void SYS_Initialize ( void* data )
{
/* Core Processor Initialization */
SYS_CLK_Initialize( NULL );
sysObj.sysDevcon = SYS_DEVCON_Initialize(SYS_DEVCON_INDEX_0, (SYS_MODULE_INIT*)&sysDevconInit);
SYS_DEVCON_PerformanceConfig(SYS_CLK_SystemFrequencyGet());
SYS_DEVCON_JTAGDisable();
SYS_PORTS_Initialize();
/* Initialize Drivers */
/* Initialize USB Driver */
sysObj.drvUSBObject = DRV_USBFS_Initialize(DRV_USBFS_INDEX_0, (SYS_MODULE_INIT *) &drvUSBInit);
/* Initialize System Services */
SYS_INT_Initialize();
/* Initialize Middleware */
/* Copy the UID to the USB descriptor. */
UIDStore_Init();
UIDStore_AsUnicodeString(BootloaderUSBDescriptor_UnicodeUID());
/* Initialize the USB device layer */
sysObj.usbDevObject0 = USB_DEVICE_Initialize(
USB_DEVICE_INDEX_0,
(SYS_MODULE_INIT*) BootloaderUSBDescriptor_GetDeviceConfig());
/* Enable Global Interrupts */
SYS_INT_Enable();
/* Initialize the Application */
Bootloader_Initialize();
}
void SYS_Initialize ( void* data )
{
/* Core Processor Initialization */
SYS_CLK_Initialize( NULL );
sysObj.sysDevcon = SYS_DEVCON_Initialize(SYS_DEVCON_INDEX_0, (SYS_MODULE_INIT*)&sysDevconInit);
SYS_DEVCON_PerformanceConfig(SYS_CLK_SystemFrequencyGet());
SYS_DEVCON_JTAGDisable();
/* Board Support Package Initialization */
BSP_Initialize();
/* System Services Initialization */
SYS_INT_Initialize();
SYS_PORTS_Initialize();
/* Initialize Middleware */
/* Set priority of USB interrupt source */
SYS_INT_VectorPrioritySet(INT_VECTOR_USB1, INT_PRIORITY_LEVEL4);
/* Set Sub-priority of USB interrupt source */
SYS_INT_VectorSubprioritySet(INT_VECTOR_USB1, INT_SUBPRIORITY_LEVEL0);
/* Initialize the USB device layer */
sysObj.usbDevObject0 = USB_DEVICE_Initialize (USB_DEVICE_INDEX_0 , ( SYS_MODULE_INIT* ) & usbDevInitData);
/* Enable Global Interrupts */
SYS_INT_Enable();
/* Initialize the Application */
APP_Initialize();
}
void SYS_Initialize ( void* data )
{
/* Core Processor Initialization */
SYS_CLK_Initialize( NULL );
sysObj.sysDevcon = SYS_DEVCON_Initialize(SYS_DEVCON_INDEX_0, (SYS_MODULE_INIT*)&sysDevconInit);
SYS_DEVCON_PerformanceConfig(SYS_CLK_SystemFrequencyGet());
SYS_DEVCON_JTAGDisable();
SYS_PORTS_Initialize();
/* Board Support Package Initialization */
BSP_Initialize();
/* Initialize Drivers */
sysObj.drvTmr0 = DRV_TMR_Initialize(DRV_TMR_INDEX_0, (SYS_MODULE_INIT *)&drvTmr0InitData);
/* Initialize System Services */
SYS_INT_Initialize();
/*** TMR Service Initialization Code ***/
sysObj.sysTmr = SYS_TMR_Initialize(SYS_TMR_INDEX_0, (const SYS_MODULE_INIT * const)&sysTmrInitData);
/* Initialize Middleware */
/* Enable Global Interrupts */
SYS_INT_Enable();
/* Initialize the Application */
APP_Initialize();
}
void SYS_Initialize ( void* data )
{
/* Core Processor Initialization */
SYS_CLK_Initialize( NULL );
sysObj.sysDevcon = SYS_DEVCON_Initialize(SYS_DEVCON_INDEX_0, (SYS_MODULE_INIT*)&sysDevconInit);
SYS_DEVCON_PerformanceConfig(SYS_CLK_SystemFrequencyGet());
SYS_DEVCON_JTAGDisable();
SYS_PORTS_Initialize();
/* Initialize Drivers */
/*Initialize TMR0 */
DRV_TMR0_Initialize();
DRV_USART0_Initialize();
DRV_USART1_Initialize();
DRV_USART2_Initialize();
/* Initialize System Services */
SYS_INT_Initialize();
/* Initialize Middleware */
initDebugU();
