コード例 #1
0
ファイル: baro_board.c プロジェクト: AULA-PPZ/paparazzi
void baro_init(void)
{
  bmp085_init(&baro_bmp085, &i2c1, BMP085_SLAVE_ADDR);
#ifdef BARO_LED
  LED_OFF(BARO_LED);
#endif
}
コード例 #2
0
ファイル: main.c プロジェクト: part1zano/stm32-chibios
int main(void) {
	thread_t *sh = NULL;

	PollerData.temp = 0;
	PollerData.press = 0;/*
	PollerData.uTime = 0;*/

	halInit();
	chSysInit();

	shellInit();
	
	usbDisconnectBus(serusbcfg.usbp);
	chThdSleepMilliseconds(1000);
	usbStart(serusbcfg.usbp, &usbcfg);
	usbConnectBus(serusbcfg.usbp);
	
	sduObjectInit(&SDU1);
	sduStart(&SDU1, &serusbcfg);

	// SPI-related pins (for display)
	palSetPadMode(GPIOB, 11, PAL_MODE_OUTPUT_PUSHPULL); 
	palSetPadMode(GPIOB, 10, PAL_MODE_OUTPUT_PUSHPULL);
	palSetPadMode(GPIOB, 13, PAL_MODE_ALTERNATE(5));
	palSetPadMode(GPIOB, 14, PAL_MODE_OUTPUT_PUSHPULL);
	palSetPadMode(GPIOB, 15, PAL_MODE_ALTERNATE(5));

	spiStart(&SPID1, &spi1cfg);
	spiStart(&SPID2, &spi2cfg);

	i2cStart(&I2CD1, &i2cconfig);
	initGyro();
	initAccel();
	initMag();
//	nunchuk_status = nunchuk_init();
	bmp085_status = bmp085_init();
	lcd5110Init();
	lcd5110SetPosXY(0, 0);
	lcd5110WriteText("P :: ");
	lcd5110SetPosXY(0, 1);
	lcd5110WriteText("T :: ");


	chThdCreateStatic(waThreadBlink, sizeof(waThreadBlink), NORMALPRIO, ThreadBlink, NULL);
	chThdCreateStatic(waThreadButton, sizeof(waThreadButton), NORMALPRIO, ThreadButton, NULL);
	chThdCreateStatic(waPoller, sizeof(waPoller), NORMALPRIO, ThreadPoller, NULL);

    while (TRUE) {
		if (!sh) {
			sh = shellCreate(&shCfg, SHELL_WA_SIZE, NORMALPRIO);
		}
		else if (chThdTerminatedX(sh)) {
			chThdRelease(sh);
			sh = NULL;
		}
		chThdSleepMilliseconds(1000);
	}
	return 0; // never returns, lol
}
コード例 #3
0
ファイル: baro_bmp.c プロジェクト: 1bitsquared/paparazzi
void baro_bmp_init(void) {

  bmp085_init(&baro_bmp, &BMP_I2C_DEV, BMP085_SLAVE_ADDR);

  baro_bmp_r = BARO_BMP_R;
  baro_bmp_sigma2 = BARO_BMP_SIGMA2;
  baro_bmp_enabled = TRUE;

}
コード例 #4
0
ファイル: TaskTWI.c プロジェクト: fabianhu/FCM
void TaskTWI(void)
{
	
	OS_WaitTicks(OSALM_TWIWAIT,10); // BMP085 needs 10ms in advance.
	TWI_init();
	bmp085_init(TaskTWIWait1ms);
	
	lsm303_config_accel(TaskTWIWait1ms);
	lsm303_config_magnet(TaskTWIWait1ms);	
	
	// init ISR
	INTC_register_interrupt(&int_handler_ACC, AVR32_EIC_IRQ_0, AVR32_INTC_INTLEVEL_INT2);
	// activate and enable EIC pins:
	eic_enable_channel(0); // enable rising edge isr.
	
