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);
}
}
/****************************************************************************
*
* 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();
}
}