/***************************************************************************
Declaration : void init_mcu (void)
Function : Initializes ATmega88 MCU
***************************************************************************/
void init_mcu (void)
{
#ifdef DEBUG
debug();
#endif
/* System Clocks Configuration */
RCC_Configuration();
/* Configure the GPIO ports */
GPIO_Configuration();
/* Configure EXTI Line9 to generate an interrupt on falling edge */
EXTI_Configuration();
/* SPI the GPIO ports */
SPI_Configuration();
/* USART Configuration as SPI */
USART1_Configuration();
/* TIM2 Configuration */
TIM2_Configuration();
/* TIM3 Configuration */
TIM3_Configuration();
/* TIM4 Configuration */
TIM4_Configuration();
/* Configure RTC clock source and prescaler */
RTC_Configuration();
/* NVIC configuration */
NVIC_Configuration();
}
/***********************************************************
* 函数说明：系统硬件初始化函数 *
* 输入： 无 *
* 输出： 无 *
* 调用函数：Port_Init() RCC_Configuration() *
***********************************************************/
void Device_Init(void)
{
RCC_Configuration();
get_sig_cfg_param(1);
PORT_Init();/*此处需要修改 malooei 2012/11/14*/
USART2_Configuration(); /* 用于连接pc */
USART1_Configuration(); /* 用于向光纤传输数据 */
DMA_USART1_Configuration( );
adc1_dma_cfg();
ADC1_Configuration();
//box_tmper_ctrl_init();
#if !USE_PVD_CHECK_POWEROFF
Exti_Init();
#else
Exti_Pvd_Init();
#endif
spi1_cfg4ads8329();
delay_us(500*1000); /* 240ms, cpu最低工作电压为2.0V, ads8329最低工作电压为2.7V, David */
init_ads8329();
TIM3_Configuration();
NVIC_Configuration();
return;
}
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
GPIO_Configuration();
DAC_Configuration();
TIM2_Configuration();
TIM3_Configuration();
while (1)
{
}
}
int main(void)
{
// setup SYSCLK
SYSCLK_Configuration();
// setup RCC
RCC_Configuration();
// Remap JTRST so PB4 (red LED) can be used as
GPIO_PinRemapConfig(GPIO_Remap_SWJ_NoJTRST , ENABLE);
// setup system tick timer
// SysTick_Configuration();
// set SysTick priority
NVIC_SetPriority (SysTick_IRQn, NVIC_IPR0_PRI_1);
//NVIC->ISER[0] |= (1 << SysTick_IRQn); // enable SysTick int in NVIC
// Configure PB5 (green LED) and PB4 (red LED)
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5 | GPIO_Pin_4;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(GPIOB, &GPIO_InitStructure);
// Configure Timer3 & 4 to be used as push pull alternative function on pins 0 1 8 9
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_8 | GPIO_Pin_9;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_PinRemapConfig(GPIO_PartialRemap_TIM3, ENABLE);
// Setup timers
TIM1_Configuration();
TIM2_Configuration();
TIM3_Configuration();
TIM4_Configuration();
// FreeRTOS initialization
FreeRTOS_Configuration();
// start scheduler
vTaskStartScheduler();
return 0;
}
//================================================================================================
// System Pheriperal Initialize
//================================================================================================
void SysConfiguration(void)
{
RCC_Configuration();
GPIO_Configuration();
USART_Configuration();
NVIC_Configuration();
// ExtI_Configuration();
TIM2_Configuration();
TIM3_Configuration();
RCC_ClocksTypeDef clocks;
// trace_printf("trace_printf Message\r\n");
RCC_GetClocksFreq(&clocks);
if(SysTick_Config(SystemCoreClock/1000) != 0){ // Sys Tick을 1ms로 설정
dp("Sys Tick Configuration Fail\r\n");
}
}
void Hardware_Init(void)
{
RCC_Configuration();
SysTick_Configuration();
NVIC_Configuration();
GPIO_Configuration();
//TIM1_Configuration();
TIM2_Configuration();
TIM3_Configuration();
TIM4_Configuration();
UART2_Init();
Unselect_SPI_Device(); //不选中任何一个SPI设备
SPI1_FLASH_Init();
}
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void) {
/*!< At this stage the microcontroller clock setting is already configured,
this is done through SystemInit() function which is called from startup
file (startup_stm32f10x_xx.s) before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
system_stm32f10x.c file
*/
/* System Clocks Configuration */
RCC_Configuration();
/* System Tick Configuration at 1us */
