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variometer_2.0.c
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variometer_2.0.c
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#define ARM_MATH_CM4
#define __FPU_PRESENT 1
#include "am_mcu_apollo.h"
#include "am_bsp.h"
#include "am_util.h"
#include "math.h"
#include "stdlib.h"
#include "arm_math.h"
//*****************************************************************************
//
// Macro definitions
//
//*****************************************************************************
#define WAKE_INTERVAL_IN_MS 50
#define XT_PERIOD 32768
#define WAKE_INTERVAL XT_PERIOD * WAKE_INTERVAL_IN_MS * 1e-3
#define LCD_WAKE_INTERVAL_IN_MS 500
#define LCD_XT_PERIOD 32768
#define LCD_WAKE_INTERVAL LCD_XT_PERIOD * LCD_WAKE_INTERVAL_IN_MS * 1e-3
#define IOM_MODULE_I2C 0 // This will have a side benefit of testing IOM4 in offset mode
#define IOM_MODULE_SPI 1
#define IOS_ADDRESS 0x20
#define CMD_RESET 0x1E // ADC reset command
#define CMD_ADC_READ 0x00 // ADC read command
#define CMD_ADC_CONV 0x40 // ADC conversion command
#define CMD_ADC_D1 0x00 // ADC D1 conversion
#define CMD_ADC_D2 0x10 // ADC D2 conversion
#define CMD_ADC_256 0x00 // ADC OSR=256
#define CMD_ADC_512 0x02 // ADC OSR=512
#define CMD_ADC_1024 0x04 // ADC OSR=1024
#define CMD_ADC_2048 0x06 // ADC OSR=2048
#define CMD_ADC_4096 0x08 // ADC OSR=4096
#define CMD_PROM_RD 0xA0 // Prom read command
#define MS5611_I2C_ADRESS 0x76 // MS5611 adress
#define DRIVE_SLAVE_RESET_PIN 14
#define D_C_PIN 13
#define SPI_SCLK_PIN 8
#define MOSI_PIN 10
#define SCE_PIN 12
#define BUZZER_PIN 25
#define BUZZER_PWM_TIMER 0
//*****************************************************************************
//
// Macro definitions
//
//*****************************************************************************
uint32_t BUZZER_WAKE_INTERVAL_IN_MS = 500;
uint32_t BUZZER_XT_PERIOD = 32768;
uint32_t BUZZER_WAKE_INTERVAL = 32768 * 250 * 1e-3;
float32_t buzzer_small_frequency = 1200;
uint32_t buzzer_ctimer_counter = 10, buzzer_ctimer_duty_cycle = 5;
float big_frequency = 0.5;
uint32_t toggle_bit = 1;
uint32_t constantSink = 0;
//*****************************************************************************
//
// Data Storage
//
//*****************************************************************************
uint32_t old_speed_string_size = 0;
uint32_t data_pressure = 0;
int32_t data_temperature = 0;
uint32_t altitude = 0;
uint32_t coeff[] = {0,0,0,0,0,0,0,0};
int32_t pressure_and_temperature[] = {0,0};
float32_t pressure_old = 0;
float32_t altitude_old = 0;
float32_t velocity_array[] = {0,0,0,0,0,0,0,0,0,0};
uint8_t velocity_array_counter = 0;
static const uint8_t ASCII[][5] =
{
{0x00, 0x00, 0x00, 0x00, 0x00} // 20
,{0x00, 0x00, 0x5f, 0x00, 0x00} // 21 !
,{0x00, 0x07, 0x00, 0x07, 0x00} // 22 "
,{0x14, 0x7f, 0x14, 0x7f, 0x14} // 23 #
,{0x24, 0x2a, 0x7f, 0x2a, 0x12} // 24 $
,{0x23, 0x13, 0x08, 0x64, 0x62} // 25 %
,{0x36, 0x49, 0x55, 0x22, 0x50} // 26 &
,{0x00, 0x05, 0x03, 0x00, 0x00} // 27 '
,{0x00, 0x1c, 0x22, 0x41, 0x00} // 28 (
,{0x00, 0x41, 0x22, 0x1c, 0x00} // 29 )
,{0x14, 0x08, 0x3e, 0x08, 0x14} // 2a *
,{0x08, 0x08, 0x3e, 0x08, 0x08} // 2b +
,{0x00, 0x50, 0x30, 0x00, 0x00} // 2c ,
,{0x08, 0x08, 0x08, 0x08, 0x08} // 2d -
,{0x00, 0x60, 0x60, 0x00, 0x00} // 2e .