	TWI_RegisterReadyHandler(TWIreadyhandler);
	
	lsm303_TWI_trig_read_accel(); // restart interrupt
	TWIstate = etwi_readACC;
	lastACCSample = OS_GetTicks();
		
	while(1)
	{
		if (OS_GetTicks()-lastACCSample > 400)
		{
			lsm303_TWI_trig_read_accel(); // restart interrupt
			TWIstate = etwi_readACC;
		}
		
		uint8_t ret = OS_WaitEventTimeout(OSEVT_TWIRDY,OSALM_TWITIMEOUT,200);
		if((ret & OSEVT_TWIRDY) == 0)
		{
			// timeout
			//asm("breakpoint"); fixme wtf why and why
			//emstop(5); // will hang up while flashing, if we stop here!
		}
		else
		{
			long bar = bmp085_calc_pressure(bmp085raw); // just read stuff from rx buffers out of ISR!!! (large calculation!)
			int32_t h_mm = bmp085_calcHeight_mm(bar);
			s_nHeight_mm = h_mm; // update global
			#if  SIMULATION == 1
				// do not update z position, this is done in TaskNavi to make it even more complicated. ;)
			#else
				NAV_UpdatePosition_z_m((float)h_mm*0.001);
			#endif
		}
		
	}
}
コード例 #5
0
ファイル: main.c プロジェクト: andyOsaft/02_SourceCode
int main( void )
{  
    //set the length of the queues -> how many items the queue can hold
    const unsigned portBASE_TYPE measurementQueueLength = 5;
    //const unsigned portBASE_TYPE statusQueueLength = 5;
    
    xQueueHandle measurementQueue;
    //xQueueHandle statusQueue;
   
	// ...for temperature and pressure sensor
	double temperature = 0;
	int32_t pressure = 0;
    double altitude = 0;

   
    
    //configure time measurment pin as output
    //DDRD |= (1<<PB7);
    

    bmp085_init();
        
    while( 1 )
    {
        temperature = bmp085_gettemperature();
        //pressure = bmp085_getpressure();
        //altitude = bmp085_getaltitude();
        //altitude = bmp085CalcAltitude ( pressure );
        //_delay_ms(100);
    }

	//prvIncrementResetCount();
    
    //create queues for intertask communication
    measurementQueue = xQueueCreate( measurementQueueLength, ( unsigned portBASE_TYPE ) sizeof( measurementQueueMsg * ) );
    //statusQueue = xQueueCreate( statusQueueLength, ( unsigned portBASE_TYPE ) sizeof( statusQueueMsg * ) );
        
	/* Create the tasks. */
    startCommunicationTask( mainCOMMUNICATION_TASK_PRIORITY, &measurementQueue );
    startNavigatorTask( mainNAVIGATOR_TASK_PRIORITY, &measurementQueue );
    startOperatorTask( mainOPERATOR_TASK_PRIORITY, &measurementQueue );
	startSensorTask( mainSENSOR_TASK_PRIORITY, &measurementQueue);
	
	/* In this port, to use preemptive scheduler define configUSE_PREEMPTION 
	as 1 in portmacro.h.  To use the cooperative scheduler define 
	configUSE_PREEMPTION as 0. */
	vTaskStartScheduler();

	return 0;
}
コード例 #6
0
ファイル: baro_board.c プロジェクト: AE4317group07/paparazzi
void baro_init(void)
{
  bmp085_init(&baro_bmp085, &i2c2, BMP085_SLAVE_ADDR);

  /* setup eoc check function */
  baro_bmp085.eoc = &baro_eoc;

  gpio_clear(GPIOB, GPIO0);
  gpio_setup_input_pulldown(GPIOB, GPIO0);

#ifdef BARO_LED
  LED_OFF(BARO_LED);
#endif
}
コード例 #7
0
ファイル: baro_board.c プロジェクト: AE4317group07/paparazzi
void baro_init(void)
{
  bmp085_init(&baro_bmp085, &i2c2, BMP085_SLAVE_ADDR);

  /* setup eoc check function */
  baro_bmp085.eoc = &baro_eoc;

  gpio_clear(GPIOB, GPIO0);
  gpio_set_mode(GPIOB, GPIO_MODE_INPUT,
                GPIO_CNF_INPUT_PULL_UPDOWN, GPIO0);

#ifdef BARO_LED
  LED_OFF(BARO_LED);
#endif
}
コード例 #8
0
ファイル: multiwii.c プロジェクト: AdamRLukaitis/martink
void mwii_init(void){
	//soc_init(); 
	time_init(); 
	uart_init(0, 38400, uart_buffer[0], 64, uart_buffer[1], 64); 
	
