/*----------------------------------------------------------------------------------------------
* 函数: InitFamesOS()
*
* 说明: 初始化FamesOS
*
* 备注: 下面3个函数都由main()函数调用, 应用程序不可调用
**--------------------------------------------------------------------------------------------*/
void apical InitFamesOS(void)
{
CALLED_ONLY_ONCE();
FamesOSStarted=NO;
InitializeOnExit(); /* should call this before others */
InitMemService();
InitIrqManager();
InitTasks();
InitSwitch();
InitTimeTick();
InitApplication();
}
void mcu_init(void)
{
#if (MIPS == 64)
#warning Fast OSC selected
PLLFBD = 62; // M = 64
#elif (MIPS == 32)
#warning Medium OSC selected
PLLFBD = 30; // M = 32
#elif (MIPS == 16)
#warning Slow OSC selected
PLLFBD = 14; // M = 16
#else
#error Invalid MIPS Configuration
#endif // MIPS
CLKDIVbits.PLLPOST = 0; // N1 = 2
CLKDIVbits.PLLPRE = 0; // N2 = 2
OSCTUN = 0;
__builtin_write_OSCCONH(0x03); // Initiate Clock Switch to Primary Oscillator with PLL (NOSC= 0x3)
__builtin_write_OSCCONL(0x01); // Start clock switching
while (OSCCONbits.COSC != 0x3);
// Wait for Clock switch to occur and for PLL to lock
// while (OSCCONbits.LOCK != 1);
// new RobD - disable all analog inputs
ANSELA = 0x0000;
ANSELB = 0x0000;
ANSELC = 0x0000;
ANSELD = 0x0000;
ANSELE = 0x0000;
ANSELG = 0x0000;
// Configuring the auxiliary PLL, since the primary
// oscillator provides the source clock to the auxiliary
// PLL, the auxiliary oscillator is disabled. Note that
// the AUX PLL is enabled. The input 8MHz clock is divided
// by 2, multiplied by 24 and then divided by 2. Wait till
// the AUX PLL locks.
ACLKCON3 = 0x24C1;
ACLKDIV3 = 0x7;
ACLKCON3bits.ENAPLL = 1;
while (ACLKCON3bits.APLLCK != 1);
configurePPS();
init_dataflash();
configureDigitalIO();
InitSwitch();
_LATB2 = LED_OFF; _LATB3 = LED_OFF; _LATB4 = LED_OFF; _LATB5 = LED_OFF;
_TRISB2 = 0; _TRISB3 = 0; _TRISB4 = 0; _TRISB5 = 0;
T1CONbits.TON = 0; // ensure timer is off
T1CONbits.TGATE = 0;
T1CONbits.TCKPS = 3; // set prescaler
T1CONbits.TCS = 0; // use the crystal to drive the clock
PR1 = 0xFFFF; // set period register
T1CONbits.TON = 1; // turn on timer 1
/*
__C30_UART = CONSOLE_UART;
U3BRG = BAUDRATEREG;
U3MODE = 0;
U3MODEbits.BRGH = BRGHX;
U3STA = 0;
U3MODEbits.UARTEN = 1;
U3STAbits.UTXEN = 1;
IFS5bits.U3RXIF = 0;
// printf("\r\nAUAV3 " __TIME__ " " __DATE__ " @ %u mips\r\n", MIPS);
*/
}
/*--------------------------------------------------------------------------------------------------*/
int InitEmoro(void){
int ret_value = 0;
int ADC_read;
long Vin, Vin_decimal;
char lcd[20];
unsigned char d[7], chk=0;
GLAM_EEPROMReadBytes(121,7, d); /* address 121 -> LCD, 122 -> switches */
/* 123 -> Accelerometer, 124 -> Gyroscope */
/* 125 -> Compas, 126 -> Bluetooth, 127 -> Chk */
for(unsigned char n=0; n<7; n++) /* calculate checksum */
chk^=*(d+n);
if(chk^0xAA == 0){
if(d[0] == 0xC8){ /* check LCD */
if(Lcd.init() == 0){ /* initialize lcd */
Lcd.backlightOn(); /* turn on lcd backlight */
ret_value |= (LCD_AVAILABLE); /* set return value -> LCD Available */
initialized_emoro_hw = ret_value;
}
}
if(d[1] == 0xC8){ /* check switches */
InitSwitch(); /* initialize switch (SW1 - SW4) */
ret_value |= (SW_AVAILABLE); /* set return value -> Switch Available */
}
if(Acc.testConnection() & d[2] == 0xC8){ /* test Acc and check */
Acc.init(); /* initialize acceleration sensor BMA150 */
ret_value |= (ACC_AVAILABLE); /* set return value -> ACC Available */
}
if(Gyr.testConnection() & d[3] == 0xC8){ /* test Gyr and check */
Gyr.initBasic(); /* initialize gyroscope L3GD20 */
ret_value |= (GYR_AVAILABLE); /* set return value -> GYR Available */
