void SYS_Initialize ( void * data )
{
/* Configure the cache and flash wait
* states for 80MHz. */
SYSTEMConfigPerformance(80000000);
/* Initializethe interrupt system */
SYS_INT_Initialize();
/* Initialize the global interrupts */
SYS_INT_Enable();
SYS_INT_VectorPrioritySet(INT_VECTOR_USB, INT_PRIORITY_LEVEL4);
SYS_INT_VectorSubprioritySet(INT_VECTOR_USB, INT_SUBPRIORITY_LEVEL0);
SYS_INT_VectorPrioritySet(INT_VECTOR_CT, INT_PRIORITY_LEVEL3);
SYS_INT_VectorSubprioritySet(INT_VECTOR_USB, INT_SUBPRIORITY_LEVEL0);
BSP_Initialize();
/* Initialize the USB device layer */
deviceLayerObject = USB_DEVICE_Initialize (USB_DEVICE_INDEX_0 ,
( SYS_MODULE_INIT* ) & usbDevInitData);
/* check if the object returned by the device layer is valid */
SYS_ASSERT((SYS_MODULE_OBJ_INVALID != deviceLayerObject), "Invalid USB DEVICE object");
/* Initialize the Application */
APP_Initialize ( );
}
void SYS_Initialize ( void* data )
{
/* Set up cache and wait states for
* maximum performance. */
SYSTEMConfigPerformance(80000000);
/* Initialize the BSP */
BSP_Initialize( );
/* Initializethe interrupt system */
SYS_INT_Initialize();
/* set priority for NVM interrupt source */
SYS_INT_VectorPrioritySet(INT_VECTOR_FCE, INT_PRIORITY_LEVEL3);
/* set sub-priority for NVM interrupt source */
SYS_INT_VectorSubprioritySet(INT_VECTOR_FCE, INT_SUBPRIORITY_LEVEL3);
/* Initialize the global interrupts */
SYS_INT_Enable();
/* Initialize the NVM driver */
appDrvObjects.drvNVMObject = DRV_NVM_Initialize(DRV_NVM_INDEX_0,
(SYS_MODULE_INIT *)&drvNVMInit);
/* Initialize the Application */
APP_Initialize ( );
}
/*******************************************************************************
Function:
void APP_Initialize ( void )
Remarks:
See prototype in app.h.
*/
void APP_Initialize(void)
{
// Initialize application state machine and other parameters
appData.state = APP_STATE_INIT;
// Configure SPI4 to Communicate with MRF24W Wifi Module
// 1. SDI4 = RG7
SDI4Rbits.SDI4R = 0x02; //SDI4 = RPF5
PLIB_PORTS_PinModePerPortSelect(PORTS_ID_0, PORT_CHANNEL_F, PORTS_BIT_POS_5, PORTS_PIN_MODE_DIGITAL); // F5 not analog
PLIB_PORTS_PinDirectionInputSet(PORTS_ID_0, PORT_CHANNEL_F, PORTS_BIT_POS_5); // F5 input
//PORTGbits.RG7 = 1; // pull-up
// 2. SDO4 = RPG0
PLIB_PORTS_PinModePerPortSelect(PORTS_ID_0, PORT_CHANNEL_G, PORTS_BIT_POS_0, PORTS_PIN_MODE_DIGITAL); // G0 not analog
RPG0Rbits.RPG0R = 0x08; //RPG0 = SDO4
// UART 4
TRISFCLR = (1 << 8);
RPF8R = 0x02;
TRISFSET = (1 << 2);
U4RXR = 0x0B;
SYS_INT_Enable();
SRAND_GetSeedInitialise();
SYS_RANDOM_PseudoSeedSet(SRAND_GetSeed());
AppConfig_Initialise(&info);
}
void SYS_Initialize ( void* data )
{
/* Core Processor Initialization */
SYS_CLK_Initialize( NULL );
sysObj.sysDevcon = SYS_DEVCON_Initialize(SYS_DEVCON_INDEX_0, (SYS_MODULE_INIT*)&sysDevconInit);
SYS_DEVCON_PerformanceConfig(SYS_CLK_SystemFrequencyGet());
SYS_DEVCON_JTAGDisable();
SYS_PORTS_Initialize();
/* Board Support Package Initialization */
BSP_Initialize();
/* Initialize Drivers */
sysObj.drvTmr0 = DRV_TMR_Initialize(DRV_TMR_INDEX_0, (SYS_MODULE_INIT *)&drvTmr0InitData);
/* Initialize System Services */
SYS_INT_Initialize();
/*** TMR Service Initialization Code ***/
sysObj.sysTmr = SYS_TMR_Initialize(SYS_TMR_INDEX_0, (const SYS_MODULE_INIT * const)&sysTmrInitData);
/* Initialize Middleware */
/* Enable Global Interrupts */
SYS_INT_Enable();
/* Initialize the Application */
APP_Initialize();
}
void SYS_Initialize ( void* data )
{
/* Core Processor Initialization */
SYS_CLK_Initialize( NULL );
sysObj.sysDevcon = SYS_DEVCON_Initialize(SYS_DEVCON_INDEX_0, (SYS_MODULE_INIT*)&sysDevconInit);
SYS_DEVCON_PerformanceConfig(SYS_CLK_SystemFrequencyGet());
SYS_DEVCON_JTAGDisable();
SYS_PORTS_Initialize();
/* Initialize Drivers */
/* Initialize USB Driver */
sysObj.drvUSBObject = DRV_USBFS_Initialize(DRV_USBFS_INDEX_0, (SYS_MODULE_INIT *) &drvUSBInit);
/* Initialize System Services */
SYS_INT_Initialize();
/* Initialize Middleware */
/* Copy the UID to the USB descriptor. */
UIDStore_Init();
UIDStore_AsUnicodeString(BootloaderUSBDescriptor_UnicodeUID());
/* Initialize the USB device layer */
sysObj.usbDevObject0 = USB_DEVICE_Initialize(
USB_DEVICE_INDEX_0,
(SYS_MODULE_INIT*) BootloaderUSBDescriptor_GetDeviceConfig());