/* Initialize the Application */
COMMUNICATION_Initialize();
MOTOR_Initialize();
SENSORCOMMUNICATION_Initialize();
}
void SYS_Initialize ( void* data )
{
/* Core Processor Initialization */
SYS_CLK_Initialize( NULL );
sysObj.sysDevcon = SYS_DEVCON_Initialize(SYS_DEVCON_INDEX_0, (SYS_MODULE_INIT*)&sysDevconInit);
SYS_DEVCON_PerformanceConfig(SYS_CLK_SystemFrequencyGet());
SYS_DEVCON_JTAGDisable();
SYS_PORTS_Initialize();
/* Initialize Drivers */
/*Initialize TMR0 */
DRV_TMR0_Initialize();
DRV_SPI0_Initialize();
DRV_SPI1_Initialize();
DRV_SPI2_Initialize();
DRV_SPI3_Initialize();
DRV_SPI4_Initialize();
DRV_SPI5_Initialize();
/*Initialize OC0 */
DRV_OC0_Initialize();
/*Initialize OC1 */
DRV_OC1_Initialize();
/*Initialize OC2 */
DRV_OC2_Initialize();
/*Initialize OC3 */
DRV_OC3_Initialize();
/*Initialize OC4 */
DRV_OC4_Initialize();
/*Initialize OC5 */
DRV_OC5_Initialize();
/*Initialize OC6 */
DRV_OC6_Initialize();
/*Initialize OC7 */
DRV_OC7_Initialize();
/*Initialize OC8 */
DRV_OC8_Initialize();
/* Initialize System Services */
SYS_INT_Initialize();
/* Initialize Middleware */
/* Enable Global Interrupts */
SYS_INT_Enable();
/* Initialize the Application */
APP_Initialize();
}
void SYS_Initialize ( void* data )
{
/* Core Processor Initialization */
SYS_CLK_Initialize( NULL );
sysObj.sysDevcon = SYS_DEVCON_Initialize(SYS_DEVCON_INDEX_0, (SYS_MODULE_INIT*)&sysDevconInit);
SYS_DEVCON_PerformanceConfig(SYS_CLK_SystemFrequencyGet());
SYS_DEVCON_JTAGDisable();
SYS_PORTS_Initialize();
/* Initialize Drivers */
/*Initialize TMR0 */
DRV_TMR0_Initialize();
/*Initialize TMR1 */
DRV_TMR1_Initialize();
/*Initialize TMR2 */
DRV_TMR2_Initialize();
/*Initialize TMR3 */
DRV_TMR3_Initialize();
DRV_USART0_Initialize();
DRV_USART1_Initialize();
/*Initialize OC0 */
DRV_OC0_Initialize();
/*Initialize OC1 */
DRV_OC1_Initialize();
/* Initialize System Services */
SYS_INT_Initialize();
/*Setup the INT_SOURCE_EXTERNAL_1 and Enable it*/
SYS_INT_VectorPrioritySet(INT_VECTOR_INT1, INT_PRIORITY_LEVEL1);
SYS_INT_VectorSubprioritySet(INT_VECTOR_INT1, INT_SUBPRIORITY_LEVEL0);
SYS_INT_ExternalInterruptTriggerSet(INT_EXTERNAL_INT_SOURCE1,INT_EDGE_TRIGGER_RISING);
SYS_INT_SourceEnable(INT_SOURCE_EXTERNAL_1);
/*Setup the INT_SOURCE_EXTERNAL_2 and Enable it*/
SYS_INT_VectorPrioritySet(INT_VECTOR_INT2, INT_PRIORITY_LEVEL1);
SYS_INT_VectorSubprioritySet(INT_VECTOR_INT2, INT_SUBPRIORITY_LEVEL0);
SYS_INT_ExternalInterruptTriggerSet(INT_EXTERNAL_INT_SOURCE2,INT_EDGE_TRIGGER_RISING);
SYS_INT_SourceEnable(INT_SOURCE_EXTERNAL_2);
/* Initialize Middleware */
initDebugU();
/* Initialize the Application */
COMMUNICATION_Initialize();
MOTOR_Initialize();
}
void SYS_Initialize ( void* data )
{
/* Core Processor Initialization */
SYS_CLK_Initialize( NULL );
sysObj.sysDevcon = SYS_DEVCON_Initialize(SYS_DEVCON_INDEX_0, (SYS_MODULE_INIT*)&sysDevconInit);
SYS_DEVCON_PerformanceConfig(SYS_CLK_SystemFrequencyGet());
SYS_DEVCON_JTAGDisable();
SYS_PORTS_Initialize();
/* Initialize Drivers */
sysObj.drvTmr0 = DRV_TMR_Initialize(DRV_TMR_INDEX_0, (SYS_MODULE_INIT *)&drvTmr0InitData);
SYS_INT_VectorPrioritySet(INT_VECTOR_T1, INT_PRIORITY_LEVEL1);
SYS_INT_VectorSubprioritySet(INT_VECTOR_T1, INT_SUBPRIORITY_LEVEL0);