SysTick_Config(SystemCoreClock / 1000000);
#if (defined USE_EQDAS01) || (defined USE_EQDAS02)
/* TIM2 Configuration */
TIM2_Configuration();
/* TIM3 Configuration */
TIM3_Configuration();
/* TIM6 Configuration (RTC load) */
TIM6_Configuration();
#elif defined USE_EQDAS_SERVER
/* TIM4 Configuration */
TIM4_Configuration();
#endif
/* CLCD Configuration */
CLCD_Configuration();
/* GLCD Configuration */
GLCD_Configuration();
/* UART1 Configuration */
UART_Configuration();
/* RTC configuration by setting the time by Serial USART1 */
//RTC_SetTimeBySerial();
/* WIZ820io SPI1 configuration */
WIZ820io_SPI1_Configuration();
/* W5200 Configuration */
Set_network();
/* Print WIZ820io configuration */
printSysCfg();
/* EXTI Configuration */
EXTI_Configuration();
/* FatFS configuration */
f_mount(0, &fs); // mSD
//f_mount(1, &fs); // NAND
/* Display Total size of SD card in MB scale */
SD_TotalSize();
/* Scan all files in mSD card */
scan_files(path);
/* MAL configuration */
//Set_System();
/* UMS configuration */
//Set_USBClock();
//USB_Interrupts_Config();
//USB_Init();
/* loop upon completion of USB Enumeration */
//while (bDeviceState != CONFIGURED);
/* ATFC Algorithm GPIO */
ATFC_GPIO_Configuration();
/* ATFC Parameter Initialization */
ATFCAlgorithmParameterSetup();
// For TCP client's connection request delay
presentTime = my_time;
/* Clear CLCD before branch into main */
CLCD_Clear();
/* Alarm in 3 second */
//RTC_SetAlarm(RTC_GetCounter() + 3);
/* Wait until last write operation on RTC registers has finished */
//RTC_WaitForLastTask();
/* Create directory and sub directory in accordance with current date */
//filePath = CreateDirectoryAccordingly(GetYearAndMergeToInt(), GetMonthAndMergeToInt(),
//GetDayAndMergeToInt(), RTC_GetCounter() / 3600);
/* Create file in append mode in accordance with current minute */
//CreateFileAppendModeAccordingly(filePath, (RTC_GetCounter() % 3600) / 60);
// When everything is set, print message
printf("\r\n\n - System is ready - ");
while (1) {
#if (defined USE_EQDAS01) || (defined USE_EQDAS02)
if(TimerCount > 1000) { // 0 ~ 999 (1000) = 1 sec
TimerCount = 0;
/*
int x, y, z;
x = mAxisBuf.tmp_data_x_lcd[index];
y = mAxisBuf.tmp_data_y_lcd[index];
z = mAxisBuf.tmp_data_z_lcd[index];
char Serial_Buf[37];
int hour, minute, second, tmsecond;
hour = THH; minute = TMM; second = TSS; tmsecond = 0;
sprintf(Serial_Buf, "%04d%02d%02d_%02d%02d%02d%02d_%+05d_%+05d_%+05d\r\n",
year, month, day, hour, minute, second, tmsecond, x, y, z);
printf(Serial_Buf);
*/
//my_time++; // uncomment when tcp connection is needed
/* Process Parameter Text Stream */
if(PCFlag) { // EQDAS Client System and ATFC Algorithm Setting
PCFlag = false;
ProcessParameterStream();
}
}
/* Clock generated by TIM3 */
if(ClientTimerCounter > 10) { // 0 ~ 999 (1000) = 1 sec
ClientTimerCounter = 0;
int mAlgorithmContainer;
year = GetYearAndMergeToInt();
month = GetMonthAndMergeToInt();
day = GetDayAndMergeToInt();
hour = THH; minute = TMM; second = TSS; tmsecond = 0;
int mYear, mMonth, mDay, mHour, mMin, mSec, mTMSec;
mYear = year; mMonth = month; mDay = day;
mHour = hour; mMin = minute; mSec = second; mTMSec = tmsecond;
x = mAxisBuf.tmp_data_x_lcd[arrIdx];
y = mAxisBuf.tmp_data_y_lcd[arrIdx];
z = mAxisBuf.tmp_data_z_lcd[arrIdx];
if(flag_uart) { // prevent unpleasant impuse
// Index synchronization
arrIdx = index;
// Make a copy from raw collected data to temporary array
CopyToTmpArray(arrIdx);
// Copy to Temporary GAL array
CopyToTmpGalArray(arrIdx);
// Calculate GAL and copy to single temporary GAL value
CalculateGalAndCopyToGal(arrIdx);
// Determine KMA scale
DetermineKMA(arrIdx);
// Check sign bit and apply to int container
CheckSignAndToInt(arrIdx); // this function also cuts surplus 1G
/* Switch menu & waveform display through graphic lcd */
GLCD_AxisViewWithWaveform(mode, arrIdx, x, y, z);
if(GoATFCFlag) {
// Apply ATFC Algorithm to Axis x
ATFCAlgorithm(mAxisBuf.tmp_data_x_lcd[arrIdx]);
}
}
if(EventDetection) {
GPIO_WriteBit(GPIOE, GPIO_Pin_15, Bit_SET);
mAlgorithmContainer = x;
} else {
GPIO_WriteBit(GPIOE, GPIO_Pin_15, Bit_RESET);
mAlgorithmContainer = 0;
}