/* Enable Global Interrupts */
SYS_INT_Enable();
/* Initialize the Application */
Bootloader_Initialize();
}
void SYS_Initialize ( void* data )
{
/* Core Processor Initialization */
SYS_CLK_Initialize( NULL );
sysObj.sysDevcon = SYS_DEVCON_Initialize(SYS_DEVCON_INDEX_0, (SYS_MODULE_INIT*)&sysDevconInit);
SYS_DEVCON_PerformanceConfig(SYS_CLK_SystemFrequencyGet());
SYS_DEVCON_JTAGDisable();
/* Board Support Package Initialization */
BSP_Initialize();
/* System Services Initialization */
SYS_INT_Initialize();
SYS_PORTS_Initialize();
/* Initialize Middleware */
/* Set priority of USB interrupt source */
SYS_INT_VectorPrioritySet(INT_VECTOR_USB1, INT_PRIORITY_LEVEL4);
/* Set Sub-priority of USB interrupt source */
SYS_INT_VectorSubprioritySet(INT_VECTOR_USB1, INT_SUBPRIORITY_LEVEL0);
/* Initialize the USB device layer */
sysObj.usbDevObject0 = USB_DEVICE_Initialize (USB_DEVICE_INDEX_0 , ( SYS_MODULE_INIT* ) & usbDevInitData);
/* Enable Global Interrupts */
SYS_INT_Enable();
/* Initialize the Application */
APP_Initialize();
}
void SYS_Initialize ( void* data )
{
/* Core Processor Initialization */
SYS_CLK_Initialize( NULL );
sysObj.sysDevcon = SYS_DEVCON_Initialize(SYS_DEVCON_INDEX_0, (SYS_MODULE_INIT*)&sysDevconInit);
SYS_DEVCON_PerformanceConfig(SYS_CLK_SystemFrequencyGet());
SYS_DEVCON_JTAGDisable();
SYS_PORTS_Initialize();
/* Initialize Drivers */
/*Initialize TMR0 */
DRV_TMR0_Initialize();
DRV_SPI0_Initialize();
DRV_SPI1_Initialize();
DRV_SPI2_Initialize();
DRV_SPI3_Initialize();
DRV_SPI4_Initialize();
DRV_SPI5_Initialize();
/*Initialize OC0 */
DRV_OC0_Initialize();
/*Initialize OC1 */
DRV_OC1_Initialize();
/*Initialize OC2 */
DRV_OC2_Initialize();
/*Initialize OC3 */
DRV_OC3_Initialize();
/*Initialize OC4 */
DRV_OC4_Initialize();
/*Initialize OC5 */
DRV_OC5_Initialize();
/*Initialize OC6 */
DRV_OC6_Initialize();
/*Initialize OC7 */
DRV_OC7_Initialize();
/*Initialize OC8 */
DRV_OC8_Initialize();
/* Initialize System Services */
SYS_INT_Initialize();
/* Initialize Middleware */
/* Enable Global Interrupts */
SYS_INT_Enable();
/* Initialize the Application */
APP_Initialize();
}
void SYS_Initialize ( void* data )
{
/* Initializethe interrupt system */
SYS_INT_Initialize();
/* Initialize the global interrupts */
SYS_INT_Enable();
SYS_MSG_MESSAGING_OBJECT oSysMsg;
SYS_MSG_INIT sSysMsgInit;
uint16_t nQSizes[] = SYS_MSG_BUFFER_SIZES;
sSysMsgInit.nMaxMsgsDelivered = SYS_MSG_MAX_MSGS_DELIVERED;
sSysMsgInit.nMessagePriorities = SYS_MSG_MAX_PRIORITY+1;
sSysMsgInit.nQSizes = nQSizes;
hSysMsg = SYS_MSG_Initialize(iSysMsg,(SYS_OBJ_HANDLE)&sSysMsgInit);
oSysMsg = *(SYS_MSG_MESSAGING_OBJECT *)hSysMsg;
hMsgType = SYS_MSG_TypeCreate(iSysMsg, TYPE_TOUCHSCREEN , 0);
hMailbox = SYS_MSB_MailboxOpen( iSysMsg, (SYS_MSG_RECEIVE_CALLBACK)&TouchMessageCallback );
SYS_MSG_MailboxMsgAdd(hMailbox,hMsgType);
/////////////////////////////////////////////////////////////////////////////
// DRIVER SPECIFIC INITIALIZATION DATA
/////////////////////////////////////////////////////////////////////////////
// initialize the timer that manages the tick counter
TickInit();
/////////////////////////////////////////////////////////////////////////////
// DRIVER SPECIFIC INITIALIZATION DATA
/////////////////////////////////////////////////////////////////////////////
GFX_DRV_lcc_Initialize(0); //Initialize the Graphics Driver
while (handle != 0)
{
handle = GFX_DRV_lcc_Open(0);
}
GFX_Initialize();
// initialize the components for Resistive Touch Screen
TouchInit((void *)0, (void *)0, (void *)0, NULL);
ImageDecoderInit();
JPEGInit(); // Initialize JPEG
/* Initialize the Application */
APP_Initialize ( );
}
inline int IsBusy(void)
{
uint32_t tempAccelIdx;
intStatus = SYS_INT_Disable();
tempAccelIdx = accelIdx;
if(intStatus)
{
SYS_INT_Enable();
}
return (tempAccelIdx != ACCEL_INVALID_IDX);
}
void SYS_Initialize ( void* data )
{
/* Core Processor Initialization */
SYS_CLK_Initialize( NULL );
sysObj.sysDevcon = SYS_DEVCON_Initialize(SYS_DEVCON_INDEX_0, (SYS_MODULE_INIT*)&sysDevconInit);
SYS_DEVCON_PerformanceConfig(SYS_CLK_SystemFrequencyGet());
SYS_DEVCON_JTAGDisable();
SYS_PORTS_Initialize();
/* Initialize Drivers */
sysObj.drvTmr0 = DRV_TMR_Initialize(DRV_TMR_INDEX_0, (SYS_MODULE_INIT *)&drvTmr0InitData);
