int main(void)
{
RCC_Configuration();
GPIO_Configuration();
USART1_Configuration();
LED_Initialization();
USART1_puts("Hello World!\r\n");
USART1_puts("Just for STM32F429I Discovery verify USART1 with USB TTL Cable\r\n");
while(1)
{
//LED3_Toggle();
//Recieve
if(USART_GetFlagStatus(USART1, USART_FLAG_RXNE) != RESET){ // == SET
char t = USART_ReceiveData(USART1);
if(t == 'a') LED3_Toggle();
else if(t == 'b') LED4_Toggle();
//Transmitt
while(USART_GetFlagStatus(USART1, USART_FLAG_TXE) == RESET);
USART_SendData(USART1, t);
}
}
while(1); // Don't want to exit
}
int main(void)
{
RCC_Configuration();
LED_Initialization(); //PG13 (GREEN) & PG14 (RED)
USART1_Initialization(); //PA9 (TX) & PA10 (RX)
SPI1_Initialization(); //PB3 (SCK) & PB4 (MISO) & PB5 (MOSI)
Delay_1us(1000000);
NRF2401_Initialization();
Timer2_Initialization();
// LED3_On();
USART1_puts("\r\nHello World\r\n");
// Delay_1us(500000);
// LED3_Off();
// Delay_1us(500000);
while(1)
{
if(task == 1){
LED4_Toggle();
/* NRF2401 TX Mode */
NRF2401_SendData_1CH("KU");
/* NRF2401 RX Mode */
// uint8_t i;
// for(i = 0; i < 24; i++){
// receivedData = NRF2401_ReceiveData_1CH()[i];
// USART_SendData(USART1, receivedData);
// }
// USART1_puts("\r\n");
// NRF2401_ReceiveData_1CH();
task = 0;
}
}
while(1); // Don't want to exit
}
void USART1_Configuration(void)
{
USART_InitTypeDef USART_InitStructure;
/* USARTx configuration ------------------------------------------------------*/
/* USARTx configured as follow:
* - BaudRate = 57600 baud
* - Word Length = 8 Bits
* - One Stop Bit
* - No parity
* - Hardware flow control disabled (RTS and CTS signals)
* - Receive and transmit enabled
*/
USART_InitStructure.USART_BaudRate = 57600;
USART_InitStructure.USART_WordLength = USART_WordLength_8b;
USART_InitStructure.USART_StopBits = USART_StopBits_1;
USART_InitStructure.USART_Parity = USART_Parity_No;
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
//START USART
USART_Init(USART1, &USART_InitStructure);
USART_Cmd(USART1, ENABLE);
//Using Interrupt
USART_ClearFlag(USART1, USART_FLAG_TC);
//Enable RX interrupt & Disable TX interrupt
USART_ITConfig(USART1, USART_IT_TXE, DISABLE);
USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);
/* NVIC Initialization */
NVIC_InitTypeDef NVIC_InitStruct = {
.NVIC_IRQChannel = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = 0,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE
};
NVIC_Init(&NVIC_InitStruct);