// Copy to data buffer to be written through FATFS
//CopyToFatFsDataBuffer(arrIdx);
/* EQDAQ01, 02 Client Routine ---------------------------------------------*/
/* E1Flag or E2Flag set when client board successfully connect to server --*/
/* Refer to wiz820.c line no. 300 for which flag to be set */
if(E1Flag) {
char E1_Buf[45];
sprintf(E1_Buf, "%04d%02d%02d_%02d%02d%02d%02d_%+05d_%+05d_%+05d_%+05d\r\n",
mYear, mMonth, mDay, mHour, mMin, mSec, mTMSec,
x, y, z, mAlgorithmContainer);
// Only when socket is established, allow send data
if(getSn_SR(SOCK_TWO) == SOCK_ESTABLISHED) {
/* send selected data */
CountSendByte = send(SOCK_TWO, (uint8_t*)E1_Buf, strlen(E1_Buf), (bool)false);
}
}
if(E2Flag) {
char E2_Buf[45];
sprintf(E2_Buf, "%04d%02d%02d_%02d%02d%02d%02d_%+05d_%+05d_%+05d\r\n",
mYear, mMonth, mDay, mHour, mMin, mSec, mTMSec, x, y, z);
// Only when socket is established, allow send data
if(getSn_SR(SOCK_ZERO) == SOCK_ESTABLISHED) {
/* send selected data */
send(SOCK_ZERO, (uint8_t*)E2_Buf, strlen(E2_Buf), (bool)false);
}
}
}
/* do RTC work on every second */
if(RTCTIM6Count > 1000) {
RTCTIM6Count = 0;
if(InitialThirteenSeconds == 12) {
InitialThirteenSeconds = 0;
GoATFCFlag = true;
} else {
if(!GoATFCFlag) {
InitialThirteenSeconds++;
}
}
/* RTC 1Hz interrupt */
if(RTCTimeDisplay) { // 1Hz calibrated by RTC
RTCTimeDisplay = false;
/* Display current time */
Time_Display(RTC_GetCounter());
}
/* RTC Alarm interrupt */
if(RTCAlarmFlag) {
RTCAlarmFlag = false;
printf("\r\nRTC Alarm Actviated!");
}
}
/* Save log to file process ------------------------------------------------*/
/* Save process needs to be run every single cycle due to delay might occur */
if(GoAppendDataFlag) { // every 500 sample (equals 5 sec), go save file.
GoAppendDataFlag = false;
int bytesWritten = 0;
if(EachSecFlag) {
// it means that DATA1_BUF is full and ready to flush out
// be sure to empty out DATA1_BUF or will overflow and cause system to halt.
/* Append first data for the duration of 1 second */
bytesWritten = f_printf(&fsrc, DATA1_BUF);
printf("\r\n%d of bytesWritten", bytesWritten);
if(FileRecordCompleteFlag) {
FileRecordCompleteFlag = false;
printf("\r\nFile Record Complete!");
/* Close the file */
f_close(&fsrc);
}
// Reset DATA1_BUF
memset(DATA1_BUF, 0, sizeof(DATA1_BUF));
} else {
/* Append another second of data */
bytesWritten = f_printf(&fsrc, DATA2_BUF);
printf("\r\n%d of bytesWritten", bytesWritten);
if(FileRecordCompleteFlag) {
FileRecordCompleteFlag = false;
printf("\r\nFile Record Complete!");
/* Close the file */
f_close(&fsrc);
}
// Reset DATA2_BUF
memset(DATA2_BUF, 0, sizeof(DATA2_BUF));
}
}
#endif
if(ParseUSART1) {
ParseUSART1 = false;
// run some test on SDIO
//SDIO_TEST();
#if (defined USE_EQDAS01) || (defined USE_EQDAS02)
/* Print WIZ820io configuration */
printSysCfg();
printf("\r\n");
printf("\r\nBKP_DR1 = %d", BKP_ReadBackupRegister(BKP_DR1));
printf("\r\nBKP_DR2 = %d", BKP_ReadBackupRegister(BKP_DR2));
printf("\r\nBKP_DR3 = %d", BKP_ReadBackupRegister(BKP_DR3));
printf("\r\nBKP_DR4 = %d", BKP_ReadBackupRegister(BKP_DR4));
printf("\r\nBKP_DR5 = %d", BKP_ReadBackupRegister(BKP_DR5));
printf("\r\nBKP_DR6 = %d", BKP_ReadBackupRegister(BKP_DR6));
printf("\r\nBKP_DR7 = %d", BKP_ReadBackupRegister(BKP_DR7));
printf("\r\nBKP_DR8 = %d", BKP_ReadBackupRegister(BKP_DR8));
printf("\r\nBKP_DR9 = %d", BKP_ReadBackupRegister(BKP_DR9));
printf("\r\nBKP_DR10 = %d", BKP_ReadBackupRegister(BKP_DR10));
printf("\r\nBKP_DR11 = %d", BKP_ReadBackupRegister(BKP_DR11));
printf("\r\nBKP_DR12 = %d", BKP_ReadBackupRegister(BKP_DR12));
printf("\r\nBKP_DR13 = %d", BKP_ReadBackupRegister(BKP_DR13));
printf("\r\nBKP_DR14 = %d", BKP_ReadBackupRegister(BKP_DR14));
printf("\r\nBKP_DR15 = %d", BKP_ReadBackupRegister(BKP_DR15));
printf("\r\nBKP_DR16 = %d", BKP_ReadBackupRegister(BKP_DR16));
#elif (defined) USE_EQDAS_SERVER
char buffer[37];
sprintf(buffer, "%s_%s_%s_%s_%s\r\n",
DAQBoardOne[arrIdx].Date,
DAQBoardOne[arrIdx].Time,
DAQBoardOne[arrIdx].AxisX,
DAQBoardOne[arrIdx].AxisY,
DAQBoardOne[arrIdx].AxisZ);
printf("\r\nRX_BUF : %s, strlen(RX_BUF) : %d", (char*)RX_BUF, strlen((char*)RX_BUF));
