/**
* @brief 板级初始化
*
* @param none
* @retval none
*/
void BSP_Init (void)
{
LED_Init();
Flash_Read(); //读取参数
Flash_CheckFirstTime(false); //检查FLASH里是否存在有效数据，如果没有则写入默认数据
// cfg.mixerConfiguration = MIXERCONFIG;统一在调参软件里设置机型
Mixer_Init(); //动力初始化
Serial_Init(cfg.serial_baudrate);//上位机调参初始化
I2C2_Init(); //I2C2
Sensor_DetectAndInit();
IMU_Init();
Altitude_Init();
Actuator_Init();
RC_Init();
Daemon_Init();
GPS_Init(cfg.gps_baudrate);
Telemetry_Init();
#ifdef OPTICALFLOW
OpticalFlow_Init();
#endif
EasyCtrl_Init();
VisionLanding_Init();
Avoid_Init();
}
bool openrct2_initialise()
{
utf8 userPath[MAX_PATH];
platform_resolve_user_data_path();
platform_get_user_directory(userPath, NULL);
if (!platform_ensure_directory_exists(userPath)) {
log_fatal("Could not create user directory (do you have write access to your documents folder?)");
return false;
}
if (!openrct2_setup_rct2_segment()) {
log_fatal("Unable to load RCT2 data sector");
return false;
}
openrct2_set_exe_path();
config_set_defaults();
if (!config_open_default()) {
if (!config_find_or_browse_install_directory()) {
log_fatal("An RCT2 install directory must be specified!");
return false;
}
}
gOpenRCT2ShowChangelog = true;
if (gConfigGeneral.last_run_version != NULL && (strcmp(gConfigGeneral.last_run_version, OPENRCT2_VERSION) == 0))
gOpenRCT2ShowChangelog = false;
gConfigGeneral.last_run_version = OPENRCT2_VERSION;
config_save_default();
// TODO add configuration option to allow multiple instances
// if (!gOpenRCT2Headless && !platform_lock_single_instance()) {
// log_fatal("OpenRCT2 is already running.");
// return false;
// }
get_system_info();
if (!gOpenRCT2Headless) {
audio_init();
audio_get_devices();
}
if (!language_open(gConfigGeneral.language))
{
log_fatal("Failed to open language, exiting.");
return false;
}
http_init();
themes_set_default();
themes_load_presets();
title_sequences_set_default();
title_sequences_load_presets();
openrct2_setup_rct2_hooks();
if (!rct2_init())
return false;
chat_init();
openrct2_copy_original_user_files_over();
// TODO move to audio initialise function
if (str_is_null_or_empty(gConfigSound.device)) {
Mixer_Init(NULL);
RCT2_GLOBAL(RCT2_ADDRESS_CURRENT_SOUND_DEVICE, uint32) = 0;
} else {
Mixer_Init(gConfigSound.device);
for (int i = 0; i < gAudioDeviceCount; i++) {
if (strcmp(gAudioDevices[i].name, gConfigSound.device) == 0) {
RCT2_GLOBAL(RCT2_ADDRESS_CURRENT_SOUND_DEVICE, uint32) = i;
}
}
}
return true;
}