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(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();
}
int __init arch_board_early_init(void)
{
int rc;
/* Host virtual memory, device tree, heap is up.
* Do necessary early stuff like iomapping devices
* memory or boot time memory reservation here.
*/
/* The function omap3_beagle_init_early() of
* <linux>/arch/arm/mach-omap2/board-omap3beagle.c
* does the following:
* 1. Initialize Clock & Power Domains using function
* omap2_init_common_infrastructure() of
* <linux>/arch/arm/mach-omap2/io.c
* 2. Initialize & Reprogram Clock of SDRC using function
* omap2_sdrc_init() of <linux>/arch/arm/mach-omap2/sdrc.c
*/
/* Initialize Clock Mamagment */
if ((rc = cm_init())) {
return rc;
}
/* Initialize Power & Reset Mamagment */
if ((rc = prm_init())) {
return rc;
}
/* Enable I-clock for S32K timer
* Note: S32K is our reference clocksource and also used
* as clock reference for GPTs
*/
cm_setbits(OMAP3_WKUP_CM,
OMAP3_CM_ICLKEN_WKUP,
OMAP3_CM_ICLKEN_WKUP_EN_32KSYNC_M);
/* Initialize SDRAM Controller (SDRC) */
if ((rc = sdrc_init(OMAP3_SDRC_BASE,
OMAP3_SMS_BASE,
mt46h32m32lf6_sdrc_params,
mt46h32m32lf6_sdrc_params))) {
return rc;
}
return 0;
}
//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();
}