printf("\r\nstrlen(buffer) = %d\n%s", strlen(buffer), buffer);
/*
char *original = "-3843,+4095,+2069";
char target[20];
strncpy(target, original, strlen(original));
char *one, *two, *three;
char *AfterToken;
AfterToken = strtok(target, ",");
one = AfterToken;
AfterToken = strtok(NULL, ",");
two = AfterToken;
AfterToken = strtok(NULL, ",");
three = AfterToken;
AfterToken = strtok(NULL, ",");
if(AfterToken != NULL) printf("AfterToken is not empty");
printf("\r\none : %s, two : %s, three : %s", one, two, three);*/
#endif
}
#if (defined USE_EQDAS01) || (defined USE_EQDAS02)
/*
for(i=0; i<100; i++) {
if(flag_uart) {
// Make a copy from raw collected data to temporary array
CopyToTmpArray(i);
// Copy to Temporary GAL array
CopyToTmpGalArray(i);
// Calculate GAL and copy to single temporary GAL value
CalculateGalAndCopyToGal(i);
// Determine KMA scale
DetermineKMA(i);
// Check sign bit and apply to int container
CheckSignAndToInt(i); // this function also cuts surplus 1G
}
}
*/
// following routine is only necessary when the board works as server
#elif defined USE_EQDAS_SERVER
/* EQ-DAQ-01 Parsing routine ------------------------------------------------- */
/* Set E1Flag indicate that we have valid connection from EQ-DAQ-01(port 5050) */
if(E1Flag) {
E1Flag = false; // clear flag since this routine excutes ceaselessly over time
ProcessTextStream(EQ_ONE, (char*)RX_BUF, E1Order);
/* PC Client Parsing routine ------------------------------------------------- */
/* Set PCFlag indicate that we have valid connection from PC Client(port 7070) */
if(PCFlag) {
// Send directly to PC
SendToPC(E1Order);
}
if(E1Order < 99) E1Order++;
else E1Order = 0;
}
/* EQ-DAQ-02 Parsing routine ------------------------------------------------- */
/* Set E2Flag indicate that we have valid connection from EQ-DAQ-02(port 6060) */
if(E2Flag) {
E2Flag = false;
ProcessTextStream(EQ_TWO, (char*)RX_BUF, E2Order);
/* PC Client Parsing routine ------------------------------------------------- */
/* Set PCFlag indicate that we have valid connection from PC Client(port 7070) */
if(PCFlag) {
// Send directly to PC
SendToPC(E2Order);
}
if(E2Order < 99) E2Order++;
else E2Order = 0;
}
#endif
/* Setup TCP Client or Server -----------------------------------------------------*/
/* Please open config.h file to choose a proper board you wish to use */
#if (defined USE_EQDAS01) || (defined USE_EQDAS02)
/* Start TCP Client process */
ProcessTcpClient(SOCK_ZERO); // TCP Client
/* Parameter setting Server side with port 5050 in default */
ATFCTcpServer(SOCK_TWO, EQDAS_Conf_PORT); // SOCK_TWO because of flag conformity
#elif defined USE_EQDAS_SERVER
/* Process server socket with each port */
ProcessTcpServer(SOCK_ZERO, 5050); // designated as for EQM-DAQ-01 with port 5050
ProcessTcpServer(SOCK_ONE, 6060); // designated as for EQM-DAQ-02 with port 6060
ProcessTcpServer(SOCK_TWO, 7070); // designated as for PC-CLIENT with port 7070
ProcessTcpServer(SOCK_THREE, 8080); // designated as for PC_DUMP with port 8080
/*
ProcessTcpServer(SOCK_FOUR, 9090); // designated as for TOBEUSED with port 9090
ProcessTcpServer(SOCK_FIVE, 10010); // designated as for TOBEUSED with port 10010
ProcessTcpServer(SOCK_SIX, 10020); // designated as for TOBEUSED with port 10020
ProcessTcpServer(SOCK_SEVEN, 10030); // designated as for TOBEUSED with port 10030
*/
#endif
}
}
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void) {
/*!< At this stage the microcontroller clock setting is already configured,
this is done through SystemInit() function which is called from startup
file (startup_stm32f10x_xx.s) before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
system_stm32f10x.c file
*/
/* System Clocks Configuration */
RCC_Configuration();
/* System Tick Configuration at 1us */
SysTick_Config(SystemCoreClock / 1000000);
#if (defined USE_EQDAS01) || (defined USE_EQDAS02)
/* TIM2 Configuration */
TIM2_Configuration();
/* TIM3 Configuration (10ms for Network Transmission)*/
TIM3_Configuration();
/* TIM5 Configuration (GLCD Time Share)*/
TIM5_Configuration();
/* TIM6 Configuration (RTC load) */