SYS_INT_VectorPrioritySet(INT_VECTOR_T1, INT_PRIORITY_LEVEL1);
SYS_INT_VectorSubprioritySet(INT_VECTOR_T1, INT_SUBPRIORITY_LEVEL0);
/* Initialize USB Driver */
sysObj.drvUSBObject = DRV_USBHS_Initialize(DRV_USBHS_INDEX_0, (SYS_MODULE_INIT *) &drvUSBInit);
/* Initialize System Services */
SYS_INT_Initialize();
sysObj.sysConsole0 = SYS_CONSOLE_Initialize(SYS_CONSOLE_INDEX_0, (SYS_MODULE_INIT *)&consUsbInit0);
sysObj.sysDebug = SYS_DEBUG_Initialize(SYS_DEBUG_INDEX_0, (SYS_MODULE_INIT*)&debugInit);
/*** TMR Service Initialization Code ***/
sysObj.sysTmr = SYS_TMR_Initialize(SYS_TMR_INDEX_0, (const SYS_MODULE_INIT * const)&sysTmrInitData);
/* Initialize Middleware */
/* Set priority of USB interrupt source */
SYS_INT_VectorPrioritySet(INT_VECTOR_USB1, INT_PRIORITY_LEVEL4);
/* Set Sub-priority of USB interrupt source */
SYS_INT_VectorSubprioritySet(INT_VECTOR_USB1, INT_SUBPRIORITY_LEVEL0);
/* Set the priority of the USB DMA Interrupt */
SYS_INT_VectorPrioritySet(INT_VECTOR_USB1_DMA, INT_PRIORITY_LEVEL4);
/* Set Sub-priority of the USB DMA Interrupt */
SYS_INT_VectorSubprioritySet(INT_VECTOR_USB1_DMA, INT_SUBPRIORITY_LEVEL0);
/* Initialize the USB device layer */
sysObj.usbDevObject0 = USB_DEVICE_Initialize (USB_DEVICE_INDEX_0 , ( SYS_MODULE_INIT* ) & usbDevInitData);
/* Enable Global Interrupts */
SYS_INT_Enable();
/* Initialize the Application */
APP_Initialize();
}
void SYS_Initialize ( void* data ) {
/* Core Processor Initialization */
SYS_CLK_Initialize( NULL );
sysObj.sysDevcon = SYS_DEVCON_Initialize(SYS_DEVCON_INDEX_0, (SYS_MODULE_INIT*) & sysDevconInit);
SYS_DEVCON_PerformanceConfig(SYS_CLK_SystemFrequencyGet());
SYS_DEVCON_JTAGDisable();
SYS_PORTS_Initialize();
ANSELB = SYS_ANSELB; //JT - old ansel doesn't do shit
/* Board Support Package Initialization */
BSP_Initialize();
/* Initialize Drivers */
sysObj.drvUsart0 = DRV_USART_Initialize(DRV_USART_INDEX_0, (SYS_MODULE_INIT *) & drvUsart0InitData);
SYS_INT_VectorPrioritySet(INT_VECTOR_UART2, INT_PRIORITY_LEVEL4);
SYS_INT_VectorSubprioritySet(INT_VECTOR_UART2, INT_SUBPRIORITY_LEVEL0);
/* Initialize System Services */
SYS_INT_Initialize();
/* Initialize Middleware */
/* Set priority of USB interrupt source */
SYS_INT_VectorPrioritySet(INT_VECTOR_USB1, INT_PRIORITY_LEVEL4);
/* Set Sub-priority of USB interrupt source */
SYS_INT_VectorSubprioritySet(INT_VECTOR_USB1, INT_SUBPRIORITY_LEVEL0);
/* Initialize the USB device layer */
sysObj.usbDevObject0 = USB_DEVICE_Initialize (USB_DEVICE_INDEX_0 , ( SYS_MODULE_INIT* ) & usbDevInitData);
/* Enable Global Interrupts */
SYS_INT_Enable();
//startup OLED
//if first power-up, wait for OLED to warm up
int waitii;
if (RCONbits.POR)
for (waitii = 0; waitii < 2000000; waitii++) {
}
RCONbits.POR = 0;
oled_init();
robot_config_ports();
/* Initialize the Application */
APP_Initialize();
}
void SYS_Initialize ( void* data )
{
unsigned int cache_status;
/* enable cache */
cache_status = CHECON;
cache_status |= (3 << _CHECON_PREFEN_POSITION);
CHECON = cache_status;
CheKseg0CacheOn();
/* Initialize the BSP */
BSP_Initialize( );
/* Initialize the USB Controller driver */
appDrvObject.usbCDObject = DRV_USB_Initialize (DRV_USB_INDEX_0 ,
( SYS_MODULE_INIT* ) & usbCDInitData);
/* check if the object returned by the controller driver is valid */
SYS_ASSERT((SYS_MODULE_OBJ_INVALID != appDrvObject.usbCDObject), "Invalid USB CD object");
/* Initialize the USB device layer */
appDrvObject.usbDevObject = USB_DEVICE_Initialize (USB_DEVICE_INDEX_0 ,
( SYS_MODULE_INIT* ) & usbDevInitData);
/* check if the object returned by the device layer is valid */
SYS_ASSERT((SYS_MODULE_OBJ_INVALID != appDrvObject.usbDevObject), "Invalid USB DEVICE object");
/* open an instance of the device layer */
appData.usbDevHandle = USB_DEVICE_Open( USB_DEVICE_INDEX_0, DRV_IO_INTENT_READWRITE );
/* Register a callback with device layer to get event notification (for end point 0) */
USB_DEVICE_EventCallBackSet(appData.usbDevHandle, APP_UsbDeviceEventCallBack);
/* Initialize the Application */
APP_Initialize ( );
/* Initializethe interrupt system */
SYS_INT_Initialize();
/* set priority for USB interrupt source */
SYS_INT_PrioritySet(INT_SOURCE_USB_1, INT_PRIORITY_LEVEL3);