,{0x20, 0x10, 0x08, 0x04, 0x02} // 2f /
,{0x3e, 0x51, 0x49, 0x45, 0x3e} // 30 0
,{0x00, 0x42, 0x7f, 0x40, 0x00} // 31 1
,{0x42, 0x61, 0x51, 0x49, 0x46} // 32 2
,{0x21, 0x41, 0x45, 0x4b, 0x31} // 33 3
,{0x18, 0x14, 0x12, 0x7f, 0x10} // 34 4
,{0x27, 0x45, 0x45, 0x45, 0x39} // 35 5
,{0x3c, 0x4a, 0x49, 0x49, 0x30} // 36 6
,{0x01, 0x71, 0x09, 0x05, 0x03} // 37 7
,{0x36, 0x49, 0x49, 0x49, 0x36} // 38 8
,{0x06, 0x49, 0x49, 0x29, 0x1e} // 39 9
,{0x00, 0x36, 0x36, 0x00, 0x00} // 3a :
,{0x00, 0x56, 0x36, 0x00, 0x00} // 3b ;
,{0x08, 0x14, 0x22, 0x41, 0x00} // 3c <
,{0x14, 0x14, 0x14, 0x14, 0x14} // 3d =
,{0x00, 0x41, 0x22, 0x14, 0x08} // 3e >
,{0x02, 0x01, 0x51, 0x09, 0x06} // 3f ?
,{0x32, 0x49, 0x79, 0x41, 0x3e} // 40 @
,{0x7e, 0x11, 0x11, 0x11, 0x7e} // 41 A
,{0x7f, 0x49, 0x49, 0x49, 0x36} // 42 B
,{0x3e, 0x41, 0x41, 0x41, 0x22} // 43 C
,{0x7f, 0x41, 0x41, 0x22, 0x1c} // 44 D
,{0x7f, 0x49, 0x49, 0x49, 0x41} // 45 E
,{0x7f, 0x09, 0x09, 0x09, 0x01} // 46 F
,{0x3e, 0x41, 0x49, 0x49, 0x7a} // 47 G
,{0x7f, 0x08, 0x08, 0x08, 0x7f} // 48 H
,{0x00, 0x41, 0x7f, 0x41, 0x00} // 49 I
,{0x20, 0x40, 0x41, 0x3f, 0x01} // 4a J
,{0x7f, 0x08, 0x14, 0x22, 0x41} // 4b K
,{0x7f, 0x40, 0x40, 0x40, 0x40} // 4c L
,{0x7f, 0x02, 0x0c, 0x02, 0x7f} // 4d M
,{0x7f, 0x04, 0x08, 0x10, 0x7f} // 4e N
,{0x3e, 0x41, 0x41, 0x41, 0x3e} // 4f O
,{0x7f, 0x09, 0x09, 0x09, 0x06} // 50 P
,{0x3e, 0x41, 0x51, 0x21, 0x5e} // 51 Q
,{0x7f, 0x09, 0x19, 0x29, 0x46} // 52 R
,{0x46, 0x49, 0x49, 0x49, 0x31} // 53 S
,{0x01, 0x01, 0x7f, 0x01, 0x01} // 54 T
,{0x3f, 0x40, 0x40, 0x40, 0x3f} // 55 U
,{0x1f, 0x20, 0x40, 0x20, 0x1f} // 56 V
,{0x3f, 0x40, 0x38, 0x40, 0x3f} // 57 W
,{0x63, 0x14, 0x08, 0x14, 0x63} // 58 X
,{0x07, 0x08, 0x70, 0x08, 0x07} // 59 Y
,{0x61, 0x51, 0x49, 0x45, 0x43} // 5a Z
,{0x00, 0x7f, 0x41, 0x41, 0x00} // 5b [
,{0x02, 0x04, 0x08, 0x10, 0x20} // 5c ¥
,{0x00, 0x41, 0x41, 0x7f, 0x00} // 5d ]
,{0x04, 0x02, 0x01, 0x02, 0x04} // 5e ^
,{0x40, 0x40, 0x40, 0x40, 0x40} // 5f _
,{0x00, 0x01, 0x02, 0x04, 0x00} // 60 `
,{0x20, 0x54, 0x54, 0x54, 0x78} // 61 a
,{0x7f, 0x48, 0x44, 0x44, 0x38} // 62 b
,{0x38, 0x44, 0x44, 0x44, 0x20} // 63 c
,{0x38, 0x44, 0x44, 0x48, 0x7f} // 64 d
,{0x38, 0x54, 0x54, 0x54, 0x18} // 65 e
,{0x08, 0x7e, 0x09, 0x01, 0x02} // 66 f
,{0x0c, 0x52, 0x52, 0x52, 0x3e} // 67 g
,{0x7f, 0x08, 0x04, 0x04, 0x78} // 68 h
,{0x00, 0x44, 0x7d, 0x40, 0x00} // 69 i
,{0x20, 0x40, 0x44, 0x3d, 0x00} // 6a j
,{0x7f, 0x10, 0x28, 0x44, 0x00} // 6b k
,{0x00, 0x41, 0x7f, 0x40, 0x00} // 6c l
,{0x7c, 0x04, 0x18, 0x04, 0x78} // 6d m
,{0x7c, 0x08, 0x04, 0x04, 0x78} // 6e n
,{0x38, 0x44, 0x44, 0x44, 0x38} // 6f o
,{0x7c, 0x14, 0x14, 0x14, 0x08} // 70 p
,{0x08, 0x14, 0x14, 0x18, 0x7c} // 71 q
,{0x7c, 0x08, 0x04, 0x04, 0x08} // 72 r
,{0x48, 0x54, 0x54, 0x54, 0x20} // 73 s
,{0x04, 0x3f, 0x44, 0x40, 0x20} // 74 t
,{0x3c, 0x40, 0x40, 0x20, 0x7c} // 75 u
,{0x1c, 0x20, 0x40, 0x20, 0x1c} // 76 v
,{0x3c, 0x40, 0x30, 0x40, 0x3c} // 77 w
,{0x44, 0x28, 0x10, 0x28, 0x44} // 78 x
,{0x0c, 0x50, 0x50, 0x50, 0x3c} // 79 y
,{0x44, 0x64, 0x54, 0x4c, 0x44} // 7a z
,{0x00, 0x08, 0x36, 0x41, 0x00} // 7b {
,{0x00, 0x00, 0x7f, 0x00, 0x00} // 7c |
,{0x00, 0x41, 0x36, 0x08, 0x00} // 7d }
,{0x10, 0x08, 0x08, 0x10, 0x08} // 7e ?
