void
_kernel_call_inirtn(void)
{
KzAttIni( (VP_INT)(0) );
timer_initialize( (VP_INT)(0) );
serial_initialize( (VP_INT)(0) );
}
int main(void)
{
vuint32_t PulseNum = 0;
/* 模块初始化 */
exc_init(); /* 中断初始化 */
light_init(); /* LED灯初始化 */
/* 初始化串口 */
serial_initialize((intptr_t)(NULL));
ftm_decoder_init(PTA8_9);
printf("%s\n","FTM - PWM test!");
while(1)
{
PulseNum = FTM_CNT_REG(FTM1_BASE_PTR); //读FTM1的CNT寄存器的值
if(PulseNum > 5000)
{
light_change(LIGHT1);
}
}
return 0;
}
int main(void)
{
/* 模块初始化 */
exc_init(); /* 中断初始化 */
light_init(); /* LED灯初始化 */
/* 初始化串口 */
serial_initialize((intptr_t)(NULL));
pit_init(PIT0, BUS_CLK_50000*1000);
pit_enable(PIT0);
printf("%s\n","PIT test!");
/* 主循环 */
while (1)
{
//主循环计数到一定的值，使小灯的亮、暗状态切换
if (pit_count > 0)
{
light_change(LIGHT0);//指示灯的亮、暗状态切换
pit_count = 0;
}
pit_enable(PIT0);
} //end_while
}
int main(int argc, char **argv)
{
/* 模块初始化 */
exc_init(); /* 中断初始化 */
sys_timer_init(); /* 系统时钟初始化 */
light_init(); /* LED灯初始化 */
switch_init(); /* 开关初始化 */
speaker_init(); /* 蜂鸣器初始化 */
motor_init(); /* 电机初始化 */
steer_init(); /* 舵机初始化 */
decoder_init(); /* 编码器初始化 */
serial_initialize((intptr_t)(NULL)); /* 初始化串口 */
//sd_init(&Fatfs); /* 初始化SD卡，并创建文件 */
//sd_create_file(&test_data, test_data_name);
/* 命令注册 */
help_cmd_initialize((intptr_t)(NULL));
light_cmd_initialize((intptr_t)(NULL));
switch_cmd_initialize((intptr_t)(NULL));
speaker_cmd_initialize((intptr_t)(NULL));
motor_cmd_initialize((intptr_t)(NULL));
decoder_cmd_initialize((intptr_t)(NULL));
control_cmd_initialize((intptr_t)(NULL));
//sd_cmd_initialize((intptr_t)(NULL));
printf("\n Welcome to k60 software platform!");
printf("\n Press 'help' to get the help! \n");
//light_open(LIGHT4);
/* ntshell测试 */
task_ntshell((intptr_t)(NULL));
}
void firmware_init(){
// Initialize firmware
dxl_initialize(0,1); //initialize dynamixel communication
serial_initialize(57600); //initialize serial communication
//initialize sensors
sensor_init(SENSOR_FRONT,SENSOR_DISTANCE);
sensor_init(SENSOR_FRONTLEFT,SENSOR_IR);
sensor_init(SENSOR_FRONTRIGHT,SENSOR_IR);
sensor_init(SENSOR_BACKLEFT,SENSOR_IR);
sensor_init(SENSOR_BACKRIGHT,SENSOR_IR);
//initialize I/O
io_init();
io_set_interrupt(BTN_START, &reset_state); //assign callback function when start button is pressed
// Activate general interrupts
sei();
// Set motors to wheel mode
motor_set_mode(254, MOTOR_WHEEL_MODE);
// Set serial communication through ZigBee
serial_set_zigbee();
}
int serial_open(urg_serial_t *serial, const char *device, long baudrate)
{
// COM10 以降への対応用
enum { NameLength = 11 };
char adjusted_device[NameLength];
serial_initialize(serial);
/* COM ポートを開く */
_snprintf(adjusted_device, NameLength, "\\\\.\\%s", device);
serial->hCom = CreateFileA(adjusted_device, GENERIC_READ | GENERIC_WRITE,
0, NULL, OPEN_EXISTING,
FILE_ATTRIBUTE_NORMAL, NULL);
if (serial->hCom == INVALID_HANDLE_VALUE) {
// !!! store error_message buffer
//printf("open failed: %s\n", device);
return -1;
}
/* 通信サイズの更新 */
SetupComm(serial->hCom, 4096 * 8, 4096);
/* ボーレートの変更 */
serial_set_baudrate(serial, baudrate);
/* シリアル制御構造体の初期化 */
serial->has_last_ch = False;
/* タイムアウトの設定 */
serial->current_timeout = 0;
set_timeout(serial, serial->current_timeout);
return 0;
}
int serial_connect(serial_t *serial, const char *device, long baudrate)
{
enum { NameLength = 11 };
char adjusted_device[NameLength];
serial_initialize(serial);
_snprintf(adjusted_device, NameLength, "\\\\.\\%s", device);
serial->hCom_ = CreateFileA(adjusted_device, GENERIC_READ | GENERIC_WRITE, 0,
NULL, OPEN_EXISTING, FILE_ATTRIBUTE_NORMAL, NULL);
if (serial->hCom_ == INVALID_HANDLE_VALUE) {
printf("open failed: %s\n", device);
return -1;
}
SetupComm(serial->hCom_, 4096 * 8, 4096);
serial_setBaudrate(serial, baudrate);
serial->has_last_ch_ = False;
serial->current_timeout_ = 0;
setTimeout(serial, serial->current_timeout_);
return 0;
}
void sensorInit(void){
printf( "### sensorInit\n");
// DDRA = 0xFC;
// PORTA = 0xFC;
serial_initialize(57600);
sei();
ADCSRA = (1 << ADEN) | (1 << ADPS2) | (1 << ADPS1); // ADC Enable, Clock 1/64div.
