void pixyInit(uint32_t slaveRomStart, const unsigned char slaveImage[], uint32_t imageSize)
{
// write stack guard word
STACK_GUARD = STACK_GUARD_WORD;
commonInit();
IPC_haltSlave();
ADCInit();
SCTInit();
CameraInit();
// start slave
if (slaveRomStart && slaveImage && imageSize)
{
IPC_downloadSlaveImage(slaveRomStart, slaveImage, imageSize);
IPC_startSlave();
}
// initialize chirp objects
USBLink *usbLink = new USBLink;
g_chirpUsb = new Chirp(false, false, usbLink);
SMLink *smLink = new SMLink;
g_chirpM0 = new Chirp(false, true, smLink);
// initialize devices/modules
led_init();
if (prm_init(g_chirpUsb)<0) // error, let user know (don't just continue like nothing's happened)
showError(1, 0x0000ff, "Flash is corrupt, parameters have been lost\n");
pwr_init();
cam_init();
rcs_init();
//cc_init();
}
void pixyInit(uint32_t slaveRomStart, const unsigned char slaveImage[], uint32_t imageSize)
{
platformInit();
// button, SPI_SSEL
LPC_GPIO_PORT->MASK[5] = 0;
LPC_GPIO_PORT->PIN[5] = 0x20; // negate SPI_SS
LPC_GPIO_PORT->DIR[5] = 0x20; // SPI_SS - output
// deal with P4_1, GPIO2[1]
LPC_GPIO_PORT->MASK[2] = 0;
LPC_GPIO_PORT->DIR[2] = 0;
// set timer so we count clock cycles
LPC_TIMER1->IR = 0;
LPC_TIMER1->TCR = 1;
LPC_TIMER1->PR = 0;
// microsecond timer
LPC_TIMER2->IR = 0;
LPC_TIMER2->TCR = 1;
LPC_TIMER2->PR = CLKFREQ_US-1;
debug_frmwrk_init_clk(CLKFREQ);
USB_UserInit();
lpc_printf("M4 start\n");
IPC_haltSlave();
ADCInit();
SCTInit();
CameraInit();
// start slave
IPC_downloadSlaveImage(slaveRomStart, slaveImage, imageSize);
IPC_startSlave();
// initialize chirp objects
g_chirpUsb = new ChirpUsb();
g_chirpM0 = new ChirpM0();
// initialize devices/modules
pwr_init();
spi_init();
cam_init();
rcs_init();
led_init();
//cc_init();
}
void pixyInit(void)
#endif
{
// write stack guard word
// STACK_GUARD = STACK_GUARD_WORD;
commonInit();
#ifdef KEIL
IPC_haltSlave();
#endif
// clear RC servo registers to prevent and glitches upon initialization
rcs_enable(0, 0);
rcs_enable(1, 0);
ADCInit();
SCTInit();
CameraInit();
// initialize shared memory interface before running M0
SMLink *smLink = new SMLink;
// start slave
#ifdef KEIL
if (slaveRomStart && slaveImage && imageSize)
{
IPC_downloadSlaveImage(slaveRomStart, slaveImage, imageSize);
IPC_startSlave();
}
#else
cr_start_m0(SLAVE_M0APP,&__core_m0app_START__);
#endif
// initialize chirp objects
USBLink *usbLink = new USBLink;
g_chirpUsb = new Chirp(false, false, usbLink);
g_chirpUsb->setSendTimeout(3000); // set a high timeout because the host can sometimes go AWOL for a second or two....
g_chirpUsb->setRecvTimeout(3000); // set a high timeout because the host can sometimes go AWOL for a second or two....
g_chirpM0 = new Chirp(false, true, smLink);
// initialize devices/modules
led_init();
prm_init(g_chirpUsb);
pwr_init();
cam_init();
}
/* download a processor image to the SLAVE CPU */
void IPC_downloadSlaveImage(uint32_t slaveRomStart, const unsigned char slaveImage[], uint32_t imageSize)
{
uint32_t i;
volatile uint8_t *pu8SRAM;
IPC_haltSlave();
//Copy application into Slave ROM
pu8SRAM = (uint8_t *) slaveRomStart;
for (i = 0; i < imageSize; i++)
{
pu8SRAM[i] = slaveImage[i];
}
// Set Slave shadow pointer to begining of rom (where application is located)
SET_SLAVE_SHADOWREG(slaveRomStart);
}
//void pixyInit(uint32_t slaveRomStart, const unsigned char slaveImage[], uint32_t imageSize)
void pixyInit(void)
{
// write stack guard word
// STACK_GUARD = STACK_GUARD_WORD;
commonInit();
IPC_haltSlave();
ADCInit();
SCTInit();
CameraInit();
/* IPC_startSlave(); */
// start slave
/* if (slaveRomStart && slaveImage && imageSize)
{
IPC_downloadSlaveImage(slaveRomStart, slaveImage, imageSize);
} */
// initialize shared memory interface before running M0
SMLink *smLink = new SMLink;
// run M0
cr_start_m0(SLAVE_M0APP,&__core_m0app_START__);
// initialize chirp objects
USBLink *usbLink = new USBLink;
g_chirpUsb = new Chirp(false, false, usbLink);
g_chirpM0 = new Chirp(false, true, smLink);
// initialize devices/modules
led_init();
if (prm_init(g_chirpUsb)<0) // error, let user know (don't just continue like nothing's happened)
showError(1, 0x0000ff, "Flash is corrupt, parameters have been lost\n");
pwr_init();
cam_init();
rcs_init();
//cc_init();
}
void pixyInit(uint32_t slaveRomStart, const unsigned char slaveImage[], uint32_t imageSize)
{
// write stack guard word
STACK_GUARD = STACK_GUARD_WORD;
commonInit();
IPC_haltSlave();
// clear RC servo registers to prevent and glitches upon initialization
rcs_enable(0, 0);
rcs_enable(1, 0);
ADCInit();
SCTInit();
CameraInit();
// start slave
if (slaveRomStart && slaveImage && imageSize)
{
IPC_downloadSlaveImage(slaveRomStart, slaveImage, imageSize);
IPC_startSlave();
}
// initialize chirp objects
USBLink *usbLink = new USBLink;
g_chirpUsb = new Chirp(false, false, usbLink);
g_chirpUsb->setSendTimeout(3000); // set a high timeout because the host can sometimes go AWOL for a second or two....
SMLink *smLink = new SMLink;
g_chirpM0 = new Chirp(false, true, smLink);
// initialize devices/modules
led_init();
prm_init(g_chirpUsb);
pwr_init();
cam_init();
rcs_init();
//cc_init();
}