/* Initialize USB Driver */
sysObj.drvUSBObject = DRV_USBHS_Initialize(DRV_USBHS_INDEX_0, (SYS_MODULE_INIT *) &drvUSBInit);
/* Initialize System Services */
SYS_INT_Initialize();
sysObj.sysConsole0 = SYS_CONSOLE_Initialize(SYS_CONSOLE_INDEX_0, (SYS_MODULE_INIT *)&consUsbInit0);
sysObj.sysDebug = SYS_DEBUG_Initialize(SYS_DEBUG_INDEX_0, (SYS_MODULE_INIT*)&debugInit);
/*** TMR Service Initialization Code ***/
sysObj.sysTmr = SYS_TMR_Initialize(SYS_TMR_INDEX_0, (const SYS_MODULE_INIT * const)&sysTmrInitData);
/* Initialize Middleware */
/* Set priority of USB interrupt source */
SYS_INT_VectorPrioritySet(INT_VECTOR_USB1, INT_PRIORITY_LEVEL4);
/* Set Sub-priority of USB interrupt source */
SYS_INT_VectorSubprioritySet(INT_VECTOR_USB1, INT_SUBPRIORITY_LEVEL0);
/* Set the priority of the USB DMA Interrupt */
SYS_INT_VectorPrioritySet(INT_VECTOR_USB1_DMA, INT_PRIORITY_LEVEL4);
/* Set Sub-priority of the USB DMA Interrupt */
SYS_INT_VectorSubprioritySet(INT_VECTOR_USB1_DMA, INT_SUBPRIORITY_LEVEL0);
/* Initialize the USB device layer */
sysObj.usbDevObject0 = USB_DEVICE_Initialize (USB_DEVICE_INDEX_0 , ( SYS_MODULE_INIT* ) & usbDevInitData);
/* Enable Global Interrupts */
SYS_INT_Enable();
/* Initialize the Application */
APP_Initialize();
}
void SYS_Initialize ( void* data ) {
/* Core Processor Initialization */
SYS_CLK_Initialize( NULL );
sysObj.sysDevcon = SYS_DEVCON_Initialize(SYS_DEVCON_INDEX_0, (SYS_MODULE_INIT*) & sysDevconInit);
SYS_DEVCON_PerformanceConfig(SYS_CLK_SystemFrequencyGet());
SYS_DEVCON_JTAGDisable();
SYS_PORTS_Initialize();
ANSELB = SYS_ANSELB; //JT - old ansel doesn't do shit
/* Board Support Package Initialization */
BSP_Initialize();
/* Initialize Drivers */
sysObj.drvUsart0 = DRV_USART_Initialize(DRV_USART_INDEX_0, (SYS_MODULE_INIT *) & drvUsart0InitData);
SYS_INT_VectorPrioritySet(INT_VECTOR_UART2, INT_PRIORITY_LEVEL4);
SYS_INT_VectorSubprioritySet(INT_VECTOR_UART2, INT_SUBPRIORITY_LEVEL0);
/* Initialize System Services */
SYS_INT_Initialize();
/* Initialize Middleware */
/* Set priority of USB interrupt source */
SYS_INT_VectorPrioritySet(INT_VECTOR_USB1, INT_PRIORITY_LEVEL4);
/* Set Sub-priority of USB interrupt source */
SYS_INT_VectorSubprioritySet(INT_VECTOR_USB1, INT_SUBPRIORITY_LEVEL0);
/* Initialize the USB device layer */
sysObj.usbDevObject0 = USB_DEVICE_Initialize (USB_DEVICE_INDEX_0 , ( SYS_MODULE_INIT* ) & usbDevInitData);
/* Enable Global Interrupts */
SYS_INT_Enable();
//startup OLED
//if first power-up, wait for OLED to warm up
int waitii;
if (RCONbits.POR)
for (waitii = 0; waitii < 2000000; waitii++) {
}
RCONbits.POR = 0;
oled_init();
robot_config_ports();
/* Initialize the Application */
APP_Initialize();
}
void SYS_Initialize ( void* data )
{
/* Core Processor Initialization */
SYS_CLK_Initialize( NULL );
sysObj.sysDevcon = SYS_DEVCON_Initialize(SYS_DEVCON_INDEX_0, (SYS_MODULE_INIT*)&sysDevconInit);
SYS_DEVCON_PerformanceConfig(SYS_CLK_SystemFrequencyGet());
SYS_DEVCON_JTAGEnable();
SYS_PORTS_Initialize();
/* Board Support Package Initialization */
BSP_Initialize();
/* Initialize Drivers */
sysObj.drvTmr0 = DRV_TMR_Initialize(DRV_TMR_INDEX_0, (SYS_MODULE_INIT *)&drvTmr0InitData);
SYS_INT_VectorPrioritySet(INT_VECTOR_T1, INT_PRIORITY_LEVEL1);