}
void USART1_puts(char* s)
{
while(*s) {
while(USART_GetFlagStatus(USART1, USART_FLAG_TXE) == RESET);
USART_SendData(USART1, *s);
s++;
}
}
/**************************************************************************************/
int main(void)
{
RCC_Configuration();
GPIO_Configuration();
USART1_Configuration();
LED_Initialization();
USART1_puts("Hello World!\r\n");
USART1_puts("Just for STM32F429I Discovery verify USART1 with USB TTL Cable\r\n");
while(1)
{
//LED4_Toggle();
//Delay_1us(10000);
//USART1_puts(i);
}
}
int main(void)
{
PWM_Initialization();
TIM1->CCR2 = 1000;
TIM1->CCR3 = 1000;
Delay_1us(500000);
RCC_Configuration();
PushButton_Initialization();
LED_Initialization();
//LCD_Initialization();
//terminalBufferInitilization();
Delay_1us(100000);
SPI_Initialization();
Delay_1us(100000);
IMU_Initialization();
Delay_1us(100000);
Timer5_Initialization(); //Filter
Timer2_Initialization(); //Print
Timer4_Initialization(); //Read IMU
USART3_Configuration();
USART3_puts("\r\nHello World!\r\n");
while(1)
{
if(PushButton_Read()){
if(f.arm == 0){
f.arm = 1;
Delay_1us(500000);
}
else if(f.arm == 1){
f.arm = 0;
Delay_1us(500000);
}
}
if(f.imu == 1){
//LED3_Toggle();
readIMU(gyroRaw, GYRO_DATA_REGISTER);
gyro_remove_offset(gyroRaw);
readIMU(accRaw, ACC_DATA_REGISTER);
f.imu = 0;
// }
// if(f.filter == 1){
//LED4_Toggle();
Filter(gyroRaw, gyroAngle, accRaw, accAngle, Angle);
if(f.arm == 1){
PID_control(Angle);
}
else{
TIM1->CCR2 = 1000;
TIM1->CCR3 = 1000;
errorI = 0;
errorD = 0;
previous_error = 0;
}
//f.filter = 0;
}
strcmd_main();
//if(f.print == 1){
// sprintf(lcd_text_main,"%.4f %.4f %d", Angle[0], Angle[1], f.arm);
// //sprintf(lcd_text_main,"G: %.3f %.3f %.3f", EstV.G.X, EstV.G.Y, EstV.G.Z);
// LCD_DisplayStringLine(LINE(1), lcd_text_main);
// //sprintf(lcd_text_main,"A: %.3f %.3f %.3f", EstV.A.X, EstV.A.Y, EstV.A.Z);
// //sprintf(lcd_text_main,"A: %.3f %.3f", sqX_sqZ, EstV.GA.X*EstV.GA.X + EstV.GA.Z*EstV.GA.Z);
// // sprintf(lcd_text_main,"%.4f %.4f %.4f \n", gyroAngle[0], gyroAngle[1], gyroAngle[2]);
// sprintf(lcd_text_main,"%d ", gyroRaw[2]);
// LCD_DisplayStringLine(LINE(2), lcd_text_main);
// sprintf(lcd_text_main,"GA: %.3f %.3f %.3f", EstV.GA.X, EstV.GA.Y, EstV.GA.Z);
// LCD_DisplayStringLine(LINE(3), lcd_text_main);
//sprintf(lcd_text_main,"%.3f %.3f %.3f\n", EstV.G.Z, EstV.A.Z, EstV.GA.Z);
//LCD_DisplayStringLine(LINE(2), (uint8_t*)" Ming6842 @ github");
