//----------------------------------------------------------
// System initialization
//----------------------------------------------------------
static inline void initSystem(void)
{
bool success;
(void)success;
// disable interrupts: disabled on msp430 by default, but other systems might need this
DISABLE_INTS();
// stop the watchdog: GCC disables it by default, but other compilers might not be so helpful
watchdogStop();
// TODO: init dynamic memory
// platformMemInit();
// basic, platform-specific initialization: timers, platform-specific drivers (?)
initPlatform();
// start energy accounting (as soon as timers are initialized)
energyConsumerOn(ENERGY_CONSUMER_MCU);
#ifdef USE_PRINT
// init printing to serial (makes sense only after clock has been calibrated)
if (printInit != NULL) printInit();
#endif
INIT_PRINTF("starting MansOS...\n");
#ifdef USE_LEDS
INIT_PRINTF("init LED(s)...\n");
ledsInit();
#endif
#ifdef USE_BEEPER
beeperInit();
#endif
#ifdef RAMTEXT_START
if ((MemoryAddress_t)&_end > RAMTEXT_START) {
// Panic right aways on RAM overflow.
// In case this happens, you might want to increase the address
// specified by CONST_RAMTEXT_START in config file
assertionFailed("Overflow between .data and .ramtext sections", __FILE__, __LINE__);
}
#endif
#ifdef USE_ADC
if (adcInit != NULL) {
INIT_PRINTF("init ADC...\n");
adcInit();
}
#endif
#ifdef USE_RANDOM
INIT_PRINTF("init RNG...\n");
randomInit();
#endif
#if USE_ALARMS
INIT_PRINTF("init alarms...\n");
initAlarms();
#endif
#ifdef USE_RADIO
INIT_PRINTF("init radio...\n");
radioInit();
#endif
#ifdef USE_ADDRESSING
INIT_PRINTF("init communication stack...\n");
networkingInit();
#endif
#ifdef USE_EXT_FLASH
INIT_PRINTF("init external flash...\n");
extFlashInit();
#endif
#ifdef USE_SDCARD
INIT_PRINTF("init SD card...\n");
sdcardInit();
#endif
#ifdef USE_EEPROM
INIT_PRINTF("init EEPROM...\n");
eepromInit();
#endif
#ifdef USE_ISL29003
INIT_PRINTF("init ISL light sensor...\n");
success = islInit();
if (!success) {
INIT_PRINTF("ISL init failed!\n");
}
#endif
#ifdef USE_ADS1115
INIT_PRINTF("init ADS111x ADC converter chip...\n");
adsInit();
#endif
#if USE_ADS8638
INIT_PRINTF("init ADS8638 ADC converter chip...\n");
ads8638Init();
#endif
#if USE_ADS8328
INIT_PRINTF("init ADS8328 ADC converter chip...\n");
ads8328Init();
#endif
#if USE_AD5258
INIT_PRINTF("init AD5258 digital potentiometer...\n");
ad5258Init();
#endif
#if USE_DAC7718
INIT_PRINTF("init DAC7718 DAC converter chip...\n");
dac7718Init();
#endif
#if USE_ISL1219
INIT_PRINTF("init ISL1219 real-time clock chip...\n");
isl1219Init();
#endif
#ifdef USE_HUMIDITY
INIT_PRINTF("init humidity sensor...\n");
humidityInit();
#endif
#ifdef USE_ACCEL
INIT_PRINTF("init accelerometer...\n");
accelInit();
#endif
#ifdef USE_TIMESYNC
INIT_PRINTF("init base station time sync...\n");
timesyncInit();
#endif
#ifdef USE_SMP
INIT_PRINTF("init SSMP...\n");
smpInit();
#endif
#ifdef USE_REPROGRAMMING
INIT_PRINTF("init reprogramming...\n");
bootParamsInit();
#endif
#ifdef USE_DCO_RECALIBRATION
extern void dcoRecalibrationInit(void);
INIT_PRINTF("init DCO recalibration...\n");
dcoRecalibrationInit();
#endif
#ifdef USE_FS
INIT_PRINTF("init file system...\n");
fsInit();