	// setup printf stuff (specific to avr-libc)
	fdev_set_udata(&uart_fd, uart_get_serial_interface(0)); 
	stdout = &uart_fd; 
	stderr = &uart_fd;
	
	gpio_init();
	//spi_init(); 
	avr_i2c_init(0); 
	pwm_init(); 
	//adc0_init_default(); 
	sei(); 
	
	/*
	// setup stdout and stderr (avr-libc specific) 
	fdev_setup_stream(stdout, _serial_fd_putc, _serial_fd_getc, _FDEV_SETUP_RW); 
	fdev_set_udata(stdout, uart_get_serial_interface(0)); 
	fdev_setup_stream(stderr, _serial_fd_putc, _serial_fd_getc, _FDEV_SETUP_RW); 
	fdev_set_udata(stderr, uart_get_serial_interface(0)); 
*/
	// first thing must enable interrupts
	//kprintf("BOOT\n");
	
	gpio_configure(GPIO_MWII_LED, GP_OUTPUT); 
	//gpio_set(GPIO_MWII_LED); 
	
	gpio_configure(GPIO_MWII_MOTOR0, GP_OUTPUT);
	gpio_configure(GPIO_MWII_MOTOR1, GP_OUTPUT);
	gpio_configure(GPIO_MWII_MOTOR2, GP_OUTPUT);
	gpio_configure(GPIO_MWII_MOTOR3, GP_OUTPUT);
	
	gpio_configure(GPIO_MWII_RX0, GP_INPUT | GP_PULLUP | GP_PCINT);
	gpio_configure(GPIO_MWII_RX1, GP_INPUT | GP_PULLUP | GP_PCINT);
	gpio_configure(GPIO_MWII_RX2, GP_INPUT | GP_PULLUP | GP_PCINT);
	gpio_configure(GPIO_MWII_RX3, GP_INPUT | GP_PULLUP | GP_PCINT);
	
	// calibrate escs
	//mwii_calibrate_escs(); 
	
	// set initial motor speeds
	mwii_write_motors(MINCOMMAND, MINCOMMAND, MINCOMMAND, MINCOMMAND); 
	
	brd->gpio0 = gpio_get_parallel_interface();
	
	brd->twi0 = avr_i2c_get_interface(0);
	
	/* 
	// I2C scanner 
	for(int c = 0; c < 255; c++){
		uint8_t buf[2]; 
		i2c_start_read(brd->twi0, c, buf, 1); 
		if(i2c_stop(brd->twi0) == 1 && c & 1){
			kprintf("Device %x@i2c\n", c >> 1); 
		}
		delay_us(10000); 
	}
	*/
	gpio_set(GPIO_MWII_LED);
	
	i2cblk_init(&brd->mpublk, brd->twi0, MPU6050_ADDR, 8, I2CBLK_IADDR8); 
	mpu6050_init(&brd->mpu, i2cblk_get_interface(&brd->mpublk)); 
	//kdebug("MPU6050: %s\n", ((mpu6050_probe(&brd->mpu))?"found":"not found!")); 
	
	i2cblk_init(&brd->bmpblk, brd->twi0, BMP085_ADDR, 8, I2CBLK_IADDR8); 
	bmp085_init(&brd->bmp, i2cblk_get_interface(&brd->bmpblk)); 
	//kdebug("BMP085: found\n");
	
	i2cblk_init(&brd->hmcblk, brd->twi0, HMC5883L_ADDR, 8, I2CBLK_IADDR8); 
	hmc5883l_init(&brd->hmc, i2cblk_get_interface(&brd->hmcblk));
	
	gpio_clear(GPIO_MWII_LED); 
	
	hcsr04_init(&brd->hcsr, brd->gpio0, GPIO_MWII_HCSR_TRIGGER, GPIO_MWII_HCSR_ECHO); 
	
	ASYNC_PROCESS_INIT(&brd->process, mwii_task); 
	ASYNC_QUEUE_WORK(&ASYNC_GLOBAL_QUEUE, &brd->process); 
	
