void bt_init()
{
DEBUG("bt_init\n");
//get module type
eeprom_busy_wait();
bt_module_type = eeprom_read_byte(&config_ro.bt_module_type);
//init bt_uart
bt_uart.InitBuffers(BUFFER_SIZE * 2, BUFFER_SIZE);
//pin init
GpioSetDirection(BT_EN, OUTPUT);
GpioSetDirection(BT_RESET, OUTPUT);
GpioSetDirection(BT_RTS, OUTPUT);
//power is off
GpioWrite(BT_RTS, LOW);
GpioWrite(BT_EN, LOW);
GpioWrite(BT_RESET, LOW);
//IRQ init
GpioSetDirection(BT_CTS, INPUT);
GpioSetPull(BT_CTS, gpio_pull_down);
GpioSetInterrupt(BT_CTS, gpio_interrupt1, gpio_rising);
}
void LcdInit(LcdSpi* lcd)
{
uint8_t i;
// 132x32
uint8_t initSeqTx[] = {0x40, 0xA1, 0xC0, 0xA6, 0xA2, 0x2F, 0xF8, 0x00, 0x23, 0x81, 0x1F, 0xAC, 0x00, 0xAF};
// 128x64
//uint8_t initSeqTx[] = {0x40, 0xA1, 0xC0, 0xA6, 0xA2, 0x2F, 0xF8, 0x00, 0x27, 0x81, 0x10, 0xAC, 0x00, 0xAF};
if (!lcd) {
return;
}
GpioExport(PIN_LCD_nRST);
GpioExport(PIN_LCD_A0);
GpioSetDirection(PIN_LCD_nRST, 1);
GpioSetDirection(PIN_LCD_A0, 1);
GpioSetValue(PIN_LCD_nRST, 0);
usleep(10000);
GpioSetValue(PIN_LCD_nRST, 1);
usleep(10000);
GpioSetValue(PIN_LCD_A0, 0);
for (i = 0; i < sizeof(initSeqTx); i++) {
LcdWriteByte(lcd->mS0, initSeqTx[i]);
usleep(10000);
}
}
void gps_start()
{
GPS_UART_PWR_ON;
gps_uart.Init(GPS_UART, 9600);
gps_uart.SetInterruptPriority(MEDIUM);
GpioSetDirection(GPS_EN, OUTPUT); //active high
GpioWrite(GPS_EN, LOW);
GpioSetDirection(GPS_TIMER, INPUT); //active low, otherwise open-drain
GpioSetPull(GPS_TIMER, gpio_pull_up);
GpioSetInterrupt(GPS_TIMER, gpio_interrupt1, gpio_falling);
GpioSetDirection(GPS_RESET, OUTPUT); //active low
GpioWrite(GPS_RESET, LOW);
GpioWrite(GPS_EN, HIGH);
_delay_ms(10);
GpioWrite(GPS_RESET, LOW);
_delay_ms(20);
GpioWrite(GPS_RESET, HIGH);
gps_parser_state = GPS_IDLE;
fc.gps_data.valid = false;
fc.gps_data.fix = 0;
fc.gps_data.fix_cnt = 0;
for (uint8_t i = 0; i < GPS_SAT_CNT; i++)
{
fc.gps_data.sat_id[i] = 0;
fc.gps_data.sat_snr[i] = 0;
}
}
void ButtonInit(void)
{
GpioExport(PIN_KEY_1);
GpioExport(PIN_KEY_2);
GpioExport(PIN_KEY_3);
GpioSetDirection(PIN_KEY_1, 0);
GpioSetDirection(PIN_KEY_2, 0);
GpioSetDirection(PIN_KEY_3, 0);
GpioSetEdge(PIN_KEY_1, edge_falling);
GpioSetEdge(PIN_KEY_2, edge_falling);
GpioSetEdge(PIN_KEY_3, edge_falling);
#ifdef RPI_PULLUP
GpioRpiSetup();
GpioRpiSetPullUpDown(PIN_KEY_1, PUD_UP);
GpioRpiSetPullUpDown(PIN_KEY_2, PUD_UP);
GpioRpiSetPullUpDown(PIN_KEY_3, PUD_UP);
#endif
#ifdef BPI_PULLUP
GpioSetPullResistor(PIN_KEY_1, pull_up);
GpioSetPullResistor(PIN_KEY_2, pull_up);