/* set sub-priority for USB interrupt source */
SYS_INT_SubprioritySet(INT_SOURCE_USB_1, INT_SUBPRIORITY_LEVEL3);
/* Initialize the global interrupts */
SYS_INT_Enable();
}
void SYS_Initialize ( void* data )
{
/* Core Processor Initialization */
SYS_CLK_Initialize( NULL );
sysObj.sysDevcon = SYS_DEVCON_Initialize(SYS_DEVCON_INDEX_0, (SYS_MODULE_INIT*)&sysDevconInit);
SYS_DEVCON_PerformanceConfig(SYS_CLK_SystemFrequencyGet());
SYS_DEVCON_JTAGEnable();
SYS_PORTS_Initialize();
/* Board Support Package Initialization */
BSP_Initialize();
/* Initialize Drivers */
sysObj.drvTmr0 = DRV_TMR_Initialize(DRV_TMR_INDEX_0, (SYS_MODULE_INIT *)&drvTmr0InitData);
SYS_INT_VectorPrioritySet(INT_VECTOR_T1, INT_PRIORITY_LEVEL1);
SYS_INT_VectorSubprioritySet(INT_VECTOR_T1, INT_SUBPRIORITY_LEVEL0);
/* Initialize System Services */
SYS_INT_Initialize();
/*** TMR Service Initialization Code ***/
sysObj.sysTmr = SYS_TMR_Initialize(SYS_TMR_INDEX_0, (const SYS_MODULE_INIT * const)&sysTmrInitData);
SYS_RANDOM_Initialize(0, 0);
/* Initialize Middleware */
/* set priority for ETHERNET interrupt source */
SYS_INT_VectorPrioritySet(INT_VECTOR_ETH, INT_PRIORITY_LEVEL5);
/* set sub-priority for ETHERNET interrupt source */
SYS_INT_VectorSubprioritySet(INT_VECTOR_ETH, INT_SUBPRIORITY_LEVEL3);
/* TCPIP Stack Initialization */
sysObj.tcpip = TCPIP_STACK_Init();
if (sysObj.tcpip == SYS_MODULE_OBJ_INVALID)
{
return;
}
/* Enable Global Interrupts */
SYS_INT_Enable();
/* Initialize the Application */
APP_Initialize();
RESTAPI_Initialize();
}
void SYS_Initialize ( void* data )
{
uint8_t handle=0xff; //Handle to the driver
// populate the PMP init configuration structure
init.polarity.addressLatchPolarity = PMP_POLARITY_ACTIVE_HIGH;
init.polarity.rwStrobePolarity = PMP_POLARITY_ACTIVE_LOW;
init.polarity.writeEnableStrobePolarity = PMP_POLARITY_ACTIVE_LOW;
init.polarity.chipselect1Polarity = PMP_POLARITY_ACTIVE_HIGH;
init.polarity.chipselect2Polarity = PMP_POLARITY_ACTIVE_LOW;
init.ports.readWriteStrobe = PORT_ENABLE;
init.ports.writeEnableStrobe = PORT_ENABLE;
init.moduleInit.value = SYS_MODULE_POWER_RUN_FULL;
init.pmpID = PMP_ID_0;
init.stopInIdle = false;
init.muxMode = PMP_MUX_NONE;
object = DRV_PMP_Initialize (DRV_PMP_INDEX_0, (SYS_MODULE_INIT *)&init);
/* Initialize the Application */
APP_Initialize();
/* Initializethe interrupt system */
SYS_INT_Initialize();
SYS_INT_VectorPrioritySet(INT_VECTOR_T4, INT_PRIORITY_LEVEL2);
/* set priority for PMP interrupt source */
SYS_INT_VectorPrioritySet(INT_VECTOR_PMP, INT_PRIORITY_LEVEL6);
/* Initialize the global interrupts */
SYS_INT_Enable();
GFX_DRV_lcc_Initialize(0); //Initialize the Graphics Driver
while( handle != 0)
{
handle = GFX_DRV_lcc_Open(0);
}
GFX_Initialize();
/* Turn on the backlight */
DisplayBacklightOn();
/* Initialize the BSP */
// BSP_Initialize( );
}
void SYS_Initialize ( void* data )
{
/* Set up cache and wait states for
* maximum performance. */
SYSTEMConfigPerformance(80000000);
/* Initialize the BSP */
BSP_Initialize( );
/* Initialize MDD */
USB_DEVICE_MDD_INTFLASH_Initialize( 0, (const SYS_MODULE_INIT * const)&mddFlashInitData );
/* Initialize the USB device layer */
appDrvObject.usbDevObject = USB_DEVICE_Initialize (USB_DEVICE_INDEX_0 ,
( SYS_MODULE_INIT* ) & usbDevInitData);
/* check if the object returned by the device layer is valid */
SYS_ASSERT((SYS_MODULE_OBJ_INVALID != appDrvObject.usbDevObject), "Invalid USB DEVICE object");
/* open an instance of the device layer */
appData.usbDevHandle = USB_DEVICE_Open( USB_DEVICE_INDEX_0, 0 );
/* Register a callback with device layer to get event notification (for end point 0) */
USB_DEVICE_EventCallBackSet(appData.usbDevHandle, APP_USBDeviceEventHandler);
/* Register a callback for acquiring vendor specific setup packet */
//USB_DEVICE_ControlEventCallBackSet(appData.usbDevHandle, APP_UsbDeviceControlEventCallBack );
USB_DEVICE_Attach(appData.usbDevHandle);
/* Initialize the Application */
APP_Initialize ( );
/* Initializethe interrupt system */
SYS_INT_Initialize();
/* set priority for USB interrupt source */
SYS_INT_VectorPrioritySet(INT_VECTOR_USB, INT_PRIORITY_LEVEL3);
/* set sub-priority for USB interrupt source */
SYS_INT_VectorSubprioritySet(INT_VECTOR_USB, INT_SUBPRIORITY_LEVEL3);