SYS_INT_VectorSubprioritySet(INT_VECTOR_T1, INT_SUBPRIORITY_LEVEL0);
/* Initialize System Services */
SYS_INT_Initialize();
/*** TMR Service Initialization Code ***/
sysObj.sysTmr = SYS_TMR_Initialize(SYS_TMR_INDEX_0, (const SYS_MODULE_INIT * const)&sysTmrInitData);
SYS_RANDOM_Initialize(0, 0);
/* Initialize Middleware */
/* set priority for ETHERNET interrupt source */
SYS_INT_VectorPrioritySet(INT_VECTOR_ETH, INT_PRIORITY_LEVEL5);
/* set sub-priority for ETHERNET interrupt source */
SYS_INT_VectorSubprioritySet(INT_VECTOR_ETH, INT_SUBPRIORITY_LEVEL3);
/* TCPIP Stack Initialization */
sysObj.tcpip = TCPIP_STACK_Init();
if (sysObj.tcpip == SYS_MODULE_OBJ_INVALID)
{
return;
}
/* Enable Global Interrupts */
SYS_INT_Enable();
/* Initialize the Application */
APP_Initialize();
RESTAPI_Initialize();
}
void SYS_Initialize ( void* data )
{
/* Core Processor Initialization */
SYS_CLK_Initialize( NULL );
sysObj.sysDevcon = SYS_DEVCON_Initialize(SYS_DEVCON_INDEX_0, (SYS_MODULE_INIT*)&sysDevconInit);
SYS_DEVCON_PerformanceConfig(SYS_CLK_SystemFrequencyGet());
SYS_DEVCON_JTAGDisable();
SYS_PORTS_Initialize();
#ifdef DEBUG_ON
setDebugVal(SYS_INIT_START); // has to be after ports init
#endif
/* Initialize Drivers */
DRV_USART0_Initialize();
/* Initialize System Services */
SYS_INT_Initialize();
#ifdef DEBUG_ON
setDebugVal(SYS_INIT_UART);
#endif
/* Initialize Middleware */
initializeTXBufferQ();
#ifdef DEBUG_ON
setDebugVal(SYS_INIT_TX_BUF);
#endif
/* Initialize the Application */
MAINAPP_Initialize();
#ifdef DEBUG_ON
setDebugVal(SYS_INIT_APP);
#endif
UART_TX_APP_Initialize();
#ifdef DEBUG_ON
setDebugVal(SYS_INIT_UART_TX_APP);
#endif
UART_RX_APP_Initialize();
#ifdef DEBUG_ON
setDebugVal(SYS_INIT_UART_RX_APP);
#endif
}
void SYS_Initialize ( void* data )
{
/* Core Processor Initialization */
SYS_CLK_Initialize( NULL );
sysObj.sysDevcon = SYS_DEVCON_Initialize(SYS_DEVCON_INDEX_0, (SYS_MODULE_INIT*)&sysDevconInit);
SYS_DEVCON_PerformanceConfig(SYS_CLK_SystemFrequencyGet());
SYS_DEVCON_JTAGDisable();
SYS_PORTS_Initialize();
/* Board Support Package Initialization */
BSP_Initialize();
/* Initialize Drivers */
sysObj.drvUsart0 = DRV_USART_Initialize(DRV_USART_INDEX_0, (SYS_MODULE_INIT *)&drvUsart0InitData);
SYS_INT_VectorPrioritySet(INT_VECTOR_UART2, INT_PRIORITY_LEVEL4);
SYS_INT_VectorSubprioritySet(INT_VECTOR_UART2, INT_SUBPRIORITY_LEVEL0);
/* Initialize System Services */
SYS_INT_Initialize();
/* Initialize Middleware */
/* Set priority of USB interrupt source */
SYS_INT_VectorPrioritySet(INT_VECTOR_USB1, INT_PRIORITY_LEVEL4);
/* Set Sub-priority of USB interrupt source */
SYS_INT_VectorSubprioritySet(INT_VECTOR_USB1, INT_SUBPRIORITY_LEVEL0);
/* Initialize the USB device layer */
sysObj.usbDevObject0 = USB_DEVICE_Initialize (USB_DEVICE_INDEX_0 , ( SYS_MODULE_INIT* ) & usbDevInitData);
/* Enable Global Interrupts */
SYS_INT_Enable();
/* Initialize the Application */
APP_Initialize();
//Initialize LED
ANSELBbits.ANSB15 = 0; // 0 for digital, 1 for analog
TRISBbits.TRISB15 = 0; // 0 for output, 1 for input
// LATBbits.LATB7 = 1;
//
}
void SYS_Initialize ( void* data )
{
/* Core Processor Initialization */
SYS_CLK_Initialize( NULL );
sysObj.sysDevcon = SYS_DEVCON_Initialize(SYS_DEVCON_INDEX_0, (SYS_MODULE_INIT*)&sysDevconInit);