ADMUX = ADC_PORT_1; // ADC Port X Select
}
/* Symbol for common u-boot code to call. */
int serial_init(void)
{
serial_initialize();
serial_setbrg();
uart_lsr_clear();
#ifdef CONFIG_DEBUG_SERIAL
cache_count = 0;
memset(cached_lsr, 0x00, sizeof(cached_lsr));
memset(cached_rbr, 0x00, sizeof(cached_rbr));
#endif
return 0;
}
void
_kernel_call_inirtn(void)
{
macaddr_init( (VP_INT)(0) );
application_init( (VP_INT)(0) );
sdev_init( (VP_INT)(0) );
stdfile_init( (VP_INT)(0) );
rtc_init( (VP_INT)(0) );
mci_init( (VP_INT)(0) );
dma_init( (VP_INT)(0) );
timer_initialize( (VP_INT)(0) );
serial_initialize( (VP_INT)(0) );
}
int main(void)
{
//int Value = 0;
DDRC = 0x7F;
PORTC = 0x7D;
serial_initialize(57600); // USART Initialize
//serial_initialize(250000); // USART Initialize
dxl_initialize( 0, 7 ); // Not using device index
sei();
SetUpServos();
SetConstants();
SetKConstants();
printf("ARMS CONTROL - Left \r" );
printf("Ver1.0 - Last Moddification 23-03-15\r" );
while (1)
{
if(cmdReady)
{
if(!execCommand()) printf("Unknown command\r");
}
if(doLoop)
{
executeControl();
count = count + 100;
}
if(doGripper)
{
executeGripper();
}
_delay_ms(3);
Leds();
}
return 1;
}
void Fable_init(){
DDRA=0xFF;//PORTA is output
//serial_initialize(9600);
serial_initialize(57600);
//serial_set_rx_callback(&serial_receive_data);
//Init Timer
// TCCR0A = (1<<COM0A1)|(1<<COM0A0); //Set OC0A on Compare Match
// TCCR0B = (1<<FOC0A)|(1<<CS01)|(1<<CS00); //Force Output Compare A and 64 prescaler
// OCR0A = 125; //1ms according to KAVRCalc (8Mhz, 1msm, 64 prescaler, 0.0% error)
// TIMSK0 = 1<<OCIE0A; // Enable Timer 0 Output Compare A Match Event Interrupt
// TCCR0A = (1<<WGM01);//Clear on compare |(1<<COM0A0); //Set OC0A on Compare Match
// TCCR0B = (1<<CS01)|(1<<CS00); //64 prescaler
// OCR0A = 125; //1ms -> 8M/2*64*1000
// TIMSK0 = 1<<OCIE0A; // Enable Timer 0 Output Compare A Match Event Interrupt
start_system_timer();
accel_init();
i2c_init(400);// init i2c 100 khz
ext_uart_init();
ir_init(EXT_UART_0);
ir_init(EXT_UART_1);
ir_init(EXT_UART_2);
ir_init(EXT_UART_3);
gyro_set_mode(GYRO_MODE_ON);
sei();//enable interrupts
ase_printf("fw initialized\n");
/*
//ext_adc_init();//only on new board
ext_uart_enable_int_rx(1,&ext_uart_receive);
ir_init(EXT_UART_2);
ir_init(EXT_UART_3);
gyro_set_mode(GYRO_MODE_ON);// turn on gyroscope
//dxl_initialize(0,207); //init dinamixel, baud= 57600 (to check)
//printf("External UART %s\n",i2c_read_byte(0xd8,0x1c)==1?"OK":"NOT OK");//check communication works
*/
}
int main(void)
{
serial_initialize(57600);
zigbee_initialize();
sei();
legsInit();
while(1)
{
move(FRONT_LEFT,300,1,1);
move(BACK_RIGHT,300,1,1);
}
return 0;
}
int main(int argc, char* argv[]) {
util::ParseInputArgs(argc, argv);
pointVec_t points;
pointVec_t hull;
util::my_time_t tm_init, tm_start, tm_end;
std::cout << "Starting serial version of QUICK HULL algorithm" << std::endl;
tm_init = util::gettime();
serial_initialize(points);
tm_start = util::gettime();
std::cout << "Init time: " << util::time_diff(tm_init, tm_start) << " Points in input: " << points.size() << "\n";
tm_start = util::gettime();
quickhull(points, hull);
tm_end = util::gettime();
std::cout << "Serial time: " << util::time_diff(tm_start, tm_end) << " Points in hull: " << hull.size() << "\n";
}
int main(){
//portInit();
serial_initialize(57600);
dxl_initialize( 0, 1 ); // init with baud = 1 Mbps
ADCInit();
sei(); //Enables global interrupts
unsigned int distanceLeft, distanceRight, front, movingLeft, movingRight;
signed int speedLeft, speedRight;
while(1) {
//printf("%d %d\n\n",getSensorValue(3),getSensorValue(4));
//_delay_ms(1000);
// Get sensor reading (in cm)
front = DMSDistance(getSensorValue(1));
distanceLeft = IRValue(getSensorValue(3));
distanceRight = IRValue(getSensorValue(4));
// Calculating the required speed
speedRight = (int)((front-40*distanceLeft));
speedLeft = (int)((front-40*distanceRight));
movingLeft = dxl_read_byte( 1, 38 );
movingRight = dxl_read_byte(2,38);
if(movingLeft < 15 && movingRight < 15){
wheel(1,0);
wheel(2,-20);
_delay_ms(1000);
}else{
wheel(1,-speedRight);
wheel(2,speedLeft);
}
printf("%d %d - %d\n\n",speedLeft,speedRight,getSensorValue(1));
//_delay_ms(1000);
// Making the wheels spin
}
return 0;
}
/*
打开串口
*/
int serial_open(urg_serial_t *serial, const char *device, long baudrate)
{
int flags = 0;
int ret = 0;
serial_initialize(serial);
#ifndef URG_MAC_OS
enum { O_EXLOCK = 0x0 }; /* Not used in Linux, used as dummy */
#endif
/* Linux系统打开一个设备，详细的可以看 UNIX高级环境编程 */
serial->fd = open(device, O_RDWR | O_EXLOCK | O_NONBLOCK | O_NOCTTY);
if (serial->fd < 0) {
/* 设备打开失败 */
//strerror_r(errno, serial->error_string, ERROR_MESSAGE_SIZE);
return -1;
}
flags = fcntl(serial->fd, F_GETFL, 0);
fcntl(serial->fd, F_SETFL, flags & ~O_NONBLOCK);
/* 串口初始化部分 */
tcgetattr(serial->fd, &serial->sio);
serial->sio.c_iflag = 0;
serial->sio.c_oflag = 0;
/* 下面的大写字母表示的都是Linux系统的宏定义，没有必要全部搞懂，看一下了解一下 */
serial->sio.c_cflag &= ~(CSIZE | PARENB | CSTOPB);
serial->sio.c_cflag |= CS8 | CREAD | CLOCAL;
serial->sio.c_lflag &= ~(ICANON | ECHO | ISIG | IEXTEN);
serial->sio.c_cc[VMIN] = 0;
serial->sio.c_cc[VTIME] = 0;
/* 串口设置波特率 */
ret = serial_set_baudrate(serial, baudrate);
if (ret < 0) {
return ret;
}
/* Initializes serial control structures */
serial->has_last_ch = False;
return 0;
}
static void __init mv_init(void)
{
/* init the Board environment */
mvBoardEnvInit();
/* init the controller environment */
if (mvCtrlEnvInit() ) {
printk( "Controller env initialization failed.\n" );
return;
}
/* Init the CPU windows setting and the access protection windows. */
if (mvCpuIfInit(mv_sys_map())) {
printk( "Cpu Interface initialization failed.\n" );
return;
}
#if defined (CONFIG_MV78XX0_Z0)
mvCpuIfBridgeReorderWAInit();
#endif
/* Init Tclk & SysClk */
mvTclk = mvBoardTclkGet();
mvSysclk = mvBoardSysClkGet();
support_wait_for_interrupt = 1;
#ifdef CONFIG_JTAG_DEBUG
support_wait_for_interrupt = 0; /* for Lauterbach */
#endif
mv_vfp_init();
elf_hwcap &= ~HWCAP_JAVA;
serial_initialize();
/* At this point, the CPU windows are configured according to default definitions in mvSysHwConfig.h */
/* and cpuAddrWinMap table in mvCpuIf.c. Now it's time to change defaults for each platform. */
mvCpuIfAddrDecShow(whoAmI());
print_board_info();
}
/* �ڑ� */
int serial_connect(serial_t *serial, const char *device, long baudrate)
{
int flags = 0;
int ret = 0;
serial_initialize(serial);
#ifndef MAC_OS
enum { O_EXLOCK = 0x0 }; /* Linux �ł͎g���Ȃ��̂Ń_�~�[���쐬���Ă��� */
#endif
serial->fd_ = open(device, O_RDWR | O_EXLOCK | O_NONBLOCK | O_NOCTTY);
if (serial->fd_ < 0) {
/* �ڑ��Ɏ��s */
strerror_r(errno, serial->error_string_, SerialErrorStringSize);
return SerialConnectionFail;
}
flags = fcntl(serial->fd_, F_GETFL, 0);
fcntl(serial->fd_, F_SETFL, flags & ~O_NONBLOCK);
/* �V���A���ʐM�̏��� */
tcgetattr(serial->fd_, &serial->sio_);
serial->sio_.c_iflag = 0;