/* Initialize the global interrupts */
SYS_INT_Enable();
}
/********************************************************************
Funciton: UINT8 EEPROM_24LC01HWReadByte(size_t addr)
********************************************************************/
inline void ACCELStartCommandSequence(void)
{
bool intStatus;
intStatus = SYS_INT_Disable();
accelIdx = 0;
I2CPriority = ACCEL_PRIORIY;
if(!SYS_INT_SourceIsEnabled(ACCEL_BMA250_I2C_SOURCE))
{
SYS_INT_SourceStatusSet(ACCEL_BMA250_I2C_SOURCE);
}
#ifndef ACCEL_USE_POLLING
#endif
if(intStatus)
{
SYS_INT_Enable();
}
}
void SYS_Initialize ( void* data )
{
/* Core Processor Initialization */
SYS_CLK_Initialize( NULL );
sysObj.sysDevcon = SYS_DEVCON_Initialize(SYS_DEVCON_INDEX_0, (SYS_MODULE_INIT*)&sysDevconInit);
SYS_DEVCON_PerformanceConfig(SYS_CLK_SystemFrequencyGet());
SYS_DEVCON_JTAGDisable();
SYS_PORTS_Initialize();
/* Board Support Package Initialization */
BSP_Initialize();
/* Initialize Drivers */
sysObj.drvUsart0 = DRV_USART_Initialize(DRV_USART_INDEX_0, (SYS_MODULE_INIT *)&drvUsart0InitData);
SYS_INT_VectorPrioritySet(INT_VECTOR_UART2, INT_PRIORITY_LEVEL4);
SYS_INT_VectorSubprioritySet(INT_VECTOR_UART2, INT_SUBPRIORITY_LEVEL0);
/* Initialize System Services */
SYS_INT_Initialize();
/* Initialize Middleware */
/* Set priority of USB interrupt source */
SYS_INT_VectorPrioritySet(INT_VECTOR_USB1, INT_PRIORITY_LEVEL4);
/* Set Sub-priority of USB interrupt source */
SYS_INT_VectorSubprioritySet(INT_VECTOR_USB1, INT_SUBPRIORITY_LEVEL0);
/* Initialize the USB device layer */
sysObj.usbDevObject0 = USB_DEVICE_Initialize (USB_DEVICE_INDEX_0 , ( SYS_MODULE_INIT* ) & usbDevInitData);
/* Enable Global Interrupts */
SYS_INT_Enable();
/* Initialize the Application */
APP_Initialize();
//Initialize LED
ANSELBbits.ANSB15 = 0; // 0 for digital, 1 for analog
TRISBbits.TRISB15 = 0; // 0 for output, 1 for input
// LATBbits.LATB7 = 1;
//
}
void SYS_Initialize ( void* data )
{
/* Core Processor Initialization */
SYS_CLK_Initialize( NULL );
sysObj.sysDevcon = SYS_DEVCON_Initialize(SYS_DEVCON_INDEX_0, (SYS_MODULE_INIT*)&sysDevconInit);
SYS_DEVCON_PerformanceConfig(SYS_CLK_SystemFrequencyGet());
SYS_DEVCON_JTAGEnable();
SYS_PORTS_Initialize();
sysObj.sysDma = SYS_DMA_Initialize((SYS_MODULE_INIT *)&sysDmaInit);
/* Board Support Package Initialization */
BSP_Initialize();
/* Initialize Drivers */
sysObj.drvTmr0 = DRV_TMR_Initialize(DRV_TMR_INDEX_0, (SYS_MODULE_INIT *)&drvTmr0InitData);
SYS_INT_VectorPrioritySet(INT_VECTOR_T3, INT_PRIORITY_LEVEL1);
SYS_INT_VectorSubprioritySet(INT_VECTOR_T3, INT_SUBPRIORITY_LEVEL0);
/*** SPI Driver Index 0 initialization***/
sysObj.spiObjectIdx0 = DRV_SPI_Initialize(DRV_SPI_INDEX_0, (const SYS_MODULE_INIT * const)&drvSpi0InitData);
/* Initialize System Services */
SYS_INT_Initialize();
/* Initialize Middleware */
/* Enable Global Interrupts */
SYS_INT_Enable();
/* Initialize the Application */
LEDSCROLLER_Initialize();
}
void SYS_Initialize ( void * data )
{
/* Initialize the BSP */
BSP_Initialize( );
/* Initialize the USB device layer */
usbDevObject = USB_DEVICE_Initialize (USB_DEVICE_INDEX_0 ,
( SYS_MODULE_INIT* ) & usbDevInitData);
/* check if the object returned by the device layer is valid */
SYS_ASSERT((SYS_MODULE_OBJ_INVALID != usbDevObject), "Invalid USB DEVICE object");
/* Initialize the Application */
APP_Initialize (&appData);
/* Initializethe interrupt system */
SYS_INT_Initialize();
/* set priority for USB interrupt source */
SYS_INT_VectorPrioritySet(INT_VECTOR_USB, INT_PRIORITY_LEVEL3);
/* set sub-priority for USB interrupt source */
SYS_INT_VectorSubprioritySet(INT_VECTOR_USB, INT_SUBPRIORITY_LEVEL3);
/* set priority for USB interrupt source */
SYS_INT_VectorPrioritySet(INT_VECTOR_CT, INT_PRIORITY_LEVEL3);
/* set sub-priority for USB interrupt source */
SYS_INT_VectorSubprioritySet(INT_VECTOR_CT, INT_SUBPRIORITY_LEVEL3);
/* Initialize the global interrupts */
SYS_INT_Enable();
}
void SYS_Initialize ( void* data )
{
/* Core Processor Initialization */
SYS_CLK_Initialize( NULL );
sysObj.sysDevcon = SYS_DEVCON_Initialize(SYS_DEVCON_INDEX_0, (SYS_MODULE_INIT*)&sysDevconInit);
SYS_DEVCON_PerformanceConfig(SYS_CLK_SystemFrequencyGet());