SYS_DEVCON_PerformanceConfig(SYS_CLK_SystemFrequencyGet());
SYS_DEVCON_JTAGDisable();
SYS_PORTS_Initialize();
/* Board Support Package Initialization */
BSP_Initialize();
/* Initialize Drivers */
/* Initialize System Services */
/* Initialize Middleware */
/* Initialize the Application */
APP_Initialize();
}
void SYS_Initialize ( void* data )
{
/* Core Processor Initialization */
SYS_CLK_Initialize( NULL );
sysObj.sysDevcon = SYS_DEVCON_Initialize(SYS_DEVCON_INDEX_0, (SYS_MODULE_INIT*)&sysDevconInit);
SYS_DEVCON_PerformanceConfig(SYS_CLK_SystemFrequencyGet());
SYS_DEVCON_JTAGEnable();
SYS_PORTS_Initialize();
sysObj.sysDma = SYS_DMA_Initialize((SYS_MODULE_INIT *)&sysDmaInit);
/* Board Support Package Initialization */
BSP_Initialize();
/* Initialize Drivers */
sysObj.drvTmr0 = DRV_TMR_Initialize(DRV_TMR_INDEX_0, (SYS_MODULE_INIT *)&drvTmr0InitData);
SYS_INT_VectorPrioritySet(INT_VECTOR_T3, INT_PRIORITY_LEVEL1);
SYS_INT_VectorSubprioritySet(INT_VECTOR_T3, INT_SUBPRIORITY_LEVEL0);
/*** SPI Driver Index 0 initialization***/
sysObj.spiObjectIdx0 = DRV_SPI_Initialize(DRV_SPI_INDEX_0, (const SYS_MODULE_INIT * const)&drvSpi0InitData);
/* Initialize System Services */
SYS_INT_Initialize();
/* Initialize Middleware */
/* Enable Global Interrupts */
SYS_INT_Enable();
/* Initialize the Application */
LEDSCROLLER_Initialize();
}
void SYS_Initialize ( void* data )
{
/* Core Processor Initialization */
SYS_CLK_Initialize( NULL );
sysObj.sysDevcon = SYS_DEVCON_Initialize(SYS_DEVCON_INDEX_0, (SYS_MODULE_INIT*)&sysDevconInit);
SYS_DEVCON_PerformanceConfig(SYS_CLK_SystemFrequencyGet());
SYS_DEVCON_JTAGDisable();
SYS_PORTS_Initialize();
/* Initialize Drivers */
sysObj.drvUsart0 = DRV_USART_Initialize(DRV_USART_INDEX_0, (SYS_MODULE_INIT *)&drvUsart0InitData);
SYS_INT_VectorPrioritySet(INT_VECTOR_UART1, INT_PRIORITY_LEVEL1);
SYS_INT_VectorSubprioritySet(INT_VECTOR_UART1, INT_SUBPRIORITY_LEVEL0);
/* Initialize System Services */
SYS_INT_Initialize();
/* Initialize Middleware */
/* Initialize the Application */
APP_Initialize();
}
void SYS_Initialize ( void* data )
{
/* Core Processor Initialization */
SYS_CLK_Initialize( NULL );
sysObj.sysDevcon = SYS_DEVCON_Initialize(SYS_DEVCON_INDEX_0, (SYS_MODULE_INIT*)&sysDevconInit);
SYS_DEVCON_PerformanceConfig(SYS_CLK_SystemFrequencyGet());
SYS_PORTS_Initialize();
/* Board Support Package Initialization */
BSP_Initialize();
/* Initialize Drivers */
sysObj.drvI2C0 = DRV_I2C_Initialize(DRV_I2C_INDEX_0, (SYS_MODULE_INIT *)&drvI2C0InitData);
sysObj.drvTmr0 = DRV_TMR_Initialize(DRV_TMR_INDEX_0, (SYS_MODULE_INIT *)&drvTmr0InitData);
sysObj.drvTmr1 = DRV_TMR_Initialize(DRV_TMR_INDEX_1, (SYS_MODULE_INIT *)&drvTmr1InitData);
SYS_INT_VectorPrioritySet(INT_VECTOR_T3, INT_PRIORITY_LEVEL1);
SYS_INT_VectorSubprioritySet(INT_VECTOR_T3, INT_SUBPRIORITY_LEVEL0);
SYS_INT_VectorPrioritySet(INT_VECTOR_T2, INT_PRIORITY_LEVEL1);
SYS_INT_VectorSubprioritySet(INT_VECTOR_T2, INT_SUBPRIORITY_LEVEL0);
/* Initialize System Services */
/*** Interrupt Service Initialization Code ***/
SYS_INT_Initialize();
/*** TMR Service Initialization Code ***/
sysObj.sysTmr = SYS_TMR_Initialize(SYS_TMR_INDEX_0, (const SYS_MODULE_INIT * const)&sysTmrInitData);