serial->sio_.c_oflag = 0;
serial->sio_.c_cflag &= ~(CSIZE | PARENB | CSTOPB);
serial->sio_.c_cflag |= CS8 | CREAD | CLOCAL;
serial->sio_.c_lflag &= ~(ICANON | ECHO | ISIG | IEXTEN);
serial->sio_.c_cc[VMIN] = 0;
serial->sio_.c_cc[VTIME] = 0;
/* �{�[���[�g�̕ύX */
ret = serial_setBaudrate(serial, baudrate);
if (ret < 0) {
return ret;
}
/* �V���A������\���̂̏��� */
serial->has_last_ch_ = False;
return 0;
}
int serial_open(urg_serial_t *serial, const char *device, long baudrate)
{
int flags = 0;
int ret = 0;
serial_initialize(serial);
#ifndef URG_MAC_OS
enum { O_EXLOCK = 0x0 }; /* Not used in Linux, used as dummy */
#endif
serial->fd = open(device, O_RDWR | O_EXLOCK | O_NONBLOCK | O_NOCTTY);
if (serial->fd < 0) {
/* Connection failed */
//strerror_r(errno, serial->error_string, ERROR_MESSAGE_SIZE);
return -1;
}
flags = fcntl(serial->fd, F_GETFL, 0);
fcntl(serial->fd, F_SETFL, flags & ~O_NONBLOCK);
/* Initializes serial communication */
tcgetattr(serial->fd, &serial->sio);
serial->sio.c_iflag = 0;
serial->sio.c_oflag = 0;
serial->sio.c_cflag &= ~(CSIZE | PARENB | CSTOPB);
serial->sio.c_cflag |= CS8 | CREAD | CLOCAL;
serial->sio.c_lflag &= ~(ICANON | ECHO | ISIG | IEXTEN);
serial->sio.c_cc[VMIN] = 0;
serial->sio.c_cc[VTIME] = 0;
ret = serial_set_baudrate(serial, baudrate);
if (ret < 0) {
return ret;
}
/* Initializes serial control structures */
serial->has_last_ch = False;
return 0;
}
int main(void)
{
int Value = 0;
serial_initialize(57600); // USART Initialize
sei();
printf( "\n\nSerial Comm. example for CM-510\n\n" );
while (1)
{
unsigned char ReceivedData = getchar();
if(ReceivedData == 'u')
Value++;
else if(ReceivedData == 'd')
Value--;
printf("%d\r\n", Value);
}
return 1;
}
void urg_initialize(urg_t *urg)
{
serial_initialize(&urg->serial_);
urg->errno_ = UrgNoError;
urg->last_timestamp_ = 0;
}
int main(void)
{
int id[NUM_ACTUATOR];
float phase[NUM_ACTUATOR];
float theta = 0;
int AmpPos = 512;
//int AmpPos = 2048; // for EX series
int GoalPos;
int i;
int CommStatus;
serial_initialize(57600);
dxl_initialize( 0, DEFAULT_BAUDNUM ); // Not using device index
sei(); // Interrupt Enable
printf( "\n\nSyncWrite example for CM-700\n\n" );
for( i=0; i<NUM_ACTUATOR; i++ )
{
id[i] = i+1;
phase[i] = 2*PI * (float)i / (float)NUM_ACTUATOR;
}
// Set goal speed
dxl_write_word( BROADCAST_ID, P_GOAL_SPEED_L, 0 );
// Set goal position
dxl_write_word( BROADCAST_ID, P_GOAL_POSITION_L, AmpPos );
_delay_ms(1000);
while(1)
{
// Make syncwrite packet
dxl_set_txpacket_id(BROADCAST_ID);
dxl_set_txpacket_instruction(INST_SYNC_WRITE);
dxl_set_txpacket_parameter(0, P_GOAL_POSITION_L);
dxl_set_txpacket_parameter(1, 2);
for( i=0; i<NUM_ACTUATOR; i++ )
{
dxl_set_txpacket_parameter(2+3*i, id[i]);
GoalPos = (int)((sin(theta+phase[i]) + 1.0) * (float)AmpPos);
printf( "%d ", GoalPos );
dxl_set_txpacket_parameter(2+3*i+1, dxl_get_lowbyte(GoalPos));
dxl_set_txpacket_parameter(2+3*i+2, dxl_get_highbyte(GoalPos));
}
dxl_set_txpacket_length((2+1)*NUM_ACTUATOR+4);
printf( "\n" );
dxl_txrx_packet();
CommStatus = dxl_get_result();
if( CommStatus == COMM_RXSUCCESS )
PrintErrorCode();
else
PrintCommStatus(CommStatus);
theta += STEP_THETA;
if( theta > 2*PI )
theta -= 2*PI;
_delay_ms(CONTROL_PERIOD);
}
return 0;
}
int main(void)
{
#if 0
int id[NUM_ACTUATOR];
float phase[NUM_ACTUATOR];
float theta = 0;
int AmpPos = 512;
//int AmpPos = 2048; // for EX series
int GoalPos;
int i;
int CommStatus;
int isPress = 0;
int isOn = 0;
unsigned char ReceivedData;
int Value;
mServoList[0] = (stServo *)malloc(sizeof(stServo));
memset((void *)mServoList[0], 0x00, sizeof(stServo) );
mServoList[0]->id = 4;
serial_initialize(57600);
dxl_initialize( 0, DEFAULT_BAUDNUM ); // Not using device index
sei(); // Interrupt Enable
printf( "\n\nSyncWrite example for CM-700\n\n" );
#ifdef MODE_SYNC
for( i=0; i<NUM_ACTUATOR; i++ )
{
id[i] = i+2;
phase[i] = 2*PI * (float)i / (float)NUM_ACTUATOR;
}
#else
int wPresentPos = 512;
#endif
//Set EEP Lock
dxl_write_word( BROADCAST_ID, P_EEP_LOCK, 1 );
// Set goal speed
dxl_write_word( BROADCAST_ID, P_GOAL_SPEED_L, 0 );
// Set goal position
dxl_write_word( BROADCAST_ID, P_GOAL_POSITION_L, AmpPos );
dxl_write_word( 4, P_TORQUE_LIMIT_L, 0);
_delay_ms(1000);
while(1)
{
if(~PIND & SW_START){
isPress = 1;
}else{
if( isPress == 1 ){
if( isOn == 0 ){
isOn = 1;
}else{
isOn = 0;
}
}
isPress = 0;
}
// while( ReceivedData = getchar() != NULL ){
if(ReceivedData == 'u')
Value++;
else if(ReceivedData == 'd')
Value--;
printf("%d, %d\r\n", Value, ReceivedData);
// }
if( isOn ){
#ifdef MODE_SYNC
// Make syncwrite packet
dxl_set_txpacket_id(BROADCAST_ID);
dxl_set_txpacket_instruction(INST_SYNC_WRITE);
dxl_set_txpacket_parameter(0, P_GOAL_POSITION_L);
dxl_set_txpacket_parameter(1, 2);
for( i=0; i<NUM_ACTUATOR; i++ )
{
dxl_set_txpacket_parameter(2+3*i, id[i]);
GoalPos = (int)((sin(theta+phase[i]) + 1.0) * (float)AmpPos);
printf( "%d ", GoalPos );
dxl_set_txpacket_parameter(2+3*i+1, dxl_get_lowbyte(GoalPos));
dxl_set_txpacket_parameter(2+3*i+2, dxl_get_highbyte(GoalPos));
}
dxl_set_txpacket_length((2+1)*NUM_ACTUATOR+4);
printf( "\n" );
dxl_txrx_packet();
CommStatus = dxl_get_result();
if( CommStatus == COMM_RXSUCCESS )
PrintErrorCode();
else
PrintCommStatus(CommStatus);
theta += STEP_THETA;
if( theta > 2*PI )
theta -= 2*PI;
#else
wPresentPos = dxl_read_word( 4, P_PRESENT_POSITION_L );
printf( "%d\n", wPresentPos );
dxl_write_word( 2, P_GOAL_POSITION_L, wPresentPos );
dxl_write_word( 3, P_GOAL_POSITION_L, wPresentPos );
PrintErrorCode();
#endif
}
getServoStatus();
_delay_ms(CONTROL_PERIOD);
}
return 0;
#endif
#if 0
DDRC = 0x7F;
PORTC = 0x7E;
DDRD = 0x70;
PORTD = 0x11;
while (1)
{
if(~PIND & SW_START)
PORTC = ~(LED_BAT|LED_TxD|LED_RxD|LED_AUX|LED_MANAGE|LED_PROGRAM|LED_PLAY);
else PORTC = LED_BAT|LED_TxD|LED_RxD|LED_AUX|LED_MANAGE|LED_PROGRAM|LED_PLAY;
}
return 1;
#endif
while(isFinish == 0){
_delay_ms(500);
getSerialData();
// ReceivedData = getchar();
//if(ReceivedData == 'u'){
//printf("%d\r\n", Value);
//Value++;
//}else if(ReceivedData == 'd'){
//printf("%d\r\n", Value);
//Value--;
//}else if(ReceivedData == 10 || ReceivedData == 13 ){
//printf("%s\r\n", "end");
//break;
//}
printf("%s\r\n", "Loop");
}
printf("%s\r\n", "finish");
return 0;
}
void board_init_r(gd_t *id, ulong dest_addr)
{
ulong malloc_start;
#if !defined(CONFIG_SYS_NO_FLASH)
ulong flash_size;
#endif
gd->flags |= GD_FLG_RELOC; /* tell others: relocation done */
bootstage_mark_name(BOOTSTAGE_ID_START_UBOOT_R, "board_init_r");
monitor_flash_len = (ulong)&__rel_dyn_end - (ulong)_start;
/* Enable caches */
enable_caches();
debug("monitor flash len: %08lX\n", monitor_flash_len);
board_init(); /* Setup chipselects */
/*
* TODO: printing of the clock inforamtion of the board is now
* implemented as part of bdinfo command. Currently only support for
* davinci SOC's is added. Remove this check once all the board
* implement this.
