scottp
295abb37ee
Firmware for an autonomous wave-measurement buoy (ATmega2560-based WII5 v2 board). Reads wave motion from a Sparton AHRS-M1/M2 IMU, samples GPS and battery state, and reports back over Iridium SBD satellite telemetry. Originally developed 2012-2024. This is the first public release. Code, documentation, and field-tested operating modes (Capture, Sleep, Position, ManualTest, SelfTest, LowBattery) are licensed under Apache 2.0 — see LICENSE and NOTICE. See README.md for an overview and build instructions, CONTRIBUTING.md for how to contribute, and DEPLOYMENTS.md for the field-deployment log.
450 lines
10 KiB
C++
450 lines
10 KiB
C++
// SPDX-License-Identifier: Apache-2.0
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// Copyright (c) 2012-2024 Scott Penrose <scottp@dd.com.au> and WII5 Buoy contributors
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//
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// This file is part of WII5 Buoy firmware.
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// See LICENSE for full terms.
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/**
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* @file WII5Setup.cpp
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* @brief Boot-time hardware bring-up: pin defaults, peripherals, and serial ports.
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*/
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/*
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Setup - Turn everything on etc
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*/
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#include <Arduino.h>
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#include <TimeLib.h>
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#include <WII5.h>
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#include <WII5Setup.h>
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#include <avr/wdt.h>
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// Debugging etc - move to header file
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#define DEBUG_SLEEP
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void WII5Setup::beginSafe() {
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// WDT
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#ifdef WDT_RESET
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pinMode(WDT_RESET, OUTPUT);
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digitalWrite(WDT_RESET, LOW);
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#endif
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// Make buzzer OUTPUT and OFF
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#ifdef POWER_BUZZER_PIN
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pinMode(POWER_BUZZER_PIN, OUTPUT);
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digitalWrite(POWER_BUZZER_PIN, LOW);
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#endif
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// 5V - FORCE On until sure Maths is off
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#ifdef SHARED_5VOLT_ON
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pinMode(SHARED_5VOLT_PIN, OUTPUT);
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digitalWrite(SHARED_5VOLT_PIN, HIGH);
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#endif
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// Maths - FORCE On until sure Maths is off
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#ifdef POWER_MATHS_PIN
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pinMode(POWER_MATHS_PIN, OUTPUT);
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digitalWrite(POWER_MATHS_PIN, HIGH);
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#endif
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// SD: Power
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#if POWER_STORAGE_1_PIN>0
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pinMode(POWER_STORAGE_1_PIN, OUTPUT);
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digitalWrite(POWER_STORAGE_1_PIN, HIGH);
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#endif
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#if POWER_STORAGE_2_PIN>0
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pinMode(POWER_STORAGE_2_PIN, OUTPUT);
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digitalWrite(POWER_STORAGE_2_PIN, HIGH);
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#endif
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// SD: Buffers
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#ifdef STORAGE_SD1_MATHS_PIN
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pinMode(STORAGE_SD1_MATHS_PIN, OUTPUT);
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digitalWrite(STORAGE_SD1_MATHS_PIN, HIGH);
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pinMode(STORAGE_SD2_MATHS_PIN, OUTPUT);
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digitalWrite(STORAGE_SD2_MATHS_PIN, LOW);
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#endif
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// Sub 1 and 2
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#ifdef POWER_SUBBOARD_1_PIN
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pinMode(POWER_SUBBOARD_1_PIN, OUTPUT);
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digitalWrite(POWER_SUBBOARD_1_PIN, LOW);
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#endif
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#ifdef POWER_SUBBOARD_2_PIN
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pinMode(POWER_SUBBOARD_2_PIN, OUTPUT);
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digitalWrite(POWER_SUBBOARD_2_PIN, LOW);
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#endif
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// GPS
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pinMode(POWER_GPS_PIN, OUTPUT);
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digitalWrite(POWER_GPS_PIN, LOW);
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// Iridium
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pinMode(POWER_COMMS_PIN, OUTPUT);
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digitalWrite(POWER_COMMS_PIN, LOW);
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// Batt2
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#ifdef BATTERY_2_PIN
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pinMode(BATTERY_2_PIN, OUTPUT);
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digitalWrite(BATTERY_2_PIN, LOW);
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#endif
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// Radio
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#ifdef WII5_RADIO_LORA
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pinMode(POWER_RADIO_PIN, OUTPUT);
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digitalWrite(POWER_RADIO_PIN, LOW);
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#endif
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// Strobe
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pinMode(POWER_STROBE1_ON, OUTPUT);
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digitalWrite(POWER_STROBE1_ON, LOW);
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#ifdef TIMING_SPARTON_RUN
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pinMode(TIMING_SPARTON_RUN, OUTPUT);
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#endif
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#ifdef TIMING_SPARTON_CHAR
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pinMode(TIMING_SPARTON_CHAR, OUTPUT);
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#endif
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#ifdef TIMING_SPARTON_RECORD
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pinMode(TIMING_SPARTON_RECORD, OUTPUT);
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#endif
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#ifdef TIMING_SD_WRITE
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pinMode(TIMING_SD_WRITE, OUTPUT);
