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();
}
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();
}
