void UserInit(void)
{
mInitAllLEDs();
mInitSwitch();
blinkStatusValid = TRUE; //Blink the normal USB state on the LEDs.
}//end UserInit
void FraiseInit(void)
{
/*FrTXin=0;
FrTXout=0;
FrTXfree=255;*/
FrGotLineFromUsb=0;
LineFromUsbLen=0;
FraiseStatus.VAL=0;
FraiseState=fIDLE;
FraiseMessage=fmessNONE;
FrRXin=0;
FrRXout=0;
PollDelay=0;
//OpenUSART(USART_TX_INT_OFF & USART_RX_INT_OFF & USART_ASYNCH_MODE & USART_EIGHT_BIT & USART_CONT_RX & USART_BRGH_HIGH, 103); // 48 MHz/4/115200 = 104
BAUDCON = 0x08; // BRG16 = 1
OpenUSART(USART_TX_INT_OFF & USART_RX_INT_OFF & USART_ASYNCH_MODE & USART_NINE_BIT & USART_CONT_RX & USART_BRGH_HIGH & USART_ADDEN_OFF, 47); // 48 MHz/4/250000 = 48
USART_Status.TX_NINE=1;
// Initialize Timer2
// The prescaler will be at 16
T2CONbits.T2CKPS1 = 1;
T2CONbits.T2CKPS0 = 1;
// We want no TMR2 post scaler
T2CONbits.T2OUTPS3 = 0;
T2CONbits.T2OUTPS2 = 0;
T2CONbits.T2OUTPS1 = 0;
T2CONbits.T2OUTPS0 = 0;
// Set our reload value
//PR2 = kPR2_RELOAD;
PR2 = 255;
T2CONbits.TMR2ON = 1;
// Initalize switchs and leds
mInitAllLEDs();
mInitSwitch();
mInitSerDrv();
//Serial_Init_Receiver();
Serial_Init_Driver();
for(i=0;i<16;i++) {
Children[i]=0;
ChildrenOK[i]=0;
}
MaxPolledChild=4;
_PolledChild=1;_bit_PolledChild =2;
// Set interrupt priorities
PIE1bits.TMR2IE = 0;
IPR1bits.TMR2IP = 1;
IPR1bits.TXIP = 1;
IPR1bits.RCIP = 1;
INTCONbits.GIEH = 1;
}
void UserInit(void)
{
//usart
unsigned char c;
//ANSELHbits.ANS11 = 0; // Make RB5 digital so USART can use pin for Rx
UART_TRISRx=1; // RX
UART_TRISTx=1; // TX
TXSTA = 0b00100000; // TX enable BRGH=1
RCSTA = 0b10110000;// 0x90; // Single Character RX
SPBRG = 38;
SPBRGH = 0; // 259 for 48MHz -> 19200 baud
BAUDCON = 0; // BRG16 = 0
c = RCREG; // read
mInitAllLEDs();
mInitSwitch();
blinkStatusValid = TRUE; //Blink the normal USB state on the LEDs.
}//end UserInit
void hardwareInit() {
// Configure the device for maximum performance but do not change the PBDIV
// Given the options, this function will change the flash wait states, RAM
// wait state and enable prefetch cache but will not change the PBDIV.
// The PBDIV value is already set via the pragma FPBDIV option above..