TIM6_Configuration();
#elif defined USE_EQDAS_SERVER
/* TIM4 Configuration */
TIM4_Configuration();
#endif
/* CLCD Configuration */
CLCD_Configuration();
/* GLCD Configuration */
GLCD_Configuration();
/* UART1 Configuration */
UART_Configuration();
/* GPS-UART3 Configuration */
//GPS_Configuration();
/* RTC configuration by setting the time by Serial USART1 */
RTC_SetTimeBySerial();
/* Forcefully let user set the IP through terminal */
//ForceIPSetBySerial();
/* WIZ820io SPI1 configuration */
WIZ820io_SPI1_Configuration();
/* W5200 Configuration */
Set_network();
/* Print WIZ820io configuration */
printSysCfg();
/* EXTI Configuration */
EXTI_Configuration();
/* FatFS configuration */
f_mount(0, &fs); // mSD
//f_mount(1, &fs); // NAND
/* Display Total size of SD card in MB scale */
SD_TotalSize();
/* Scan all files in mSD card */
scan_files(path);
/* MAL configuration */
//Set_System();
/* UMS configuration */
//Set_USBClock();
//USB_Interrupts_Config();
//USB_Init();
/* loop upon completion of USB Enumeration */
//while (bDeviceState != CONFIGURED);
/* ATFC Algorithm GPIO */
ATFC_GPIO_Configuration();
/* ATFC Parameter Initialization */
ATFCAlgorithmParameterSetup();
// For TCP client's connection request delay
presentTime = my_time;
/* Clear CLCD before branch into main */
CLCD_Clear();
/* Create directory and sub directory in accordance with current date */
filePath = CreateDirectoryAccordingly(GetYearAndMergeToInt(), GetMonthAndMergeToInt(),
GetDayAndMergeToInt(), RTC_GetCounter() / 3600);
/* Create file in append mode in accordance with current minute */
CreateFileAppendModeAccordingly(filePath, (RTC_GetCounter() % 3600) / 60);
// When everything is set, print message
printf("\r\n\n - System is ready - ");
while (1) {
#if (defined USE_EQDAS01) || (defined USE_EQDAS02)
if(TimerCount > 1000) { // 0 ~ 999 (1000) = 1 sec
TimerCount = 0;
/*
int x, y, z;
x = mAxisBuf.tmp_data_x_lcd[index];
y = mAxisBuf.tmp_data_y_lcd[index];
z = mAxisBuf.tmp_data_z_lcd[index];
char Serial_Buf[37];
int hour, minute, second, tmsecond;
hour = THH; minute = TMM; second = TSS; tmsecond = 0;
sprintf(Serial_Buf, "%04d%02d%02d_%02d%02d%02d%02d_%+05d_%+05d_%+05d\r\n",
year, month, day, hour, minute, second, tmsecond, x, y, z);
printf(Serial_Buf);
*/
//my_time++; // uncomment when tcp connection is needed
/* Process Parameter Text Stream */
/*
if(PCFlag) { // EQDAS Client System and ATFC Algorithm Setting
PCFlag = false;
ProcessParameterStream();
}
*/
}
/* GLCD Time Share */
if(TIM5GLCDCount > 95) { // Allocate proper time to share mcu resource with network
TIM5GLCDCount = 0;
/* Graphic LCD Copy and Process Routine -------------------------------------- */
if(SyncFlag) { // prevent unpleasant impuse
// Index synchronization dedicate to GLCD
arrGLCDIdx = index;
// Make a copy from raw collected data to temporary array
CopyToTmpArray(arrGLCDIdx);
// Copy to Temporary GAL array
//CopyToTmpGalArray(arrIdx);
// Calculate GAL and copy to single temporary GAL value
//CalculateGalAndCopyToGal(arrIdx);
// Determine KMA scale
KMAGrade = DetermineKMA(arrGLCDIdx);
// Check sign bit and apply to int container
CheckSignAndToInt(arrGLCDIdx); // this function also cuts surplus 1G
}
int mATFCBit_lcd;
mATFCBit_lcd = mAxisBuf.ATFCBit_lcd[arrGLCDIdx];
/* Switch menu & waveform display through graphic lcd */
GLCD_AxisViewWithWaveform(mode, arrGLCDIdx);
/* Display KMA Intensity on Graphic LCD */
GLCD_DisplayKMAIntensity(KMAGrade, mATFCBit_lcd);
}
/* Clock generated by TIM3 */
if(ClientTimerCounter > 10) { // 0 ~ 999 (1000) = 1 sec
ClientTimerCounter = 0;
year = GetYearAndMergeToInt();
month = GetMonthAndMergeToInt();
day = GetDayAndMergeToInt();
hour = THH; minute = TMM; second = TSS; tmsecond = 0;
int mYear, mMonth, mDay, mHour, mMin, mSec, mTMSec;
mYear = year; mMonth = month; mDay = day;
mHour = hour; mMin = minute; mSec = second; mTMSec = tmsecond;
if(SyncFlag) {
// Index synchronization
arrIdx = index;
// Make a copy from raw collected data to temporary net array
CopyToNetArray(arrIdx);
// Check sign bit and apply to int container
CheckSignAndToIntForNet(arrIdx); // this function also cuts surplus 1G