//terminalWrite(lcd_text_main);
//PRINT_USART();
//f.print = 0;
//}
}
while(1); // Don't want to exit
}
int main(void)
{
RCC_Configuration();
GPIO_Configuration();
LED_Initialization();
uint8_t i=1,c=1;
while(1)
{
//sevro
if(PushButton_Read())
{
if(c==1)
{
c=0;
if(PushButton_Read())
{
if(i==1)
{
i=2;
}
else if(i==2)
{
i=3;
}
else
{
i=1;
}
}
}
}
if(PushButton_Read())
{
c=0;
}
else
{
c=1;
}
//
if(i==1)
{
v13_on();
v14_on();
v15_on();
Delay_1us(1000);
v13_off();
Delay_1us(500);
v14_off();
Delay_1us(500);
v15_off();
Delay_1us(18500);
}
if(i==2)
{
v13_on();
v14_on();
v15_on();
Delay_1us(1000);
v14_off();
Delay_1us(500);
v15_off();
Delay_1us(500);
v13_off();
Delay_1us(18500);
}
if(i==3)
{
v13_on();
v14_on();
v15_on();
Delay_1us(1000);
v15_off();
Delay_1us(500);
v13_off();
Delay_1us(500);
v14_off();
Delay_1us(18500);
}
// if(PushButton_Read())
// {
// LED4_Off();
// for(i=0;i<90;i++)
// {
// LED3_Toggle();
// Delay_1us(100000-i*1000);
// if (PushButton_Read())
// {
// }
// else
// break;
// }
// }
// else
// {
// LED4_Toggle();
// Delay_1us(100000);
// LED3_Off();
// }
}
while(1); // Don't want to exit
}
int main(void)
{
CanTxMsg TxMessage;
float X_offset =0.0f,Y_offset =0.0f,Z_offset =0.0f;
float test_float=0.0f; uint8_t test_int=0;
float GyX =0.0f, GyY =0.0f, GyZ =0.0f;
float GyX_prev=0.0f,GyY_prev=0.0f,GyZ_prev=0.0f;
uint16_t x_len=240;
uint16_t y_len=320;
uint16_t i=0;
uint16_t buffer_screen[x_len][y_len];
/* For gyro receiving */
float receivedGyro1=0,receivedGyro1_prev=0;
float receivedGyro2=0,receivedGyro2_prev=0;
float receivedGyro3=0,receivedGyro3_prev=0;
uint8_t *ptr = & receivedGyro1;
// uint16_t *buf_ptr = &buffer_screen;
float runner=-8.0;
rectangular_t rect1;
rectangular_t prev_rect;
rectangular_t rect_screen;
char lcd_text_main[100];
/* LCD Initialization */
lcd_init();
lcd_drawBackground(20,60,250);
//lcd_drawBGPersimmon(20, 60, 250);
/* LED Initialization */
LED_Initialization();
/* CAN Initialization */
CAN2_Config();
CAN2_NVIC_Config();
/* MEMS Initialization */
Demo_GyroConfig();
Delay_1us(10000);
#define CALIBRATE_COUNT 1000
for (i=0;i<CALIBRATE_COUNT ;i++){
Demo_GyroReadAngRate (Buffer);
X_offset+= Buffer[0];
Y_offset+= Buffer[1];
Z_offset+= Buffer[2];
}
X_offset = X_offset/ (float)CALIBRATE_COUNT;
Y_offset = Y_offset/ (float)CALIBRATE_COUNT;
Z_offset = Z_offset/ (float)CALIBRATE_COUNT;
rect_screen.xlen = x_len;
rect_screen.ylen = y_len;
rect_screen.xpos = 0;
