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 setup()
{
int i;
setupSystemClock();
setupUART();
setup_system_tick(SYSTEM_TICK_FREQ);
ID_Init(); // MO: Is it also system init?
GetID();
/* Init AHRS I2C */
/* ----Initialize I2C slave mode--- */
if(devNum == 0)
I2C_MS_Master_Init();
else
I2C_MS_Slave_Init();
//I2CWakeUpInit();
TIDMstFirstInitFIN = 0;
TIDMstInitFIN = 0;
TIDMstStage = 0;
TIDMstInitDevState = 1;
FlashInit();
// Setup function pointers for default sensor boards.
for(i=0; i<MAX_TID_DEV; i++)
{
if (pTidList[i])
SetDeviceFunction(pTidList[i], &(pfnDevFunc[i]));
}
// Call board init function
if (pTidList[devNum]->func.pfnSetup)
pTidList[devNum]->func.pfnSetup();
// Load TID feature from flash
GetFlashTID(&(pTidList[devNum]->Feature), devNum);
// Set Timer1 to (1000/value) in (Hz)
Timer1Init(1000 / (pTidList[devNum]->Feature.data1.value));
/* TID initialize */
SlvDataInit();
MstDataInit();
}
void setup()
{
uint8_t i=0;
//初始化系统时钟
setupSystemClock();
//初始化串口
setupUART();
UART_NVIC_INIT();
//初始化System_tick
setup_system_tick(SYSTEM_TICK_FREQ);
//初始化IIC
I2C_Init();
//初始化FLASH
FlashInit();
LoadParamsFromFlash();
//初始化低电压检测
BatteryCheckInit();
//初始化遥控
Comm_Init();
//初始化LED
LED_Init();
//初始化SENSOR
#ifdef IMU_SW //软件姿态解算
// MPU6050_initialize();
// DelayMsec(1000); //必须加延迟，否则读取陀螺仪数据出错
#else
MPU6050_initialize();
DelayMsec(1000); //必须加延迟，否则读取陀螺仪数据出错
MPU6050_DMP_Initialize(); //初始化DMP引擎
#endif
//初始化自稳定
// LED_ON();
// //测试用，延迟启动时间
// for(i=0;i<6;i++)
// {
// DelayMsec(1000);
// LED_OFF();
// }
//初始化电机
Motor_Init();
//printf("Motor_Init(); \n");
//IMU_Init(); // sample rate and cutoff freq. sample rate is too low now due to using dmp.
// printf("\n\nCPU @ %dHz\n", SystemCoreClock);
//MotorPwmOutput(100,100,0,0);
}