	//mwii_calibrate_mpu6050(); 
	// let the escs init as well
	delay_us(500000L); 
}
コード例 #9
0
ファイル: sensors.c プロジェクト: Fyiyu/X4_Flyer
void sensor_init(void)
{
	mpu6050_init();
	hmc5883l_init();
	bmp085_init();
}
コード例 #10
0
ファイル: inga_demo.c プロジェクト: DrMcCoy/contiki-inga
PROCESS_THREAD(default_app_process, ev, data)
{
  PROCESS_BEGIN();
  printf("Hello, world\n");

  _delay_ms(100);

#if DEBUG
  printf("Begin initialization:\n");

  if (microSD_init() == 0) {
    printf(":microSD   OK\n");
    microSD_switchoff();
  } else {
    printf(":microSD   FAILURE\n");
  }
  if (adxl345_init() == 0) {
    printf(":ADXL345   OK\n");
  } else {
    printf(":ADXL345   FAILURE\n");
  }
  if (at45db_init() == 0) {
    printf(":AT45DBxx  OK\n");
  } else {
    printf(":AT45DBxx  FAILURE\n");
  }
//  if (bmp085_init() == 0) {
//    printf(":BMP085    OK\n");
//  } else {
//    printf(":BMP085    FAILURE\n");
//  }
//  if (l3g4200d_init() == 0) {
//    printf(":L3G4200D  OK\n");
//  } else {
//    printf(":L3G4200D  FAILURE\n");
//  }
#else
  adxl345_init();
  microSD_switchoff();
  at45db_init();
  microSD_init();
  bmp085_init();
  l3g4200d_init();
#endif

  adc_init(ADC_SINGLE_CONVERSION, ADC_REF_2560MV_INT);
  etimer_set(&timer, CLOCK_SECOND * 0.05);

  while (1) {

    PROCESS_YIELD();
    etimer_set(&timer, CLOCK_SECOND);
    int16_t tmp;
    /*############################################################*/
    //ADXL345 serial Test
    printf("X:%+6d | Y:%+6d | Z:%+6d\n",
            adxl345_get_x_acceleration(),
            adxl345_get_y_acceleration(),
            adxl345_get_z_acceleration());

    /*############################################################*/
    //L3G4200d serial Test
    printf("X:%+6d | Y:%+6d | Z:%+6d\n",
            l3g4200d_get_x_angle(),
            l3g4200d_get_y_angle(),
            l3g4200d_get_z_angle());
    printf("T1:%+3d\n", l3g4200d_get_temp());

    /*############################################################*/
    //BMP085 serial Test
    printf("P:%+6ld\n", (uint32_t) bmp085_read_pressure(BMP085_HIGH_RESOLUTION));
    printf("T2:%+3d\n", bmp085_read_temperature());

    /*############################################################*/
    //Power Monitoring
    printf("V:%d\n", adc_get_value_from(PWR_MONITOR_ICC_ADC));
    //              tmp = adc_get_value_from(PWR_MONITOR_ICC_ADC);
    //             
    //              tmp = adc_get_value_from(PWR_MONITOR_VCC_ADC);
    //             
    /*############################################################*/
    //microSD Test
    //              uint8_t buffer[512];
    //              uint16_t j;
    //              microSD_init();
    //              for (j = 0; j < 512; j++) {
    //                      buffer[j] = 'u';
    //                      buffer[j + 1] = 'e';
    //                      buffer[j + 2] = 'r';
    //                      buffer[j + 3] = '\n';
    //
    //                      j = j + 3;
    //              }
    //
    //              microSD_write_block(2, buffer);
    //
    //              microSD_read_block(2, buffer);
    //
    //              for (j = 0; j < 512; j++) {
    //                      printf(buffer[j]);
    //              }
    //              microSD_deinit();
    //
    /*############################################################*/
    //Flash Test
    //    uint8_t buffer[512];
    //    uint16_t j, i;
    //
    //    for (i = 0; i < 10; i++) {
    //      //at45db_erase_page(i);
    //      for (j = 0; j < 512; j++) {
    //        buffer[j] = i;
    //      }
    //      at45db_write_buffer(0, buffer, 512);
    //
    //      at45db_buffer_to_page(i);
    //
    //      at45db_read_page_bypassed(i, 0, buffer, 512);
    //
    //      for (j = 0; j < 512; j++) {
    //        printf("%02x", buffer[j]);
    //        if (((j + 1) % 2) == 0)
    //          printf(" ");
    //        if (((j + 1) % 32) == 0)
    //          printf("\n");
    //      }
    //    }