}
/* Prevent access to volatile variable warning */
/* This have to be here in order to correct data to be used in ATFC */
int mX, mY, mZ, mATFCBit;
mX = mAxisNetBuf.axis_x_for_net[arrIdx];
mY = mAxisNetBuf.axis_y_for_net[arrIdx];
mZ = mAxisNetBuf.axis_z_for_net[arrIdx];
mATFCBit = mAxisNetBuf.ATFCBit_net[arrIdx];
/* EQDAQ01, 02 Client Routine ---------------------------------------------*/
/* E1Flag or E2Flag set when client board successfully connect to server --*/
/* Refer to wiz820.c line no. 406 for which flag to be set */
if(E1Flag) {
char E1_Buf[45];
sprintf(E1_Buf, "%04d%02d%02d_%02d%02d%02d%02d_%+05d_%+05d_%+05d_%d\r\n",
mYear, mMonth, mDay, mHour, mMin, mSec, mTMSec,
mX, mY, mZ, mATFCBit);
// Only when socket is established, allow send data
if(getSn_SR(SOCK_ZERO) == SOCK_ESTABLISHED) {
/* send selected data */
CountSendByte = send(SOCK_ZERO, (uint8_t*)E1_Buf, strlen(E1_Buf), (bool)false);
}
}
if(E2Flag) {
char E2_Buf[45];
sprintf(E2_Buf, "%04d%02d%02d_%02d%02d%02d%02d_%+05d_%+05d_%+05d_%d\r\n",
mYear, mMonth, mDay, mHour, mMin, mSec, mTMSec,
mX, mY, mZ, mATFCBit);
// Only when socket is established, allow send data
if(getSn_SR(SOCK_ZERO) == SOCK_ESTABLISHED) {
/* send selected data */
send(SOCK_ZERO, (uint8_t*)E2_Buf, strlen(E2_Buf), (bool)false);
}
}
}
/* do RTC work on every second */
if(RTCTIM6Count > 1000) {
RTCTIM6Count = 0;
if(InitialThirteenSeconds == 12) {
InitialThirteenSeconds = 0;
GoATFCFlag = true;
} else {
if(!GoATFCFlag) {
InitialThirteenSeconds++;
}
}
/* RTC 1Hz interrupt */
if(RTCTimeDisplay) { // 1Hz calibrated by RTC
RTCTimeDisplay = false;
/* Adjust realtime clock deviation */
if(hour > 23) {
int i, currentDay, mDay, mHour, mMin, mSec;
mDay = hour / 24;
for(i=0; i<mDay; i++) {
IncreaseSingleDay();
if(i == mDay - 1) {
currentDay = (GetMonthAndMergeToInt() * 100) + GetDayAndMergeToInt();
BKP_WriteBackupRegister(BKP_DR3, currentDay); // Save Month and Date
}
}
mHour = THH % 24;
mMin = TMM;
mSec = TSS;
/* Change the current time */
RTC_SetCounter(mHour*3600 + mMin*60 + mSec);
}
/* Display current time */
Time_Display(RTC_GetCounter());
int OrderCount;
for(OrderCount = 0; OrderCount < 100; OrderCount++) {
// Copy to data buffer to be written through FATFS
CopyToFatFsDataBuffer(OrderCount);
}
}
/* RTC Alarm interrupt */
if(RTCAlarmFlag) {
RTCAlarmFlag = false;
printf("\r\nRTC Alarm Actviated!");
}
}
#endif
if(ParseGPS) {
ParseGPS = false;
printf("%s", GPS_Buffer);
}
if(ParseUSART1) {
ParseUSART1 = false;
// run some test on SDIO
//SDIO_TEST();
#if (defined USE_EQDAS01) || (defined USE_EQDAS02)
/* Print WIZ820io configuration */
printSysCfg();
printf("\r\n");
printf("\r\nBKP_DR1 = %d", BKP_ReadBackupRegister(BKP_DR1));
printf("\r\nBKP_DR2 = %d", BKP_ReadBackupRegister(BKP_DR2));
printf("\r\nBKP_DR3 = %d", BKP_ReadBackupRegister(BKP_DR3));
printf("\r\nBKP_DR4 = %d", BKP_ReadBackupRegister(BKP_DR4));
printf("\r\nBKP_DR5 = %d", BKP_ReadBackupRegister(BKP_DR5));
printf("\r\nBKP_DR6 = %d", BKP_ReadBackupRegister(BKP_DR6));
printf("\r\nBKP_DR7 = %d", BKP_ReadBackupRegister(BKP_DR7));
printf("\r\nBKP_DR8 = %d", BKP_ReadBackupRegister(BKP_DR8));
printf("\r\nBKP_DR9 = %d", BKP_ReadBackupRegister(BKP_DR9));
printf("\r\nBKP_DR10 = %d", BKP_ReadBackupRegister(BKP_DR10));
printf("\r\nBKP_DR11 = %d", BKP_ReadBackupRegister(BKP_DR11));
printf("\r\nBKP_DR12 = %d", BKP_ReadBackupRegister(BKP_DR12));
printf("\r\nBKP_DR13 = %d", BKP_ReadBackupRegister(BKP_DR13));
printf("\r\nBKP_DR14 = %d", BKP_ReadBackupRegister(BKP_DR14));
printf("\r\nBKP_DR15 = %d", BKP_ReadBackupRegister(BKP_DR15));
printf("\r\nBKP_DR16 = %d", BKP_ReadBackupRegister(BKP_DR16));
/*
printf("\r\nstrlen(HEADER) : %d %s", strlen(HEADER), HEADER);
printf("\r\nf_mkdir1 : ");
char *dirPath = "0:/20130517";
res = f_mkdir(dirPath);
FPrintFatResult(res);
printf("\r\nf_mkdir2 : ");
dirPath = "0:/20130517/22H-23H";
res = f_mkdir(dirPath);
FPrintFatResult(res);
char *filePath = "0:/20130517/2-23H/test.txt";
// Create log file on the drive 0
res = open_append(&fsrc, filePath);
FPrintFatResult(res);
if(res == FR_OK) {
printf("test.txt successfully created\r\n");
