Пример #1
0
void pixyInit(uint32_t slaveRomStart, const unsigned char slaveImage[], uint32_t imageSize)
{
	// write stack guard word
 	STACK_GUARD = STACK_GUARD_WORD;

	commonInit();

	IPC_haltSlave();

	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);
	SMLink *smLink = new SMLink;
  	g_chirpM0 = new Chirp(false, true, smLink);

	// initialize devices/modules
	led_init();
	if (prm_init(g_chirpUsb)<0) // error, let user know (don't just continue like nothing's happened)
		showError(1, 0x0000ff, "Flash is corrupt, parameters have been lost\n");
	pwr_init();
	cam_init();
	rcs_init();
	//cc_init();
}
Пример #2
0
int main(void)
{
    // Hardware Init
    delay_init();	    	 //ÑÓʱº¯Êý³õʼ»¯
    pwr_init();
    #ifdef YANMING3
    charger_init();
    if (check_standby_flag() == SUCCESS && check_charging() != CHARGING) {
        Key_GPIO_Config();
        exti_key_init();
        #ifdef DEBUG_POWER_OFF_WAKE_UP
        Screen_Init();
        OLED_Clear();
        OLED_Display_On();
        draw_about_mesage();
        #endif
        check_standby_wakeup_button_press();
        // If we boot up from standby by pressing 5 times, the system will reboot again without
        // this code block.
    }
    #endif

    // OLED Init
    Screen_Init();
    OLED_Clear();
    
    //
    low_switch_power_init();

    TIMx_Int_DeInit();
    EXTIX_DeInit();
    
    // Key
    Key_GPIO_Config();
    
    // PID related code
    ADC1_Configuration();
    PWM_Configuration();
    VoltagePID_Init();

    TIMx_Int_Init();
    rtc_init();

    // Our Init
    system_init();
    #ifndef YANMING3
    //iwdg_init();
    #endif

    while(1) {
        #ifndef YANMING3
        //iwdg_feed();
        #endif
        task_schedule();
    }
}
Пример #3
0
void pixyInit(uint32_t slaveRomStart, const unsigned char slaveImage[], uint32_t imageSize)
{
	platformInit();

	// button, SPI_SSEL
	LPC_GPIO_PORT->MASK[5] = 0;
	LPC_GPIO_PORT->PIN[5] = 0x20; // negate SPI_SS
	LPC_GPIO_PORT->DIR[5] = 0x20; // SPI_SS - output

	// deal with P4_1, GPIO2[1]
	LPC_GPIO_PORT->MASK[2] = 0;
	LPC_GPIO_PORT->DIR[2] = 0;

	// set timer so we count clock cycles
	LPC_TIMER1->IR = 0;
 	LPC_TIMER1->TCR = 1;
	LPC_TIMER1->PR = 0;

	// microsecond timer
	LPC_TIMER2->IR = 0;
 	LPC_TIMER2->TCR = 1;
	LPC_TIMER2->PR = CLKFREQ_US-1;

  	debug_frmwrk_init_clk(CLKFREQ);

	USB_UserInit();

	lpc_printf("M4 start\n");

	IPC_haltSlave();

	ADCInit();
   	SCTInit();
	CameraInit();

	// start slave
	IPC_downloadSlaveImage(slaveRomStart, slaveImage, imageSize);
	IPC_startSlave();

	// initialize chirp objects
	g_chirpUsb = new ChirpUsb();
  	g_chirpM0 = new ChirpM0();

	// initialize devices/modules
	pwr_init();
	spi_init();
	cam_init();
	rcs_init();
	led_init();
	//cc_init();
}
Пример #4
0
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();
}
Пример #5
0
//void pixyInit(uint32_t slaveRomStart, const unsigned char slaveImage[], uint32_t imageSize)
void pixyInit(void)
{
	// write stack guard word
 //	STACK_GUARD = STACK_GUARD_WORD;

	commonInit();

	IPC_haltSlave();

	ADCInit();
   	SCTInit();
	CameraInit();
/*	IPC_startSlave(); */
	// start slave
/*	if (slaveRomStart && slaveImage && imageSize)
	{
		IPC_downloadSlaveImage(slaveRomStart, slaveImage, imageSize);

	} */

	// initialize shared memory interface before running M0
	SMLink *smLink = new SMLink;

	// run M0
    cr_start_m0(SLAVE_M0APP,&__core_m0app_START__);

	// initialize chirp objects
	USBLink *usbLink = new USBLink;
	g_chirpUsb = new Chirp(false, false, usbLink);
  	g_chirpM0 = new Chirp(false, true, smLink);

	// initialize devices/modules
	led_init();
	if (prm_init(g_chirpUsb)<0) // error, let user know (don't just continue like nothing's happened)
		showError(1, 0x0000ff, "Flash is corrupt, parameters have been lost\n");
	pwr_init();
	cam_init();
	rcs_init();
	//cc_init();
}
Пример #6
0
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();
}
Пример #7
0
int main() {
  packet act_packet;
  // setup ports/uart
  nrk_setup_ports();
  nrk_setup_uart(UART_BAUDRATE_115K2);
  SPI_Init();
  pwr_init();

  nrk_init ();
  nrk_time_set (0, 0);

  // clear all LEDs
  nrk_led_clr(0);
  nrk_led_clr(1);
  nrk_led_clr(2);
  nrk_led_clr(3);

  // flags
  g_verbose = FALSE;
  g_network_joined = FALSE;
  g_global_outlet_state = OFF;
  g_button_pressed  = FALSE;

  // mutexs
  g_net_tx_buf_mux          = nrk_sem_create(1, 8);
  g_act_queue_mux           = nrk_sem_create(1, 8);
  g_cmd_tx_queue_mux        = nrk_sem_create(1, 8);
  g_data_tx_queue_mux       = nrk_sem_create(1, 8);
  g_seq_num_mux             = nrk_sem_create(1, 8);
  g_network_joined_mux      = nrk_sem_create(1, 8);
  g_global_outlet_state_mux = nrk_sem_create(1, 8);
  g_button_pressed_mux      = nrk_sem_create(1, 8);
  g_net_watchdog_mux        = nrk_sem_create(1, 8);

  // sensor periods (in seconds / 2)
  g_pwr_period = 2;
  g_temp_period = 3;
  g_light_period = 4;

  // packet queues
  packet_queue_init(&g_act_queue);
  packet_queue_init(&g_cmd_tx_queue);
  packet_queue_init(&g_data_tx_queue);

  // ensure node is initially set to "OFF"
  act_packet.source_id = MAC_ADDR;
  act_packet.type = MSG_CMD;
  act_packet.seq_num = 0;
  act_packet.num_hops = 0;
  act_packet.payload[CMD_CMDID_INDEX] = (uint16_t)0;
  act_packet.payload[CMD_NODE_ID_INDEX] = MAC_ADDR;
  act_packet.payload[CMD_ACT_INDEX] = OFF;
  atomic_push(&g_act_queue, &act_packet, g_act_queue_mux);

  // initialize bmac
  bmac_task_config ();
  bmac_init(13);

  nrk_register_drivers();
  nrk_set_gpio();
  nrk_create_taskset();
  nrk_start ();

  return 0;
}