void initCommands()
{
Serial.println("Init command...");
Serial1.begin(57600);
cmdMessenger.printLfCr();
cmdMessenger.attach(onUnknownCommand);
cmdMessenger.attach(kSetAnglePID, onSetAnglePID);
cmdMessenger.attach(kSetAngleOutputLimits, onSetAngleOutputLimits);
cmdMessenger.attach(kSetAcceleration, onSetAcceleration);
cmdMessenger.attach(kSetSpeed, onSetSpeed);
cmdMessenger.attach(kSetAverage, onSetAverage);
cmdMessenger.attach(kRecalibrate, onRecalibrate);
Timer3.getAvailable().attachInterrupt(processCommands).setPeriod(100000).start();
cmdMessenger.sendCmd(kStatus, "System ready");
}
void setup()
{
delay(1000);
Serial.begin(38400);
sysStatus = sysBootTest();
if (!((sysStatus==SYS_STATUS_NO_CLIMATE) || (sysStatus==SYS_STATUS_NO_SENSORS)))
{
climateSensor.settings.commInterface = I2C_MODE;
climateSensor.settings.I2CAddress = 0x76;
climateSensor.settings.runMode = 3;
climateSensor.settings.tStandby = 5;
climateSensor.settings.filter = 0;
climateSensor.settings.tempOverSample = 1;
climateSensor.settings.pressOverSample = 1;
climateSensor.settings.humidOverSample = 1;
climateSensor.begin();
}
if (!((sysStatus==SYS_STATUS_NO_ALS) || (sysStatus==SYS_STATUS_NO_SENSORS)))
{
alsSensor.alsConf(0x4C);
alsSensor.psConf(0x0E, 0x08, 0, 0x07);
alsSensor.ps();
alsSensor.lux();
}
Timer1.initialize(400);
Timer1.attachInterrupt(sysTaskTimer);
Timer1.pwm(LEDPIN, 0);
sysLoadSettings();
if (sensorPsCalibrated) {
alsSensor.psSetCanc(psCal);
ps=alsSensor.ps();
lux=alsSensor.lux();
}
cmdMessenger.printLfCr();
attachCommandCallbacks();
cmdMessenger.sendCmd(kRStatus,sysStatus);
}