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#endif
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}
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void WII5Setup::bootbeep() {
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#ifdef POWER_BUZZER_PIN
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#ifdef SHARED_5VOLT_ON
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digitalWrite(SHARED_5VOLT_PIN, HIGH);
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#endif
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digitalWrite(POWER_BUZZER_PIN, HIGH);
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delay(250);
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digitalWrite(POWER_BUZZER_PIN, LOW);
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delay(250);
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digitalWrite(POWER_BUZZER_PIN, HIGH);
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delay(250);
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digitalWrite(POWER_BUZZER_PIN, LOW);
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#endif
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}
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void WII5Setup::shutdownbeep() {
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#ifdef POWER_BUZZER_PIN
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#ifdef SHARED_5VOLT_ON
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digitalWrite(SHARED_5VOLT_PIN, HIGH);
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#endif
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delay(250);
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digitalWrite(POWER_BUZZER_PIN, HIGH);
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delay(125);
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digitalWrite(POWER_BUZZER_PIN, LOW);
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delay(125);
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digitalWrite(POWER_BUZZER_PIN, HIGH);
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delay(125);
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digitalWrite(POWER_BUZZER_PIN, LOW);
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delay(125);
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digitalWrite(POWER_BUZZER_PIN, HIGH);
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delay(125);
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digitalWrite(POWER_BUZZER_PIN, LOW);
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delay(125);
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digitalWrite(POWER_BUZZER_PIN, HIGH);
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delay(125);
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digitalWrite(POWER_BUZZER_PIN, LOW);
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delay(125);
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digitalWrite(POWER_BUZZER_PIN, HIGH);
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delay(125);
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digitalWrite(POWER_BUZZER_PIN, LOW);
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delay(125);
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digitalWrite(POWER_BUZZER_PIN, HIGH);
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delay(125);
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digitalWrite(POWER_BUZZER_PIN, LOW);
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delay(125);
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digitalWrite(POWER_BUZZER_PIN, HIGH);
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delay(125);
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digitalWrite(POWER_BUZZER_PIN, LOW);
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delay(125);
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digitalWrite(POWER_BUZZER_PIN, HIGH);
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delay(125);
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digitalWrite(POWER_BUZZER_PIN, LOW);
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#endif
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}
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void WII5Setup::begin() {
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// TODO 2024 - Check state of button 2 is on
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// if so set special Maths flag - alwayson?
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// If button 2 goes off at any point or button1 on, then always off is forever off?
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setupConsole();
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setupPower();
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setupIO();
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setupNetwork();
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setupWII5();
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#ifdef WII5_STORAGE_SDBLOCK
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sdBlock.debug = false;
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sdBlock.stream = &Serial;
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sdBlock.begin(wii5Config.getDeviceId());
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#endif
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}
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#ifdef WII5_DEBUG_SERIAL
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void cb(uint8_t l, char *buf) {
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switch(l) {
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case LOG_INFO:
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SerialDebug.print(F("LOG:INFO:"));
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break;
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case LOG_WARN:
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SerialDebug.print(F("LOG:WARN:"));
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break;
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case LOG_ERROR:
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SerialDebug.print(F("LOG:ERROR:"));
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break;
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case LOG_DEBUG:
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SerialDebug.print(F("LOG:DEBUG:"));
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break;
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case LOG_FATAL:
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SerialDebug.print(F("LOG:FATAL:"));
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break;
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default:
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SerialDebug.print(F("LOG:?:"));
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break;
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};
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SerialDebug.print(buf);
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SerialDebug.println();
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}
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#endif
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void WII5Setup::setupPower() {
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if (_setupPower) return;
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_setupPower = true;
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}
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void WII5Setup::setupConsole() {
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if (_setupConsole) return;
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_setupConsole = true;
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SerialConsole.begin(SerialConsole_Baud);
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// Hard coded BAD - Where to put this for reuse in WII5 buoys
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// Maybe a macro in the Board file?