/* Initialize Middleware */
/* Initialize the Application */
FLIR_Initialize();
}
void SYS_Initialize ( void* data )
{
/* Core Processor Initialization */
SYS_CLK_Initialize( NULL );
sysObj.sysDevcon = SYS_DEVCON_Initialize(SYS_DEVCON_INDEX_0, (SYS_MODULE_INIT*)&sysDevconInit);
SYS_DEVCON_PerformanceConfig(SYS_CLK_SystemFrequencyGet());
SYS_DEVCON_JTAGDisable();
SYS_PORTS_Initialize();
/* Initialize Drivers */
/* Initialize ADC */
DRV_ADC_Initialize();
/*Initialize TMR0 */
DRV_TMR0_Initialize();
DRV_USART0_Initialize();
/*Initialize OC0 */
DRV_OC0_Initialize();
/*Initialize OC1 */
DRV_OC1_Initialize();
/*Initialize OC2 */
DRV_OC2_Initialize();
/*Initialize OC3 */
DRV_OC3_Initialize();
/* Initialize System Services */
SYS_INT_Initialize();
/* Initialize Middleware */
/* Initialize the Application */
PWM_Initialize();
}
void SYS_Initialize ( void* data )
{
/* Core Processor Initialization */
SYS_CLK_Initialize( NULL );
sysObj.sysDevcon = SYS_DEVCON_Initialize(SYS_DEVCON_INDEX_0, (SYS_MODULE_INIT*)&sysDevconInit);
SYS_DEVCON_PerformanceConfig(SYS_CLK_SystemFrequencyGet());
SYS_DEVCON_JTAGEnable();
SYS_PORTS_Initialize();
/* Board Support Package Initialization */
BSP_Initialize();
/* System Services Initialization */
SYS_INT_Initialize();
/* Initialize Drivers */
sysObj.drvTmr0 = DRV_TMR_Initialize(DRV_TMR_INDEX_0, (SYS_MODULE_INIT *)&drvTmr0InitData);
SYS_INT_VectorPrioritySet(INT_VECTOR_T2, INT_PRIORITY_LEVEL4);
SYS_INT_VectorSubprioritySet(INT_VECTOR_T2, INT_SUBPRIORITY_LEVEL0);
/* Configure the Flash Controller Interrupt Priority */
SYS_INT_VectorPrioritySet(INT_VECTOR_FCE, INT_PRIORITY_LEVEL4);
/* Configure the Flash Controller Interrupt Sub Priority */
SYS_INT_VectorSubprioritySet(INT_VECTOR_FCE, INT_SUBPRIORITY_LEVEL1);
/* Initialize the NVM Driver */
sysObj.drvNvm = DRV_NVM_Initialize(DRV_NVM_INDEX_0, (SYS_MODULE_INIT *)&drvNvmInit);
/* Initialize the NVM Media Driver Layer */
sysObj.drvNvmMedia = DRV_NVM_MEDIA_Initialize(DRV_NVM_MEDIA_INDEX_0,(SYS_MODULE_INIT *)&drvNvmMediaInit);
/* Initialize System Services */
sysObj.sysConsole0 = SYS_CONSOLE_Initialize(SYS_CONSOLE_INDEX_0, (SYS_MODULE_INIT *)&consUsbInit);
sysObj.sysDebug = SYS_DEBUG_Initialize(SYS_DEBUG_INDEX_0, (SYS_MODULE_INIT*)&debugInit);
/*** TMR Service Initialization Code ***/
sysObj.sysTmr = SYS_TMR_Initialize(SYS_TMR_INDEX_0, (const SYS_MODULE_INIT * const)&sysTmrInitData);
SYS_CMD_Initialize();
SYS_FS_Initialize( (const void *) sysFSInit );
SYS_RANDOM_Initialize(0, 0);
/* Initialize Middleware */
/* Set priority of USB interrupt source */
SYS_INT_VectorPrioritySet(INT_VECTOR_USB1, INT_PRIORITY_LEVEL1);
/* Set Sub-priority of USB interrupt source */
SYS_INT_VectorSubprioritySet(INT_VECTOR_USB1, INT_SUBPRIORITY_LEVEL0);
/* Initialize the USB device layer */
sysObj.usbDevObject0 = USB_DEVICE_Initialize (USB_DEVICE_INDEX_0 , ( SYS_MODULE_INIT* ) & usbDevInitData);
/* set priority for ETHERNET interrupt source */
SYS_INT_VectorPrioritySet(INT_VECTOR_ETH, INT_PRIORITY_LEVEL5);
/* set sub-priority for ETHERNET interrupt source */
SYS_INT_VectorSubprioritySet(INT_VECTOR_ETH, INT_SUBPRIORITY_LEVEL0);
/* TCPIP Stack Initialization */
sysObj.tcpip = TCPIP_STACK_Init();