,{0x78, 0x46, 0x41, 0x46, 0x78} // 7f ?
,{0xF8, 0xF8, 0xF8, 0xF8, 0xF8} // 80 .
,{0x00, 0x07, 0x05, 0x07, 0x00} // 81 °
};
static const uint8_t ASCII_BIG[][15] =
{
{0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF} // 0 top
,{0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF} // 0 middle
,{0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF} // 0 bottom
,{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF} // 1 top
,{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF} // 1 middle
,{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF} // 1 bottom
,{0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF} // 2 top
,{0xFE, 0xFE, 0xFE, 0xFE, 0xFE, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7F, 0x7F, 0x7F, 0x7F, 0x7F} // 2 middle
,{0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8} // 2 bottom
,{0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF} // 3 top
,{0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF} // 3 middle
,{0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF} // 3 bottom
,{0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF} // 4 top
,{0x7F, 0x7F, 0x7F, 0x7F, 0x7F, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF} // 4 middle
,{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF} // 4 bottom
,{0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F} // 5 top
,{0x7F, 0x7F, 0x7F, 0x7F, 0x7F, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0xFE, 0xFE, 0xFE, 0xFE, 0xFE} // 5 middle
,{0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF} // 5 bottom
,{0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F} // 6 top
,{0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0xFE, 0xFE, 0xFE, 0xFE, 0xFE} // 6 middle
,{0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF} // 6 bottom
,{0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF} // 7 top
,{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF} // 7 middle
,{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF} // 7 bottom
,{0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF} // 8 top
,{0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF} // 8 middle
,{0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF} // 8 bottom
,{0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF} // 9 top
,{0x7F, 0x7F, 0x7F, 0x7F, 0x7F, 0x7E, 0x7E, 0x7E, 0x7E, 0x7E, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF} // 9 middle
,{0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF} // 9 bottom
,{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00} // - top
,{0x00, 0x00, 0x00, 0x38, 0x38, 0x38, 0x38, 0x38, 0x38, 0x38, 0x38, 0x38, 0x00, 0x00, 0x00} // - middle
,{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00} // - bottom
,{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00} // + top
,{0x00, 0x00, 0x00, 0x38, 0x38, 0x38, 0xFF, 0xFF, 0xFF, 0x38, 0x38, 0x38, 0x00, 0x00, 0x00} // + middle
,{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00} // + bottom
,{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00} // top
,{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00} // middle
,{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00} // bottom
};
static const uint8_t para_picture[] =
{
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80,
0x80, 0xC0, 0xC0, 0xE0, 0xE0, 0xE0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8,
0xF8, 0xFC, 0xFC, 0xFC, 0xFC, 0xFC, 0xFC, 0xFC, 0xFC, 0xFC, 0xFC, 0xFC, 0xFC, 0xFC, 0xFC, 0xFC,
0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xE0, 0xE0, 0xE0,
0xC0, 0xC0, 0xC0, 0x80, 0x80, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0xC0, 0xE0, 0xF0, 0xF8, 0xF8, 0xFC, 0xFE,
0xFE, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x7F, 0x7F, 0x3F, 0x3F, 0x3F, 0x1F, 0x1F, 0x1F, 0x1F,
0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07,
0x07, 0x1F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x1F, 0x1F, 0x1F, 0x1F, 0x3E, 0x3E, 0x3C, 0x78,
0x78, 0x70, 0xE0, 0xC0, 0x80, 0x00, 0x00, 0x00, 0x00, 0xC0, 0xFC, 0xFE, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x7F,
0x3F, 0x3F, 0x1F, 0x0F, 0x07, 0x07, 0x03, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x03, 0x07,