// Write buffer to file
int bytesWritten;
bytesWritten = f_printf(&fsrc, HEADER);
printf("\r\n%d of bytesWritten", bytesWritten);
// Close file
f_close(&fsrc);
} else if ( res == FR_EXIST ) {
printf("\r\ntest.txt already exist");
}
*/
#elif (defined) USE_EQDAS_SERVER
char buffer[37];
sprintf(buffer, "%s_%s_%s_%s_%s\r\n",
DAQBoardOne[arrIdx].Date,
DAQBoardOne[arrIdx].Time,
DAQBoardOne[arrIdx].AxisX,
DAQBoardOne[arrIdx].AxisY,
DAQBoardOne[arrIdx].AxisZ);
printf("\r\nRX_BUF : %s, strlen(RX_BUF) : %d", (char*)RX_BUF, strlen((char*)RX_BUF));
printf("\r\nstrlen(buffer) = %d\n%s", strlen(buffer), buffer);
/*
char *original = "-3843,+4095,+2069";
char target[20];
strncpy(target, original, strlen(original));
char *one, *two, *three;
char *AfterToken;
AfterToken = strtok(target, ",");
one = AfterToken;
AfterToken = strtok(NULL, ",");
two = AfterToken;
AfterToken = strtok(NULL, ",");
three = AfterToken;
AfterToken = strtok(NULL, ",");
if(AfterToken != NULL) printf("AfterToken is not empty");
printf("\r\none : %s, two : %s, three : %s", one, two, three);*/
#endif
}
// following routine is only necessary when the board works as server
#if defined USE_EQDAS_SERVER
/* Server also needs to have get CLCD going while running */
/* RTC 1Hz interrupt */
if(RTCTimeDisplay) { // 1Hz calibrated by RTC
RTCTimeDisplay = false;
/* Adjust realtime clock deviation */
if(hour > 23) {
int i, currentDay, mDay, mHour, mMin, mSec;
mDay = hour / 24;
for(i=0; i<mDay; i++) {
IncreaseSingleDay();
if(i == mDay - 1) {
currentDay = (GetMonthAndMergeToInt() * 100) + GetDayAndMergeToInt();
BKP_WriteBackupRegister(BKP_DR3, currentDay); // Save Month and Date
}
}
mHour = THH % 24;
mMin = TMM;
mSec = TSS;
/* Change the current time */
RTC_SetCounter(mHour*3600 + mMin*60 + mSec);
}
/* Display current time */
Time_Display(RTC_GetCounter());
}
/* EQ-DAQ-01 Parsing routine ------------------------------------------------- */
/* Set E1Flag indicate that we have valid connection from EQ-DAQ-01(port 5050) */
if(E1Flag) {
E1Flag = false; // clear flag since this routine excutes ceaselessly over time
ProcessTextStream(EQ_ONE, (char*)RX_BUF, E1Order);
/* PC Client Parsing routine ------------------------------------------------- */
/* Set PCFlag indicate that we have valid connection from PC Client(port 7070) */
if(PCFlag && !E2Flag) { // only when PC is connected and EQ-DAQ-02 is not connected
// Send directly to PC
//SendToPC(EQ_ONE, E1Order);
}
if(E1Order < 99) E1Order++;
else E1Order = 0;
}
/* EQ-DAQ-02 Parsing routine ------------------------------------------------- */
/* Set E2Flag indicate that we have valid connection from EQ-DAQ-02(port 6060) */
if(E2Flag) {
E2Flag = false;
ProcessTextStream(EQ_TWO, (char*)RX_BUF, E2Order);
/* PC Client Parsing routine ------------------------------------------------- */
/* Set PCFlag indicate that we have valid connection from PC Client(port 7070) */
if(PCFlag && !E1Flag) { // only when PC is connected and EQ-DAQ-01 is not connected
// Send directly to PC
//SendToPC(EQ_TWO, E2Order);
}
if(E2Order < 99) E2Order++;
else E2Order = 0;
/* PC Client Parsing routine ------------------------------------------------- */
/* Set PCFlag indicate that we have valid connection from PC Client(port 7070) */
if(PCFlag) {
// Send directly to PC
MultipleBoardDataToSendToPC(EQ_BOTH, E1Order, E2Order);
}
}
#endif
/* Setup TCP Client or Server -----------------------------------------------------*/
/* Please open config.h file to choose a proper board you wish to use -------------*/
#if (defined USE_EQDAS01) || (defined USE_EQDAS02)
/* Start TCP Client process */
ProcessTcpClient(SOCK_ZERO); // TCP Client
/* Parameter setting Server side with port 5050 in default */
ATFCTcpServer(SOCK_TWO, EQDAS_Conf_PORT); // SOCK_TWO because of flag conformity
#elif defined USE_EQDAS_SERVER
/* Process server socket with each port */
ProcessTcpServer(SOCK_ZERO, 5050); // designated as for EQM-DAQ-01 with port 5050
ProcessTcpServer(SOCK_ONE, 6060); // designated as for EQM-DAQ-02 with port 6060
ProcessTcpServer(SOCK_TWO, 7070); // designated as for PC-CLIENT with port 7070
