TF_a1.c
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#include "JZsdkLib.h"
#include "BaseConfig.h"
#include <pthread.h>
#include "JZsdk_Hal.h"
#include "Megaphone/Megaphone.h"
#include "AudioDeal/AudioDeal.h"
#include "Gimbal/Gimbal.h"
#include "Ircut/ircut.h"
/****************************
*
* a1 初始化
*
* mode psdk为psdk模式 uart为串口模式
*
* ****************************/
T_JZsdkReturnCode TF_a1_init(int mode)
{
//引脚初始化
IrcutInfo ircut_info;
ircut_info.Amplifiter_Pin.Enable = JZ_FLAGCODE_ON;
ircut_info.Amplifiter_Pin.Port = JZ_IRC_PORT_PG;
ircut_info.Amplifiter_Pin.index = 5;
ircut_info.Amplifiter_Pin.Group = 0;
ircut_info.Amplifiter_Pin.mode = JZ_IRC_PIN_MODE_OUT;
Ircut_Init(ircut_info);
if (mode == APP_UART)
{
T_JZsdk_UartInfo UartInfo = {
.Base.PortId = UART_DEV_1,
.DevicePath = UART_DEV1_NUM,
.Baudrate = UART_DEV1_BITRATE,
.Base.HalStatus.ConnectType = PORT_CONNECT_TYPE_AS_SUB,
};
//串口设备1初始化
JZsdk_HalUartInit(&UartInfo);
}
if (mode == APP_PSDK)
{
//外接传输模块，用于与飞机的数据通信
JZsdk_data_transmisson_Receive_Init();
}
//串口设备2初始化
T_JZsdk_UartInfo Uart2Info = {
.Base.PortId = UART_DEV_2,
.DevicePath = UART_DEV2_NUM,
.Baudrate = UART_DEV2_BITRATE,
.Base.HalStatus.ConnectType = PORT_CONNECT_TYPE_AS_SUB,
};
JZsdk_HalUartInit(&Uart2Info);
//音频库初始化
AudioDeal_Init();
//喊话器初始化
Megaphone_Init();
//云台初始化
Gimbal_Init(JZ_MODULE_CONTROL_WAY_INDEPENDENT);
//灯类初始化
Lighting_Init();
delayMs(1000);
//消息订阅初始化
HalSend_type1Send_MessageSubcription_Control(UART_DEV_2, JZ_FLAGCODE_ON);
}