0x07, 0x0F, 0x0F, 0x0F, 0x0F, 0x1F, 0x1F, 0x1F, 0x1F, 0x0F, 0x0F, 0x0F, 0x07, 0x07, 0x03, 0x03,
0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0xC0, 0x80, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x0F, 0x0F, 0x0F, 0x9F, 0x8F, 0x8F, 0x8F, 0xCE, 0xC0, 0xC0,
0xC0, 0xC0, 0x40, 0x40, 0x40, 0x40, 0x40, 0x7F, 0x7F, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x01, 0x03, 0x03, 0x06, 0x0C, 0x0C, 0x08, 0x08, 0x0C, 0x06, 0x06, 0x03, 0x03, 0x03, 0x0F,
0x1F, 0x3F, 0x7F, 0xFF, 0xFF, 0xFF, 0xFC, 0xF8, 0xF0, 0xE0, 0x70, 0x70, 0x70, 0x70, 0x70, 0x30,
0x38, 0xF8, 0xF8, 0xF8, 0xF0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x1F, 0x3F, 0x3F, 0x3F, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
};
//*****************************************************************************
//
// Kalman Initialization
//
//*****************************************************************************
float32_t P_init[] = {12, 0, 0, 12};
const float32_t A_init[] = {1, 50, 0, 1};
const float32_t H_init[] = {1, 0};
const float32_t Q_init[] = {0.0025, 0, 0, 0.01};
float32_t K_init[] = {0, 0};
const float32_t R = 1e7;
float32_t xt_init[] = {0, 0};
const float32_t eye_init[] = {1, 0, 0, 1};
arm_matrix_instance_f32 P = {2, 2, (float32_t *)P_init};
arm_matrix_instance_f32 A = {2, 2, (float32_t *)A_init};
arm_matrix_instance_f32 H = {1, 2, (float32_t *)H_init};
arm_matrix_instance_f32 Q = {2, 2, (float32_t *)Q_init};
arm_matrix_instance_f32 K = {2, 1, (float32_t *)K_init};
arm_matrix_instance_f32 xt = {2, 1, (float32_t *)xt_init};
arm_matrix_instance_f32 eye = {2, 2, (float32_t *)eye_init};
float32_t kalman_gain = 0.0;
float32_t error_estimate = 1.0;
float32_t error_measure = 2.0;
float32_t current_estimate = 0.0;
float32_t last_estimate = 0.0;
float32_t q = 0.02;
//*****************************************************************************
//
// Function Declarations
//
//*****************************************************************************
void stimer_init(void);
void am_stimer_cmpr0_isr(void);
void init_watchdog(void);
void am_iomaster0_isr(void);
void itm_start(void);
static void iom_set_up(void);
void pressure_sensor_init(void);
void pressure_sensor_read(void);
void kalman_filter(uint32_t data);
void display_init(void);
void LcdString(char *characters, uint8_t x, uint8_t y);
void calc_velocity(float x_new, float x_old, float temp);
void buzzer_change_frequency(float desired_big_frequency, uint32_t desired_small_frequency);
void init_cTimer(void);
void am_ctimer_isr(void);
void am_stimer_cmpr1_isr(void);
void write_big_number(uint32_t number, uint8_t x, uint8_t y);
void simple_kalman_filter(uint32_t data);
am_hal_wdt_config_t g_sWatchdogConfig =
{
//
// Select the Apollo 2 Clock Rate.
//
.ui32Config = AM_REG_WDT_CFG_CLKSEL_128HZ | AM_HAL_WDT_DISABLE_RESET | AM_HAL_WDT_ENABLE_INTERRUPT,
//
// Set WDT interrupt timeout for 1 second.
//
.ui16InterruptCount = 128,
};
//*****************************************************************************
//
// BuzzerChange
//
//*****************************************************************************
void
buzzer_change_frequency(float desired_big_frequency, uint32_t desired_small_frequency)
{
//
//Enable Timer Pin
//
am_hal_ctimer_pin_enable(BUZZER_PWM_TIMER, AM_HAL_CTIMER_TIMERA);
//
//Calculate Waketime for big Frequency Minimal Frequency is 2Hz -> 500ms Period
//
float32_t temp = 1000 * (1 / desired_big_frequency);
if(temp > 1 && temp <= 500){
BUZZER_WAKE_INTERVAL_IN_MS = temp;
}
else{
BUZZER_WAKE_INTERVAL_IN_MS = 500;
}
//
//Calculate Counter value regarding to small Frequency
//
float32_t period_time = 1.0 / 12000;
float32_t float_buzzer_timer_counter = (int)(1 / (desired_small_frequency * period_time));
float32_t float_buzzer_duty_cycle = float_buzzer_timer_counter / 2;
temp = float_buzzer_duty_cycle;
if(temp > 1){
buzzer_ctimer_counter = (int) float_buzzer_timer_counter - 1;
buzzer_ctimer_duty_cycle = (int) float_buzzer_duty_cycle;
}
}
//*****************************************************************************
//
// Initalize Buzzer CTimer function.
//
//*****************************************************************************
void
init_cTimer()
{
//
// Configure a timer to drive the BUZZER.