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console.begin(wii5BufferConsolePrint, WII5_BUFFER_CONSOLE_PRINT, wii5BufferConsoleCmd, WII5_BUFFER_CONSOLE_CMD);
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// TODO ? console.enableNmea();
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// Here we add the main console as an OUTPUT only
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#if defined(WII5_DEBUG_SERIAL) && defined(WII5_DEBUG_SERIAL_CONSOLE)
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console.add(&SerialConsole, CONSOLE_DIRECTION_OUTPUT);
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#else
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console.add(&SerialConsole);
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#endif
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// NOTE: We are using Iridium as it is currently only Binary code we need
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#ifdef WII5_GPS
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console.setBinaryBuffer(wii5BinaryIridium, WII5_IRIDIUM_BIN_MAX);
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#endif
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#ifdef WII5_DEBUG_SERIAL
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SerialDebug.begin(WII5_DEBUG_SERIAL_BAUD);
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#ifdef WII5_DEBUG_SERIAL_CONSOLE
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console.add(&SerialDebug, CONSOLE_DIRECTION_BOTH);
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#else
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console.setCallbackFunction(cb);
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console.setCallbackLevel(LOG_FATAL);
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#endif
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#endif
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#ifdef WII5_STATUS_SERIAL
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SerialStatus.begin(WII5_STATUS_SERIAL_BAUD);
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#endif
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#ifdef WII5_MATHS_SERIAL
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SerialMaths.begin(WII5_MATHS_SERIAL_BAUD);
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console.add(&SerialMaths, CONSOLE_DIRECTION_BOTH);
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#endif
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console.setLevel(LOG_INFO);
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}
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void WII5Setup::setupNetwork() {
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if (_setupNetwork) return;
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_setupNetwork = true;
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#ifdef WII5_RADIO_LORA
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wii5RadioLoRa.begin();
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#endif
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}
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void WII5Setup::setupIO() {
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if (_setupIO) return;
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_setupIO = true;
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// IO - LED, Buttons et al
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sh3dNodeIO.begin(LED_1, LED_2, LED_3, LED_4, BUTTON_1, BUTTON_2, BUTTON_3, BUTTON_4);
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// SET LED to Fast Flash
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#if LED_1>0
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sh3dNodeIO.led1Set( LED_SHORT );
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sh3dNodeIO.led1SetDefault(LED_SHORT);
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sh3dNodeIO.led1SetTimeout(300000);
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#endif
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#if LED_2>0
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#ifdef POWER_BUZZER_PIN
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// Off after 5 seconds
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sh3dNodeIO.led2Set( LED_OFF );
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sh3dNodeIO.led2SetDefault(LED_OFF);
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sh3dNodeIO.led2SetTimeout(10000);
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#else
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sh3dNodeIO.led2Set( LED_SLOW );
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sh3dNodeIO.led2SetDefault(LED_SLOW);
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sh3dNodeIO.led2SetTimeout(10000);
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#endif
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#endif
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#if LED_3>0
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sh3dNodeIO.led3Set( LED_SLOW );
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sh3dNodeIO.led3SetDefault(LED_SLOW);
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sh3dNodeIO.led3SetTimeout(10000);
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#endif
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#if LED_4>0
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sh3dNodeIO.led4Set( LED_SLOW );
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sh3dNodeIO.led4SetDefault(LED_SLOW);
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sh3dNodeIO.led4SetTimeout(10000);
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#endif
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}
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void WII5Setup::setupWII5() {
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if (_setupWII5) return;
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_setupWII5 = true;
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wii5Config.begin();
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#ifdef WII5_RTC
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wii5RTC.begin();
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#endif
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wii5Commands.begin();
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wii5Battery.begin();
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#ifdef WII5_GPS
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wii5Gps.begin();
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#endif
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#ifdef WII5_COMMS_IRIDIUM
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wii5Iridium.begin();
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#endif
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wii5Maths.begin();
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// wii5MPU9250.begin();
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wii5Weather_18B20.begin();
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#ifdef WII5_IMU_SPARTON
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wii5Sparton.begin();
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#endif
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wii5Communications.begin();
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}
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void WII5Setup::sleepBefore(bool MathsON) {
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// Tell devices they are really off.
