void setup()
{
setupSystemClock();
setup_system_tick(SYSTEM_TICK_FREQ);
setupUART();
#ifdef GPS
setupGPS();
#endif
I2C_Init();
FlashInit();
UpdateBoardVersion(false);
#ifdef OPTION_RC
RC_Init();
if(IsSSVConnected())
Battery_Init();
LED_Init();
TIMER_Init();
stabilizerInit();
#endif
#ifdef ABROBOT
ABRobotMotorInit();
#endif
nvtAHRSInit();
SensorsInit();
ChronographSet(ChronMain);
}
void Mech_Init(void)
{
RC_Init();
RC_AddPins(GRAB_PIN);
RC_SetPulseTime(GRAB_PIN, GRAB_UP_TIME);
}
void init_ESC_pulse(void) {
// currently using RCpin x4 as defined by RC_Servo.h
//look to IO_ports.h to figure out what pin this corresponds to on the micro
//corresponds to B0 on the micro and J5 15 on the UNO32
RC_Init();
RC_AddPins(ESC_PIN);
int i = 0;
for (i; i < 1000000; i++);
RC_SetPulseTime(ESC_PIN, 1500); //set intial speed to 0 rpm
}
/**
* @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();
}
/**
* Function: Gate_Init
* @return SUCCESS or ERROR
* @remark Iniitializes the RC servo for the gate and
* * Sets the gate to the closed position
*/
char Gate_Init(){
RC_Init(SERVO);
Gate_Close();
return SUCCESS;
}
int main(void) {
// ----------------- Initialization --------------
SERIAL_Init();
AD_Init(POT_INPUT);
// Initialize interrupts
INTEnableSystemMultiVectoredInt();
RC_Init(RC_PORT);
unsigned int wait = 0;
for (wait = 0; wait <= 1000000; wait++)
asm("nop");
RC_SetPulseTime(RC_PORT, 2000);
printf("\nHello,...");
while (1) {
// Read and print potentiometer
unsigned int potValue = ReadPotentiometer();
//printf("\nPot. reading: %x", potValue);
// Pause if desired
#ifdef ADC_PAUSE
#endif
unsigned int newSpeed = potValue +1000;
printf("\nPot value to %u", potValue);
// bound it
newSpeed = max(newSpeed,MINPULSE);
newSpeed = min(newSpeed,MAXPULSE);
// effect the motor
if (RC_SetPulseTime(RC_PORT, newSpeed) == SUCCESS) {
printf("\nSuccessfully set PWM to %u", newSpeed);
}
else {
printf("\nFailed to set PWM to %u", newSpeed);
}
/*
char keyPressed = GetChar();
if (keyPressed != 0) {
/*
if (keyPressed == 'f') {
// forward
printf("\nforward");
if (DIRECTION != FORWARD)
DIRECTION = FORWARD;
}
else if(keyPressed == 'r') {
// reverse
printf("\nreverse");
if (DIRECTION != REVERSE)
DIRECTION = REVERSE;
}
else if(keyPressed == 'q') {
printf("\nGoodbye!");
PWM_End();
return 0;
}
if(keyPressed == 't') {
unsigned short int stringMax = 4;
unsigned short int i = 0;
char charNumber[1];
charNumber[0] = 0;
char stringNumber[stringMax+1];
printf("\nPlease enter a frequency:");
while(charNumber[0] != 46) {
charNumber[0] = GetChar();
//printf("\nGot %s", charNumber);
if ((charNumber[0] <= 57 && charNumber[0] >= 48)) {
stringNumber[i] = charNumber[0];
stringNumber[i+1] = '\0';
//printf("\nAppended %c to '%s'",charNumber[0],stringNumber);
//stringNumber = strcat(stringNumber, charNumber);
i++;
}
if (i >= stringMax)
break;
}
//printf("\ni=%u stmax=%u", i, stringMax);
printf("\nDone");
unsigned int newFreq = atoi(stringNumber);
newFreq = max(newFreq,MINPULSE);
newFreq = min(newFreq,MAXPULSE);
printf("\nPulse width set to %u",newFreq);
RC_SetPulseTime(RC_PORT,newFreq);
}
} // end of keyPressed
*/
while (!IsTransmitEmpty()); // bad, this is blocking code
} // end of while loop
return 0;
}
