void Usual_Routine() {
InitializeStack();
OSChangePrio (MAIN_PRIO);
EnableAutoUpdate();
EnableTaskMonitor();
EnableSmartTraps();
initPINS();
DSPIInit(3, 2000000, 16, 0x00, 1, 1, 1, 0, 0, 0); //Initializing the Hardware to talk to IMU
}
void Usual_Routine() {
InitializeStack();
OSChangePrio(MAIN_PRIO);
EnableAutoUpdate();
EnableTaskMonitor();
EnableSmartTraps();
initPINS();
J2[32] = 1; //Resets the OSD
OSTimeDly(2);
DSPIInit(3, 2000000, 16, 0x00, 1, 1, 1, 0, 0, 0); //Initializing the Hardware to talk to IMU
DSPIInit(1, 2000000, 16, 0x00, 0x01, 0, 0, 0, 0, 0); //Initializing the Hardware to talk to OSD
/***********************************Initializing Initial Artificial Horizon*****************************************************************/
uint16_t x = 2834; //Center Position of the Center Circle
Display_Center(x); //Displaying the Center, argument center address
Display_Data(); //Initializing Pitch and Roll value Display
}
ADC::ADC(int dspiChannelInput) {
int SPIPins[12] = { 33, 35, 15, 31, //SPI1
24, 26, 28, 30, //SPI2
32, 34, 36, 38}; //SPI3
Pins[SPIPins[(dspiChannelInput - 1) * 4 + 0]].function(1); //SPI Input
Pins[SPIPins[(dspiChannelInput - 1) * 4 + 1]].function(1); //SPI Out
Pins[SPIPins[(dspiChannelInput - 1) * 4 + 2]].function(1); //SPI chip select 0
Pins[SPIPins[(dspiChannelInput - 1) * 4 + 3]].function(1); //SPI clock
dspiChannel = dspiChannelInput;
/*
for (int i = 0; i < size; i++)
table[i] = 0;
*/
OSSemInit(&SPISEM, 0);
DSPIInit(dspiChannel, ADCdspiBaudRate, ADCtransferSizeBits, ADCChipSelects,
ADCCSPolarityIdle, ADCClockPolarity, 1, 1, 100, 0, false);
}
void initDSPI(){
DSPIInit(3,2000000,16,0x01,1,1,1,0,0,0);//initializing SPI IMU4
DSPIInit(1,2000000,16,0x01,1,1,1,0,0,0);//initializing SPI IMU3
}