rect_screen.ypos = 0;
#define NEEDLE_RADIUS 65
#define NEEDLE_BASE_WIDTH 14
#define NEEDLE_FRAME_THICKNESS 5
#define NEEDLE1_CENTER_X 80
#define NEEDLE1_CENTER_Y 100
#define NEEDLE2_CENTER_X 80
#define NEEDLE2_CENTER_Y 200
#define NEEDLE3_CENTER_X 80
#define NEEDLE3_CENTER_Y 300
/* Drawing Needle frame 1 */
LCD_SetLayer(LCD_BACKGROUND_LAYER);
DrawThickCircle(NEEDLE1_CENTER_X ,NEEDLE1_CENTER_Y,NEEDLE_RADIUS+NEEDLE_FRAME_THICKNESS, 4,LCD_COLOR_BLACK,LCD_COLOR_WHITE-1);
LCD_SetLayer(LCD_FOREGROUND_LAYER);
DrawThickCircle(NEEDLE1_CENTER_X ,NEEDLE1_CENTER_Y,NEEDLE_BASE_WIDTH, 6,LCD_COLOR_BLACK,LCD_COLOR_WHITE-1);
LCD_SetLayer(LCD_BACKGROUND_LAYER);
LCD_SetColors(ASSEMBLE_RGB(20, 60, 250),LCD_COLOR_BLACK);
LCD_DrawFullRect(NEEDLE1_CENTER_X- NEEDLE_RADIUS-NEEDLE_FRAME_THICKNESS*2,NEEDLE1_CENTER_Y+ NEEDLE_BASE_WIDTH+3,NEEDLE_RADIUS*2+NEEDLE_FRAME_THICKNESS*4,NEEDLE_RADIUS);
LCD_SetLayer(LCD_FOREGROUND_LAYER);
LCD_SetColors(LCD_COLOR_BLACK,LCD_COLOR_BLACK);
LCD_DrawFullRect(NEEDLE1_CENTER_X- NEEDLE_RADIUS,NEEDLE1_CENTER_Y+ NEEDLE_BASE_WIDTH,NEEDLE_RADIUS*2,NEEDLE_FRAME_THICKNESS-1);
/* Drawing Needle frame 2 */
LCD_SetLayer(LCD_BACKGROUND_LAYER);
DrawThickCircle(NEEDLE2_CENTER_X ,NEEDLE2_CENTER_Y,NEEDLE_RADIUS+NEEDLE_FRAME_THICKNESS, 4,LCD_COLOR_BLACK,LCD_COLOR_WHITE-1);
LCD_SetLayer(LCD_FOREGROUND_LAYER);
DrawThickCircle(NEEDLE2_CENTER_X ,NEEDLE2_CENTER_Y,NEEDLE_BASE_WIDTH, 6,LCD_COLOR_BLACK,LCD_COLOR_WHITE-1);
LCD_SetLayer(LCD_BACKGROUND_LAYER);
LCD_SetColors(ASSEMBLE_RGB(20, 60, 250),LCD_COLOR_BLACK);
LCD_DrawFullRect(NEEDLE2_CENTER_X- NEEDLE_RADIUS-NEEDLE_FRAME_THICKNESS*2,NEEDLE2_CENTER_Y+ NEEDLE_BASE_WIDTH+3,NEEDLE_RADIUS*2+NEEDLE_FRAME_THICKNESS*4,NEEDLE_RADIUS);
LCD_SetLayer(LCD_FOREGROUND_LAYER);
LCD_SetColors(LCD_COLOR_BLACK,LCD_COLOR_BLACK);
LCD_DrawFullRect(NEEDLE2_CENTER_X- NEEDLE_RADIUS,NEEDLE2_CENTER_Y+ NEEDLE_BASE_WIDTH,NEEDLE_RADIUS*2,NEEDLE_FRAME_THICKNESS-1);
/* Drawing Needle frame 2 */
LCD_SetLayer(LCD_BACKGROUND_LAYER);
DrawThickCircle(NEEDLE3_CENTER_X ,NEEDLE3_CENTER_Y,NEEDLE_RADIUS+NEEDLE_FRAME_THICKNESS, 4,LCD_COLOR_BLACK,LCD_COLOR_WHITE-1);
LCD_SetLayer(LCD_FOREGROUND_LAYER);
DrawThickCircle(NEEDLE3_CENTER_X ,NEEDLE3_CENTER_Y,NEEDLE_BASE_WIDTH, 6,LCD_COLOR_BLACK,LCD_COLOR_WHITE-1);
LCD_SetLayer(LCD_BACKGROUND_LAYER);
LCD_SetColors(ASSEMBLE_RGB(20, 60, 250),LCD_COLOR_BLACK);
LCD_DrawFullRect(NEEDLE3_CENTER_X- NEEDLE_RADIUS-NEEDLE_FRAME_THICKNESS*2,NEEDLE3_CENTER_Y+ NEEDLE_BASE_WIDTH+3,NEEDLE_RADIUS*2+NEEDLE_FRAME_THICKNESS*4,NEEDLE_RADIUS);
