Пример #1
0
int main( void )
{
    halInit();                          //Initialize hardware
    printf("\r\nResetting ZNP\r\n"); 
    while (1)
    {
        unsigned char* v = znpInit(); 
        if (znpResult == ZNP_SUCCESS)
            printf("ZNP %s Reset (%u), TransportRev=%u, ProductId=%u, FW Rev=%u.%u, HW Rev=%u\r\n",
                   getResetReason(v[0]), v[0], v[1], v[2], v[3], v[4], v[5]);
        else
            printf("ERROR %i\r\n", znpResult);   
        delayMs(1000);
    }
}
Пример #2
0
/****************************************************************************
 *
 * NAME: AppColdStart
 *
 * DESCRIPTION:
 * Entry point for application from boot loader. Initialises system and runs
 * main loop.
 *
 * RETURNS:
 * Never returns.
 *
 ****************************************************************************/
PUBLIC void AppColdStart(void)
{
#if (defined JN5148 || defined JN5168 )
	// TODO - use watch dog and probably disable brownout reset
	vAHI_WatchdogStop();
#endif
#ifdef JN5139
	vAppApiSetBoostMode(TRUE);
#endif

	// Initialise the hopping mode status
	// TODO - move to settings?
	setHopMode(hoppingRxStartup);

	connectObjects();
	RX.ro.version=2;

	// Initialise the system
	vInitSystem();

	// set up the exception handlers
	setExceptionHandlers();


	if(!radioDebug)debugRoute=&pcViaComPort;
	else debugRoute=&pcViaTx;

	if (debugRoute->routeNodes[0] == CONPC)
	{
		// Don't use uart pins for servo op
		initPcComs(&pccoms, CONPC, 0, rxHandleRoutedMessage);
		rxHardware.uart0InUse=TRUE;
	}


	// Initialise the clock
	// TODO - fix this
	/* the jn5148 defaults to 16MHz for the processor,
	   it can be switched to 32Mhz however the servo driving
	   code would need tweaking
	   */
	//bAHI_SetClockRate(3);


	resetType rt=getResetReason();
	if(rt!=NOEXCEPTION)
	{
		dbgPrintf("EXCEPTION %d \r\n",rt);
	}


	// Set handler for incoming data
	setRadioDataCallback(rxHandleRoutedMessage, CONTX);

	// Retrieve the MAC address and log it to the PC
	module_MAC_ExtAddr_s* macptr = (module_MAC_ExtAddr_s*)pvAppApiGetMacAddrLocation();


	// Send init string to PC log rx mac and bound tx mac to pc
	dbgPrintf("rx24 2.10 rx %x %x tx %x %x",macptr->u32H, macptr->u32L,txMACh ,txMACl );


	// Use dio 16 for test sync pulse
	vAHI_DioSetDirection(0, 1 << 16);


	// Set demands to impossible values
	// TODO - fix magic numbers grrr
	int i;
	for (i = 0; i < 20; i++)
	{
		RX.rxDemands[i] = 4096;
		RX.rxMixedDemands[i] = 4096;
	}
	rxHardware.i2cInUse=imu.enabled;
	startIMU(&imu);


	// Set up digital inputs and outputs
	initInputs(&rxHardware);
	initOutputs(&rxHardware);



	if(rxHardware.oneWireEnabled==TRUE)
	{
		// enable onewire sensor bus
		initOneWireBus(&sensorBus1,CONONEWIRE,rxHardware.oneWirePort,rxHandleRoutedMessage);

	}
	if(rxHardware.gpsEnabled==TRUE)
	{
		initNmeaGps(rxHardware.gpsPort, E_AHI_UART_RATE_38400);
	}

	// Setup DIO  for the LED
	vAHI_DioSetDirection(0, rxHardware.ledBit);

	// Initialise Analogue peripherals
	vAHI_ApConfigure(E_AHI_AP_REGULATOR_ENABLE, E_AHI_AP_INT_DISABLE,
			E_AHI_AP_SAMPLE_8, E_AHI_AP_CLOCKDIV_500KHZ, E_AHI_AP_INTREF);

	while (bAHI_APRegulatorEnabled() == 0)
		;


	// Start the servo pwm generator
	setFrameCallback(frameStartEvent);
	setMixCallback(mixEvent);



	startServoPwm(RX.servoUpdateRate);


	// Enter the never ending main handler
	while (1)
	{
		// Process any events
		vProcessEventQueues();
	}
}