#endif
#ifdef USE_FATFS
INIT_PRINTF("init FAT file system...\n");
fatFsInit();
INIT_PRINTF("init POSIX-like file routines...\n");
posixStdioInit();
#endif
#ifdef USE_WMP
INIT_PRINTF("init WMP...\n");
wmpInit();
#endif
#ifdef USE_SEAL_NET
INIT_PRINTF("init SEAL networking...\n");
sealNetInit();
#endif
INIT_PRINTF("starting the application...\n");
}
//Initialize all sensors on the IMU board
void IMUinit() {
//Initialize the I2C bus
i2cInit();
//Disable interrupts while everything is being set up
CRITICAL_SECTION_START;
//Initialize the gyro
if(gyroInit(GYRO_RANGE_250DPS)) {
theFlags.gyroEnabled = TRUE;
//Set the pin as input
cbi(DDRE, DDE4);
//Disable the pullup on the relevant pin
cbi(PORTE, PORTE4);
//Attach the DRDY interrupt
sbi(EICRB, ISC40); //Writing 1 to ISC40 and ISC41 sets interrupt on rising edge
sbi(EICRB, ISC41);
sbi(EIMSK, INT4); //Setting INT4 in EIMSK enables the interrupt (if they are globally enabled (but they are cause i2cinit did that))
//Now wait for DRDY to go low and reenmable it to start everything off
while(inb(PINE) & _BV(PINE4)) {
; //Wait for the port to go low
}
gyroEnableDrdy();
} else {
#ifdef IMU_DEBUG
printf("Error intitializing the gyro!\r\n");
#endif
theFlags.gyroEnabled = FALSE;
}
//Intialize the accelerometer
if(accelInit()) {
theFlags.accelEnabled = TRUE;
//Set the pin as input
cbi(DDRD, DDD2);
//Disable the pullup on the relevant pin
cbi(PORTD, PORTD2);
//Attach the DRDY interrupt
sbi(EICRA, ISC20); //Writing 1 to ISC20 and ISC21 sets interrupt on rising edge
sbi(EICRA, ISC21);
sbi(EIMSK, INT2); //Setting INT2 in EIMSK enables the interrupt (if they are globally enabled (but they are cause i2cinit did that))
//Now wait for DRDY to go low and reenable it to start everything off
while(inb(PINB) & _BV(PINB2)) {
; //Wait for the port to go low
}
accelEnableDrdy();
} else {
#ifdef IMU_DEBUG
printf("Error intitializing the accelerometer!\r\n");
#endif
theFlags.accelEnabled = FALSE;
}
//Initialize the magnetometer
if(magInit()) {
theFlags.magEnabled = TRUE;
//Set the pin as input
cbi(DDRD, DDD3);
//Disable the pullup on the DRDY pin
cbi(PORTD, PORTD3);
//Attach the DRDY interrupt
sbi(EICRA, ISC30); //Writing 1 to ISC30 and ISC31 sets interrupt on rising edge
sbi(EICRA, ISC31);
sbi(EIMSK, INT3); //Setting INT3 in EIMSK enables the interrupt (if they are globally enabled (but they are cause i2cinit did that))
} else {
#ifdef IMU_DEBUG
printf("Error intitializing the magnetometer!\r\n");
#endif
theFlags.magEnabled = FALSE;
}
//Initialize the BMP180 pressure/temp sensor
if(bmpInit()) {
theFlags.bmpEnabled = TRUE;
//Attach the interrupt handler for the timer ticks
timerSetInterruptCallback( imuTimerTick );
//Start a temperature measurrement to set everything off
const u08 toSend[2] = {BMP180_REGISTER_CONTROL, BMP180_REGISTER_READTEMPCMD};
i2cMasterSendNI(BMP180_ADDRESS, 2, (u08*)&toSend);
myBmpState = TEMPERATURE_MEASURING;
bmpLastStateChange = millis();
} else {
#ifdef IMU_DEBUG
printf("Error intitializing the BMP180!\r\n");
#endif
theFlags.bmpEnabled = FALSE;
}
//Attach the custom stop handler after all sensors are initialized
i2cSetStopHandler( customStopHandler );
//Re-enable the interrupts
CRITICAL_SECTION_END;
}