LCD_SetLayer(LCD_FOREGROUND_LAYER);
LCD_SetColors(LCD_COLOR_BLACK,LCD_COLOR_BLACK);
LCD_DrawFullRect(NEEDLE3_CENTER_X- NEEDLE_RADIUS,NEEDLE3_CENTER_Y+ NEEDLE_BASE_WIDTH,NEEDLE_RADIUS*2,NEEDLE_FRAME_THICKNESS-1);
/* Clear drawing buffer */
PadRectangular(&buffer_screen,x_len,y_len,LCD_COLOR_WHITE, &rect_screen);
while(1)
{
board_ID = PIN_ID_Read();
LCD_SetColors(LCD_COLOR_BLACK,LCD_COLOR_WHITE-1);
sprintf(lcd_text_main," CAN Demo ID:%d ",board_ID);
LCD_DisplayStringLine(LINE(0), (uint8_t*)lcd_text_main);
Demo_GyroReadAngRate (Buffer);
//Delay_1us(1000);
/* MEMS Filtering */
#define LP_ALPHA 0.1f
GyX = GyX*(1.0f - LP_ALPHA) + (Buffer[0] - X_offset)*LP_ALPHA;
GyY = GyY*(1.0f - LP_ALPHA) + (Buffer[1] - Y_offset)*LP_ALPHA;
GyZ = GyZ*(1.0f - LP_ALPHA) + (Buffer[2] - Z_offset)*LP_ALPHA;
if(GyX > 90.0f) GyX = 90.0f;
if(GyX < -90.0f) GyX = -90.0f;
if(GyY > 90.0f) GyY = 90.0f;
if(GyY < -90.0f) GyY = -90.0f;
if(GyZ > 90.0f) GyZ = 90.0f;
if(GyZ < -90.0f) GyZ = -90.0f;
/* Start drawing rectangular */
prev_rect = rect1;
rect1.xlen = 25;
rect1.ylen = 30;
rect1.xpos = x_len/2+ (int16_t)(GyY)-10;
rect1.ypos = y_len/2 + (int16_t)(GyX)-10;
if(board_ID == 1){
MoveNeedle(LCD_BACKGROUND_LAYER,&buffer_screen,x_len,y_len,LCD_COLOR_GREEN,NEEDLE1_CENTER_X,NEEDLE1_CENTER_Y,-GyZ,-GyZ_prev,NEEDLE_RADIUS,NEEDLE_BASE_WIDTH);
}else if(board_ID == 2){
MoveNeedle(LCD_BACKGROUND_LAYER,&buffer_screen,x_len,y_len,LCD_COLOR_GREEN,NEEDLE2_CENTER_X,NEEDLE2_CENTER_Y,-GyZ,-GyZ_prev,NEEDLE_RADIUS,NEEDLE_BASE_WIDTH);
}else {
MoveNeedle(LCD_BACKGROUND_LAYER,&buffer_screen,x_len,y_len,LCD_COLOR_GREEN,NEEDLE3_CENTER_X,NEEDLE3_CENTER_Y,-GyZ,-GyZ_prev,NEEDLE_RADIUS,NEEDLE_BASE_WIDTH);
}
CAN2_TransmitGyro(board_ID,GyZ);
/* Received Data */
if( can2_rx_isr_flag ==1){
do{
if( can2_rx_isr_flag ==1){
can2RxMessage = CAN2_PassRXMessage();
can2_rx_isr_flag=0;
}else{
CAN_Receive(CAN2, CAN_FIFO0, &can2RxMessage);
}
GPIO_ToggleBits(GPIOG,GPIO_Pin_14);
ptr[0] = can2RxMessage.Data[0];
ptr[1] = can2RxMessage.Data[1];
ptr[2] = can2RxMessage.Data[2];
ptr[3] = can2RxMessage.Data[3];
if(( can2RxMessage.ExtId & 0x0000FFFF) == 1){
ptr = & receivedGyro1;
ptr[0] = can2RxMessage.Data[0];
ptr[1] = can2RxMessage.Data[1];
ptr[2] = can2RxMessage.Data[2];
ptr[3] = can2RxMessage.Data[3];
MoveNeedle(LCD_BACKGROUND_LAYER,&buffer_screen,x_len,y_len,LCD_COLOR_RED,NEEDLE1_CENTER_X,NEEDLE1_CENTER_Y,-receivedGyro1,-receivedGyro1_prev,NEEDLE_RADIUS,NEEDLE_BASE_WIDTH);