SYSTEMConfig((80000000L), SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE);
SYSTEMConfigPerformance(80000000);
CHECONbits.PREFEN = 0;
int j = 0, i = 0;
for (i = 0; i < 6; i++) {
MyMAC.v[i] = MY_MAC_ADDRESS[i];
}
StartCritical();
println_I("MAC");
enableFlashStorage(true);
FlashGetMac(MyMAC.v);
for (i = 0; i < 6; i++) {
macStr[j++] = GetHighNib(MyMAC.v[i]);
macStr[j++] = GetLowNib(MyMAC.v[i]);
}
macStr[12] = 0;
//println_I("MAC address is =");
print_I(macStr);
Pic32_Bowler_HAL_Init();
usb_CDC_Serial_Init(dev, macStr, 0x04D8, 0x3742);
InitLEDS();
SetColor(0, 0, 1);
mInitSwitch();
//AVR Reset pin
InitAVR_RST();
HoldAVRReset();
//AVR must be running before pin states can be synced in the pin initialization
ReleaseAVRReset();
//Starts co-proc uart
initCoProcCom();
InitPinFunction();
//Must initialize IO before hardware
LoadDefaultValues();
//println_W("Pin States");
SyncModes();
//println_I("Modes synced, initializing channels");
initAdvancedAsync();
//println_I("Adding IO Namespace");
addNamespaceToList( get_bcsIoNamespace());
//println_I("Adding IO.Setmode Namespace");
addNamespaceToList(get_bcsIoSetmodeNamespace());
//println_I("Adding DyIO Namespace");
addNamespaceToList(get_neuronRoboticsDyIONamespace());
//println_I("Adding PID Namespace");
addNamespaceToList( getBcsPidNamespace());
//println_I("Adding DyIO PID Namespace");
addNamespaceToList( get_bcsPidDypidNamespace());
//println_I("Adding Safe Namespace");
addNamespaceToList((NAMESPACE_LIST *) get_bcsSafeNamespace());
Init_FLAG_BUSY_ASYNC();
//InitCTS_RTS_HO();
//ConfigUARTOpenCollector();
ConfigUARTRXTristate();
//Starts Timer 3
InitCounterPins();
InitADC();
//SetFwRev(rev);
GetName(Name);
if(Name[0]==0xff){
for(i=0;i<17;i++){
Name[i]=defaultName[i] ;
}
SetName(Name);
GetName(Name);
}
if (!GetLockCode(LockCode)){
for(i=0;i<4;i++){
LockCode[i] = defaultlock[i];
}
SetLockCode(LockCode);
}
EndCritical();
initBluetooth();
if(!hasBluetooth()){
Pic32UARTSetBaud( 115200 );
}
boolean defaultmac=true;
for (i = 0; (i < 6) && defaultmac; i++) {
if(MyMAC.v[i] != MY_MAC_ADDRESS[i]){
defaultmac = false;
}
}
if(defaultmac){
srand((unsigned) GetRawVoltage());// random seed from the air
MyMAC.v[3] = MINOR_REV;
MyMAC.v[4] = FIRMWARE_VERSION;
MyMAC.v[5] = rand() % 255;
FlashSetMac(MyMAC.v);
U1CON = 0x0000;
DelayMs(100);
Reset();
}
}
void hardwareInit(){
StartCritical();
println_I("Getting MAC from flash");
FlashGetMac(MyMAC.v);
char macStr[13];
int j=0,i=0;
for (i=0;i<6;i++){
macStr[j++]=GetHighNib(MyMAC.v[i]);
macStr[j++]=GetLowNib(MyMAC.v[i]);
}
macStr[12]=0;
println_I("MAC address is =");
print_I(macStr);
#if defined(ROBOSUB_DEMO)
//char * dev = "AHD Wave";
#else
char * dev = "DyIO v.3";
#endif
Pic32_Bowler_HAL_Init();
usb_CDC_Serial_Init(dev,macStr,0x04D8,0x3742);
mInitSwitch();
for (i=0;i<6;i++){
MyMAC.v[i]= MY_MAC_ADDRESS[i];
}
//Must initialize IO before hardware
InitPins();
println_I("Adding IO Namespace");
addNamespaceToList((NAMESPACE_LIST * )get_bcsIoNamespace());
println_I("Adding IO.Setmode Namespace");
addNamespaceToList((NAMESPACE_LIST * )get_bcsIoSetmodeNamespace());
println_I("Adding DyIO Namespace");
addNamespaceToList((NAMESPACE_LIST * )get_neuronRoboticsDyIONamespace());
println_I("Adding PID Namespace");
addNamespaceToList((NAMESPACE_LIST * )getBcsPidNamespace());
println_I("Adding DyIO PID Namespace");
addNamespaceToList((NAMESPACE_LIST * )get_bcsPidDypidNamespace());
println_I("Adding Safe Namespace");
addNamespaceToList((NAMESPACE_LIST * )get_bcsSafeNamespace());
Init_FLAG_BUSY_ASYNC();
//InitCTS_RTS_HO();
//AVR Reset pin
InitAVR_RST();
HoldAVRReset();
//ConfigUARTOpenCollector();
ConfigUARTRXTristate();
InitLEDS();
SetColor(0,0,1);
//Starts Timer 3
InitCounterPins();
InitADC();
BYTE rev [] = {MAJOR_REV,MINOR_REV,FIRMWARE_VERSION};
FlashSetFwRev(rev);
//Starts co-proc uart
initCoProcCom();
EndCritical();
INTEnableSystemMultiVectoredInt();
// initBluetooth();
// if(!hasBluetooth()){
// Pic32UARTSetBaud( 115200 );
// }
}