SYS_DEVCON_JTAGDisable();
SYS_PORTS_Initialize();
/* Initialize Drivers */
sysObj.drvUsart0 = DRV_USART_Initialize(DRV_USART_INDEX_0, (SYS_MODULE_INIT *)&drvUsart0InitData);
SYS_INT_VectorPrioritySet(INT_VECTOR_UART1, INT_PRIORITY_LEVEL1);
SYS_INT_VectorSubprioritySet(INT_VECTOR_UART1, INT_SUBPRIORITY_LEVEL0);
/* Initialize System Services */
SYS_INT_Initialize();
/* Initialize Middleware */
/* Enable Global Interrupts */
SYS_INT_Enable();
/* Initialize the Application */
APP_Initialize();
}
void SYS_Initialize ( void* data )
{
unsigned int cache_status;
/* enable cache */
// cache_status = CHECON;
// cache_status |= (3 << _CHECON_PREFEN_POSITION);
// CHECON = cache_status;
// CheKseg0CacheOn();
SYSTEMConfigPerformance(80000000);
/* Initialize the BSP */
BSP_Initialize( );
//TODO
/* Create the USB Driver Initialization
* data structure */
usbInitData.usbID = USB_ID_1;
usbInitData.operationMode = USB_OPMODE_HOST;
usbInitData.stopInIdle = false;
usbInitData.suspendInSleep = false;
usbInitData.interruptSource = INT_SOURCE_USB_1;
SYS_INT_VectorPrioritySet( INT_VECTOR_USB, INT_PRIORITY_LEVEL4);
// SYS_INT_PrioritySet( INT_VECTOR_T3, INT_PRIORITY_LEVEL5);
SYS_INT_VectorSubprioritySet(INT_VECTOR_USB, INT_SUBPRIORITY_LEVEL0);
/* Initialize the USB Host controller driver */
USBHostdemoappDrvObject.usbHCObject = DRV_USB_Initialize (DRV_USB_INDEX_0 ,
( SYS_MODULE_INIT* ) &usbInitData);
/* check if the object returned by the controller driver is valid */
SYS_ASSERT((SYS_MODULE_OBJ_INVALID != USBHostdemoappDrvObject.usbHCObject), "Invalid USB HC object");
/* Initialize the USB host layer */
USBHostdemoappDrvObject.usbHostObject = USB_HOST_Initialize (USB_HOST_INDEX_0 ,
( SYS_MODULE_INIT *)& usbHostInitData );
/* check if the object returned by the device layer is valid */
// SYS_ASSERT((SYS_MODULE_OBJ_INVALID != appDrvObject.usbHostObject), "Invalid USB HOST object");
// /* open an instance of the device layer */
// USBHostdemoappDrvObject.usbHostCDCHandle = USB_HOST_CDC_Open( USB_HOST_INDEX_0 );
// /* Register a callback with device layer to get event notification (for end point 0) */
// USB_DEVICE_EventCallBackSet(appData.usbDevHandle, APP_UsbDeviceEventCallBack);
/* Initialize the Application */
APP_Initialize ( );
// /* /* Initializethe interrupt system */
SYS_INT_Initialize();
// /* set priority for USB interrupt source */
SYS_INT_VectorPrioritySet(INT_SOURCE_USB_1, INT_PRIORITY_LEVEL3);
// /* set sub-priority for USB interrupt source */
SYS_INT_VectorSubprioritySet(INT_SOURCE_USB_1, INT_SUBPRIORITY_LEVEL3);
// /* Initialize the global interrupts */
SYS_INT_Enable();
}
void SYS_Initialize ( void* data )
{
/* Core Processor Initialization */
SYS_CLK_Initialize( NULL );
sysObj.sysDevcon = SYS_DEVCON_Initialize(SYS_DEVCON_INDEX_0, (SYS_MODULE_INIT*)&sysDevconInit);
SYS_DEVCON_PerformanceConfig(SYS_CLK_SystemFrequencyGet());
SYS_DEVCON_JTAGEnable();
SYS_PORTS_Initialize();
/* Board Support Package Initialization */
BSP_Initialize();
/* System Services Initialization */
SYS_INT_Initialize();
/* Initialize Drivers */
sysObj.drvTmr0 = DRV_TMR_Initialize(DRV_TMR_INDEX_0, (SYS_MODULE_INIT *)&drvTmr0InitData);
SYS_INT_VectorPrioritySet(INT_VECTOR_T2, INT_PRIORITY_LEVEL4);
SYS_INT_VectorSubprioritySet(INT_VECTOR_T2, INT_SUBPRIORITY_LEVEL0);
/* Configure the Flash Controller Interrupt Priority */
SYS_INT_VectorPrioritySet(INT_VECTOR_FCE, INT_PRIORITY_LEVEL4);
/* Configure the Flash Controller Interrupt Sub Priority */
SYS_INT_VectorSubprioritySet(INT_VECTOR_FCE, INT_SUBPRIORITY_LEVEL1);
/* Initialize the NVM Driver */
sysObj.drvNvm = DRV_NVM_Initialize(DRV_NVM_INDEX_0, (SYS_MODULE_INIT *)&drvNvmInit);
/* Initialize the NVM Media Driver Layer */
sysObj.drvNvmMedia = DRV_NVM_MEDIA_Initialize(DRV_NVM_MEDIA_INDEX_0,(SYS_MODULE_INIT *)&drvNvmMediaInit);
/* Initialize System Services */
sysObj.sysConsole0 = SYS_CONSOLE_Initialize(SYS_CONSOLE_INDEX_0, (SYS_MODULE_INIT *)&consUsbInit);
sysObj.sysDebug = SYS_DEBUG_Initialize(SYS_DEBUG_INDEX_0, (SYS_MODULE_INIT*)&debugInit);
/*** TMR Service Initialization Code ***/
sysObj.sysTmr = SYS_TMR_Initialize(SYS_TMR_INDEX_0, (const SYS_MODULE_INIT * const)&sysTmrInitData);
SYS_CMD_Initialize();
SYS_FS_Initialize( (const void *) sysFSInit );