  }


  PROCESS_END();
}
コード例 #11
0
void boardsupport_init(central_data_t *central_data) 
{
	irq_initialize_vectors();
	cpu_irq_enable();
	Disable_global_interrupt();
		
	// Initialize the sleep manager
	sleepmgr_init();
	sysclk_init();

	board_init();
	delay_init(sysclk_get_cpu_hz());
	time_keeper_init();
		
	INTC_init_interrupts();

	// Switch on the red LED
	LED_On(LED2);

	// servo_pwm_hardware_init();
	pwm_servos_init( CS_ON_SERVO_7_8 );
	
	// Init UART 0 for XBEE communication
	xbee_init(UART0);
				
	// Init UART 3 for GPS communication
	gps_ublox_init(&(central_data->gps), UART3);
	
	// Init UART 4 for wired communication
	//console_init(CONSOLE_UART4);
	// Init USB for wired communication
	console_init(CONSOLE_USB);
		
	// connect abstracted aliases to hardware ports
	central_data->telemetry_down_stream = xbee_get_out_stream();
	central_data->telemetry_up_stream = xbee_get_in_stream();
	central_data->debug_out_stream = console_get_out_stream();
	central_data->debug_in_stream = console_get_in_stream();
	
	// init debug output
	print_util_dbg_print_init(central_data->debug_out_stream);
	print_util_dbg_print("Debug stream initialised\r\n");

	// Bind RC receiver with remote
	// spektrum_satellite_bind();

	// RC receiver initialization
	spektrum_satellite_init();

	// Init analog rails
	analog_monitor_conf_t analog_monitor_config = analog_monitor_default_config;
	//analog_monitor_config.conv_factor[ANALOG_RAIL_6] = 0.00023485f * 6.6f;
	//analog_monitor_config.conv_factor[ANALOG_RAIL_7] = 0.00023485f * 6.6f;
	//analog_monitor_config.conv_factor[ANALOG_RAIL_10] = -0.0002409f * 11.0f;
	//analog_monitor_config.conv_factor[ANALOG_RAIL_11] = -0.0002409f * 11.0f;
	analog_monitor_init(&central_data->analog_monitor, &analog_monitor_config);
	
	// init imu & compass
	i2c_driver_init(I2C0);
	
	lsm330dlc_init();
	print_util_dbg_print("LSM330 initialised \r\n");
		
	hmc5883l_init_slow();
	print_util_dbg_print("HMC5883 initialised \r\n");
	
	bmp085_init(&central_data->pressure);
	
	// init radar or ultrasound (not implemented yet)
	//i2c_driver_init(I2C1);
	
	// init 6V enable
	gpio_enable_gpio_pin(AVR32_PIN_PA04);
	gpio_set_gpio_pin(AVR32_PIN_PA04);
	
	Enable_global_interrupt();

	// Init piezo speaker
	piezo_speaker_init_binary();
	
	print_util_dbg_print("Board initialised\r\n");
}
コード例 #12
0
ファイル: main.c プロジェクト: vooon/imuahrs-fw
/*
 * Application entry point.
 */
int main(void)
{
	enum led_status lstat = LST_INIT;
	EventListener el0;
	alert_status_t proto_st = ALST_INIT;
	alert_status_t bmp085_st = ALST_INIT;
	alert_status_t mpu6050_st = ALST_INIT;
	alert_status_t hmc5883_st = ALST_INIT;

	/*
	 * System initializations.
	 * - HAL initialization, this also initializes the configured device drivers
	 *   and performs the board-specific initializations.
	 * - Kernel initialization, the main() function becomes a thread and the
	 *   RTOS is active.
	 */
	halInit();
	chSysInit();

#ifdef BOARD_IMU_AHRF
	/* Clear DRDY pad */
	palClearPad(GPIOA, GPIOA_DRDY);

	/* Activates serial */
	sdStart(&SD1, NULL);
	sdStart(&SD2, NULL);

	/* Activate pwm */
	pwmStart(&PWMD1, &pwm1cfg);