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wii5Sparton.stop(true);
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wii5Iridium.stop(true);
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wii5Gps.off();
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sdBlock.cardForceClose();
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#ifdef WII5_WDT_INTERNAL
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wdt_disable();
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#endif
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// Turn off Shared, and Maths CPU
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pinMode(SHARED_5VOLT_PIN, OUTPUT);
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pinMode(POWER_MATHS_PIN, OUTPUT);
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if (MathsON) {
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digitalWrite(SHARED_5VOLT_PIN, HIGH);
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digitalWrite(POWER_MATHS_PIN, HIGH);
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}
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else {
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digitalWrite(SHARED_5VOLT_PIN, LOW);
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digitalWrite(POWER_MATHS_PIN, LOW);
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}
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// Storage SD Card
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#if POWER_STORAGE_1_PIN>0
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pinMode(POWER_STORAGE_1_PIN, OUTPUT);
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digitalWrite(POWER_STORAGE_1_PIN, LOW);
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#endif
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#if POWER_STORAGE_2_PIN>0
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pinMode(POWER_STORAGE_2_PIN, OUTPUT);
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digitalWrite(POWER_STORAGE_2_PIN, LOW);
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#endif
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// GPS, Radio, MPU and Strobe
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pinMode(POWER_GPS_PIN, OUTPUT);
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digitalWrite(POWER_GPS_PIN, LOW);
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pinMode(POWER_COMMS_PIN, OUTPUT);
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digitalWrite(POWER_COMMS_PIN, LOW);
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pinMode(POWER_RADIO_PIN, OUTPUT);
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digitalWrite(POWER_RADIO_PIN, LOW);
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pinMode(POWER_STROBE1_ON, OUTPUT);
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digitalWrite(POWER_STROBE1_ON, LOW);
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// Misc Controlling lines
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pinMode(STORAGE_SD1_MATHS_PIN, INPUT);
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pinMode(STORAGE_SD2_MATHS_PIN, INPUT);
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pinMode(SPARTON_RESET, INPUT);
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pinMode(RADIO_CS, INPUT);
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pinMode(STORAGE_CS, INPUT);
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// LEDs 2024 Updated to OUTPUT LOW
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#if LED_1>0
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pinMode(LED_1, OUTPUT);
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digitalWrite(LED_1, LOW);
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#endif
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#if LED_2>0
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pinMode(LED_2, OUTPUT);
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digitalWrite(LED_2, LOW);
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#endif
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#if LED_3>0
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pinMode(LED_3, OUTPUT);
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#endif
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// Weather
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pinMode(POWER_WEATHER_18B20_PIN, INPUT);
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pinMode(POWER_WEATHER_PIN, INPUT);
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}
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void WII5Setup::sleepAfter() {
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// Really make sure still output
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pinMode(SHARED_5VOLT_PIN, OUTPUT);
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pinMode(POWER_MATHS_PIN, OUTPUT);
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// Storage SD Card
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#if POWER_STORAGE_1_PIN>0
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pinMode(POWER_STORAGE_1_PIN, OUTPUT);
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digitalWrite(POWER_STORAGE_1_PIN, HIGH);
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#endif
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#if POWER_STORAGE_2_PIN>0
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pinMode(POWER_STORAGE_2_PIN, OUTPUT);
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#endif
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// GPS, Radio, MPU and Strobe
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pinMode(POWER_GPS_PIN, OUTPUT);
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pinMode(POWER_COMMS_PIN, OUTPUT);
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pinMode(POWER_RADIO_PIN, OUTPUT);
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pinMode(POWER_STROBE1_ON, OUTPUT);
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// Misc Controlling lines
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pinMode(STORAGE_SD1_MATHS_PIN, OUTPUT);
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pinMode(STORAGE_SD2_MATHS_PIN, OUTPUT);
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pinMode(SPARTON_RESET, OUTPUT);
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pinMode(RADIO_CS, OUTPUT);
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pinMode(STORAGE_CS, OUTPUT);
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// LEDs
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pinMode(LED_1, OUTPUT);
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#if LED_2>0
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pinMode(LED_2, OUTPUT);
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#endif
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#if LED_3>0
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pinMode(LED_3, OUTPUT);
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#endif
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// Weather
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pinMode(POWER_WEATHER_18B20_PIN, OUTPUT);
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pinMode(POWER_WEATHER_PIN, OUTPUT);
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#ifdef WII5_WDT_INTERNAL
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wdt_enable(WDTO_8S);
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#endif
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}
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WII5Setup wii5Setup;
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