SYS_RANDOM_Initialize(0, 0);
/* Initialize Middleware */
/* Set priority of USB interrupt source */
SYS_INT_VectorPrioritySet(INT_VECTOR_USB1, INT_PRIORITY_LEVEL1);
/* Set Sub-priority of USB interrupt source */
SYS_INT_VectorSubprioritySet(INT_VECTOR_USB1, INT_SUBPRIORITY_LEVEL0);
/* Initialize the USB device layer */
sysObj.usbDevObject0 = USB_DEVICE_Initialize (USB_DEVICE_INDEX_0 , ( SYS_MODULE_INIT* ) & usbDevInitData);
/* set priority for ETHERNET interrupt source */
SYS_INT_VectorPrioritySet(INT_VECTOR_ETH, INT_PRIORITY_LEVEL5);
/* set sub-priority for ETHERNET interrupt source */
SYS_INT_VectorSubprioritySet(INT_VECTOR_ETH, INT_SUBPRIORITY_LEVEL0);
/* TCPIP Stack Initialization */
sysObj.tcpip = TCPIP_STACK_Init();
if (sysObj.tcpip == SYS_MODULE_OBJ_INVALID)
{
return;
}
/* Enable Global Interrupts */
SYS_INT_Enable();
/* Initialize the Application */
APP_Initialize();
}
void SYS_Initialize ( void* data )
{
/* Core Processor Initialization */
SYS_CLK_Initialize( NULL );
sysObj.sysDevcon = SYS_DEVCON_Initialize(SYS_DEVCON_INDEX_0, (SYS_MODULE_INIT*)&sysDevconInit);
SYS_DEVCON_PerformanceConfig(SYS_CLK_SystemFrequencyGet());
SYS_PORTS_Initialize();
/* Board Support Package Initialization */
BSP_Initialize();
/* Initialize Drivers */
sysObj.drvTmr0 = DRV_TMR_Initialize(DRV_TMR_INDEX_0, (SYS_MODULE_INIT *)&drvTmr0InitData);
SYS_INT_VectorPrioritySet(INT_VECTOR_T1, INT_PRIORITY_LEVEL1);
SYS_INT_VectorSubprioritySet(INT_VECTOR_T1, INT_SUBPRIORITY_LEVEL0);
/* Initialize USB Driver */
sysObj.drvUSBObject = DRV_USBHS_Initialize(DRV_USBHS_INDEX_0, (SYS_MODULE_INIT *) &drvUSBInit);
/* Initialize System Services */
/*** Command Service Initialization Code ***/
SYS_CMD_Initialize((SYS_MODULE_INIT*)&sysCmdInit);
sysObj.sysConsole0 = SYS_CONSOLE_Initialize(SYS_CONSOLE_INDEX_0, (SYS_MODULE_INIT *)&consUsbInit0);
/*** Debug Service Initialization Code ***/
sysObj.sysDebug = SYS_DEBUG_Initialize(SYS_DEBUG_INDEX_0, (SYS_MODULE_INIT*)&debugInit);
/*** Interrupt Service Initialization Code ***/
SYS_INT_Initialize();
/*** Random Service Initialization Code ***/
SYS_RANDOM_Initialize(0, 0);
/*** TMR Service Initialization Code ***/
sysObj.sysTmr = SYS_TMR_Initialize(SYS_TMR_INDEX_0, (const SYS_MODULE_INIT * const)&sysTmrInitData);
/* Initialize Middleware */
/* set priority for ETHERNET interrupt source */
SYS_INT_VectorPrioritySet(INT_VECTOR_ETH, INT_PRIORITY_LEVEL5);
/* set sub-priority for ETHERNET interrupt source */
SYS_INT_VectorSubprioritySet(INT_VECTOR_ETH, INT_SUBPRIORITY_LEVEL3);
/* TCPIP Stack Initialization */
sysObj.tcpip = TCPIP_STACK_Init();
if (sysObj.tcpip == SYS_MODULE_OBJ_INVALID)
{
return;
}
/* Set priority of USB interrupt source */
SYS_INT_VectorPrioritySet(INT_VECTOR_USB1, INT_PRIORITY_LEVEL1);
/* Set Sub-priority of USB interrupt source */
SYS_INT_VectorSubprioritySet(INT_VECTOR_USB1, INT_SUBPRIORITY_LEVEL0);
/* Set the priority of the USB DMA Interrupt */
SYS_INT_VectorPrioritySet(INT_VECTOR_USB1_DMA, INT_PRIORITY_LEVEL1);
/* Set Sub-priority of the USB DMA Interrupt */
SYS_INT_VectorSubprioritySet(INT_VECTOR_USB1_DMA, INT_SUBPRIORITY_LEVEL0);
/* Initialize the USB device layer */
sysObj.usbDevObject0 = USB_DEVICE_Initialize (USB_DEVICE_INDEX_0 , ( SYS_MODULE_INIT* ) & usbDevInitData);
/* Enable Global Interrupts */
SYS_INT_Enable();
/* Initialize the Application */
APP_Initialize();
}
void SYS_Initialize ( void* data )
{
/* Core Processor Initialization */
SYS_CLK_Initialize( NULL );
sysObj.sysDevcon = SYS_DEVCON_Initialize(SYS_DEVCON_INDEX_0, (SYS_MODULE_INIT*)&sysDevconInit);
SYS_DEVCON_PerformanceConfig(SYS_CLK_SystemFrequencyGet());
SYS_DEVCON_JTAGDisable();
SYS_PORTS_Initialize();
/* Initialize Drivers */
// DRV_SPI0_Initialize();
// DRV_SPI1_Initialize();
//DRV_I2C1_Initialize();
SYS_INT_VectorPrioritySet(INT_VECTOR_T2, INT_PRIORITY_LEVEL1);
SYS_INT_VectorSubprioritySet(INT_VECTOR_T2, INT_SUBPRIORITY_LEVEL0);
/*Initialize CAN0 */
DRV_CAN0_Initialize();
//For Debugging
// SYS_PORTS_PinDirectionSelect(PORTS_ID_0, SYS_PORTS_DIRECTION_OUTPUT, PORT_CHANNEL_G, PORTS_BIT_POS_8);
// SYS_PORTS_PinClear(PORTS_ID_0, PORT_CHANNEL_G, PORTS_BIT_POS_8);
// SYS_PORTS_PinDirectionSelect(PORTS_ID_0, SYS_PORTS_DIRECTION_OUTPUT, PORT_CHANNEL_E, PORTS_BIT_POS_8);