	/* Activate i2c */
	i2cStart(&I2CD1, &i2c1cfg);

	/* Activate exti */
	extStart(&EXTD1, &extcfg);

#endif /* BOARD_IMU_AHRF */
#ifdef BOARD_CAPTAIN_PRO2

	/* Activates serial */
	sdStart(&SD3, NULL);
	sdStart(&SD4, NULL);

	/* Activate pwm */
	pwmStart(&PWMD3, &pwm3cfg);
	pwmStart(&PWMD4, &pwm4cfg);
	pwmStart(&PWMD5, &pwm5cfg);

	/* Activate i2c */
	i2cStart(&I2CD1, &i2c1cfg);

	/* Activate exti */
	extStart(&EXTD1, &extcfg);

	/* Activate adc */
	adcStart(&ADCD1, NULL);

#endif /* BOARD_CAPTAIN_PRO2 */

	/* alert subsys */
	chEvtInit(&alert_event_source);
	chEvtRegister(&alert_event_source, &el0, 0);

	/* init devices */
	pt_init();
	chThdSleepMilliseconds(10); /* power on delay */
#ifdef HAS_DEV_BMP085
	bmp085_init();
	chThdSleepMilliseconds(50); /* init delay */
#endif
#ifdef HAS_DEV_MS5611
	ms5611_init(&ms5611cfg);
	chThdSleepMilliseconds(50); /* init delay */
#endif
#ifdef HAS_DEV_MPU6050
	mpu6050_init(&mpu6050cfg);
	chThdSleepMilliseconds(250); /* give some time for mpu6050 configuration */
#endif
#ifdef HAS_DEV_HMC5883
	hmc5883_init(&hmc5883cfg);
#endif
#ifdef HAS_DEV_SERVOPWM
	servopwm_init(&servopwmcfg);
#endif
#ifdef HAS_DEV_NTC10K
	ntc10k_init();
#endif
#ifdef HAS_DEV_RPM
	rpm_init();
#endif

#ifdef BOARD_IMU_AHRF
	/* Set DRDY pad */
	palSetPad(GPIOA, GPIOA_DRDY);
#endif

	while (TRUE) {
		eventmask_t msk = chEvtWaitOneTimeout(ALL_EVENTS, MS2ST(100));

		if (msk & EVENT_MASK(0)) {
			flagsmask_t fl = chEvtGetAndClearFlags(&el0);

			if (fl & ALERT_FLAG_PROTO)
				proto_st = pt_get_status();

#ifdef HAS_DEV_MPU6050
			if (fl & ALERT_FLAG_MPU6050)
				mpu6050_st = mpu6050_get_status();
#endif

#ifdef HAS_DEV_HMC5883
			if (fl & ALERT_FLAG_HMC5883)
				hmc5883_st = hmc5883_get_status();
#endif

#ifdef HAS_DEV_BMP085
			if (fl & ALERT_FLAG_BMP085)
				bmp085_st = bmp085_get_status();
#endif

#ifdef HAS_DEV_MS5611
			if (fl & ALERT_FLAG_BMP085)
				bmp085_st = ms5611_get_status();
#endif

			pt_set_sens_state(mpu6050_st, hmc5883_st, bmp085_st);
		}

		if (proto_st == ALST_FAIL || mpu6050_st == ALST_FAIL || hmc5883_st == ALST_FAIL || bmp085_st == ALST_FAIL)
			lstat = LST_FAIL;
		else if (proto_st == ALST_INIT || mpu6050_st == ALST_INIT || hmc5883_st == ALST_INIT || bmp085_st == ALST_INIT)
			lstat = LST_INIT;
		else if (proto_st == ALST_NORMAL && mpu6050_st == ALST_NORMAL && hmc5883_st == ALST_NORMAL && bmp085_st == ALST_NORMAL)
			lstat = LST_NORMAL;

		led_update(lstat);
	}
}
コード例 #13
0
ファイル: swift.c プロジェクト: Nader-st2nh/swift
int main(void)
{
	uint32_t count = 0;
	int32_t lat, lon, alt, temp1, temp2, pressure;
	uint8_t hour, minute, second;
	uint16_t mv;
	char msg[100];
	uint8_t i, r;
	bmp085_t bmp;
	
