int main (void)
{
SystemCoreClockUpdate();
/* Initialize 32-bits timer 0 */
init_timer32(0, TIME_INTERVAL);
enable_timer32(0);
/* Initialize the PWM in timer32_1 enabling match0 output */
init_timer32PWM(1, period, MATCH0);
setMatch_timer32PWM (1, 0, period/4);
enable_timer32(1);
/* Initialize the PWM in timer16_0 enabling match1 output */
init_timer16PWM(0, period, MATCH1, 0);
setMatch_timer16PWM (0, 1, period/2);
enable_timer16(0);
/* Enable AHB clock to the GPIO domain. */
LPC_SYSCON->SYSAHBCLKCTRL |= (1<<6);
/* Set port 1_19 to output */
GPIOSetDir( 1, 6, 1 );
while (1) /* Loop forever */
{
/* I/O configuration and LED setting pending. */
if ( (timer32_0_counter[0] > 0) && (timer32_0_counter[0] <= 50) )
{
GPIOSetBitValue( 1, 6, 0 );
}
if ( (timer32_0_counter[0] > 50) && (timer32_0_counter[0] <= 100) )
{
GPIOSetBitValue( 1, 6, 1 );
}
else if ( timer32_0_counter[0] > 100 )
{
timer32_0_counter[0] = 0;
}
}
}
void setup() {
#if !defined(GPS_PROMINI)
UARTInit(115200);
#endif
LEDPIN_PINMODE;
SHIELDLED_PINMODE;
//POWERPIN_PINMODE;
//BUZZERPIN_PINMODE;
//STABLEPIN_PINMODE;
//POWERPIN_OFF;
/* Initialize GPIO (sets up clock) */
GPIOInit();
init_microsec();
enable_microsec();
init_timer16PWM();
enable_PWMtimer();
/******** special version of MultiWii to calibrate all attached ESCs ************/
#if defined(ESC_CALIB_CANNOT_FLY)
writeAllMotors(ESC_CALIB_HIGH);
delayMs(3000);
writeAllMotors(ESC_CALIB_LOW);
delayMs(500);
while (1) {
delayMs(5000);
blinkLED(2,20, 2);
}
// statement never reached
#endif
writeAllMotors(MINCOMMAND);
delayMs(300);
readEEPROM();
checkFirstTime();
configureReceiver();
#if defined(OPENLRSv2MULTI)
initOpenLRS();
#endif
initSensors();
#if defined(I2C_GPS) || defined(GPS_SERIAL) || defined(GPS_FROM_OSD)||defined(I2C_NAV)
GPS_set_pids();
#endif
previousTime = micros();
#if defined(GIMBAL)
calibratingA = 400;
#endif
calibratingG = 400;
calibratingB = 200; // 10 seconds init_delay + 200 * 25 ms = 15 seconds before ground pressure settles
#if defined(POWERMETER)
for(uint8_t i=0;i<=PMOTOR_SUM;i++)
pMeter[i]=0;
#endif
#if defined(ARMEDTIMEWARNING)
ArmedTimeWarningMicroSeconds = (ARMEDTIMEWARNING *1000000);
#endif
/************************************/
#if defined(GPS_SERIAL)
SerialOpen(GPS_SERIAL,GPS_BAUD);
delay(400);
for(uint8_t i=0;i<=5;i++){
GPS_NewData();
LEDPIN_ON
delay(20);
LEDPIN_OFF
delay(80);
}
if(!GPS_Present){
SerialEnd(GPS_SERIAL);
SerialOpen(0,SERIAL_COM_SPEED);
}
#if !defined(GPS_PROMINI)
GPS_Present = 1;
#endif
GPS_Enable = GPS_Present;
#endif
/************************************/
#if defined(I2C_GPS) || defined(TINY_GPS) || defined(GPS_FROM_OSD)|| defined(I2C_NAV)
GPS_Enable = 1;
#endif
#if defined(LCD_ETPP) || defined(LCD_LCD03) || defined(OLED_I2C_128x64)
initLCD();
#endif
#ifdef LCD_TELEMETRY_DEBUG
telemetry_auto = 1;
#endif
#ifdef LCD_CONF_DEBUG
configurationLoop();
#endif
#ifdef LANDING_LIGHTS_DDR
init_landing_lights();
#endif
#if defined(LED_FLASHER)
init_led_flasher();
led_flasher_set_sequence(LED_FLASHER_SEQUENCE);
#endif
f.SMALL_ANGLES_25=1; // important for gyro only conf
//initialise median filter structures
#ifdef MEDFILTER
#ifdef SONAR
initMedianFilter(&SonarFilter, 5);
#endif
#endif
initWatchDog();
}