// SYS_PORTS_PinClear(PORTS_ID_0, PORT_CHANNEL_E, PORTS_BIT_POS_8);
/* Indicate initializing */
led_on(LED_RED);
/* Initialize PMP0 */
DRV_PMP0_Initialize();
DRV_PMP0_ModeConfig();
/* Initialize System Services */
SYS_INT_Initialize();
/* Initialize Middleware */
/* Set priority of USB interrupt source */
SYS_INT_VectorPrioritySet(INT_VECTOR_USB1, INT_PRIORITY_LEVEL4);
/* Wait FPGA_DONE*/
// while(!FpgaDone);
/* Set Sub-priority of USB interrupt source */
SYS_INT_VectorSubprioritySet(INT_VECTOR_USB1, INT_SUBPRIORITY_LEVEL0);
/* Initialize the USB device layer */
sysObj.usbDevObject0 = USB_DEVICE_Initialize (USB_DEVICE_INDEX_0 , ( SYS_MODULE_INIT* ) & usbDevInitData);
/* Enable Global Interrupts */
SYS_INT_Enable();
#ifdef DEBUG_PERCEPIO
/* Initialize Percepio */
vTraceInitTraceData();
if(uiTraceStart() != 1) {
while(true);
}
#endif
/* Initialize the Application */
APP_Initialize();
APP1_Initialize();
APP2_Initialize();
Xcp_Initialize();
}
/*******************************************************************************
Function:
void SYS_Initialize ( void *data )
Summary:
Initializes the board, services, drivers, application and other modules
Description:
This routine initializes the board, services, drivers, application and other
modules as configured at build time. In a bare-metal environment (where no
OS is supported), this routine should be called almost immediately after
entering the "main" routine.
Precondition:
The C-language run-time environment and stack must have been initialized.
Parameters:
data - Pointer to the system initialzation data structure containing
pointers to the board, system service, and driver
initialization routines
Returns:
None.
Example:
<code>
SYS_INT_Initialize(NULL);
</code>
Remarks:
Basic System Initialization Sequence:
1. Initilize minimal board services and processor-specific items
(enough to use the board to initialize drivers and services)
2. Initialize all supported system services
3. Initialize all supported modules
(libraries, drivers, middleware, and application-level modules)
4. Initialize the main (static) application, if present.
The order in which services and modules are initialized and started may be
important.
For a static system (a system not using the ISP's dynamic implementation
of the initialization and "Tasks" services) this routine is implemented
for the specific configuration of an application.
*/
void SYS_Initialize(void* data)
{
BSP_Initialize();
// cache configuration
cache_enable(0);
SetPic32MZIoPins();
/* Initializethe interrupt system */
SYS_INT_Initialize();
/* Remap the SPI pins */
PLIB_PORTS_RemapOutput(PORTS_ID_0, OTPUT_FUNC_SDO2, OUTPUT_PIN_RPG8);
PLIB_PORTS_RemapInput(PORTS_ID_0, INPUT_FUNC_SDI2, INPUT_PIN_RPD7);
/* set priority for SPI interrupt source */
SYS_INT_VectorPrioritySet(INT_VECTOR_SPI2_TX, INT_PRIORITY_LEVEL3);
SYS_INT_VectorPrioritySet(INT_VECTOR_SPI2_RX, INT_PRIORITY_LEVEL3);
/* set sub-priority for SPI interrupt source */
SYS_INT_VectorSubprioritySet(INT_VECTOR_SPI2_TX, INT_SUBPRIORITY_LEVEL1);
SYS_INT_VectorSubprioritySet(INT_VECTOR_SPI2_RX, INT_SUBPRIORITY_LEVEL1);
clkObject.systemClock = 200000000L;
//Turn ON the system clock
if(!SYS_TICK_Initialize(clkObject.systemClock, SYS_TICKS_PER_SECOND))
{
return;
}
SYS_INT_Enable();
/* Initialize the clock system service. This is used
* by the SPI Driver. */
clkObject.MZperipheralClock[2] = 100000000L;
clkObject.peripheralClock = 100000000L;
/* Initialize the SPI driver */
appDrvObjects.drvSPIObject = DRV_SPI_Initialize(DRV_SPI_INDEX_0,
(SYS_MODULE_INIT *)&drvSPIInit);
/* Initialize the SDCARD driver*/
appDrvObjects.drvSDCARDObject = DRV_SDCARD_Initialize(DRV_SDCARD_INDEX_0,
(SYS_MODULE_INIT *)&drvSDCARDInit);
/* Initialize the SYS_FS Layer */
SYS_FS_Initialize( (const void *) sysFATFSInit );
if(!_SYS_DEBUG_INIT(SYS_DEBUG_PORT))
{
return;
}
if(!_SYS_CONSOLE_INIT(SYS_CONSOLE_PORT))
{
return;
}
if(!_SYS_RANDOM_INIT())
{
return;
}
if (!_SYS_COMMAND_INIT())
{
return;
}
if (!SYS_USERIO_Initialize(0))
{
return;
}
// TCP/IP stack initialization
SYS_OUT_MESSAGE("TCPStack " TCPIP_STACK_VERSION " "" ");
// Initialize the TCPIP stack
if (!TCPIP_STACK_Init())
{
return;
}
APP_Initialize();
return;
} //SYS_Initialize