receivedGyro1_prev = receivedGyro1;
}else if (( can2RxMessage.ExtId & 0x0000FFFF) == 2){
ptr = & receivedGyro2;
ptr[0] = can2RxMessage.Data[0];
ptr[1] = can2RxMessage.Data[1];
ptr[2] = can2RxMessage.Data[2];
ptr[3] = can2RxMessage.Data[3];
MoveNeedle(LCD_BACKGROUND_LAYER,&buffer_screen,x_len,y_len,LCD_COLOR_RED,NEEDLE2_CENTER_X,NEEDLE2_CENTER_Y,-receivedGyro2,-receivedGyro2_prev,NEEDLE_RADIUS,NEEDLE_BASE_WIDTH);
receivedGyro2_prev = receivedGyro2;
}else if (( can2RxMessage.ExtId & 0x0000FFFF) == 3){
ptr = & receivedGyro3;
ptr[0] = can2RxMessage.Data[0];
ptr[1] = can2RxMessage.Data[1];
ptr[2] = can2RxMessage.Data[2];
ptr[3] = can2RxMessage.Data[3];
MoveNeedle(LCD_BACKGROUND_LAYER,&buffer_screen,x_len,y_len,LCD_COLOR_RED,NEEDLE3_CENTER_X,NEEDLE3_CENTER_Y,-receivedGyro3,-receivedGyro3_prev,NEEDLE_RADIUS,NEEDLE_BASE_WIDTH);
receivedGyro3_prev = receivedGyro3;
}
// LCD_SetColors(LCD_COLOR_BLACK,LCD_COLOR_WHITE-1);
// sprintf(lcd_text_main," ID :%d ", can2RxMessage.StdId);
// LCD_DisplayStringLine(LINE(1), (uint8_t*)lcd_text_main);
// LCD_SetColors(LCD_COLOR_BLACK,LCD_COLOR_WHITE-1);
// sprintf(lcd_text_main," Data :%f ", receivedGyro);
// LCD_DisplayStringLine(LINE(2), (uint8_t*)lcd_text_main);
}while(CAN_MessagePending(CAN2, CAN_FIFO0) > 0);
}
// {
// uint8_t status=0;
// while(CAN_TransmitStatus(CAN2, 0) != CAN_TxStatus_Ok ){
// status = CAN_TransmitStatus(CAN2, 0);
// if(status == CAN_TxStatus_Failed){
// GPIO_ToggleBits(GPIOG,GPIO_Pin_14);
// }
// }
// }
// TxMessage.StdId = (uint32_t)board_ID;
// TxMessage.RTR = CAN_RTR_DATA;
// TxMessage.IDE = CAN_ID_STD;
// TxMessage.DLC = 8;
// TxMessage.Data[0] = 0x01;
// TxMessage.Data[1] = 0x01;
// TxMessage.Data[2] = 0x01;
// TxMessage.Data[3] = 0x01;
// TxMessage.Data[4] = 0x01;
// TxMessage.Data[5] = 0x01;
// TxMessage.Data[6] = 0x01;
// TxMessage.Data[7] = 0x01;
// CAN_Transmit(CAN2, &TxMessage);
//CAN2_TransmitGyro(test_int++,test_float);
test_float += 0.1f;
GyX_prev = GyX;
GyZ_prev = GyZ;
GyY_prev = GyY;
runner += 1.0f;
/* Faster method */
//MoveAndUpdateRectangular(LCD_FOREGROUND_LAYER,&buffer_screen,x_len,y_len,LCD_COLOR_BLACK,&prev_rect, &rect1);
/* Regular method */
// PadRectangular(&buffer_screen,x_len,y_len,LCD_COLOR_WHITE, &prev_rect);
// PadRectangular(&buffer_screen,x_len,y_len,LCD_COLOR_BLACK, &rect1);
//DrawBufferToScreen(LCD_FOREGROUND_LAYER,buf_ptr,0,0, x_len,y_len);
