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purple: fixed system init for purple sensor objects

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This commit is contained in:
Pat Hickey 2011-11-13 14:48:32 +11:00
parent e3027fe54e
commit f1bad83d21
1 changed files with 16 additions and 4 deletions
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20
ArduCopter/system.pde
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@ -85,6 +85,10 @@ static void init_ardupilot()
"\n\nFree RAM: %u\n"), "\n\nFree RAM: %u\n"),
memcheck_available_memory()); memcheck_available_memory());
//
// Initialize the isr_registry.
//
isr_registry.init();
// //
// Check the EEPROM format version before loading any parameters from EEPROM. // Check the EEPROM format version before loading any parameters from EEPROM.
@ -104,9 +108,12 @@ static void init_ardupilot()
#if SLIDE_SWITCH_PIN > 0 #if SLIDE_SWITCH_PIN > 0
pinMode(SLIDE_SWITCH_PIN, INPUT); // To enter interactive mode pinMode(SLIDE_SWITCH_PIN, INPUT); // To enter interactive mode
#endif #endif
#if CONFIG_PUSHBUTTON == ENABLED
pinMode(PUSHBUTTON_PIN, INPUT); // unused pinMode(PUSHBUTTON_PIN, INPUT); // unused
#endif
#if CONFIG_RELAY == ENABLED
DDRL |= B00000100; // Set Port L, pin 2 to output for the relay DDRL |= B00000100; // Set Port L, pin 2 to output for the relay
#endif
// XXX set Analog out 14 to output // XXX set Analog out 14 to output
// 76543210 // 76543210
//DDRK |= B01010000; //DDRK |= B01010000;
@ -190,23 +197,28 @@ static void init_ardupilot()
heli_init_swash(); // heli initialisation heli_init_swash(); // heli initialisation
#endif #endif
RC_Channel::set_apm_rc(&APM_RC);
init_rc_in(); // sets up rc channels from radio init_rc_in(); // sets up rc channels from radio
init_rc_out(); // sets up the timer libs init_rc_out(); // sets up the timer libs
init_camera(); init_camera();
timer_scheduler.init( &isr_registry );
#if HIL_MODE != HIL_MODE_ATTITUDE #if HIL_MODE != HIL_MODE_ATTITUDE
#if CONFIG_ADC == ENABLED
// begin filtering the ADC Gyros // begin filtering the ADC Gyros
adc.filter_result = true; adc.filter_result = true;
adc.Init(); // APM ADC library initialization adc.Init(); // APM ADC library initialization
#endif // CONFIG_ADC
#if CONFIG_APM_HARDWARE == APM_HARDWARE_PURPLE #if CONFIG_APM_HARDWARE == APM_HARDWARE_PURPLE
barometer.Init(1, true); barometer.Init(1, true);
#else #else
barometer.Init(1, false); barometer.Init(1, false);
#endif #endif // CONFIG_APM_HARDWARE
#endif #endif // HIL_MODE
// Do GPS init // Do GPS init
g_gps = &g_gps_driver; g_gps = &g_gps_driver;
@ -337,7 +349,7 @@ static void startup_ground(void)
#if HIL_MODE != HIL_MODE_ATTITUDE #if HIL_MODE != HIL_MODE_ATTITUDE
// Warm up and read Gyro offsets // Warm up and read Gyro offsets
// ----------------------------- // -----------------------------
imu.init_gyro(mavlink_delay); imu.init(IMU::COLD_START, mavlink_delay, &timer_scheduler);
#if CLI_ENABLED == ENABLED #if CLI_ENABLED == ENABLED
report_imu(); report_imu();
#endif #endif