}
if(Mag.testConnection() & d[4] == 0xC8){ /* test magnetometer and check */
Mag.init(); /* initialize magnetometer */
ret_value |= (MAG_AVAILABLE); /* set return value -> MAG Available */
}
if(d[5] == 0xC8){
if(Bluetooth.init() == 0){ /* initialize bluetooth communication */
ret_value |= (BLUETOOTH_AVAILABLE); /* set return value -> Bluetooth Available */
}
}
ADC_read=CheckVoltage(); /* read input voltage */
Vin=(long)(ADC_read*15/1024); /* calculate voltage; whole number */
Vin_decimal=(long)ADC_read*1500/1024-Vin*100; /* calculate decimal places */
if( Vin >= 5 & (Vin == 6 & Vin_decimal<20) ){ /* if Vin>=5V & Vin < 6.20V batt is */
sprintf(lcd, "Vin=%d.%d", (int)Vin, (int)Vin_decimal);
Serial.begin(9600); /* initialize Serial monitor UART 9600 bps */
Serial.println((char*)"Voltage low:");
Serial.println(lcd);
if(ret_value & LCD_AVAILABLE){
Lcd.clear(); /* low, for Vin<5V:USB power supply */
Lcd.printString((char*)"Voltage low:");
Lcd.locate(1,0);
Lcd.printString(lcd);
}
for (int rep=0; rep<2; rep++){
tone(BUZ_BUILTIN, NOTE_C6, 50); _delay_ms(100); /* Mores code letter S(...) */
tone(BUZ_BUILTIN, NOTE_C6, 50); _delay_ms(100);
tone(BUZ_BUILTIN, NOTE_C6, 50); _delay_ms(200);
tone(BUZ_BUILTIN, NOTE_C6, 150); _delay_ms(200);/* Mores code letter O(---) */
tone(BUZ_BUILTIN, NOTE_C6, 150); _delay_ms(200);
tone(BUZ_BUILTIN, NOTE_C6, 150); _delay_ms(300);
tone(BUZ_BUILTIN, NOTE_C6, 50); _delay_ms(100); /* Mores code letter S(...) */
tone(BUZ_BUILTIN, NOTE_C6, 50); _delay_ms(100);
tone(BUZ_BUILTIN, NOTE_C6, 50); _delay_ms(400);
}
noTone(BUZ_BUILTIN);
Lcd.clear();
}
}
if(ret_value & MAG_AVAILABLE){
if(ReadSwitch(SW_2) == 1){ /* magnetometer calibration request? */
Serial.begin(9600);
Serial.println((char*)"Compass");
Serial.println((char*)"Calibration.....\n");
if(ret_value & LCD_AVAILABLE){
Lcd.clear();
Lcd.printString((char*)"Compass ");
Lcd.locate(1,0);
Lcd.printString((char*)"Calibration.....");
}
while(ReadSwitch(SW_2)==1); /* wait button release */
_delay_ms(300);
/* mag calibration step 1 */
Serial.println((char*)"Lay board flat");
Serial.println((char*)"Press button 1\n");
if(ret_value & LCD_AVAILABLE){
Lcd.clear();
Lcd.printString((char*)"Lay board flat");
Lcd.locate(1,0);
Lcd.printString((char*)"Press button 1");
}
WaitSwitch(SW_1);
Mag.calibrate(1);
_delay_ms(500);
/* mag calibration step 2 */
Serial.println((char*)"Rotate 180 degre");
Serial.println((char*)"Press button 1\n");
if(ret_value & LCD_AVAILABLE){
Lcd.clear();
Lcd.printString((char*)"Rotate 180 degre");
Lcd.locate(1,0);
Lcd.printString((char*)"Press button 1");
}
WaitSwitch(SW_1);
Mag.calibrate(2);
_delay_ms(300);
/* mag calibration step 2 */
Serial.println((char*)"Flip board");
Serial.println((char*)"Press button 1\n");
if(ret_value & LCD_AVAILABLE){
Lcd.clear();
Lcd.printString((char*)"Flip board");
Lcd.locate(1,0);
Lcd.printString((char*)"Press button 1");
}
WaitSwitch(SW_1);
Mag.calibrate(3);
_delay_ms(300);
Serial.println((char*)"Calibration");
Serial.println((char*)"Complete\n");
if(ret_value & LCD_AVAILABLE){
Lcd.clear();
Lcd.printString((char*)"Calibration ");
Lcd.locate(1,0);
Lcd.printString((char*)"Complete ");
}
_delay_ms(1500);
Serial.println((char*)"Press button 1\n");
if(ret_value & LCD_AVAILABLE){
Lcd.clear();
Lcd.locate(1,0);
Lcd.printString((char*)"Press button 1");
}
while(ReadSwitch(SW_1)==0){
int dir, inc, str;
Mag.read(&dir, &inc, &str);
sprintf(lcd, "Direction=%3d", dir);
Serial.println(lcd);
if(ret_value & LCD_AVAILABLE){
Lcd.locate(0, 0);
Lcd.printString(lcd);
}
}
Lcd.clear();
}
}
initialized_emoro_hw = ret_value;
return initialized_emoro_hw;
}