int bebopr_pre_init( void)
{
int result = -1;
result = analog_config( analog_config_data, NR_ITEMS( analog_config_data));
if (result < 0) {
fprintf( stderr, "analog_config failed!\n");
goto done;
}
result = temp_config( temp_config_data, NR_ITEMS( temp_config_data));
if (result < 0) {
fprintf( stderr, "temp_config failed!\n");
goto done;
}
result = pwm_config( pwm_config_data, NR_ITEMS( pwm_config_data));
if (result < 0) {
fprintf( stderr, "pwm_config failed!\n");
goto done;
}
result = heater_config( heater_config_data, NR_ITEMS( heater_config_data));
if (result < 0) {
fprintf( stderr, "heater_config failed!\n");
goto done;
}
result = get_step_io_config( EEPROM_PATH);
// Only differentiate between Pololu and TB6560, default to Pololu
if (result == TB6560_DRIVERS) {
use_pololu_drivers = 0;
}
fprintf( stderr, "Using stepper driver configuration: '%s'\n", (use_pololu_drivers) ? "Pololu" : "TB6560");
result = 0;
done:
return result;
}
/*
* Setup all sub sys of unicorn
*/
static int unicorn_setup()
{
int ret = 0;
if (bbp_board_type == BOARD_BBP1) {
printf("Board is FastBot BBP 1\n");
ret = analog_config(analog_config_bbp1, NR_ITEMS(analog_config_bbp1));
if (ret < 0) {
printf("analog_config failed\n");
goto out;
}
ret = temp_config(temp_config_data_bbp1, NR_ITEMS(temp_config_data_bbp1));
if (ret < 0) {
printf("temp_config failed\n");
goto out;
}
ret = pwm_config(pwm_config_bbp1, NR_ITEMS(pwm_config_bbp1));
if (ret < 0) {
printf("pwm_config failed\n");
goto out;
}
ret = fan_config(fan_config_bbp1, NR_ITEMS(fan_config_bbp1));
if (ret < 0) {
printf("fan_config failed\n");
goto out;
}
ret = heater_config(heater_config_data_bbp, NR_ITEMS(heater_config_data_bbp));
if (ret < 0) {
printf("heater_config failed\n");
goto out;
}
ret = stepper_config(stepper_config_bbp1, NR_ITEMS(stepper_config_bbp1));
if (ret < 0) {
printf("stepper_config failed\n");
goto out;
}
} else if (bbp_board_type == BOARD_BBP1S) {
printf("Board is FastBot BBP 1s\n");
ret = analog_config(analog_config_bbp1s, NR_ITEMS(analog_config_bbp1s));
if (ret < 0) {
printf("analog_config failed\n");
goto out;
}
ret = temp_config(temp_config_data_bbp1s, NR_ITEMS(temp_config_data_bbp1s));
if (ret < 0) {
printf("temp_config failed\n");
goto out;
}
ret = pwm_config(pwm_config_bbp1s, NR_ITEMS(pwm_config_bbp1s));
if (ret < 0) {
printf("pwm_config failed\n");
goto out;
}
ret = fan_config(fan_config_bbp1s, NR_ITEMS(fan_config_bbp1s));
if (ret < 0) {
printf("fan_config failed\n");
goto out;
}
ret = heater_config(heater_config_data_bbp1s, NR_ITEMS(heater_config_data_bbp1s));
if (ret < 0) {
printf("heater_config failed\n");
goto out;
}
#ifdef SERVO
if (bbp_board_type == BOARD_BBP1S) {
ret = servo_config(servo_config_data, NR_ITEMS(servo_config_data));
if (ret < 0) {
printf("servo_config failed\n");
goto out;
}
}
#endif
ret = stepper_config(stepper_config_bbp1s, NR_ITEMS(stepper_config_bbp1s));
if (ret < 0) {
printf("stepper_config failed\n");
goto out;
}
} else {
printf("Not supported board!\n");
}
out:
return ret;
}