static int ak4671_probe(struct platform_device *pdev)
{
struct snd_soc_device *socdev = platform_get_drvdata(pdev);
struct ak4671_setup_data *setup;
struct snd_soc_codec *codec;
struct ak4671_priv *ak4671;
int ret = 0;
printk(KERN_INFO "AK4671 Audio Codec %s", AK4671_VERSION);
/* Board Specific function */
audio_init();
if (amp_init() < 0)
printk("amp init failed.\n");
audio_power(1);
ak4671_power = 1;
amp_set_path(AK4671_AMP_PATH_SPK);
mic_set_path(AK4671_MIC_PATH_MAIN);
ret = device_create_file(&pdev->dev, &dev_attr_ak4671_control);
setup = socdev->codec_data;
codec = kzalloc(sizeof(struct snd_soc_codec), GFP_KERNEL);
if (codec == NULL)
return -ENOMEM;
ak4671 = kzalloc(sizeof(struct ak4671_priv), GFP_KERNEL);
if (ak4671 == NULL) {
kfree(codec);
return -ENOMEM;
}
codec->private_data = ak4671;
socdev->codec = codec;
mutex_init(&codec->mutex);
INIT_LIST_HEAD(&codec->dapm_widgets);
INIT_LIST_HEAD(&codec->dapm_paths);
ak4671_socdev = socdev;
#if defined(CONFIG_I2C) || defined(CONFIG_I2C_MODULE)
if (setup->i2c_address) {
normal_i2c[0] = setup->i2c_address;
codec->hw_write = (hw_write_t)i2c_master_send;
codec->hw_read = (hw_read_t)i2c_master_recv;
ret = i2c_add_driver(&ak4671_i2c_driver);
if (ret != 0)
printk(KERN_ERR "can't add i2c driver");
}
#else
/* Add other interfaces here */
#endif
if (ret != 0) {
kfree(codec->private_data);
kfree(codec);
}
return ret;
}
int main(void)
{
// u8 a[] = {0xAA, 0xAA, 0x33, 0x44, 0x55, 0x66, 0x77, 0x88,0x99,0xa0,0x04,0x10,0x08,0x01,0x08,0x99};
u8 a[] = {0x11, 0x22, 0x33,0x44, 0x55, 0x66, 0x77};
RobotRate rate;
WheelSpeed wheelspeed;
SystemInit();
USART1_Init(115200);
USART2_Init(115200);
USART3_Init(38400);
UART4_Init(115200);
CAN1_Init();
LED_Init();
// TIM2_Init();
TIM3_Init();
SysTick_Init();
Motor_init();
amp_init();
mag_sensor_init();
flash_init();
DelayMs(1000); //Time for Motor Driver Board to init
//set_all_speedctl();
t3 = micros();
//*************************initial sensor***************************************************************//
while(t < 0x15)
{
if(UART4RecvPtrR != UART4RecvPtrW)
{
op = AHRSCheckDataFrame();
if(op == ACC_METER || op == GYRO || op == ANGLE_OUTPUT || op == MAG_METER )
{
SensorInitial(op);
t++;
}
}
t4 = micros();
time_taken = t4 - t3;
if(time_taken > 3000000)
{
//break;
}
}
sch_init();
sch_add_task(sensors, 6, 20);
sch_add_task(AHRS_compute, 1, 50);
// sch_add_task(led_task, 4, 100);
sch_add_task(UART2Proc, 10, 20);
// sch_add_task(UART3Proc, 3, 20);
// sch_add_task(UART3Proc, 4, 20);
// sch_add_task(FRIDCheck, 2, 20);
sch_start();
while (1)
{
sch_dispatch_tasks();
//Welcome();
}
}