	/* Set the LED pin for output */
	DDRB |= _BV(DDB7);
	
	adc_init();
	rtx_init();
	bmp085_init(&bmp);
	
#ifdef APRS_ENABLED
	ax25_init();
#endif

#ifdef SSDV_ENABLED
	c3_init();
#endif
	
	sei();
	
	gps_setup();
	
	/* Enable the radio and let it settle */
	rtx_enable(1);
	_delay_ms(1000);
	
	rtx_string_P(PSTR(RTTY_CALLSIGN " starting up\n"));
	
	/* Scan the 1-wire bus, up to 16 devices */
	rtx_string_P(PSTR("Scanning 1-wire bus:\n"));
	for(i = 0; i < 16; i++)
	{
		r = ds_search_rom(id[i], i);
		
		if(r == DS_OK || r == DS_MORE)
		{
			/* A device was found, display the address */
			rtx_wait();
			snprintf_P(msg, 100, PSTR("%i> %02X-%02X-%02X-%02X-%02X-%02X-%02X-%02X\n"),
				i,
				id[i][0], id[i][1], id[i][2], id[i][3],
				id[i][4], id[i][5], id[i][6], id[i][7]);
				rtx_string(msg);
		}
		else
		{
			/* Device not responding or no devices found */
			rtx_wait();
			snprintf_P(msg, 100, PSTR("%i> Error %i\n"), i, r);
			rtx_string(msg);
		}
		
		/* No more devices? */
		if(r != DS_MORE) break;
	}
	rtx_string_P(PSTR("Done\n"));
	
	while(1)
	{
		/* Set the GPS navmode every 10 strings */
		if(count % 10 == 0)
		{
			/* Mode 6 is "Airborne with <1g Acceleration" */
			if(gps_set_nav(6) != GPS_OK)
			{
				rtx_string_P(PSTR("$$" RTTY_CALLSIGN ",Error setting GPS navmode\n"));
			}
		}
		
		/* Get the latitude and longitude */
		if(gps_get_pos(&lat, &lon, &alt) != GPS_OK)
		{
			rtx_string_P(PSTR("$$" RTTY_CALLSIGN ",No or invalid GPS response\n"));
			lat = lon = alt = 0;
		}
		
		/* Get the GPS time */
		if(gps_get_time(&hour, &minute, &second) != GPS_OK)
		{
			rtx_string_P(PSTR("$$" RTTY_CALLSIGN ",No or invalid GPS response\n"));
			hour = minute = second = 0;
		}
		
		/* Read the battery voltage */
		mv = adc_read();
		
		/* Read the temperature from sensor 0 */
		ds_read_temperature(&temp1, id[0]);
		
		/* Read the temperature from sensor 1 */
		ds_read_temperature(&temp2, id[1]);
		
		/* Read the pressure from the BMP085 */
		if(bmp085_sample(&bmp, 3) != BMP_OK) pressure = 0;
		else pressure = bmp085_calc_pressure(&bmp);
		
		/* Build up the string */
		rtx_wait();
		
		snprintf_P(msg, 100, PSTR("$$%s,%li,%02i:%02i:%02i,%s%li.%04li,%s%li.%04li,%li,%i.%01i,%li,%li,%li,%c"),
			RTTY_CALLSIGN, count++,
			hour, minute, second,
			(lat < 0 ? "-" : ""), labs(lat) / 10000000, labs(lat) % 10000000 / 1000,
			(lon < 0 ? "-" : ""), labs(lon) / 10000000, labs(lon) % 10000000 / 1000,
			alt / 1000,
			mv / 1000, mv / 100 % 10,
			temp1 / 10000,
			temp2 / 10000,
			pressure,
			(geofence_test(lat, lon) ? '1' : '0'));
		crccat(msg);
		rtx_string(msg);
		
#ifdef APRS_ENABLED
		tx_aprs(lat, lon, alt);
		{ int i; for(i = 0; i < 60; i++) _delay_ms(1000); }
#endif

#ifdef SSDV_ENABLED
		if(tx_image() == -1)
		{
			/* The camera goes to sleep while transmitting telemetry,
			 * sync'ing here seems to prevent it. */
			c3_sync();
		}
#endif
	}
}