoll(ROLL_MOTOR,A3906_FORWARD,800);
//EncoderInitReset(QEI1_BASE,ROLL_MOTOR,A3906_FORWARD); // J8 ROLL Encoder
//EncoderInitReset(QEI1_BASE,ROLL_MOTOR,A3906_REVERSE); // J8 ROLL Encoder
//EncoderInitReset(QEI1_BASE,ROLL_MOTOR,A3906_FORWARD); // J8 ROLL Encoder
#ifdef USE_BMA180_INTERRUPT
AHRS_Init();
#endif
lastitg = g_ulTickCount;
StabilizeInit();
//SetBitMode();
}
