bool srf02_init(uint8_t i2c_interface, uint32_t baud_rate)
{
if (i2c_initialize(i2c_interface, (uint32_t) I2CMASTER, 0, baud_rate, NULL)
== false) { /* initialize I2C */
puts("fatal error happened in i2c_initialize()\n");
return false;
}
else {
i2c_enable_pull_up_resistor(i2c_interface);
//i2c_disable_pull_up_resistor(i2c_interface);
return true;
}
}
void IMU_Initialisation(){
uint8_t counter=3;
i2c_initialize(I2C2);
usart_printf(USART1,"Hello\n\r");
uint8_t accel_address=0x53;
uint8_t magnet_address=0x1E;
uint8_t gyro_address=ITG3200_ADDR_AD0_LOW;
counter=3;
while(counter!=0){
accel_object=accelerometer_initialization(accel_address);
if(accel_object==null){
ms_delay(1000);
counter--;
}else
break;
}
if(counter==0){
usart_printf(USARTx,"Failed to initialize accel.Exiting...\n\r");
while(1);
}
usart_printf(USARTx,"Initialized accelerometer\n\r");
counter=3;
while(counter!=0){
magnet_object=magnetometer_initialisation(magnet_address);
if(magnet_object==null){
ms_delay(1000);
counter--;
}else
break;
}
if(counter==0){
usart_printf(USARTx,"Failed to initialize magnetometer.Exiting...\n\r");
while(1);
}
usart_printf(USARTx,"Initialized magnetometer\n\r");
counter=3;
while(counter!=0){
gyro_object=gyro_initialisation(gyro_address);
if(gyro_object==null){
gyro_object=gyro_initialisation(gyro_address);
ms_delay(1000);
counter--;
}else
break;
}
if(counter==0){
usart_printf(USARTx,"Failed to initialize gyro.Exiting...\n\r");
while(1);
}
usart_printf(USARTx," initialize gyro\n\r");
}
