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();
}
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();
}
}
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();
}
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)
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();
}
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();
}
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;
}