*/
#ifdef CONFIG_CLOCKS
set_cpu_clk_info(); /* Setup clock information */
#endif
serial_initialize();
debug("Now running in RAM - U-Boot at: %08lx\n", dest_addr);
#ifdef CONFIG_LOGBUFFER
logbuff_init_ptrs();
#endif
#ifdef CONFIG_POST
post_output_backlog();
#endif
/* The Malloc area is immediately below the monitor copy in DRAM */
malloc_start = dest_addr - TOTAL_MALLOC_LEN;
mem_malloc_init (malloc_start, TOTAL_MALLOC_LEN);
#ifdef CONFIG_ARCH_EARLY_INIT_R
arch_early_init_r();
#endif
power_init_board();
#if !defined(CONFIG_SYS_NO_FLASH)
puts("Flash: ");
flash_size = flash_init();
if (flash_size > 0) {
# ifdef CONFIG_SYS_FLASH_CHECKSUM
print_size(flash_size, "");
/*
* Compute and print flash CRC if flashchecksum is set to 'y'
*
* NOTE: Maybe we should add some WATCHDOG_RESET()? XXX
*/
if (getenv_yesno("flashchecksum") == 1) {
printf(" CRC: %08X", crc32(0,
(const unsigned char *) CONFIG_SYS_FLASH_BASE,
flash_size));
}
putc('\n');
# else /* !CONFIG_SYS_FLASH_CHECKSUM */
print_size(flash_size, "\n");
# endif /* CONFIG_SYS_FLASH_CHECKSUM */
} else {
puts(failed);
hang();
}
#endif
#if defined(CONFIG_CMD_NAND)
puts("NAND: ");
nand_init(); /* go init the NAND */
#endif
#if defined(CONFIG_CMD_ONENAND)
onenand_init();
#endif
#ifdef CONFIG_GENERIC_MMC
puts("MMC: ");
mmc_initialize(gd->bd);
#endif
#ifdef CONFIG_CMD_SCSI
puts("SCSI: ");
scsi_init();
#endif
#ifdef CONFIG_HAS_DATAFLASH
AT91F_DataflashInit();
dataflash_print_info();
#endif
/* initialize environment */
if (should_load_env())
env_relocate();
else
set_default_env(NULL);
#if defined(CONFIG_CMD_PCI) || defined(CONFIG_PCI)
arm_pci_init();
#endif
stdio_init(); /* get the devices list going. */
jumptable_init();
#if defined(CONFIG_API)
/* Initialize API */
api_init();
#endif
console_init_r(); /* fully init console as a device */
#ifdef CONFIG_DISPLAY_BOARDINFO_LATE
# ifdef CONFIG_OF_CONTROL
/* Put this here so it appears on the LCD, now it is ready */
display_fdt_model(gd->fdt_blob);
# else
checkboard();
# endif
#endif
#if defined(CONFIG_ARCH_MISC_INIT)
/* miscellaneous arch dependent initialisations */
arch_misc_init();
#endif
#if defined(CONFIG_MISC_INIT_R)
/* miscellaneous platform dependent initialisations */
misc_init_r();
#endif
/* set up exceptions */
interrupt_init();
/* enable exceptions */
enable_interrupts();
/* Initialize from environment */
load_addr = getenv_ulong("loadaddr", 16, load_addr);
#ifdef CONFIG_BOARD_LATE_INIT
board_late_init();
#endif
#ifdef CONFIG_FASTBOOT
fastboot_setup();
#endif
#ifdef CONFIG_BITBANGMII
bb_miiphy_init();
#endif
#if defined(CONFIG_CMD_NET)
puts("Net: ");
eth_initialize(gd->bd);
#if defined(CONFIG_RESET_PHY_R)
debug("Reset Ethernet PHY\n");
reset_phy();
#endif
#endif
#ifdef CONFIG_POST
post_run(NULL, POST_RAM | post_bootmode_get(0));
#endif
#if defined(CONFIG_PRAM) || defined(CONFIG_LOGBUFFER)
/*
* Export available size of memory for Linux,
* taking into account the protected RAM at top of memory
*/
{
ulong pram = 0;
uchar memsz[32];
#ifdef CONFIG_PRAM
pram = getenv_ulong("pram", 10, CONFIG_PRAM);
#endif
#ifdef CONFIG_LOGBUFFER
#ifndef CONFIG_ALT_LB_ADDR
/* Also take the logbuffer into account (pram is in kB) */
pram += (LOGBUFF_LEN + LOGBUFF_OVERHEAD) / 1024;
#endif
#endif
sprintf((char *)memsz, "%ldk", (gd->ram_size / 1024) - pram);
setenv("mem", (char *)memsz);
}
#endif
#ifdef CONFIG_FASTBOOT
check_fastboot();
#endif
/* main_loop() can return to retry autoboot, if so just run it again. */
for (;;) {
main_loop();
}
/* NOTREACHED - no way out of command loop except booting */
}
static int initr_serial(void)
{
serial_initialize();
return 0;
}
/* Symbol for common u-boot code to call. */
int serial_init(void)
{
serial_initialize();
serial_setbrg();
return 0;
}
void start_armboot (void)
{
init_fnc_t **init_fnc_ptr;
char *s;
int mmc_exist = 0;
#if defined(CONFIG_VFD) || defined(CONFIG_LCD)
unsigned long addr;
#endif
/* Pointer is writable since we allocated a register for it */
gd = (gd_t*)(_armboot_start - CONFIG_SYS_MALLOC_LEN - sizeof(gd_t));
/* compiler optimization barrier needed for GCC >= 3.4 */
__asm__ __volatile__("": : :"memory");
memset ((void*)gd, 0, sizeof (gd_t));
gd->bd = (bd_t*)((char*)gd - sizeof(bd_t));
memset (gd->bd, 0, sizeof (bd_t));
// gd->flags |= GD_FLG_RELOC;
monitor_flash_len = _bss_start - _armboot_start;
for (init_fnc_ptr = init_sequence; *init_fnc_ptr; ++init_fnc_ptr) {
if ((*init_fnc_ptr)() != 0) {
hang ();
}
}
/* armboot_start is defined in the board-specific linker script */
mem_malloc_init (_armboot_start - CONFIG_SYS_MALLOC_LEN,
CONFIG_SYS_MALLOC_LEN);
#ifndef CONFIG_SYS_NO_FLASH
/* configure available FLASH banks */
display_flash_config (flash_init ());
#endif /* CONFIG_SYS_NO_FLASH */
#ifdef CONFIG_VFD
# ifndef PAGE_SIZE
# define PAGE_SIZE 4096
# endif
/*
* reserve memory for VFD display (always full pages)
*/
/* bss_end is defined in the board-specific linker script */
addr = (_bss_end + (PAGE_SIZE - 1)) & ~(PAGE_SIZE - 1);
vfd_setmem (addr);
gd->fb_base = addr;
#endif /* CONFIG_VFD */
#ifdef CONFIG_LCD
/* board init may have inited fb_base */
if (!gd->fb_base) {
# ifndef PAGE_SIZE
# define PAGE_SIZE 4096
# endif
/*
* reserve memory for LCD display (always full pages)
*/
/* bss_end is defined in the board-specific linker script */
addr = (_bss_end + (PAGE_SIZE - 1)) & ~(PAGE_SIZE - 1);
lcd_setmem (addr);
gd->fb_base = addr;
}
#endif /* CONFIG_LCD */
#if defined(CONFIG_CMD_NAND)
puts ("NAND: ");
nand_init(); /* go init the NAND */
#endif
#if defined(CONFIG_CMD_ONENAND)
onenand_init();
#endif
#ifdef CONFIG_GENERIC_MMC
puts ("MMC: ");
mmc_exist = mmc_initialize (gd->bd);
if (mmc_exist != 0)
{
puts ("0 MB\n");
}
#endif
#ifdef CONFIG_HAS_DATAFLASH
