void LED_IOinit(void)
{
EALLOW;
GpioCtrlRegs.GPBMUX1.bit.Blue_IO=0;
GpioCtrlRegs.GPBDIR.bit.Blue_IO=1;
GpioCtrlRegs.GPBMUX1.bit.Red_IO=0;
GpioCtrlRegs.GPBDIR.bit.Red_IO=1;
GpioCtrlRegs.GPAMUX1.bit.Core_LED=0;
GpioCtrlRegs.GPADIR.bit.Core_LED=1;
GpioCtrlRegs.GPAMUX1.bit.Fan_IO=0;
GpioCtrlRegs.GPADIR.bit.Fan_IO=1;
GpioCtrlRegs.GPAMUX1.bit.Bell_IO=0;
GpioCtrlRegs.GPADIR.bit.Bell_IO=1;
GpioCtrlRegs.GPAMUX2.bit.SIN_IO=0;
GpioCtrlRegs.GPADIR.bit.SIN_IO=1;
EDIS;
LED_Red_Off();
LED_Blue_Off();
LED_Core_Off();
FAN_Stop();
BELL_Stop();
SIN_Off();
}
void LED_Error_Flash(void)
{
if(light_state3 == 0)
{
LED_Red_Off();
LED_Blue_On();
i3++;
if(i3>=10)
{
light_state3 = 1;
i3 = 0;
}
}
else
{
LED_Blue_Off();
LED_Red_On();
i3++;
if(i3>=10)
{
light_state3 = 0;
i3 = 0;
}
}
}
void LED_Blue_Flash_Slow(void)//1hz
{
if(blue_light_state5 == 0)
{
LED_Blue_Off();
i5++;
if(i5>=10)
{
blue_light_state5 = 1;
i5 = 0;
}
}
else
{
LED_Blue_On();
i5++;
if(i5>=10)
{
blue_light_state5 = 0;
i5 = 0;
}
}
}
void LED_Blue_Flash(void)//5hz
{
if(blue_light_state4 == 0)
{
LED_Blue_Off();
i4++;
if(i4>=2)
{
blue_light_state4 = 1;
i4 = 0;
}
}
else
{
LED_Blue_On();
i4++;
if(i4>=2)
{
blue_light_state4 = 0;
i4 = 0;
}
}
}
void MPU9250_Init()
{
uint32_t Device_ID;
SysCtlPeripheralEnable(SYSCTL_PERIPH_SSI0);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
GPIOPinTypeGPIOOutput(GPIO_PORTA_BASE, GPIO_PIN_7);
GPIOPinConfigure(GPIO_PA2_SSI0CLK);
GPIOPinConfigure(GPIO_PA3_SSI0FSS);
GPIOPinConfigure(GPIO_PA4_SSI0RX);
GPIOPinConfigure(GPIO_PA5_SSI0TX);
GPIOPinTypeSSI(GPIO_PORTA_BASE, GPIO_PIN_2 | GPIO_PIN_3 | GPIO_PIN_4 | GPIO_PIN_5);
GPIOPadConfigSet(GPIO_PORTA_BASE, GPIO_PIN_3, GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPU);
SSIConfigSetExpClk(SSI0_BASE, SysCtlClockGet(), SSI_FRF_MOTO_MODE_3, SSI_MODE_MASTER, 1000000, 8);
SSIEnable(SSI0_BASE);
//
// Display the example setup on the console.
//
UARTprintf("\nPower up.\n");
// MPU-6500 Device ID check and initial
Device_ID = 0x0;
Device_ID = MPU9250_ReadReg(MPU6500_WHO_AM_I);
if(Device_ID == MPU6500_Device_ID)
{
UARTprintf("MPU6500 Device ID: 0x%X\n--- MPU6500 Initialization done.\n", Device_ID);
}
else
{
OLED_Print(0,0,"MPU6500 ERR");
UARTprintf("MPU6500 Device ID: 0x%X\n--- MPU6500 Initialization error.\n", Device_ID);
while (1);
}
MPU9250_SetParameter();
#ifdef USE_MAG
// AK9875 Device ID check
// if AK9875 ID check check failed with no reason, re-power-up the system.
MPU9250_WriteAuxReg(AK8963_CNTL2, 0x01); //soft reset
MPU9250_Delay_nop(100000);
Device_ID = 0x00;
Device_ID = MPU9250_ReadAuxReg(AK8963_WIA);
if(Device_ID == AK8963_Device_ID)
{
UARTprintf("AK8963 Device ID: 0x%X\n--- AK8963 Initialization done.\n", Device_ID);
LED_Blue_Off();
}
else
{
UARTprintf("AK8963 Device ID: 0x%X\n--- AK8963 Initialization error.\n", Device_ID);
OLED_Print(0,0,"AK8963 Init ERR");
LED_Red_Off();
LED_Green_Off();
}
MPU9250_GetMagAdjValue();
MPU9250_WriteAuxReg(AK8963_CNTL1, 0x16); // 16-bits, Rate 100Hz
//MPU9250_WriteAuxReg(AK8963_CNTL1, 0x2); // 14-bits, Rate 8Hz
Device_ID = MPU9250_ReadAuxReg(AK8963_CNTL1);
#else
UARTprintf("AK8963 is disabled.\n");
#endif
}