//
am_hal_ctimer_config_single(BUZZER_PWM_TIMER, AM_HAL_CTIMER_TIMERA, (AM_HAL_CTIMER_FN_PWM_REPEAT | AM_HAL_CTIMER_HFRC_12KHZ |AM_HAL_CTIMER_INT_ENABLE | AM_HAL_CTIMER_PIN_ENABLE));
//
// Set up initial timer period.
//
am_hal_ctimer_period_set(BUZZER_PWM_TIMER, AM_HAL_CTIMER_TIMERA, 64, 32);
//
// Enable interrupts for the Timer we are using on this board.
//
am_hal_ctimer_int_enable(AM_HAL_CTIMER_INT_TIMERA0);
am_hal_interrupt_enable(AM_HAL_INTERRUPT_CTIMER);
am_hal_interrupt_master_enable();
}
//*****************************************************************************
//
// Buzzer cTimer Interrupt Serive Routine (ISR)
//
//*****************************************************************************
void
am_ctimer_isr(void)
{
//
// Clear the interrupt that got us here.
//
am_hal_ctimer_int_clear(AM_HAL_CTIMER_INT_TIMERA0);
//
// Now set new PWM half-period for the BUZZER.
//
am_hal_ctimer_period_set(BUZZER_PWM_TIMER, AM_HAL_CTIMER_TIMERA, buzzer_ctimer_counter, buzzer_ctimer_duty_cycle);
}
//*****************************************************************************
//
// Init function for Timer A0 & B1.
//
//*****************************************************************************
void
stimer_init(void)
{
//
// Enable compare A, B, (C) interrupt in STIMER
//
am_hal_stimer_int_enable(AM_HAL_STIMER_INT_COMPAREA | AM_HAL_STIMER_INT_COMPAREB);
//
// Enable the timer interrupt in the NVIC.
//
am_hal_interrupt_enable(AM_HAL_INTERRUPT_STIMER_CMPR0);
am_hal_interrupt_enable(AM_HAL_INTERRUPT_STIMER_CMPR1);
//
// Configure the STIMER and run
//
am_hal_stimer_config(AM_HAL_STIMER_CFG_CLEAR | AM_HAL_STIMER_CFG_FREEZE);
am_hal_stimer_compare_delta_set(0, WAKE_INTERVAL);
am_hal_stimer_compare_delta_set(1, BUZZER_WAKE_INTERVAL);
am_hal_stimer_config(AM_HAL_STIMER_XTAL_32KHZ |
AM_HAL_STIMER_CFG_COMPARE_A_ENABLE |
AM_HAL_STIMER_CFG_COMPARE_B_ENABLE);
}
//*****************************************************************************
//
// Init Watchdog Timer
//
//*****************************************************************************
void
init_watchdog(void)
{
//
// Clear reset status register for next time we reset.
//
am_hal_reset_status_clear();
//
// LFRC has to be turned on for this example because the watchdog only
// runs off of the LFRC.
//
am_hal_clkgen_osc_start(AM_HAL_CLKGEN_OSC_LFRC);
//
// Configure the watchdog.
//
am_hal_wdt_init(&g_sWatchdogConfig);
//
// Enable the interrupt for the watchdog in the NVIC.
//
am_hal_interrupt_enable(AM_HAL_INTERRUPT_WATCHDOG);
am_hal_interrupt_master_enable();
//
// Enable the watchdog.
//
am_hal_wdt_start();
}
//*****************************************************************************
//
// Timer Interrupt Service Routine (ISR)
//
//*****************************************************************************
void
am_stimer_cmpr0_isr(void)
{
//
// Freeze the sTimer counter
//
am_hal_stimer_config(AM_HAL_STIMER_CFG_FREEZE | AM_HAL_STIMER_XTAL_32KHZ | AM_HAL_STIMER_CFG_COMPARE_A_ENABLE |
AM_HAL_STIMER_CFG_COMPARE_B_ENABLE);
//
// Check the timer interrupt status.
//
am_hal_stimer_int_clear(AM_HAL_STIMER_INT_COMPAREA);
//
// Increment compare Register A
//
am_hal_stimer_compare_delta_set(0, WAKE_INTERVAL);
//
// Continue sTimer counter
//
am_hal_stimer_config(AM_HAL_STIMER_XTAL_32KHZ | AM_HAL_STIMER_CFG_COMPARE_A_ENABLE |
AM_HAL_STIMER_CFG_COMPARE_B_ENABLE);
//
// Read the pressure data
//
pressure_sensor_read();
if (data_pressure < 50000 || data_pressure > 110000) return;
pressure_old = *xt.pData;
//
// Apply a Kalman filter to the pressure data
//
// kalman_filter(data_pressure);
simple_kalman_filter(data_pressure);
// am_util_stdio_printf("%d %f %f\n", data_pressure, *xt.pData, last_estimate);
calc_velocity(last_estimate, pressure_old, data_temperature);
}
//*****************************************************************************
//
// Buzzer Timer B1 Interrupt Service Routine (ISR)
//
//*****************************************************************************
void
am_stimer_cmpr1_isr(void)
{
//
// Freeze the sTimer counter
//
am_hal_stimer_config(AM_HAL_STIMER_CFG_FREEZE | AM_HAL_STIMER_XTAL_32KHZ | AM_HAL_STIMER_CFG_COMPARE_A_ENABLE |
AM_HAL_STIMER_CFG_COMPARE_B_ENABLE);
//
// Set new Buzzer wake up interval
//
BUZZER_WAKE_INTERVAL = BUZZER_XT_PERIOD * BUZZER_WAKE_INTERVAL_IN_MS * 1e-3;
//
// Check the timer interrupt status.
