/* initialize */
int event_init(){
int i, k;
hb_init(ofile,SHMSIZE);
init_hist();
evt_time();
/* clear scalers */
k = nscalers*nmodes;
scaler = (int*)malloc(sizeof(int)*k);
for(i=0; i<k; i++)
scaler[i] = 0;
/* clear analyzed blocks */
ablk = 0;
cblk = 0;
return 0;
}
// ********************** Software Initialization **************************
void init_software(void){
// *********************************************
// Standard board initialization. Do not modify.
// *********************************************
asched_init(schedule,1);
error_init(dn_error_transmit, asched_get_timestamp, BOARD_UI); //* dn_error_transmit
hb_init(9, dn_blue_heartbeat, asched_get_timestamp); //heartbeat
// *********************************************
// Put user initialization code below here.
// *********************************************
ui_led_init();
ui_sync_led_init(asched_get_timestamp); //sync led
lcd_init(asched_tick);
msimu_init(MSIMU_EULER_ANGS_ANG_RATE);
rcx_init(1,1,0,0);
// rcx_init(1,1,1,1);
song_set(alma_mater, 26);
}
// ********************** Software Initialization **************************
void init_software(void){
// *********************************************
// Standard board initialization. Do not modify. Unless you dare.
// *********************************************
asched_init(main_schedule,1);
error_init(dn_error_transmit, asched_get_timestamp, BOARD_MCH);
hb_init(9, dn_blue_heartbeat, asched_get_timestamp); //heartbeat
// *********************************************
// Put user initialization code below here.
// *********************************************
adci_init(ADCI_NULL, ADCI_NO_FILTER, ADCI_NULL, ADCI_NULL); //batt voltage on
adcx_init();
adcx_add_config( ADCX_CH_P4N5, ADCX_GAIN_2); //motor current
adcx_add_config( ADCX_CH_P2N3, ADCX_GAIN_2); //battery current
qdc_tmr0_init
(
60000000, //Count frequency of timer 0 in cycles per second
2048, //Pulses per revolution per channel (1X) of CAP01 encoder
1.0, //Gear ratio to obtain output shaft angle/rate, if desired, for CAP01 encoder.
0.0005, //Time per call to qdc_tmr0_cap01_rate_update in seconds
4, //Maximum exponential smoothing coefficient exponent for cap01. See instructions.
4, //Minimum exponential smoothing coefficient exponent for cap01
192, //Pulses per revolution per channel (1X) of CAP23 encoder
66.0, //Gear reduction ratio to obtain output shaft angle/rate, if desired, for CAP23 encoder
0.0005, //Timer per call to qdc_tmr1_cap23_rate_update in seconds
4, //Maximum exponential smoothing coefficient exponent for cap23 See instructions.
4 //Minimum exponential smoothing coefficient exponent for cap23
);
//Motor controller setup and initialization
mc_init
(
12.0,
5.0,
-5.0,
4.0,
-4.0,
3.1,
10.0,
0.0, // **** TEST CODE **** lower Kp
//220.0,
20.0,
0.0,
250,
4,
20.0,
MC_NORMAL,
&dn_get_raw_motor_current,
&dn_get_shaft_pos_rads,
&dn_get_motor_vel_rads
);
ae_init_encoder(AE_1,4590,94,8192); //abs encoder for hip angle is on J3
mc_set_stiffness(0.0);
mc_set_dampness(0.0);
mc_set_command_current(0.0);
}
/********************* Software Initialization **************************/
void init_software(void){
// *********************************************
// Standard board initialization. Do not modify. Unless you dare.
// *********************************************
asched_init(main_schedule,1);
error_init(dn_error_transmit, asched_get_timestamp, BOARD_MCFO);
hb_init(9, dn_blue_heartbeat, asched_get_timestamp); //heartbeat
// *********************************************
// Put user initialization code below here.
// *********************************************
adci_init(ADCI_NULL, ADCI_NO_FILTER, ADCI_NULL, ADCI_NULL); //batt voltage on
adcx_init();
adcx_add_config(ADCX_CH_P4N5, ADCX_GAIN_2); //motor current
adcx_add_config(ADCX_CH_P2N3, ADCX_GAIN_2); //battery current
adcx_add_config(ADCX_CH_0, ADCX_GAIN_1); //left outer heel strike
adcx_add_config(ADCX_CH_1, ADCX_GAIN_1); //right outer heel strike
//Initialize incremental encoder position and rate calculations.
//Put setup, smoothing/filtering, and calibration values here
qdc_tmr0_init
(
60000000, //Count frequency of timer 0 in cycles per second
512, //Pulses per revolution per channel (1X) of CAP01 encoder
-34, //Gear ratio to obtain output shaft angle/rate, if desired, for CAP01 encoder.
0.0005, //Time per call to qdc_tmr0_cap01_rate_update in seconds
4, //Maximum exponential smoothing coefficient exponent for cap01. See instructions.
4, //Minimum exponential smoothing coefficient exponent for cap01
2048, //Pulses per revolution per channel (1X) of CAP23 encoder
-1.0, //Gear reduction ratio to obtain output shaft angle/rate, if desired, for CAP23 encoder
0.0005, //Timer per call to qdc_tmr1_cap23_rate_update in seconds
4, //Maximum exponential smoothing coefficient exponent for cap23 See instructions.
4 //Minimum exponential smoothing coefficient exponent for cap23
);
//Initialize motor controller
mc_init
(
12.0,
8.0,
-2.0,
6.0,
-1.0,
3.1,
10.0,
0.0, // **** TEST CODE **** Kp test
//220.0,
20.0,
0.0,
300,
4,
20.0,
MC_BACKWARDS,
&dn_get_raw_motor_current,
&dn_get_motor_pos_rads,
&dn_get_motor_vel_rads
);
//Initialize the absolute encoder module
ae_init_encoder
(
AE_2,
6562,
186,
8192
);
ls_init_switch(2, dn_get_p0); // id:0, left ankle
ls_init_switch(2, dn_get_p1); // id:1, right angle
ls_init_switch(10, dn_get_raw_right_hs); // id:2, right heel strike
ls_init_switch(10, dn_get_raw_left_hs); //id:3, left heel strike
mc_set_stiffness(0.0);
mc_set_dampness(0.0);
mc_set_command_current(0.0);
}