}
}
/* Model initialize function */
void test_udp_initialize(void)
{
/* Registration code */
/* initialize non-finites */
rt_InitInfAndNaN(sizeof(real_T));
/* initialize error status */
rtmSetErrorStatus(test_udp_M, (NULL));
/* S-Function (UDPM_Receive_Int32): <S10>/UDPM_Receive_Int32 */
udp_reception_init( (int32_T)test_udp_P.UDPM_Receive_Int32_p1);
/* S-Function (ARDrone_LED): <S4>/ARDrone_LED */
LED_Initialization();
/* S-Function (UDPM_Receive_Int32): <S12>/UDPM_Receive_Int32 */
udp_reception_init( (int32_T)test_udp_P.UDPM_Receive_Int32_p1_b);
/* S-Function (ARDrone_LED): <S4>/ARDrone_LED1 */
LED_Initialization();
/* S-Function (UDPM_Receive_Int32): <S13>/UDPM_Receive_Int32 */
udp_reception_init( (int32_T)test_udp_P.UDPM_Receive_Int32_p1_l);
/* S-Function (ARDrone_LED): <S4>/ARDrone_LED2 */
LED_Initialization();
/* S-Function (UDPM_Receive_Int32): <S14>/UDPM_Receive_Int32 */
udp_reception_init( (int32_T)test_udp_P.UDPM_Receive_Int32_p1_l3);
/* S-Function (ARDrone_LED): <S4>/ARDrone_LED3 */
LED_Initialization();
/* S-Function (UDPM_Receive_Int32): <S7>/UDPM_Receive_Int32 */
udp_reception_init( (int32_T)test_udp_P.UDPM_Receive_Int32_p1_m);
/* S-Function (ARDrone_Motor): <S6>/ARDrone_Motor */
Motor_Initialization();
/* S-Function (ARDrone_Motor): <S6>/ARDrone_Motor1 */
Motor_Initialization();
/* S-Function (ARDrone_Motor): <S6>/ARDrone_Motor2 */
Motor_Initialization();
/* S-Function (ARDrone_Motor): <S6>/ARDrone_Motor3 */
Motor_Initialization();
/* S-Function (ARDrone_Acc_X): <S1>/ARDrone_Acc_X */
Accelero_Initialization();
/* S-Function (ARDrone_Acc_Y): <S1>/ARDrone_Acc_Y */
Accelero_Initialization();
/* S-Function (ARDrone_Acc_Z): <S1>/ARDrone_Acc_Z */
Accelero_Initialization();
/* S-Function (ARDrone_Gyro_X): <S3>/ARDrone_Gyro_X */
Gyro_Initialization();
/* S-Function (ARDrone_Gyro_Y): <S3>/ARDrone_Gyro_Y */
Gyro_Initialization();
/* S-Function (ARDrone_Gyro_Z): <S3>/ARDrone_Gyro_Z */
Gyro_Initialization();
/* S-Function (UDPM_Send_Int32): <S7>/UDPM_Send_Int32 */
udp_emission_init( (int32_T)test_udp_P.UDPM_Send_Int32_p1);
/* S-Function (UDPM_Receive_Int32): <S8>/UDPM_Receive_Int32 */
udp_reception_init( (int32_T)test_udp_P.UDPM_Receive_Int32_p1_c);
/* S-Function (UDPM_Send_Int32): <S8>/UDPM_Send_Int32 */
udp_emission_init( (int32_T)test_udp_P.UDPM_Send_Int32_p1_d);
/* S-Function (UDPM_Send_Int32): <S10>/UDPM_Send_Int32 */
