static void hl_print_boot_info(void)
{
/* Print boot info regardless of the printf options (if it prints float or not) */
#if SYS_CFG_REDUCED_PRINTF
const unsigned int cpuClock = sys_get_cpu_clock();
const unsigned int sig = cpuClock / (1000 * 1000);
const unsigned int fraction = (cpuClock - (sig*1000*1000)) / 1000;
printf("System Boot @ %u.%u Mhz\n", sig, fraction);
#else
printf("System Boot @ %.3f Mhz\n", sys_get_cpu_clock() / (1000 * 1000.0f));
#endif
if(boot_watchdog_recover == sys_get_boot_type()) {
char taskName[sizeof(FAULT_LAST_RUNNING_TASK_NAME) * 2] = { 0 };
memcpy(&taskName[0], (void*) &(FAULT_LAST_RUNNING_TASK_NAME), sizeof(FAULT_LAST_RUNNING_TASK_NAME));
hl_print_line();
printf("System rebooted after crash. Relevant info:\n"
"PC: 0x%08X. LR: 0x%08X. PSR: 0x%08X\n"
"Possible last running OS Task: '%s'\n",
(unsigned int)FAULT_PC, (unsigned int)FAULT_LR, (unsigned int)FAULT_PSR,
taskName);
hl_print_line();
delay_ms(SYS_CFG_CRASH_STARTUP_DELAY_MS);
}
}
/**
* Initializes the High Level System such as IO Pins and Drivers
*/
void high_level_init(void)
{
// Initialize all board pins (early) that are connected internally.
board_io_pins_initialize();
#if ENABLE_TELEMETRY
/* Add default telemetry components */
tlm_component_add("disk");
tlm_component_add("debug");
#endif
/**
* Set-up Timer0 so that delay_ms(us) functions will work.
* This function is used by FreeRTOS run time statistics.
* If FreeRTOS is used, timer will be set-up anyway.
* If FreeRTOS is not used, call it here such that delay_ms(us) functions will work.
*/
vConfigureTimerForRunTimeStats();
/**
* Intentional delay here because this gives the user some time to
* close COM Port at Hyperload and Open it at Hercules
*/
delay_ms(STARTUP_DELAY_MS);
hl_print_line();
/* Print boot info */
#if USE_REDUCED_PRINTF
const unsigned int cpuClock = sys_get_cpu_clock();
const unsigned int sig = cpuClock / (1000 * 1000);
const unsigned int fraction = (cpuClock - (sig*1000*1000)) / 1000;
printf("System Boot @ %u.%u Mhz\n", sig, fraction);
#else
printf("System Boot @ %.3f Mhz\n", sys_get_cpu_clock() / (1000 * 1000.0f));
#endif
if(boot_watchdog_recover == sys_get_boot_type()) {
char taskName[sizeof(FAULT_LAST_RUNNING_TASK_NAME) * 2] = { 0 };
memcpy(&taskName[0], (void*) &(FAULT_LAST_RUNNING_TASK_NAME), sizeof(FAULT_LAST_RUNNING_TASK_NAME));
hl_print_line();
printf("System rebooted after crash. Relevant info:\n"
"PC: 0x%08X. LR: 0x%08X. PSR: 0x%08X\n"
"Possible last running OS Task: '%s'\n",
(unsigned int)FAULT_PC, (unsigned int)FAULT_LR, (unsigned int)FAULT_PSR,
taskName);
hl_print_line();
}
/**
* Initialize the Peripherals used in the system
* I2C2 : Used by LED Display, Acceleration Sensor, Temperature Sensor
* ADC0 : Used by Light Sensor
* SPI0 : Used by Nordic
* SPI1 : Used by SD Card & External SPI Flash Memory
*/
adc0_init();
ssp1_init();
ssp0_init(SPI0_CLOCK_SPEED_MHZ);
if (!I2C2::getInstance().init(I2C2_CLOCK_SPEED_KHZ)) {
puts("ERROR: Possible short on SDA or SCL wire (I2C2)!");
}
/* Initialize nordic wireless mesh network before setting up sys_setup_rit()
* callback since it may access NULL function pointers.
*/
if (!wireless_init()) {
puts("ERROR: Failed to initialize wireless");
}
/* Set-up our RIT callback to perform some background book-keeping
* If FreeRTOS is running, this service is disabled and FreeRTOS
* tick hook will call hl_periodic_service()
* @warning RIT interrupt should be setup before SD card is mounted
* since it relies on our timer.
*/
sys_rit_setup(hl_periodic_service, g_time_per_rit_isr_ms);
/**
* If Flash is not mounted, it is probably a new board and the flash is not
* formatted so format it, alert the user, and try to re-mount it
*/
if(!hl_mount_storage(Storage::getFlashDrive(), " Flash "))
{
printf("FLASH not formatted, formatting now ... ");
printf("%s\n", FR_OK == Storage::getFlashDrive().format() ? "Done" : "Error");
hl_mount_storage(Storage::getFlashDrive(), " Flash ");
}
hl_mount_storage(Storage::getSDDrive(), "SD Card");
/* After SD card is initted, set desired speed for spi1 */
ssp1_set_max_clock(SPI1_CLOCK_SPEED_MHZ);
hl_print_line();
#if LOG_BOOT_INFO_TO_FILE
log_boot_info(__DATE__);
#endif
/* Initialize all sensors of this board. */
if(!hl_init_board_io()) {
hl_print_line();
LD.setLeftDigit('-');
LD.setRightDigit('-');
LE.setAll(0xFF);
}
else {
LD.setNumber(TS.getFarenheit());
}
/* After Flash memory is mounted, try to set node address from a file */
hl_wireless_set_addr_from_file();
srand(LS.getRawValue() + time(NULL));
// Display CPU speed in Mhz on LED display
// LD.setNumber(sys_get_cpu_clock()/(1000*1000));
/* Print memory information before we call main() */
do {
char buff[512] = { 0 };
sys_get_mem_info_str(buff);
printf("%s", buff);
hl_print_line();
} while(0);
hl_handle_board_id();
hl_show_prog_info();
hl_print_line();
puts("Calling your main()");
hl_print_line();
}