if (sysObj.tcpip == SYS_MODULE_OBJ_INVALID)
{
return;
}
/* Enable Global Interrupts */
SYS_INT_Enable();
/* Initialize the Application */
APP_Initialize();
}
void SYS_Initialize ( void* data )
{
/* Core Processor Initialization */
SYS_CLK_Initialize( NULL );
sysObj.sysDevcon = SYS_DEVCON_Initialize(SYS_DEVCON_INDEX_0, (SYS_MODULE_INIT*)&sysDevconInit);
SYS_DEVCON_PerformanceConfig(SYS_CLK_SystemFrequencyGet());
SYS_PORTS_Initialize();
/* Board Support Package Initialization */
BSP_Initialize();
/* Initialize Drivers */
sysObj.drvTmr0 = DRV_TMR_Initialize(DRV_TMR_INDEX_0, (SYS_MODULE_INIT *)&drvTmr0InitData);
SYS_INT_VectorPrioritySet(INT_VECTOR_T1, INT_PRIORITY_LEVEL1);
SYS_INT_VectorSubprioritySet(INT_VECTOR_T1, INT_SUBPRIORITY_LEVEL0);
/* Initialize USB Driver */
sysObj.drvUSBObject = DRV_USBHS_Initialize(DRV_USBHS_INDEX_0, (SYS_MODULE_INIT *) &drvUSBInit);
/* Initialize System Services */
/*** Command Service Initialization Code ***/
SYS_CMD_Initialize((SYS_MODULE_INIT*)&sysCmdInit);
sysObj.sysConsole0 = SYS_CONSOLE_Initialize(SYS_CONSOLE_INDEX_0, (SYS_MODULE_INIT *)&consUsbInit0);
/*** Debug Service Initialization Code ***/
sysObj.sysDebug = SYS_DEBUG_Initialize(SYS_DEBUG_INDEX_0, (SYS_MODULE_INIT*)&debugInit);
/*** Interrupt Service Initialization Code ***/
SYS_INT_Initialize();
/*** Random Service Initialization Code ***/
SYS_RANDOM_Initialize(0, 0);
/*** TMR Service Initialization Code ***/
sysObj.sysTmr = SYS_TMR_Initialize(SYS_TMR_INDEX_0, (const SYS_MODULE_INIT * const)&sysTmrInitData);
/* Initialize Middleware */
/* set priority for ETHERNET interrupt source */
SYS_INT_VectorPrioritySet(INT_VECTOR_ETH, INT_PRIORITY_LEVEL5);
/* set sub-priority for ETHERNET interrupt source */
SYS_INT_VectorSubprioritySet(INT_VECTOR_ETH, INT_SUBPRIORITY_LEVEL3);
/* TCPIP Stack Initialization */
sysObj.tcpip = TCPIP_STACK_Init();
if (sysObj.tcpip == SYS_MODULE_OBJ_INVALID)
{
return;
}
/* Set priority of USB interrupt source */
SYS_INT_VectorPrioritySet(INT_VECTOR_USB1, INT_PRIORITY_LEVEL1);
/* Set Sub-priority of USB interrupt source */
SYS_INT_VectorSubprioritySet(INT_VECTOR_USB1, INT_SUBPRIORITY_LEVEL0);
/* Set the priority of the USB DMA Interrupt */
SYS_INT_VectorPrioritySet(INT_VECTOR_USB1_DMA, INT_PRIORITY_LEVEL1);
/* Set Sub-priority of the USB DMA Interrupt */
SYS_INT_VectorSubprioritySet(INT_VECTOR_USB1_DMA, INT_SUBPRIORITY_LEVEL0);
/* Initialize the USB device layer */
sysObj.usbDevObject0 = USB_DEVICE_Initialize (USB_DEVICE_INDEX_0 , ( SYS_MODULE_INIT* ) & usbDevInitData);
/* Enable Global Interrupts */
SYS_INT_Enable();
/* Initialize the Application */
APP_Initialize();
}
void SYS_Initialize ( void* data )
{
/* Core Processor Initialization */
SYS_CLK_Initialize( NULL );
sysObj.sysDevcon = SYS_DEVCON_Initialize(SYS_DEVCON_INDEX_0, (SYS_MODULE_INIT*)&sysDevconInit);
SYS_DEVCON_PerformanceConfig(SYS_CLK_SystemFrequencyGet());
SYS_DEVCON_JTAGDisable();
SYS_PORTS_Initialize();
/* Initialize Drivers */
// DRV_SPI0_Initialize();
// DRV_SPI1_Initialize();
//DRV_I2C1_Initialize();
SYS_INT_VectorPrioritySet(INT_VECTOR_T2, INT_PRIORITY_LEVEL1);
SYS_INT_VectorSubprioritySet(INT_VECTOR_T2, INT_SUBPRIORITY_LEVEL0);
/*Initialize CAN0 */
DRV_CAN0_Initialize();
//For Debugging
