void BoardInitMcu( void )
{
Gpio_t ioPin;
if( McuInitialized == false )
{
HAL_Init( );
// LEDs
GpioInit( &Led1, LED_1, PIN_OUTPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &Led2, LED_2, PIN_OUTPUT, PIN_PUSH_PULL, PIN_NO_PULL, 1 );
GpioInit( &Led3, LED_3, PIN_OUTPUT, PIN_PUSH_PULL, PIN_NO_PULL, Led3Status );
SystemClockConfig( );
GpioInit( &ioPin, UART_RX, PIN_INPUT, PIN_PUSH_PULL, PIN_NO_PULL, 0 );
if( GpioRead( &ioPin ) == 1 ) // Debug Mode
{
UsbIsConnected = true;
FifoInit( &Uart1.FifoTx, UartTxBuffer, UART_FIFO_TX_SIZE );
FifoInit( &Uart1.FifoRx, UartRxBuffer, UART_FIFO_RX_SIZE );
// Configure your terminal for 8 Bits data (7 data bit + 1 parity bit), no parity and no flow ctrl
UartInit( &Uart1, UART_1, UART_TX, UART_RX );
UartConfig( &Uart1, RX_TX, 115200, UART_8_BIT, UART_1_STOP_BIT, NO_PARITY, NO_FLOW_CTRL );
}
else
{
UsbIsConnected = false;
UartDeInit( &Uart1 );
}
RtcInit( );
BoardUnusedIoInit( );
}
else
{
SystemClockReConfig( );
}
I2cInit( &I2c, I2C_SCL, I2C_SDA );
AdcInit( &Adc, BAT_LEVEL_PIN );
SpiInit( &SX1272.Spi, RADIO_MOSI, RADIO_MISO, RADIO_SCLK, NC );
SX1272IoInit( );
if( McuInitialized == false )
{
McuInitialized = true;
if( GetBoardPowerSource( ) == BATTERY_POWER )
{
CalibrateSystemWakeupTime( );
}
}
}
void BoardInitMcu( void )
{
if( McuInitialized == false )
{
#if defined( USE_BOOTLOADER )
// Set the Vector Table base location at 0x3000
SCB->VTOR = FLASH_BASE | 0x3000;
#endif
HAL_Init( );
SystemClockConfig( );
#if defined( USE_USB_CDC )
UartInit( &UartUsb, UART_USB_CDC, NC, NC );
UartConfig( &UartUsb, RX_TX, 115200, UART_8_BIT, UART_1_STOP_BIT, NO_PARITY, NO_FLOW_CTRL );
DelayMs( 1000 ); // 1000 ms for Usb initialization
#endif
RtcInit( );
BoardUnusedIoInit( );
I2cInit( &I2c, I2C_1, I2C_SCL, I2C_SDA );
}
else
{
SystemClockReConfig( );
}
AdcInit( &Adc, BAT_LEVEL_PIN );
SpiInit( &SX1272.Spi, SPI_1, RADIO_MOSI, RADIO_MISO, RADIO_SCLK, NC );
SX1272IoInit( );
if( McuInitialized == false )
{
McuInitialized = true;
if( GetBoardPowerSource( ) == BATTERY_POWER )
{
CalibrateSystemWakeupTime( );
}
}
}
int main()//OPTIMIZATION LEVEL = 0
{
HAL_Init();
SystemClockConfig();
ConfigLED();
ConfigTimer();
rtksvrstart(&svr);
ConfigUART(svr.format[0]);
fobs[0]=fobs[1]=0;
//svr.raw[1].time.time = 1429540822;//test SS2 data
//svr.raw[1].time.time = 1429539852;//test SS2 data
while (HAL_UART_Receive_DMA(&UartGPSHandle,svr.buff[0],MAX_RAW_LEN) != HAL_OK);
while (HAL_UART_Receive_DMA(&UartRFHandle,svr.buff[1],MAX_RAW_LEN) != HAL_OK);
HAL_Delay(3000);
sendRequest(svr.format[0]);
// test();