AT91F_DataflashInit();
dataflash_print_info();
#endif
/* initialize environment */
env_relocate ();
#ifdef CONFIG_VFD
/* must do this after the framebuffer is allocated */
drv_vfd_init();
#endif /* CONFIG_VFD */
#ifdef CONFIG_SERIAL_MULTI
serial_initialize();
#endif
/* IP Address */
gd->bd->bi_ip_addr = getenv_IPaddr ("ipaddr");
stdio_init (); /* get the devices list going. */
jumptable_init ();
#if defined(CONFIG_API)
/* Initialize API */
api_init ();
#endif
console_init_r (); /* fully init console as a device */
#if defined(CONFIG_ARCH_MISC_INIT)
/* miscellaneous arch dependent initialisations */
arch_misc_init ();
#endif
#if defined(CONFIG_MISC_INIT_R)
/* miscellaneous platform dependent initialisations */
misc_init_r ();
#endif
/* enable exceptions */
enable_interrupts ();
/* Perform network card initialisation if necessary */
#ifdef CONFIG_DRIVER_TI_EMAC
/* XXX: this needs to be moved to board init */
extern void davinci_eth_set_mac_addr (const u_int8_t *addr);
if (getenv ("ethaddr")) {
uchar enetaddr[6];
eth_getenv_enetaddr("ethaddr", enetaddr);
davinci_eth_set_mac_addr(enetaddr);
}
#endif
#if defined(CONFIG_DRIVER_SMC91111) || defined (CONFIG_DRIVER_LAN91C96)
/* XXX: this needs to be moved to board init */
if (getenv ("ethaddr")) {
uchar enetaddr[6];
eth_getenv_enetaddr("ethaddr", enetaddr);
smc_set_mac_addr(enetaddr);
}
#endif /* CONFIG_DRIVER_SMC91111 || CONFIG_DRIVER_LAN91C96 */
/* Initialize from environment */
if ((s = getenv ("loadaddr")) != NULL) {
load_addr = simple_strtoul (s, NULL, 16);
}
#if defined(CONFIG_CMD_NET)
if ((s = getenv ("bootfile")) != NULL) {
copy_filename (BootFile, s, sizeof (BootFile));
}
#endif
#ifdef BOARD_LATE_INIT
board_late_init ();
#endif
#ifdef CONFIG_BITBANGMII
bb_miiphy_init();
#endif
#if defined(CONFIG_CMD_NET)
#if defined(CONFIG_NET_MULTI)
puts ("Net: ");
#endif
eth_initialize(gd->bd);
#if defined(CONFIG_RESET_PHY_R)
debug ("Reset Ethernet PHY\n");
reset_phy();
#endif
#endif
/* main_loop() can return to retry autoboot, if so just run it again. */
for (;;) {
main_loop ();
}
/* NOTREACHED - no way out of command loop except booting */
}
int main(int argc, char **argv)
{
int robot_state = FORWARD;
int last_robot_state = FORWARD;
int front_infrared_value = 0;
int back_infrared_value = 0;
int front_infrared_num = 0;
int back_infrared_num = 0;
int front_infrared_amount = 0;
int back_infrared_amount = 0;
int front_infrared_weight = 0;
int back_infrared_weight = 0;
uint32_t car_distence = 0;
uint8_t get_char = 0;
int change_num = 0;
bool_t switch_state = 0;
int detect_num = 0;
int angle = 0;
/* 模块初始化 */
exc_init(); /* 中断初始化 */
sys_timer_init(); /* 系统时钟初始化 */
light_init(); /* 灯初始化 */
switch_init(); /* 开关初始化 */
serial_initialize((intptr_t) (NULL)); /* 初始化串口 */
motor_init(); /* 电机初始化 */
steer_init(); /* 舵机初始化 */
decoder_init((intptr_t) (NULL)); /* 编码器初始化 */
infrared_init(); /* 红外初始化 */
while(1)
{
light_open(LIGHT2);
light_open(LIGHT3);
}
// gpio_init(PORT_NO_GET(PTC0), PIN_NO_GET(PTC0), OUT_PUT, 0);
// gpio_init(PORT_NO_GET(PTC2), PIN_NO_GET(PTC2),OUT_PUT, 1);
// while(1)
// {
// motor_output(MOTOR_LEFT, 50);
// motor_output(MOTOR_RIGHT, 50);
// }
while((get_char != 's') && (switch_state != SWITCH_ON))
{
light_open_some(0x0f);
get_char = serial_get_char(UART_NO_GET(UART_NO));
switch_state = switch_read(SWITCH0);
}
while (1)
{
get_char = serial_get_char(UART_NO_GET(UART_NO));
if(get_char == 'p')
{
last_robot_state = robot_state;
robot_state = STOP;
}
/* 读取光电管的数据 */
front_infrared_value = infrared_read_loc(INFRARED_FRONT);
back_infrared_value = infrared_read_loc(INFRARED_BACK);
/* 读取红外从右第一个亮灯的位置 */
front_infrared_num = infrared_read_num(front_infrared_value);
back_infrared_num = infrared_read_num(back_infrared_value);
/* 读取传感器亮灯的总数 */
front_infrared_amount = infrared_read_amount(front_infrared_value);
back_infrared_amount = infrared_read_amount(back_infrared_value);
/* 读取权值 */
front_infrared_weight = infrared_read_weight(front_infrared_value);
back_infrared_weight = infrared_read_weight(back_infrared_value);
switch (robot_state)
{
/**********************************前进*************************************/
case FORWARD:
light_open_some(0x01);
light_bar_open(LIGHT_BAR0);
light_bar_close(LIGHT_BAR1);
if (front_infrared_amount == 1)
{
if (front_infrared_weight == 3)
{
angle = 40;
//motor_output2(13, 13);
}
else if (front_infrared_weight == -3)
{
angle = -40;
//motor_output2(13, 13);
}
else if (front_infrared_weight == 2)
{
angle = 20;
//motor_output2(13, 13);
}
else if (front_infrared_weight == -2)
{
angle = -20;
//motor_output2(13, 13);
}
else if (front_infrared_weight == 1)
{
angle = 5;
//motor_output2(13, 13);
}
else if (front_infrared_weight == -1)
{
angle = -5;
//motor_output2(13, 13);
}
}
else if (front_infrared_amount == 2)
{
if (front_infrared_weight == 5)
{
angle = 30;
//motor_output2(13, 13);
}
else if (front_infrared_weight == -5)
{
angle = -30;
//motor_output2(13, 13);
}
else if (front_infrared_weight == 3)
{
angle = 10;
//motor_output2(13, 13);
}
else if (front_infrared_weight == -3)
{
angle = -10;
//motor_output2(13, 13);
}
else if (front_infrared_weight == 0)
{
angle = 0;
//motor_output2(13, 13);
}
}
steer_output_angle(STEER_DIR, angle);
speed_control_forward(30,angle);
if (front_infrared_amount > 4)
{
if(change_num == 4)
{
robot_state = STOP;
}
detect_num ++;
if(detect_num > 2)
{
detect_num = 0;
robot_state = FORWARD_CHANGE;
car_distence = gl_distanceTotal;
}
}
else
{
detect_num = 0;
}
break;
/**********************************前进转换1*************************************/
case FORWARD_CHANGE:
light_bar_open(LIGHT_BAR0);
light_bar_open(LIGHT_BAR1);
light_open_some(0x02);
steer_output_angle(STEER_DIR, 40);