GpioSetPullResistor(PIN_KEY_3, pull_up);
#endif
}
void mems_power_init()
{
eeprom_busy_wait();
hw_revision = eeprom_read_byte(&config_ro.hw_revision);
GpioSetDirection(MEMS_EN, OUTPUT);
if (hw_revision == HW_REW_1504)
{
GpioSetDirection(REV_1504_MEMS_EN_2, OUTPUT);
GpioSetDirection(REV_1504_I2C_EN, OUTPUT);
}
}
void gps_stop()
{
GpioSetDirection(GPS_EN, INPUT);
GpioSetDirection(GPS_RESET, INPUT);
fc.gps_data.valid = false;
fc.gps_data.fix = 0;
fc.gps_data.fix_cnt = 0;
GpioSetPull(GPS_TIMER, gpio_totem);
gps_init_ok = false;
gps_uart.Stop();
GPS_UART_PWR_OFF;
}
void SystemInit()
{
//bt reset default HIGH (bt in reset)
//GpioSetInvert(bt_reset, ON);
GpioWrite(bt_reset, HIGH);
GpioSetDirection(bt_reset, OUTPUT);
//bt shdn default HIGH (nrf off)
GpioSetInvert(bt_shdn, ON);
GpioWrite(bt_shdn, HIGH);
GpioSetDirection(bt_shdn, OUTPUT);
//button setup (High if pressed)
GpioSetPull(user_button, gpio_pull_up);
GpioSetInvert(user_button, ON);
GpioSetDirection(user_button, INPUT);
//
}
LcdSpi* LcdOpen(Spi* s0)
{
LcdSpi *lcd;
lcd = (LcdSpi*)malloc(sizeof(LcdSpi));
if (!lcd) {
return NULL;
}
lcd->mS0 = s0;
lcd->mRed = 0;
lcd->mGreen = 0;
lcd->mBlue = 0;
// Export Kernel GPIO into Userspace
GpioExport(PIN_LED_RED);
GpioExport(PIN_LED_GREEN);
GpioExport(PIN_LED_BLUE);
GpioSetDirection(PIN_LED_RED, 1);
GpioSetDirection(PIN_LED_GREEN, 1);
GpioSetDirection(PIN_LED_BLUE, 1);
return lcd;
}
void io_init()
{
if (hw_revision == HW_REW_1504)
{
GpioSetDirection(IO1, OUTPUT);
}
if (hw_revision == HW_REW_1506)
{
GpioSetDirection(IO0, OUTPUT);
GpioSetDirection(IO1, OUTPUT);
GpioSetDirection(IO2, OUTPUT);
GpioSetDirection(IO3, OUTPUT);
GpioSetDirection(IO4, OUTPUT);
}
}
bool storage_init()
{
uint8_t res;
GpioSetPull(SD_IN, gpio_pull_up);
GpioSetDirection(SD_IN, INPUT);
DEBUG("SD_IN %d\n", GpioRead(SD_IN));
if (!SD_CARD_DETECT)
return false;
//power spi & sdcard
SD_EN_ON;
SD_SPI_PWR_ON;
DEBUG("Mounting SD card ... ");
for (uint8_t i = 0; i < 5; i++)
{
//power spi & sdcard
SD_EN_ON;
SD_SPI_PWR_ON;
res = f_mount(&FatFs, "", 1); /* Give a work area to the default drive */
DEBUG("%d ", i + 1);
if (res == RES_OK)
break;
sd_spi_usart.Stop();
//power spi & sdcard
SD_EN_OFF;
SD_SPI_PWR_OFF;
for (uint8_t j = 0; j < i +1; j++)
_delay_ms(10);
}
if (res != RES_OK)
{
DEBUG("Error %02X\n", res);
sd_spi_usart.Stop();
//power spi & sdcard
SD_EN_OFF;
SD_SPI_PWR_OFF;
sd_avalible = false;
return false;
}
DEBUG("OK\n");
uint32_t size;
FATFS * FatFs1;
res = f_getfree("", &size, &FatFs1);