// SYS_PORTS_PinDirectionSelect(PORTS_ID_0, SYS_PORTS_DIRECTION_OUTPUT, PORT_CHANNEL_G, PORTS_BIT_POS_8);
// SYS_PORTS_PinClear(PORTS_ID_0, PORT_CHANNEL_G, PORTS_BIT_POS_8);
// SYS_PORTS_PinDirectionSelect(PORTS_ID_0, SYS_PORTS_DIRECTION_OUTPUT, PORT_CHANNEL_E, PORTS_BIT_POS_8);
// SYS_PORTS_PinClear(PORTS_ID_0, PORT_CHANNEL_E, PORTS_BIT_POS_8);
/* Indicate initializing */
led_on(LED_RED);
/* Initialize PMP0 */
DRV_PMP0_Initialize();
DRV_PMP0_ModeConfig();
/* Initialize System Services */
SYS_INT_Initialize();
/* Initialize Middleware */
/* Set priority of USB interrupt source */
SYS_INT_VectorPrioritySet(INT_VECTOR_USB1, INT_PRIORITY_LEVEL4);
/* Wait FPGA_DONE*/
// while(!FpgaDone);
/* Set Sub-priority of USB interrupt source */
SYS_INT_VectorSubprioritySet(INT_VECTOR_USB1, INT_SUBPRIORITY_LEVEL0);
/* Initialize the USB device layer */
sysObj.usbDevObject0 = USB_DEVICE_Initialize (USB_DEVICE_INDEX_0 , ( SYS_MODULE_INIT* ) & usbDevInitData);
/* Enable Global Interrupts */
SYS_INT_Enable();
#ifdef DEBUG_PERCEPIO
/* Initialize Percepio */
vTraceInitTraceData();
if(uiTraceStart() != 1) {
while(true);
}
#endif
/* Initialize the Application */
APP_Initialize();
APP1_Initialize();
APP2_Initialize();
Xcp_Initialize();
}
void SYS_Initialize ( void* data )
{
/* Core Processor Initialization */
SYS_CLK_Initialize( NULL );
sysObj.sysDevcon = SYS_DEVCON_Initialize(SYS_DEVCON_INDEX_0, (SYS_MODULE_INIT*)&sysDevconInit);
SYS_DEVCON_PerformanceConfig(SYS_CLK_SystemFrequencyGet());
SYS_DEVCON_JTAGDisable();
SYS_PORTS_Initialize();
#ifdef DEBUG_ON
setDebugVal(SYS_INIT_START); // has to be after ports init
#endif
/* Initialize Drivers */
/*Initialize TMR0 */
DRV_TMR0_Initialize();
DRV_USART0_Initialize();
DRV_USART1_Initialize();
#ifdef DEBUG_ON
setDebugVal(SYS_INIT_UART);
#endif
/*Initialize OC0 */
DRV_OC0_Initialize();
/*Initialize OC1 */
DRV_OC1_Initialize();
/* Initialize System Services */
SYS_INT_Initialize();
#ifdef DEBUG_ON
setDebugVal(SYS_INIT_SYS);
#endif
/*Setup the INT_SOURCE_EXTERNAL_2 and Enable it*/
SYS_INT_VectorPrioritySet(INT_VECTOR_INT2, INT_PRIORITY_LEVEL3);
SYS_INT_VectorSubprioritySet(INT_VECTOR_INT2, INT_SUBPRIORITY_LEVEL0);
SYS_INT_ExternalInterruptTriggerSet(INT_EXTERNAL_INT_SOURCE2,INT_EDGE_TRIGGER_RISING);
SYS_INT_SourceEnable(INT_SOURCE_EXTERNAL_2);
/*Setup the INT_SOURCE_EXTERNAL_1 and Enable it*/
SYS_INT_VectorPrioritySet(INT_VECTOR_INT1, INT_PRIORITY_LEVEL3);
SYS_INT_VectorSubprioritySet(INT_VECTOR_INT1, INT_SUBPRIORITY_LEVEL0);
SYS_INT_ExternalInterruptTriggerSet(INT_EXTERNAL_INT_SOURCE1,INT_EDGE_TRIGGER_RISING);
SYS_INT_SourceEnable(INT_SOURCE_EXTERNAL_1);
/*Setup the INT_SOURCE_EXTERNAL_3 and Enable it*/
SYS_INT_VectorPrioritySet(INT_VECTOR_INT3, INT_PRIORITY_LEVEL3);
SYS_INT_VectorSubprioritySet(INT_VECTOR_INT3, INT_SUBPRIORITY_LEVEL0);
SYS_INT_ExternalInterruptTriggerSet(INT_EXTERNAL_INT_SOURCE3,INT_EDGE_TRIGGER_RISING);
SYS_INT_SourceEnable(INT_SOURCE_EXTERNAL_3);
/* Initialize Middleware */
/* Initialize the Application */
MOTORAPP_Initialize();
#ifdef DEBUG_ON
setDebugVal(SYS_INIT_APP);
#endif
UART_TX_APP_Initialize();
#ifdef DEBUG_ON
setDebugVal(SYS_INIT_UART_TX_APP);
#endif
UART_RX_APP_Initialize();
#ifdef DEBUG_ON
setDebugVal(SYS_INIT_UART_RX_APP);
#endif
}