//
am_hal_stimer_int_clear(AM_HAL_STIMER_INT_COMPAREB);
//
// Increment compare Register B
//
am_hal_stimer_compare_delta_set(1, BUZZER_WAKE_INTERVAL);
//
// Toggle the cTimer if there is no constant Sink.
//
if(!constantSink){
toggle_bit = !toggle_bit;
if(toggle_bit){
am_hal_ctimer_start(BUZZER_PWM_TIMER, AM_HAL_CTIMER_TIMERA);
}
else{
am_hal_ctimer_clear(BUZZER_PWM_TIMER, AM_HAL_CTIMER_TIMERA);
}
}
//Here constantSink is active, so there will be a constant sound
else{
am_hal_ctimer_start(BUZZER_PWM_TIMER, AM_HAL_CTIMER_TIMERA);
}
//
// Continue sTimer counter
//
am_hal_stimer_config(AM_HAL_STIMER_XTAL_32KHZ | AM_HAL_STIMER_CFG_COMPARE_A_ENABLE |
AM_HAL_STIMER_CFG_COMPARE_B_ENABLE);
}
//*****************************************************************************
//
// Interrupt handler for the WATCHDOG.
//
//*****************************************************************************
void
am_watchdog_isr(void)
{
//
// Clear the watchdog interrupt.
//
am_hal_wdt_int_clear();
am_hal_wdt_restart();
float32_t vertical_speed_avg = 0;
for (int i = 0; i < 10; i++) vertical_speed_avg += velocity_array[i];
vertical_speed_avg /= 10;
if (fabs(vertical_speed_avg) > 5) {
for(int i = 0; i < 10; i++) {
am_util_stdio_printf("%f, ", velocity_array[i]);
}
am_util_stdio_printf("\n");
}
if ((int32_t)(vertical_speed_avg*10) != 0) {
if (vertical_speed_avg < 0)
write_big_number(10, 0, 0);
else
write_big_number(11, 0, 0);
}
else {
write_big_number(12, 0, 0);
}
uint32_t first_digit = abs((int32_t)vertical_speed_avg) % 10;
uint32_t second_digit = abs((int32_t)(vertical_speed_avg * 10)) % 10;
write_big_number(first_digit, 16, 0);
write_big_number(second_digit, 40, 0);
char altitude_string[] = " ";
am_util_stdio_sprintf(altitude_string, "%d", altitude);
altitude_string[3 + ((altitude / 1000) > 0)] = 'm';
LcdString(altitude_string, 0, 4);
char temperature_string[] = " ";
am_util_stdio_sprintf(temperature_string, "%d", data_temperature / 100);
temperature_string[2 + (data_temperature < 0)] = 0x81;
temperature_string[3 + (data_temperature < 0)] = 'C';
LcdString(temperature_string, 40, 4);
//
//BuzzerFrequencyStuff
//
float abs_of_velocity = (uint32_t)fabs(vertical_speed_avg*10);
float big_offset = 0.5;
float big_gradient = 1.0;
float old_big_frequency = big_frequency;
big_frequency = (big_gradient * abs_of_velocity)/10 + big_offset;
if(second_digit != 0 || first_digit != 0){
//This Shit is for climbing
if (old_big_frequency != big_frequency && vertical_speed_avg >= 0){
constantSink = 0;
uint32_t small_offset = 200;
uint32_t small_gradient = 20;
uint32_t small_frequency = (small_gradient * abs_of_velocity)/10 + small_offset;
buzzer_change_frequency(big_frequency, small_frequency);
}
//This Shit is for sinking
else if(old_big_frequency != big_frequency && vertical_speed_avg < 0) {
constantSink = 1;
uint32_t small_offset = 100;
uint32_t small_gradient = 20;
uint32_t small_frequency = (small_gradient * abs_of_velocity)/10 + small_offset;
buzzer_change_frequency(big_frequency, small_frequency);
}
}
else {
am_hal_ctimer_pin_disable(BUZZER_PWM_TIMER, AM_HAL_CTIMER_TIMERA);
}
}
//*****************************************************************************
//
// I2C Master Configuration
//
//*****************************************************************************
static am_hal_iom_config_t g_sIOMI2cConfig_i2c =
{
.ui32InterfaceMode = AM_HAL_IOM_I2CMODE,
.ui32ClockFrequency = AM_HAL_IOM_1MHZ,
.ui8WriteThreshold = 12,
.ui8ReadThreshold = 120,
};
//*****************************************************************************
//
// Configuration structure for the IO Master SPI.
