Exemple #1
0
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);
  }
}
Exemple #2
0
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);
  }
}