int main(void)
{
/* Initialise SysTick timer that will be used as the ChibiOS kernel tick
* timer. */
STBase->RVR = SYSTEM_CLOCK / CH_FREQUENCY - 1;
STBase->CVR = 0;
STBase->CSR = CLKSOURCE_CORE_BITS | ENABLE_ON_BITS | TICKINT_ENABLED_BITS;
/* Kernel initialization, the main() function becomes a thread and the RTOS
* is active. */
chSysInit();
/* Piksi hardware initialization. */
init();
settings_setup();
usarts_setup();
check_nap_auth();
static char nap_version_string[64] = {0};
nap_conf_rd_version_string(nap_version_string);
log_info("NAP firmware version: %s\n", nap_version_string);
/* Check we are running a compatible version of the NAP firmware. */
const char *required_nap_version = "v0.9-46";
if (compare_version(nap_version_string, required_nap_version) < 0) {
log_error("NAP firmware version newer than %s required, please update!\n"
"(instructions can be found at http://docs.swift-nav.com/)\n",
required_nap_version);
while (1) {
chThdSleepSeconds(60);
}
}
static s32 serial_number;
serial_number = nap_conf_rd_serial_number();
max2769_setup();
timing_setup();
position_setup();
manage_acq_setup();
manage_track_setup();
system_monitor_setup();
base_obs_setup();
solution_setup();
simulator_setup();
sbp_fileio_setup();
ext_setup();
if (serial_number < 0) {
READ_ONLY_PARAMETER("system_info", "serial_number", "(unknown)", TYPE_STRING);
} else {
READ_ONLY_PARAMETER("system_info", "serial_number", serial_number, TYPE_INT);
}
READ_ONLY_PARAMETER("system_info", "firmware_version", GIT_VERSION,
TYPE_STRING);
READ_ONLY_PARAMETER("system_info", "firmware_built", __DATE__ " " __TIME__,
TYPE_STRING);
static struct setting hw_rev = {
"system_info", "hw_revision", NULL, 0,
settings_read_only_notify, NULL,
NULL, false
};
hw_rev.addr = (char *)nap_conf_rd_hw_rev_string();
hw_rev.len = strlen(hw_rev.addr);
settings_register(&hw_rev, TYPE_STRING);
READ_ONLY_PARAMETER("system_info", "nap_version", nap_version_string,
TYPE_STRING);
READ_ONLY_PARAMETER("system_info", "nap_channels", nap_track_n_channels,
TYPE_INT);
READ_ONLY_PARAMETER("system_info", "nap_fft_index_bits", nap_acq_fft_index_bits, TYPE_INT);
chThdCreateStatic(wa_nav_msg_thread, sizeof(wa_nav_msg_thread),
NORMALPRIO-1, nav_msg_thread, NULL);
/* Send message to inform host we are up and running. */
u32 startup_flags = 0;
sbp_send_msg(SBP_MSG_STARTUP, sizeof(startup_flags), (u8 *)&startup_flags);
while (1) {
chThdSleepSeconds(60);
}
}
int main(void)
{
halInit();
/* Kernel initialization, the main() function becomes a thread with
* priority NORMALPRIO and the RTOS is active. */
chSysInit();
/* Piksi hardware initialization. */
init();
settings_setup();
signal_init();
check_nap_auth();
static char nap_version_string[64] = {0};
nap_conf_rd_version_string(nap_version_string);
log_info("NAP firmware version: %s", nap_version_string);
/* Check we are running a compatible version of the NAP firmware. */
const char *required_nap_version = "v0.16";
if (compare_version(nap_version_string, required_nap_version) < 0) {
while (1) {
log_error("NAP firmware version >= %s required, please update!"
"(instructions can be found at http://docs.swift-nav.com/)",
required_nap_version);
chThdSleepSeconds(2);
}
}
static s32 serial_number;
serial_number = nap_conf_rd_serial_number();
frontend_setup();
timing_setup();
ext_event_setup();
position_setup();
track_setup();
track_gps_l1ca_register();
decode_setup();
decode_gps_l1_register();
manage_acq_setup();
manage_track_setup();
system_monitor_setup();
base_obs_setup();
solution_setup();
simulator_setup();
sbp_fileio_setup();
ext_setup();
pps_setup();
READ_ONLY_PARAMETER("system_info", "serial_number", serial_number, TYPE_INT);
READ_ONLY_PARAMETER("system_info", "firmware_version", GIT_VERSION,
TYPE_STRING);
READ_ONLY_PARAMETER("system_info", "firmware_built", __DATE__ " " __TIME__,
TYPE_STRING);
static struct setting hw_rev = {
"system_info", "hw_revision", NULL, 0,
settings_read_only_notify, NULL,
NULL, false
};
hw_rev.addr = (char *)nap_conf_rd_hw_rev_string();
hw_rev.len = strlen(hw_rev.addr);
settings_register(&hw_rev, TYPE_STRING);
READ_ONLY_PARAMETER("system_info", "nap_version", nap_version_string,
TYPE_STRING);
READ_ONLY_PARAMETER("system_info", "nap_channels", nap_track_n_channels,
TYPE_INT);
READ_ONLY_PARAMETER("system_info", "nap_fft_index_bits", nap_acq_fft_index_bits, TYPE_INT);
ephemeris_setup();
/* Send message to inform host we are up and running. */
u32 startup_flags = 0;
sbp_send_msg(SBP_MSG_STARTUP, sizeof(startup_flags), (u8 *)&startup_flags);
while (1) {
chThdSleepSeconds(60);
}
}