// DEBUG1("f_getfree res = %d, size = %lu MiB", res, size / 256);
uint32_t sector_count;
res = disk_ioctl(0, GET_SECTOR_COUNT, §or_count);
// DEBUG1("GET_SECTOR_COUNT res = %d, size = %lu", res, sector_count);
uint16_t sector_size;
res = disk_ioctl(0, GET_SECTOR_SIZE, §or_size);
// DEBUG1("GET_SECTOR_SIZE res = %d, size = %u", res, sector_size);
storage_space = sector_count * sector_size;
storage_free_space = size * 4 * 1024;
DEBUG("Disk info\n");
DEBUG(" sector size %12u\n", sector_size);
DEBUG(" sector count %12lu\n", sector_count);
DEBUG(" total space %12lu\n", storage_space);
DEBUG(" free space %12lu\n", storage_free_space);
sd_avalible = true;
return true;
}
void fc_init()
{
DEBUG(" *** Flight computer init ***\n");
//load configuration
cfg_load();
//start values
eeprom_busy_wait();
active_page = eeprom_read_byte(&config.gui.last_page);
fc.epoch_flight_start = 0;
fc.autostart_state = false;
fc.temp_step = 0;
//init calculators
vario_init();
audio_init();
gps_init();
if (fc.use_gps)
gps_start();
bt_init();
// if (fc.use_flage & ENABLE_BT)
// bt_module_init();
//VCC to baro, acc/mag gyro
MEMS_POWER_ON;
GpioSetDirection(IO0, OUTPUT);
GpioWrite(IO0, HIGH);
//init and test i2c
if (!mems_i2c_init())
{
DEBUG("ERROR I2C\n");
led_set(0xFF, 0, 0);
}
//Barometer
ms5611.Init(&mems_i2c, MS5611_ADDRESS_CSB_LO);
//Magnetometer + Accelerometer
lsm303d_settings lsm_cfg;
lsm_cfg.enabled = true;
lsm_cfg.accOdr = lsm_acc_1600Hz;
lsm_cfg.accScale = lsm_acc_16g;
lsm_cfg.magOdr = lsm_mag_100Hz;
lsm_cfg.magScale = lsm_mag_4g;
lsm_cfg.magHiRes = true;
lsm_cfg.tempEnable = false;
//Gyro
l3gd20_settings l3g_cfg;
l3g_cfg.enabled = true;
l3g_cfg.bw = l3g_50Hz;
l3g_cfg.odr = l3g_760Hz;
l3g_cfg.scale = l3g_2000dps;
sht21_settings sht_cfg;
sht_cfg.rh_enabled = true;
sht_cfg.temp_enabled = true;
//XXX: do self-test?
lsm303d.Init(&mems_i2c, lsm_cfg);
lsm303d.Start();
l3gd20.Init(&mems_i2c, l3g_cfg);
l3gd20.Start();
sht21.Init(&mems_i2c, sht_cfg);
//Measurement timer
FC_MEAS_TIMER_PWR_ON;
fc_meas_timer.Init(FC_MEAS_TIMER, timer_div256); //125 == 1ms
fc_meas_timer.SetInterruptPriority(MEDIUM);
fc_meas_timer.EnableInterrupts(timer_overflow | timer_compareA | timer_compareB | timer_compareC);
fc_meas_timer.SetTop(125 * 10); // == 10ms
fc_meas_timer.SetCompare(timer_A, 100); // == 0.64ms
fc_meas_timer.SetCompare(timer_B, 430); // == 2.7ms
fc_meas_timer.SetCompare(timer_C, 555); // == 3.7ms
fc_meas_timer.Start();
DEBUG(" *** FC init done ***\n");
}