//
//*****************************************************************************
const am_hal_iom_config_t g_sIOMConfig_spi =
{
.ui32InterfaceMode = AM_HAL_IOM_SPIMODE,
.ui32ClockFrequency = AM_HAL_IOM_100KHZ,
.bSPHA = 0,
.bSPOL = 0,
};
//*****************************************************************************
//
// Start up the ITM interface.
//
//*****************************************************************************
void
itm_start(void)
{
//
// Initialize the printf interface for ITM/SWO output.
//
am_util_stdio_printf_init((am_util_stdio_print_char_t) am_bsp_itm_string_print);
//
// Initialize the SWO GPIO pin
//
am_bsp_pin_enable(ITM_SWO);
//
// Enable the ITM.
//
am_hal_itm_enable();
//
// Enable debug printf messages using ITM on SWO pin
//
am_bsp_debug_printf_enable();
//
// Clear the terminal.
//
am_util_stdio_terminal_clear();
}
//*****************************************************************************
//
// Configure the IOM as I2C master.
//
//*****************************************************************************
static void
iom_set_up(void)
{
//
// Enable power to IOM.
//
am_hal_iom_pwrctrl_enable(IOM_MODULE_I2C);
am_hal_iom_pwrctrl_enable(IOM_MODULE_SPI);
//
// Set the required configuration settings for the IOM.
//
am_hal_iom_config(IOM_MODULE_I2C, &g_sIOMI2cConfig_i2c);
am_hal_iom_config(IOM_MODULE_SPI, &g_sIOMConfig_spi);
//
// Set pins high to prevent bus dips.
//
am_hal_gpio_out_bit_set(5);
am_hal_gpio_out_bit_set(6);
//
// Configure SPI pins
//
am_hal_gpio_pin_config(8, AM_HAL_PIN_8_M1SCK);
am_hal_gpio_pin_config(10, AM_HAL_PIN_10_M1MOSI);
am_hal_gpio_pin_config(12, AM_HAL_PIN_12_M1nCE0);
//
// Configure I2C pins
//
am_hal_gpio_pin_config(5, AM_HAL_PIN_5_M0SCL | AM_HAL_GPIO_PULLUP);
am_hal_gpio_pin_config(6, AM_HAL_PIN_6_M0SDA | AM_HAL_GPIO_PULLUP);
//
// Turn on the IOM for this operation.
//
am_bsp_iom_enable(IOM_MODULE_I2C);
am_bsp_iom_enable(IOM_MODULE_SPI);
}
//*****************************************************************************
//
// Initialize MS5611
//
//*****************************************************************************
void
pressure_sensor_init(void)
{
//
// Send reset command
//
uint8_t cmd = CMD_RESET;
uint32_t res = am_hal_iom_i2c_write(IOM_MODULE_I2C, MS5611_I2C_ADRESS, (uint32_t *)&cmd, 1, AM_HAL_IOM_RAW);
//
// Check if reset was succesful
//
if (res != 0) {
am_util_stdio_printf("res = %d; initialization not succesfull\n", res);
}
else {
uint32_t receive_coeff[] = {0,0,0,0,0,0,0,0};
//
// Read coefficients from Sensor with the PROM command
//
for(int i = 0;i<8;i++) {
cmd = CMD_PROM_RD | (i << 1);
am_util_delay_ms(2);
res = am_hal_iom_i2c_write(IOM_MODULE_I2C, MS5611_I2C_ADRESS, (uint32_t *)&cmd, 1, AM_HAL_IOM_RAW);
am_util_delay_ms(2);
res = am_hal_iom_i2c_read(IOM_MODULE_I2C, MS5611_I2C_ADRESS, (uint32_t *)receive_coeff + i, 2, AM_HAL_IOM_RAW);
coeff[i] = ((receive_coeff[i] & 0x0000FF00) >> 8) | ((receive_coeff[i] & 0x000000FF) << 8);
}
}
am_util_delay_ms(50);
for (int i = 0; i < 100; i++) {
pressure_sensor_read();
}
*xt.pData = data_pressure;
last_estimate = data_pressure;
// am_util_stdio_printf("%d\n", data_pressure);
}
//*****************************************************************************
//
// Get Sensor Data
//
//*****************************************************************************
void
pressure_sensor_read(void)
{
uint32_t receive_data_pressure = 0;
uint32_t receive_data_temperature = 0;
//
// Set up conversion mode for OSR 4096 (pressure)
//
uint8_t cmd = CMD_ADC_CONV+CMD_ADC_4096;
uint32_t res = am_hal_iom_i2c_write(IOM_MODULE_I2C, MS5611_I2C_ADRESS, (uint32_t *)&cmd, 1, AM_HAL_IOM_RAW);
am_util_delay_ms(10);
//
// Send a read command
//
cmd = CMD_ADC_READ;