udp_emission_init( (int32_T)test_udp_P.UDPM_Send_Int32_p1_g);
/* S-Function (UDPM_Send_Int32): <S12>/UDPM_Send_Int32 */
udp_emission_init( (int32_T)test_udp_P.UDPM_Send_Int32_p1_gv);
/* S-Function (UDPM_Send_Int32): <S13>/UDPM_Send_Int32 */
udp_emission_init( (int32_T)test_udp_P.UDPM_Send_Int32_p1_m);
/* S-Function (UDPM_Send_Int32): <S14>/UDPM_Send_Int32 */
udp_emission_init( (int32_T)test_udp_P.UDPM_Send_Int32_p1_n);
/* S-Function (ARDrone_Pressure): <S2>/ARDrone_Pressure */
Barometer_Initialization();
/* S-Function (ARDrone_Temperature): <S2>/ARDrone_Temperature */
Barometer_Initialization();
/* S-Function (UDPM_Receive_Int32): <S9>/UDPM_Receive_Int32 */
udp_reception_init( (int32_T)test_udp_P.UDPM_Receive_Int32_p1_bv);
/* S-Function (UDPM_Send_Int32): <S9>/UDPM_Send_Int32 */
udp_emission_init( (int32_T)test_udp_P.UDPM_Send_Int32_p1_g1);
/* S-Function (UDPM_Receive_Int32): <S18>/UDPM_Receive_Int32 */
udp_reception_init( (int32_T)test_udp_P.UDPM_Receive_Int32_p1_o);
/* S-Function (UDPM_Send_Int32): <S18>/UDPM_Send_Int32 */
udp_emission_init( (int32_T)test_udp_P.UDPM_Send_Int32_p1_mg);
/* S-Function (ARDrone_Magneto_Z): <S5>/ARDrone_Magneto_Z */
Magneto_Initialization();
/* S-Function (ARDrone_Magneto_Y): <S5>/ARDrone_Magneto_Y */
Magneto_Initialization();
/* S-Function (ARDrone_Magneto_X): <S5>/ARDrone_Magneto_X */
Magneto_Initialization();
/* S-Function (UDPM_Receive_Int32): <S11>/UDPM_Receive_Int32 */
udp_reception_init( (int32_T)test_udp_P.UDPM_Receive_Int32_p1_l4);
/* S-Function (UDPM_Send_Int32): <S11>/UDPM_Send_Int32 */
udp_emission_init( (int32_T)test_udp_P.UDPM_Send_Int32_p1_i);
/* S-Function (UDPM_Receive_Int32): <S15>/UDPM_Receive_Int32 */
udp_reception_init( (int32_T)test_udp_P.UDPM_Receive_Int32_p1_k);
/* S-Function (UDPM_Send_Int32): <S15>/UDPM_Send_Int32 */
udp_emission_init( (int32_T)test_udp_P.UDPM_Send_Int32_p1_m2);
/* S-Function (UDPM_Receive_Int32): <S16>/UDPM_Receive_Int32 */
udp_reception_init( (int32_T)test_udp_P.UDPM_Receive_Int32_p1_g);
/* S-Function (UDPM_Send_Int32): <S16>/UDPM_Send_Int32 */
udp_emission_init( (int32_T)test_udp_P.UDPM_Send_Int32_p1_h);
/* S-Function (ARDrone_Height): <Root>/Height */
Height_Initialization();
/* S-Function (UDPM_Receive_Int32): <S17>/UDPM_Receive_Int32 */
udp_reception_init( (int32_T)test_udp_P.UDPM_Receive_Int32_p1_c2);
/* S-Function (UDPM_Send_Int32): <S17>/UDPM_Send_Int32 */
udp_emission_init( (int32_T)test_udp_P.UDPM_Send_Int32_p1_gi);
}
