void init(void) { // Initialize Timer timerInit(); // Initialize LCD lcdInit(); ourLcdControlWrite(1<<LCD_ON_CTRL | 1<<LCD_ON_DISPLAY); // Initialize UART uartInit(); uartSetBaudRate(CMU_BAUD); uartSetRxHandler(packetRcv); rprintfInit(uartSendByte); // Initialize PWM outb(DDRD, 0xFF); // set all port D pins to output timer1PWMInit(8); timer1PWMAOn(); timer1PWMBOn(); // Initialize Servos servoInit(); // Initialize CMU lcdWriteStr("CMUcam2 init", 0, 0); cmuInit(); }
//Initializes comms with the RasPi void raspiInit(void) { uartInit(RASPI_UART); uartSetBaudRate(RASPI_UART, 115200); uartSetRxHandler(RASPI_UART, raspiByteReceiver ); }