//motor_output2(-25, -10);
speed_control_backward(30,angle);
if((gl_distanceTotal - car_distence)>9)
{
robot_state = FORWARD_CHANGE2;
}
break;
/**********************************前进转换2*************************************/
case FORWARD_CHANGE2:
light_bar_open(LIGHT_BAR0);
light_bar_open(LIGHT_BAR1);
light_open_some(0x02);
steer_output_angle(STEER_DIR, 40);
//motor_output2(-25, -10);
speed_control_backward(30,angle);
if((back_infrared_value & 0x30) && (!(back_infrared_value & 0x03)) && (front_infrared_amount < 3))
{
robot_state = BACKWARD;
car_distence = gl_distanceTotal;
change_num ++;
}
break;
/************************************后退****************************************/
case BACKWARD:
light_bar_open(LIGHT_BAR1);
light_bar_close(LIGHT_BAR0);
light_open_some(0x04);
if (back_infrared_amount == 1)
{
if (back_infrared_weight == 3)
{
angle = -40;
//motor_output2(-5, -22);
}
else if (back_infrared_weight == -3)
{
angle = 40;
//motor_output2(-22, -5);
}
else if (back_infrared_weight == 2)
{
angle = -40;
//motor_output2(-5, -20);
}
else if (back_infrared_weight == -2)
{
angle = 40;
//motor_output2(-20, -5);
}
else if (back_infrared_weight == 1)
{
angle = -5;
//motor_output2(-14, -14);
}
else if (back_infrared_weight == -1)
{
angle = 5;
//motor_output2(-14, -14);
}
}
else if (back_infrared_amount == 2)
{
if (back_infrared_weight == 5)
{
angle = -40;
//motor_output2(-5, -20);
}
else if (back_infrared_weight == -5)
{
angle = 40;
//motor_output2(-20, -5);
}
else if (back_infrared_weight == 3)
{
angle = -20;
//motor_output2(-5, -20);
}
else if (back_infrared_weight == -3)
{
angle = 20;
//motor_output2(-20, -5);
}
else if (back_infrared_weight == 0)
{
angle = 0;
//motor_output2(-14, -14);
}
}
steer_output_angle(STEER_DIR, angle);
speed_control_backward(30,angle);
if(back_infrared_amount > 4)
{
detect_num ++;
if(detect_num > 2)
{
detect_num = 0;
robot_state = BACKWARD_CHANGE;
car_distence = gl_distanceTotal;
}
}
else
{
detect_num = 0;
}
break;
/************************************后退转换1****************************************/
case BACKWARD_CHANGE:
light_bar_open(LIGHT_BAR0);
light_bar_open(LIGHT_BAR1);
light_open_some(0x8);
steer_output_angle(STEER_DIR, -35);
speed_control_forward(30,angle);
if((gl_distanceTotal - car_distence)>7)
{
robot_state = BACKWARD_CHANGE2;
}
break;
/************************************后退转换2****************************************/
case BACKWARD_CHANGE2:
light_bar_open(LIGHT_BAR0);
light_bar_open(LIGHT_BAR1);
light_open_some(0x8);
steer_output_angle(STEER_DIR, -35);
speed_control_forward(30,angle);
if((front_infrared_value & 0x38) && (!(front_infrared_value & 0x03)) && (back_infrared_amount < 3))
{
robot_state = FORWARD;
change_num ++;
}
break;
/************************************停车****************************************/
case STOP:
light_open_some(0x03);
light_bar_close(LIGHT_BAR0);
light_bar_close(LIGHT_BAR1);
motor_output2(0, 0);
steer_output_angle(STEER_DIR, 0);
if(get_char == 's')
{
robot_state = last_robot_state;
}
break;
}
}
}
void board_init_r(gd_t *id, ulong dest_addr)
{
char *s;
bd_t *bd;
ulong malloc_start;
#if !defined(CONFIG_SYS_NO_FLASH)
ulong flash_size;
#endif
gd = id;
bd = gd->bd;
gd->flags |= GD_FLG_RELOC; /* tell others: relocation done */
monitor_flash_len = _end_ofs;
/*
* Enable D$:
* I$, if needed, must be already enabled in start.S
*/
dcache_enable();
debug("monitor flash len: %08lX\n", monitor_flash_len);
board_init(); /* Setup chipselects */
#ifdef CONFIG_SERIAL_MULTI
serial_initialize();
#endif
debug("Now running in RAM - U-Boot at: %08lx\n", dest_addr);
#ifdef CONFIG_LOGBUFFER
logbuff_init_ptrs();
#endif
#ifdef CONFIG_POST
post_output_backlog();
#endif
/* The Malloc area is immediately below the monitor copy in DRAM */
malloc_start = dest_addr - TOTAL_MALLOC_LEN;
mem_malloc_init (malloc_start, TOTAL_MALLOC_LEN);
#if !defined(CONFIG_SYS_NO_FLASH)
puts("Flash: ");
flash_size = flash_init();
if (flash_size > 0) {
# ifdef CONFIG_SYS_FLASH_CHECKSUM
print_size(flash_size, "");
/*
* Compute and print flash CRC if flashchecksum is set to 'y'
*
* NOTE: Maybe we should add some WATCHDOG_RESET()? XXX
*/
s = getenv("flashchecksum");
if (s && (*s == 'y')) {
printf(" CRC: %08X", crc32(0,
(const unsigned char *) CONFIG_SYS_FLASH_BASE,
flash_size));
}
putc('\n');
# else /* !CONFIG_SYS_FLASH_CHECKSUM */
print_size(flash_size, "\n");
# endif /* CONFIG_SYS_FLASH_CHECKSUM */
} else {
puts(failed);
hang();
}
#endif
#if defined(CONFIG_CMD_NAND)
puts("NAND: ");
nand_init(); /* go init the NAND */
#endif
#if defined(CONFIG_CMD_ONENAND)
onenand_init();
#endif
#ifdef CONFIG_GENERIC_MMC
puts("MMC: ");
mmc_initialize(bd);
#endif
#ifdef CONFIG_HAS_DATAFLASH
AT91F_DataflashInit();
dataflash_print_info();
#endif
/* initialize environment */
env_relocate();
#if defined(CONFIG_CMD_PCI) || defined(CONFIG_PCI)
arm_pci_init();
#endif
/* IP Address */
gd->bd->bi_ip_addr = getenv_IPaddr("ipaddr");
stdio_init(); /* get the devices list going. */
jumptable_init();
#if defined(CONFIG_API)
/* Initialize API */
api_init();
#endif
console_init_r(); /* fully init console as a device */
#if defined(CONFIG_ARCH_MISC_INIT)
/* miscellaneous arch dependent initialisations */
arch_misc_init();
#endif
#if defined(CONFIG_MISC_INIT_R)
/* miscellaneous platform dependent initialisations */
misc_init_r();
#endif
/* set up exceptions */
interrupt_init();
/* enable exceptions */
enable_interrupts();
/* Perform network card initialisation if necessary */
#if defined(CONFIG_DRIVER_SMC91111) || defined (CONFIG_DRIVER_LAN91C96)
/* XXX: this needs to be moved to board init */
if (getenv("ethaddr")) {
uchar enetaddr[6];
eth_getenv_enetaddr("ethaddr", enetaddr);