res = am_hal_iom_i2c_write(IOM_MODULE_I2C, MS5611_I2C_ADRESS, (uint32_t *)&cmd, 1, AM_HAL_IOM_RAW);
//
// Read pressure data from sensor
//
res = am_hal_iom_i2c_read(IOM_MODULE_I2C, MS5611_I2C_ADRESS, (uint32_t *)&receive_data_pressure, 3, AM_HAL_IOM_RAW);
//
// Set up conversion mode for OSR 4096 (temperature)
//
cmd = CMD_ADC_CONV+CMD_ADC_4096+CMD_ADC_D2;
res = am_hal_iom_i2c_write(IOM_MODULE_I2C, MS5611_I2C_ADRESS, (uint32_t *)&cmd, 1, AM_HAL_IOM_RAW);
am_util_delay_ms(10);
//
// Send a read command
//
cmd = CMD_ADC_READ;
res = am_hal_iom_i2c_write(IOM_MODULE_I2C, MS5611_I2C_ADRESS, (uint32_t *)&cmd, 1, AM_HAL_IOM_RAW);
//
// Read temperature data from sensor
//
res = am_hal_iom_i2c_read(IOM_MODULE_I2C, MS5611_I2C_ADRESS, (uint32_t *)&receive_data_temperature, 3, AM_HAL_IOM_RAW);
//
// Invert LSBs and MSBs
//
data_pressure = ((receive_data_pressure & 0x000000FF) << 16) | ((receive_data_pressure & 0x0000FF00)) | ((receive_data_pressure & 0x00FF0000) >> 16);
data_temperature = ((receive_data_temperature & 0x000000FF) << 16) | ((receive_data_temperature & 0x0000FF00)) | ((receive_data_temperature & 0x00FF0000) >> 16);
//
// Calculate temperature and pressure values
//
int32_t dT = data_temperature - (coeff[5] << 8);
int32_t TEMP = (2000 + ((dT*coeff[6]) >> 23));
int64_t OFF = (coeff[2] << 16) + ((coeff[4]*dT) >> 7);
int64_t SENS = (coeff[1] << 15) + ((coeff[3]*dT) >> 8);
int64_t P = (((data_pressure*SENS) >> 21) - OFF) >> 15;
//
// Store the data
//
data_pressure = (uint32_t)P;
data_temperature = TEMP;
}
//*****************************************************************************
//
// Kalman Filter
//
//*****************************************************************************
void
kalman_filter(uint32_t data)
{
// Initialize temp matrices
float32_t temp_2_1_init[] = {0, 0};
float32_t temp_2_2_init[] = {0, 0, 0, 0};
float32_t temp_2_2_t_init[] = {0, 0, 0, 0};
// Declare temp matrices
arm_matrix_instance_f32 temp_2_1 = {2, 1, (float32_t *)temp_2_1_init};
arm_matrix_instance_f32 temp_2_2 = {2, 2, (float32_t *)temp_2_2_init};
arm_matrix_instance_f32 temp_2_2_t = {2, 2, (float32_t *)temp_2_2_t_init};
// x = A*x
arm_mat_mult_f32(&A, &xt, &temp_2_1);
for (int i = 0; i < 2; i++) *(xt.pData+i) = *(temp_2_1.pData+i);
// P = A*P*A'+Q
arm_mat_trans_f32(&A, &temp_2_2_t);
arm_mat_mult_f32(&A, &P, &temp_2_2);
arm_mat_mult_f32(&temp_2_2, &temp_2_2_t, &P);
for (int i = 0; i < 4; i++) *(temp_2_2.pData + i) = *(P.pData + i);
arm_mat_add_f32(&temp_2_2, &Q, &P);
// y = Z - (H*x)
float32_t y = data - *xt.pData;
// S=(H*P*H'+R)
float32_t S = *P.pData + R;
// K=P*H'*inv(S)
arm_mat_trans_f32(&H, &K);
arm_mat_mult_f32(&P, &K, &temp_2_1);
arm_mat_scale_f32(&temp_2_1, 1/S, &K);
// xt = xt + K*y
arm_mat_scale_f32(&K, y, &temp_2_1);
arm_mat_add_f32(&xt, &temp_2_1, &xt);
// P = (I-K*H)*P
arm_mat_mult_f32(&K, &H, &temp_2_2);
arm_mat_sub_f32(&eye, &temp_2_2, &temp_2_2);
arm_mat_mult_f32(&temp_2_2, &P, &temp_2_2_t);
for(int i = 0; i < 4; i++) *(P.pData + i) = *(temp_2_2_t.pData + i);
}
//*****************************************************************************
//
// Kalman Filter
//
//*****************************************************************************
void
simple_kalman_filter(uint32_t data)
{
kalman_gain = error_estimate / (error_estimate + error_measure);
current_estimate = last_estimate + kalman_gain * (data - last_estimate);
error_estimate = (1.0 - kalman_gain) * error_estimate + fabsf(last_estimate - current_estimate) * q;
last_estimate = current_estimate;
}
//*****************************************************************************
//
// Initialize display
//
//*****************************************************************************
void
display_init(void)
{