void
imu_init(void)
{
/* initialises neutrals */
RATES_ASSIGN(booz_imu.gyro_neutral, IMU_NEUTRAL_GYRO_P, IMU_NEUTRAL_GYRO_Q, IMU_NEUTRAL_GYRO_R);
VECT3_ASSIGN(booz_imu.accel_neutral, IMU_NEUTRAL_ACCEL_X, IMU_NEUTRAL_ACCEL_Y, IMU_NEUTRAL_ACCEL_Z);
VECT3_ASSIGN(booz_imu.mag_neutral, IMU_NEUTRAL_MAG_X, IMU_NEUTRAL_MAG_Y, IMU_NEUTRAL_MAG_Z);
/* initialise IMU alignment */
imu_adjust_alignment(IMU_ALIGNMENT_BODY_TO_IMU_PHI, IMU_ALIGNMENT_BODY_TO_IMU_THETA, IMU_ALIGNMENT_BODY_TO_IMU_PSI);
imu_spi_selected = SPI_NONE;
do_max1168_read = FALSE;
/* setup pins for SSP (SCK, MISO, MOSI) */
PINSEL1 |= SSP_PINSEL1_SCK | SSP_PINSEL1_MISO | SSP_PINSEL1_MOSI;
/* setup SSP */
SSPCR0 = SSPCR0_VAL;;
SSPCR1 = SSPCR1_VAL;
SSPCPSR = 0x02;
/* initialize interrupt vector */
VICIntSelect &= ~VIC_BIT( VIC_SPI1 ); /* SPI1 selected as IRQ */
VICIntEnable = VIC_BIT( VIC_SPI1 ); /* enable it */
_VIC_CNTL(SSP_VIC_SLOT) = VIC_ENABLE | VIC_SPI1;
_VIC_ADDR(SSP_VIC_SLOT) = (uint32_t)SSP_ISR; /* address of the ISR */
max1168_init();
micromag_init();
}
static inline void main_init( void ) {
mcu_init();
sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
led_init();
uart1_init_tx();
/* configure SS pin */
SetBit(IO0DIR, 20); /* pin is output */
SetBit(IO0SET, 20);
main_init_ssp();
micromag_init();
mcu_int_enable();
}