smc_set_mac_addr(enetaddr);
}
#endif /* CONFIG_DRIVER_SMC91111 || CONFIG_DRIVER_LAN91C96 */
/* Initialize from environment */
s = getenv("loadaddr");
if (s != NULL)
load_addr = simple_strtoul(s, NULL, 16);
#if defined(CONFIG_CMD_NET)
s = getenv("bootfile");
if (s != NULL)
copy_filename(BootFile, s, sizeof(BootFile));
#endif
#ifdef BOARD_LATE_INIT
board_late_init();
#endif
#ifdef CONFIG_BITBANGMII
bb_miiphy_init();
#endif
#if defined(CONFIG_CMD_NET)
#if defined(CONFIG_NET_MULTI)
puts("Net: ");
#endif
eth_initialize(gd->bd);
#if defined(CONFIG_RESET_PHY_R)
debug("Reset Ethernet PHY\n");
reset_phy();
#endif
#endif
#ifdef CONFIG_POST
post_run(NULL, POST_RAM | post_bootmode_get(0));
#endif
#if defined(CONFIG_PRAM) || defined(CONFIG_LOGBUFFER)
/*
* Export available size of memory for Linux,
* taking into account the protected RAM at top of memory
*/
{
ulong pram;
uchar memsz[32];
#ifdef CONFIG_PRAM
char *s;
s = getenv("pram");
if (s != NULL)
pram = simple_strtoul(s, NULL, 10);
else
pram = CONFIG_PRAM;
#else
pram = 0;
#endif
#ifdef CONFIG_LOGBUFFER
#ifndef CONFIG_ALT_LB_ADDR
/* Also take the logbuffer into account (pram is in kB) */
pram += (LOGBUFF_LEN + LOGBUFF_OVERHEAD) / 1024;
#endif
#endif
sprintf((char *)memsz, "%ldk", (bd->bi_memsize / 1024) - pram);
setenv("mem", (char *)memsz);
}
#endif
/* main_loop() can return to retry autoboot, if so just run it again. */
for (;;) {
main_loop();
}
/* NOTREACHED - no way out of command loop except booting */
}
/*
* This is the next part if the initialization sequence: we are now
* running from RAM and have a "normal" C environment, i. e. global
* data can be written, BSS has been cleared, the stack size in not
* that critical any more, etc.
*/
void board_init_r(gd_t *id, ulong dest_addr)
{
bd_t *bd;
ulong malloc_start;
#ifndef CONFIG_SYS_NO_FLASH
ulong flash_size;
#endif
gd = id; /* initialize RAM version of global data */
bd = gd->bd;
gd->flags |= GD_FLG_RELOC; /* tell others: relocation done */
/* The Malloc area is immediately below the monitor copy in DRAM */
malloc_start = dest_addr - TOTAL_MALLOC_LEN;
#if defined(CONFIG_MPC85xx) || defined(CONFIG_MPC86xx)
/*
* The gd->arch.cpu pointer is set to an address in flash before
* relocation. We need to update it to point to the same CPU entry
* in RAM.
*/
gd->arch.cpu += dest_addr - CONFIG_SYS_MONITOR_BASE;
/*
* If we didn't know the cpu mask & # cores, we can save them of
* now rather than 'computing' them constantly
*/
fixup_cpu();
#endif
#ifdef CONFIG_SYS_EXTRA_ENV_RELOC
/*
* Some systems need to relocate the env_addr pointer early because the
* location it points to will get invalidated before env_relocate is
* called. One example is on systems that might use a L2 or L3 cache
* in SRAM mode and initialize that cache from SRAM mode back to being
* a cache in cpu_init_r.
*/
gd->env_addr += dest_addr - CONFIG_SYS_MONITOR_BASE;
#endif
serial_initialize();
debug("Now running in RAM - U-Boot at: %08lx\n", dest_addr);
WATCHDOG_RESET();
/*
* Setup trap handlers
*/
trap_init(dest_addr);
#ifdef CONFIG_ADDR_MAP
init_addr_map();
#endif
#if defined(CONFIG_BOARD_EARLY_INIT_R)
board_early_init_r();
#endif
monitor_flash_len = (ulong)&__init_end - dest_addr;
WATCHDOG_RESET();
#ifdef CONFIG_LOGBUFFER
logbuff_init_ptrs();
#endif
#ifdef CONFIG_POST
post_output_backlog();
#endif
WATCHDOG_RESET();
#if defined(CONFIG_SYS_DELAYED_ICACHE)
icache_enable(); /* it's time to enable the instruction cache */
#endif
#if defined(CONFIG_SYS_INIT_RAM_LOCK) && defined(CONFIG_E500)
unlock_ram_in_cache(); /* it's time to unlock D-cache in e500 */
#endif
#if defined(CONFIG_PCI) && defined(CONFIG_SYS_EARLY_PCI_INIT)
/*
* Do early PCI configuration _before_ the flash gets initialised,
* because PCU ressources are crucial for flash access on some boards.
*/
pci_init();
#endif
#if defined(CONFIG_WINBOND_83C553)
/*
* Initialise the ISA bridge
*/
initialise_w83c553f();
#endif
asm("sync ; isync");
mem_malloc_init(malloc_start, TOTAL_MALLOC_LEN);
#if !defined(CONFIG_SYS_NO_FLASH)
puts("Flash: ");
if (board_flash_wp_on()) {
printf("Uninitialized - Write Protect On\n");
/* Since WP is on, we can't find real size. Set to 0 */
flash_size = 0;
} else if ((flash_size = flash_init()) > 0) {
#ifdef CONFIG_SYS_FLASH_CHECKSUM
print_size(flash_size, "");
/*
* Compute and print flash CRC if flashchecksum is set to 'y'
*
* NOTE: Maybe we should add some WATCHDOG_RESET()? XXX
*/
if (getenv_yesno("flashchecksum") == 1) {
printf(" CRC: %08X",
crc32(0,
(const unsigned char *)
CONFIG_SYS_FLASH_BASE, flash_size)
);
}
putc('\n');
#else /* !CONFIG_SYS_FLASH_CHECKSUM */
print_size(flash_size, "\n");
#endif /* CONFIG_SYS_FLASH_CHECKSUM */
} else {
puts(failed);
hang();
}
/* update start of FLASH memory */
bd->bi_flashstart = CONFIG_SYS_FLASH_BASE;
/* size of FLASH memory (final value) */
bd->bi_flashsize = flash_size;
#if defined(CONFIG_SYS_UPDATE_FLASH_SIZE)
/* Make a update of the Memctrl. */
update_flash_size(flash_size);
#endif
#if defined(CONFIG_OXC) || defined(CONFIG_RMU)
/* flash mapped at end of memory map */
bd->bi_flashoffset = CONFIG_SYS_TEXT_BASE + flash_size;
#elif CONFIG_SYS_MONITOR_BASE == CONFIG_SYS_FLASH_BASE
bd->bi_flashoffset = monitor_flash_len; /* reserved area for monitor */
#endif
#endif /* !CONFIG_SYS_NO_FLASH */
WATCHDOG_RESET();
/* initialize higher level parts of CPU like time base and timers */
cpu_init_r();
WATCHDOG_RESET();
#ifdef CONFIG_SPI
#if !defined(CONFIG_ENV_IS_IN_EEPROM)
spi_init_f();
#endif
spi_init_r();
#endif
#if defined(CONFIG_CMD_NAND)
WATCHDOG_RESET();
puts("NAND: ");
nand_init(); /* go init the NAND */
#endif
#ifdef CONFIG_GENERIC_MMC
/*
* MMC initialization is called before relocating env.
