int main(void)
{
mcu_init();
#if 1
udb_init();
#else
// can we move to this and avoid calling udb_init()?
udb_init_clock();
udb_init_irq();
#endif
while (1)
{
udb_run();
}
return 0;
}
void udb_init(void)
{
defaultCorcon = CORCON ;
#if (BOARD_TYPE == UDB4_BOARD)
//<GUIOTT>
/*
* Clock speed up to 80MHz following the Mark Whitehorn branch on UDB4
* The following values have been parametrized:
* DCM frame rate: changed from hardwired 40Hz to parameter HEARTBEAT_HZ
* PID loop frame rate: changed from hardwired 40Hz to parameter PID_HZ
* ESC frame rate ESC_HZ
** note that the above three rates are not orthogonal
* Mark Whitehorn notes
* CPU clock: (limitation: UDB4 only: BOARD_TYPE not in {GREEN,RED,UDB3, RUSTYS}
* and BOARD_IS_CLASSIC_UDB==0), changed (or added) following parameters and macros
* CLK_PHASES set to 2
** FREQOSC set to 80 MHz (FCY = 40MHz)
** PWMOUTSCALE ratio of Timer 3 frequency T3FREQ to original hardwired 2 MHz
*** T3 prescaler was already at max. value of 8
** ADC_CLK speed also increases at 40MIPS since ADCLK_DIV_N_MINUS_1 was at max. value of 63
** I2CBRGVAL in magneto_udb4.c now calculated using FREQOSC and CLK_PHASES to achieve 100KHz rate
** CPU_RES defined such that cpu_timer units are .01%
** CPU_LOAD_PERCENT is changed, I think, but untested since raw cpu_timer values are already in units of .01%
** PWINSCALE is added to make pwIn values independent of CPU clock freq.
** Timer 1 period now calculated from HEARTBEAT_HZ (sets DCM rate)
*/
PLLFBDbits.PLLDIV = 38 ; // FOSC = 80 MHz (XT = 8.00MHz, N1=2, N2=2, M = 40)
CLKDIVbits.PLLPOST = 0; // N1=2
CLKDIVbits.PLLPRE = 0; // N2=2
// Clock switching to incorporate PLL
__builtin_write_OSCCONH(0x03); // Initiate Clock Switch to Primary
// Oscillator with PLL (NOSC=0b011)
__builtin_write_OSCCONL(0x01); // Start clock switching
#ifndef SIM
while (OSCCONbits.COSC != 0b011);// Wait for Clock switch to occur
while(OSCCONbits.LOCK!=1) {}; // Wait for PLL to lock
#endif
//</GUIOT>
#endif
udb_flags.B = 0 ;
#if (ANALOG_CURRENT_INPUT_CHANNEL != CHANNEL_UNUSED)
battery_current.WW = 0 ;
battery_mAh_used.WW = 0 ;
#endif
#if (ANALOG_VOLTAGE_INPUT_CHANNEL != CHANNEL_UNUSED)
battery_voltage.WW = 0 ;
#endif
#if (ANALOG_RSSI_INPUT_CHANNEL != CHANNEL_UNUSED)
rc_signal_strength = 0 ;
#endif
udb_init_leds() ;
udb_init_ADC() ;
udb_init_clock() ;
udb_init_capture() ;
#if (MAG_YAW_DRIFT == 1 || USE_BAROMETER == 1)
#if (USE_I2C1_DRIVER == 1)
I2C1_init();
#endif
#if (USE_I2C2_DRIVER == 1)
I2C2_init(); // NEW I2C QUEUE FUNCTION FOR MULTIPLE SENSOR SUPPORT
#endif
// I2C1_init() ;
#endif
udb_init_GPS() ;
udb_init_USART() ;
udb_init_pwm() ;
#if (USE_OSD == 1)
udb_init_osd() ;
#endif
SRbits.IPL = 0 ; // turn on all interrupt priorities
return ;
}