while(1)
{
#ifndef _TEST_RESULT
if (flagTimeout)
{
int index,temp;
flagTimeout=0;
//SendIntStr(UartGPSHandle.Instance->SR);
//SendIntStr(UartRFHandle.Instance->SR);
for (index=0;index<2;index++)
{
if (index==0)
temp = UartGPSHandle.hdmarx->Instance->NDTR & 0xffff;
else
temp = UartRFHandle.hdmarx->Instance->NDTR & 0xffff;
if (temp + svr.buffPtr[index] <= MAX_RAW_LEN)
svr.nb[index] = MAX_RAW_LEN - svr.buffPtr[index] - temp;
else
svr.nb[index] = 2*MAX_RAW_LEN - temp - svr.buffPtr[index];
fobs[index] = decode_raw(&svr,index);
svr.buffPtr[index] = MAX_RAW_LEN - temp;
}
// temp = UartGPSHandle.hdmarx->Instance->NDTR & 0xffff;
// if (temp + svr.buffPtr[0] <= MAX_RAW_LEN)
// svr.nb[0] = MAX_RAW_LEN - svr.buffPtr[0] - temp;
// else
// svr.nb[0] = 2*MAX_RAW_LEN - temp - svr.buffPtr[0];
// if (svr.buffPtr[0] + svr.nb[0] <= MAX_RAW_LEN)
// {
// for (i = svr.buff[0] + svr.buffPtr[0] ;
// i < svr.buff[0] + svr.buffPtr[0] + svr.nb[0]; i++)
// {
// HAL_UART_Transmit(&UartResultHandle,i,1,1);
// }
// }
// else
// {
// for (i = svr.buff[0] + svr.buffPtr[0] ;
// i < svr.buff[0] + MAX_RAW_LEN; i++)
// {
// HAL_UART_Transmit(&UartResultHandle,i,1,1);
// }
// for (i = svr.buff[0] ;
// i < svr.buff[0] + svr.nb[0] + svr.buffPtr[0] - MAX_RAW_LEN ; i++)
// {
// HAL_UART_Transmit(&UartResultHandle,i,1,1);
// }
// }
// svr.buffPtr[0] = MAX_RAW_LEN - temp;
//rtk positioning**********************************************************************
// if (0)
if (fobs[1])
{
fobs[1]=0;
LED4_TOGGLE;
}
if (fobs[0])
{
int i;
fobs[0]=0;
LED3_TOGGLE;
#ifdef TIME_MEASURE
start=HAL_GetTick();
#endif
temp=svr.obs[0].n;
for (i=0;i<temp;i++)
{
obsd[i]=svr.obs[0].data[i];
}
for (i=0;(i<svr.obs[1].n)&&(i+temp<MAX_OBS);i++)
{
obsd[i+temp]=svr.obs[1].data[i];
}
if (!rtkpos(&svr.rtk,obsd,i+temp,&svr.nav))
// if (1)
{
LED5_TOGGLE;
#ifdef TIME_MEASURE
t=HAL_GetTick()-start;
svr.rtk.sol.processTime = t;
#endif
if (svr.rtk.sol.stat==SOLQ_FIX)
LED6_TOGGLE;
outsol(&svr.rtk.sol,svr.rtk.rb);
SendStr(svr.rtk.sol.result);
}
else
{
HAL_UART_Transmit_DMA(&UartResultHandle,(unsigned char*)svr.rtk.errbuf,svr.rtk.errLen);
}
}
}
#else
if (flagTimeout)
{
static int i;
char* res = svr.rtk.sol.result;
flagTimeout = 0;
res+=sprintf(res,
"%04.0f/%02.0f/%02.0f %02.0f:%02.0f:%06.3f %14.4f %14.4f %14.4f %3d %3d %8.4f %8.4f %8.4f %8.4f %8.4f %8.4f %6.2f %6.1f",
2015.0,10.0,12.0,3.0,45.0,18.0,//time yy/mm/dd hh:mm:ss.ssss
1.0,2.0,1.0,
1,1,
1.0,1.0,1.0,
1.0,1.0,1.0,
1.0,1.0);
res+=sprintf(res," %4d",i++);
res[0]='\n';
SendStr(svr.rtk.sol.result);
}
#endif
}
}