* Thus It is required that operations like pin multiplexer
* be put in board_init.
*/
WATCHDOG_RESET();
puts("MMC: ");
mmc_initialize(bd);
#endif
/* relocate environment function pointers etc. */
env_relocate();
/*
* after non-volatile devices & environment is setup and cpu code have
* another round to deal with any initialization that might require
* full access to the environment or loading of some image (firmware)
* from a non-volatile device
*/
cpu_secondary_init_r();
/*
* Fill in missing fields of bd_info.
* We do this here, where we have "normal" access to the
* environment; we used to do this still running from ROM,
* where had to use getenv_f(), which can be pretty slow when
* the environment is in EEPROM.
*/
#if defined(CONFIG_SYS_EXTBDINFO)
#if defined(CONFIG_405GP) || defined(CONFIG_405EP)
#if defined(CONFIG_I2CFAST)
/*
* set bi_iic_fast for linux taking environment variable
* "i2cfast" into account
*/
{
if (getenv_yesno("i2cfast") == 1) {
bd->bi_iic_fast[0] = 1;
bd->bi_iic_fast[1] = 1;
}
}
#endif /* CONFIG_I2CFAST */
#endif /* CONFIG_405GP, CONFIG_405EP */
#endif /* CONFIG_SYS_EXTBDINFO */
#if defined(CONFIG_SC3)
sc3_read_eeprom();
#endif
#if defined(CONFIG_ID_EEPROM) || defined(CONFIG_SYS_I2C_MAC_OFFSET)
mac_read_from_eeprom();
#endif
#ifdef CONFIG_CMD_NET
/* kept around for legacy kernels only ... ignore the next section */
eth_getenv_enetaddr("ethaddr", bd->bi_enetaddr);
#ifdef CONFIG_HAS_ETH1
eth_getenv_enetaddr("eth1addr", bd->bi_enet1addr);
#endif
#ifdef CONFIG_HAS_ETH2
eth_getenv_enetaddr("eth2addr", bd->bi_enet2addr);
#endif
#ifdef CONFIG_HAS_ETH3
eth_getenv_enetaddr("eth3addr", bd->bi_enet3addr);
#endif
#ifdef CONFIG_HAS_ETH4
eth_getenv_enetaddr("eth4addr", bd->bi_enet4addr);
#endif
#ifdef CONFIG_HAS_ETH5
eth_getenv_enetaddr("eth5addr", bd->bi_enet5addr);
#endif
#endif /* CONFIG_CMD_NET */
WATCHDOG_RESET();
#if defined(CONFIG_PCI) && !defined(CONFIG_SYS_EARLY_PCI_INIT)
/*
* Do pci configuration
*/
pci_init();
#endif
/** leave this here (after malloc(), environment and PCI are working) **/
/* Initialize stdio devices */
stdio_init();
/* Initialize the jump table for applications */
jumptable_init();
#if defined(CONFIG_API)
/* Initialize API */
api_init();
#endif
/* Initialize the console (after the relocation and devices init) */
console_init_r();
#if defined(CONFIG_MISC_INIT_R)
/* miscellaneous platform dependent initialisations */
misc_init_r();
#endif
#if defined(CONFIG_CMD_KGDB)
WATCHDOG_RESET();
puts("KGDB: ");
kgdb_init();
#endif
debug("U-Boot relocated to %08lx\n", dest_addr);
/*
* Enable Interrupts
*/
interrupt_init();
#if defined(CONFIG_STATUS_LED) && defined(STATUS_LED_BOOT)
status_led_set(STATUS_LED_BOOT, STATUS_LED_BLINKING);
#endif
udelay(20);
/* Initialize from environment */
load_addr = getenv_ulong("loadaddr", 16, load_addr);
WATCHDOG_RESET();
#if defined(CONFIG_CMD_SCSI)
WATCHDOG_RESET();
puts("SCSI: ");
scsi_init();
#endif
#if defined(CONFIG_CMD_DOC)
WATCHDOG_RESET();
puts("DOC: ");
doc_init();
#endif
#ifdef CONFIG_BITBANGMII
bb_miiphy_init();
#endif
#if defined(CONFIG_CMD_NET)
WATCHDOG_RESET();
puts("Net: ");
eth_initialize(bd);
#endif
#if defined(CONFIG_CMD_NET) && defined(CONFIG_RESET_PHY_R)
WATCHDOG_RESET();
debug("Reset Ethernet PHY\n");
reset_phy();
#endif
#ifdef CONFIG_POST
post_run(NULL, POST_RAM | post_bootmode_get(0));
#endif
#if defined(CONFIG_CMD_PCMCIA) \
&& !defined(CONFIG_CMD_IDE)
WATCHDOG_RESET();
puts("PCMCIA:");
pcmcia_init();
#endif
#if defined(CONFIG_CMD_IDE)
WATCHDOG_RESET();
#ifdef CONFIG_IDE_8xx_PCCARD
puts("PCMCIA:");
#else
puts("IDE: ");
#endif
#if defined(CONFIG_START_IDE)
if (board_start_ide())
ide_init();
#else
ide_init();
#endif
#endif
#ifdef CONFIG_LAST_STAGE_INIT
WATCHDOG_RESET();
/*
* Some parts can be only initialized if all others (like
* Interrupts) are up and running (i.e. the PC-style ISA
* keyboard).
*/
last_stage_init();
#endif
#if defined(CONFIG_CMD_BEDBUG)
WATCHDOG_RESET();
bedbug_init();
#endif
#if defined(CONFIG_PRAM) || defined(CONFIG_LOGBUFFER)
/*
* Export available size of memory for Linux,
* taking into account the protected RAM at top of memory
*/
{
ulong pram = 0;
char memsz[32];
#ifdef CONFIG_PRAM
pram = getenv_ulong("pram", 10, CONFIG_PRAM);
#endif
#ifdef CONFIG_LOGBUFFER
#ifndef CONFIG_ALT_LB_ADDR
/* Also take the logbuffer into account (pram is in kB) */
pram += (LOGBUFF_LEN + LOGBUFF_OVERHEAD) / 1024;
#endif
#endif
sprintf(memsz, "%ldk", (ulong) (bd->bi_memsize / 1024) - pram);
setenv("mem", memsz);
}
#endif
#ifdef CONFIG_PS2KBD
puts("PS/2: ");
kbd_init();
#endif
/* Initialization complete - start the monitor */
/* main_loop() can return to retry autoboot, if so just run it again. */
for (;;) {
WATCHDOG_RESET();
main_loop();
}
/* NOTREACHED - no way out of command loop except booting */
}
