Esempio n. 1
0
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();
}
Esempio n. 2
0
void pixyInit(uint32_t slaveRomStart, const unsigned char slaveImage[], uint32_t imageSize)
{
	platformInit();

	// button, SPI_SSEL
	LPC_GPIO_PORT->MASK[5] = 0;
	LPC_GPIO_PORT->PIN[5] = 0x20; // negate SPI_SS
	LPC_GPIO_PORT->DIR[5] = 0x20; // SPI_SS - output

	// deal with P4_1, GPIO2[1]
	LPC_GPIO_PORT->MASK[2] = 0;
	LPC_GPIO_PORT->DIR[2] = 0;

	// set timer so we count clock cycles
	LPC_TIMER1->IR = 0;
 	LPC_TIMER1->TCR = 1;
	LPC_TIMER1->PR = 0;

	// microsecond timer
	LPC_TIMER2->IR = 0;
 	LPC_TIMER2->TCR = 1;
	LPC_TIMER2->PR = CLKFREQ_US-1;

  	debug_frmwrk_init_clk(CLKFREQ);

	USB_UserInit();

	lpc_printf("M4 start\n");

	IPC_haltSlave();

	ADCInit();
   	SCTInit();
	CameraInit();

	// start slave
	IPC_downloadSlaveImage(slaveRomStart, slaveImage, imageSize);
	IPC_startSlave();

	// initialize chirp objects
	g_chirpUsb = new ChirpUsb();
  	g_chirpM0 = new ChirpM0();

	// initialize devices/modules
	pwr_init();
	spi_init();
	cam_init();
	rcs_init();
	led_init();
	//cc_init();
}
Esempio n. 3
0
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();
}
Esempio n. 4
0
/* download a processor image to the SLAVE CPU */
void IPC_downloadSlaveImage(uint32_t slaveRomStart, const unsigned char slaveImage[], uint32_t imageSize)
{
  	uint32_t i;
	volatile uint8_t *pu8SRAM;

	IPC_haltSlave();

    //Copy application into Slave ROM 
	pu8SRAM = (uint8_t *) slaveRomStart;
	for (i = 0; i < imageSize; i++)
	{
		pu8SRAM[i] = slaveImage[i];
	 }

	// Set Slave shadow pointer to begining of rom (where application is located) 
	SET_SLAVE_SHADOWREG(slaveRomStart);
}
Esempio n. 5
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();
}
Esempio n. 6
0
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();
}