void
main(void)
{
ao_clock_init();
ao_task_init();
ao_timer_init();
ao_usb_init();
ao_serial_init();
ao_led_init(LEDS_AVAILABLE);
ao_relay_init();
// initialize to default output
relay_output = 0;
ao_relay_control(relay_output);
ao_cmd_init();
ao_cmd_register(ao_relay_cmds);
ao_start_scheduler();
}
void
ao_adc_init(void)
{
PRR0 &= ~(1 << PRADC);
DIDR0 = 0xf3;
DIDR2 = 0x3f;
ADCSRB = ADCSRB_INIT;
ADCSRA = ADCSRA_INIT;
ao_cmd_register(&ao_adc_cmds[0]);
}
void
ao_launch_init(void)
{
AO_IGNITER_DROGUE = 0;
AO_IGNITER_MAIN = 0;
AO_IGNITER_DIR |= AO_IGNITER_DROGUE_BIT | AO_IGNITER_MAIN_BIT;
ao_cmd_register(&ao_launch_cmds[0]);
ao_add_task(&ao_launch_task, ao_launch, "launch listener");
ao_add_task(&ao_launch_ignite_task, ao_launch_run, "launch igniter");
ao_add_task(&ao_launch_status_task, ao_launch_status, "launch status");
}
void
ao_log_init(void)
{
ao_log_running = 0;
/* For now, just log the flight starting at the begining of eeprom */
ao_log_state = ao_flight_invalid;
ao_cmd_register(&ao_log_cmds[0]);
/* Create a task to log events to eeprom */
ao_add_task(&ao_log_task, ao_log, "log");
}
void
main(void)
{
ao_clock_init();
ao_task_init();
ao_timer_init();
ao_spi_init();
ao_usb_init();
ao_serial_init();
ao_led_init(LEDS_AVAILABLE);
ao_led_on(AO_LED_GREEN);
ao_cmd_init();
ao_cmd_register(ao_trng_cmds);
ao_start_scheduler();
}
void
ao_fake_flight_init(void)
{
ao_cmd_register(&ao_fake_flight_cmds[0]);
}
void ao_profile_init(void)
{
/* Turn on timer 2 and 4 */
stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_TIM2EN) |
(1 << STM_RCC_APB1ENR_TIM4EN);
/* disable timers */
stm_tim4.cr1 = 0;
stm_tim2.cr1 = 0;
/* tim4 is master */
stm_tim4.cr2 = ((0 << STM_TIM234_CR2_TI1S) |
(STM_TIM234_CR2_MMS_UPDATE << STM_TIM234_CR2_MMS) |
(0 << STM_TIM234_CR2_CCDS));
stm_tim4.smcr = ((0 << STM_TIM234_SMCR_ETP) |
(0 << STM_TIM234_SMCR_ECE) |
(STM_TIM234_SMCR_ETPS_OFF << STM_TIM234_SMCR_ETPS) |
(STM_TIM234_SMCR_ETF_NONE << STM_TIM234_SMCR_ETF) |
(0 << STM_TIM234_SMCR_MSM) |
(STM_TIM234_SMCR_TS_ITR3 << STM_TIM234_SMCR_TS) |
(0 << STM_TIM234_SMCR_OCCS) |
(STM_TIM234_SMCR_SMS_DISABLE << STM_TIM234_SMCR_SMS));
stm_tim4.dier = 0;
stm_tim4.sr = 0;
stm_tim4.psc = 31;
stm_tim4.cnt = 0;
stm_tim4.arr = 0xffff;
/* tim2 is slaved to tim4 */
stm_tim2.cr2 = ((0 << STM_TIM234_CR2_TI1S) |
(STM_TIM234_CR2_MMS_ENABLE << STM_TIM234_CR2_MMS) |
(0 << STM_TIM234_CR2_CCDS));
stm_tim2.smcr = ((0 << STM_TIM234_SMCR_ETP) |
(0 << STM_TIM234_SMCR_ECE) |
(STM_TIM234_SMCR_ETPS_OFF << STM_TIM234_SMCR_ETPS) |
(STM_TIM234_SMCR_ETF_NONE << STM_TIM234_SMCR_ETF) |
(0 << STM_TIM234_SMCR_MSM) |
(STM_TIM234_SMCR_TS_ITR3 << STM_TIM234_SMCR_TS) |
(0 << STM_TIM234_SMCR_OCCS) |
(STM_TIM234_SMCR_SMS_EXTERNAL_CLOCK << STM_TIM234_SMCR_SMS));
stm_tim2.dier = 0;
stm_tim2.sr = 0;
stm_tim2.psc = 0;
stm_tim2.cnt = 0;
stm_tim2.arr = 0xffff;
/* Start your timers */
stm_tim2.cr1 = ((STM_TIM234_CR1_CKD_1 << STM_TIM234_CR1_CKD) |
(0 << STM_TIM234_CR1_ARPE) |
(STM_TIM234_CR1_CMS_EDGE | STM_TIM234_CR1_CMS) |
(STM_TIM234_CR1_DIR_UP << STM_TIM234_CR1_DIR) |
(0 << STM_TIM234_CR1_OPM) |
(0 << STM_TIM234_CR1_URS) |
(0 << STM_TIM234_CR1_UDIS) |
(1 << STM_TIM234_CR1_CEN));
stm_tim4.cr1 = ((STM_TIM234_CR1_CKD_1 << STM_TIM234_CR1_CKD) |
(0 << STM_TIM234_CR1_ARPE) |
(STM_TIM234_CR1_CMS_EDGE | STM_TIM234_CR1_CMS) |
(STM_TIM234_CR1_DIR_UP << STM_TIM234_CR1_DIR) |
(0 << STM_TIM234_CR1_OPM) |
(1 << STM_TIM234_CR1_URS) |
(0 << STM_TIM234_CR1_UDIS) |
(1 << STM_TIM234_CR1_CEN));
ao_cmd_register(&ao_profile_cmds[0]);
}
void
ao_radio_cmac_cmd_init(void)
{
ao_cmd_register(&ao_radio_cmac_cmds[0]);
}