ProcessTcpServer(SOCK_THREE, 8080); // designated as for PC_DUMP with port 8080
/*
ProcessTcpServer(SOCK_FOUR, 9090); // designated as for TOBEUSED with port 9090
ProcessTcpServer(SOCK_FIVE, 10010); // designated as for TOBEUSED with port 10010
ProcessTcpServer(SOCK_SIX, 10020); // designated as for TOBEUSED with port 10020
ProcessTcpServer(SOCK_SEVEN, 10030); // designated as for TOBEUSED with port 10030
*/
#endif
}
}
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void) {
/*!< At this stage the microcontroller clock setting is already configured,
this is done through SystemInit() function which is called from startup
file (startup_stm32f10x_xx.s) before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
system_stm32f10x.c file
*/
/* System Clocks Configuration */
RCC_Configuration();
/* System Tick Configuration at 1us */
SysTick_Config(SystemCoreClock / 1000000);
#if (defined USE_EQDAS01) || (defined USE_EQDAS02)
/* TIM2 Configuration */
TIM2_Configuration();
/* TIM3 Configuration */
TIM3_Configuration();
/* TIM6 Configuration (RTC load) */
TIM6_Configuration();
#elif defined USE_EQDAS_SERVER
/* TIM4 Configuration */
TIM4_Configuration();
#endif
/* UART1 Configuration */
UART_Configuration();
/* WIZ820io SPI1 configuration */
WIZ820io_SPI1_Configuration();
/* W5200 Configuration */
Set_network();
/* EXTI Configuration */
EXTI_Configuration();
/* CLCD Configuration */
CLCD_Configuration();
/* GLCD Configuration */
GLCD_Configuration();
#if (defined USE_EQDAS01) || (defined USE_EQDAS02)
/* RTC configuration by setting the time by Serial USART1 */
RTC_SetTimeBySerial();
#endif
/* FatFS configuration */
f_mount(0, &fs); // mSD
//f_mount(1, &fs); // NAND
/* Display Total size of SD card in MB scale */
SD_TotalSize();
/* Scan all files in mSD card */
scan_files(path);
/* MAL configuration */
//Set_System();
/* UMS configuration */
//Set_USBClock();
//USB_Interrupts_Config();
//USB_Init();
/* loop upon completion of USB Enumeration */
//while (bDeviceState != CONFIGURED);
// For TCP client's connection request delay
presentTime = my_time;
/* Clear CLCD before branch into main */
CLCD_Clear();
/* Alarm in 3 second */
//RTC_SetAlarm(RTC_GetCounter() + 3);
/* Wait until last write operation on RTC registers has finished */
//RTC_WaitForLastTask();
// When everything is set, print message
printf("\r\n\n - System is ready - ");
while (1) {
#if (defined USE_EQDAS01) || (defined USE_EQDAS02)
if(TimerCount >= 999) { // 0 ~ 999 (1000) = 1 sec
TimerCount = 0;
/*
int x, y, z;
x = mAxisBuf.tmp_data_x_lcd[index];
y = mAxisBuf.tmp_data_y_lcd[index];
z = mAxisBuf.tmp_data_z_lcd[index];
char Serial_Buf[37];
int hour, minute, second, tmsecond;
hour = THH; minute = TMM; second = TSS; tmsecond = 0;
sprintf(Serial_Buf, "%04d%02d%02d_%02d%02d%02d%02d_%+05d_%+05d_%+05d\r\n",
year, month, day, hour, minute, second, tmsecond, x, y, z);
printf(Serial_Buf);
*/
//my_time++; // uncomment when tcp connection is needed
}
/* Clock generated by TIM3 */
if(ClientTimerCounter >= 99) { // 0 ~ 999 (1000) = 1 sec
ClientTimerCounter = 0;
arrIdx = index;
year = GetYearAndMergeToInt();
month = GetMonthAndMergeToInt();
day = GetDayAndMergeToInt();
hour = THH; minute = TMM; second = TSS; tmsecond = 0;
/* EQDAQ01, 02 Client Routine ---------------------------------------------*/
/* E1Flag or E2Flag set when client board successfully connect to server --*/
/* Refer to wiz820.c line no. 300 for which flag to be set */
if(E1Flag) {
int x, y, z;
x = mAxisBuf.tmp_data_x_lcd[arrIdx];
y = mAxisBuf.tmp_data_y_lcd[arrIdx];
z = mAxisBuf.tmp_data_z_lcd[arrIdx];
char E1_Buf[20];
sprintf(E1_Buf, "%04d%02d%02d_%02d%02d%02d%02d_%+05d_%+05d_%+05d\r\n",
year, month, day, hour, minute, second, tmsecond, x, y, z);
// Only when socket is established, allow send data
if(getSn_SR(SOCK_ZERO) == SOCK_ESTABLISHED) {
/* send selected data */
CountSendByte = send(SOCK_ZERO, (uint8_t*)E1_Buf, strlen(E1_Buf), (bool)false);
}
}
if(E2Flag) {
int x, y, z;
x = mAxisBuf.tmp_data_x_lcd[arrIdx];
y = mAxisBuf.tmp_data_y_lcd[arrIdx];
z = mAxisBuf.tmp_data_z_lcd[arrIdx];
char E2_Buf[20];
sprintf(E2_Buf, "%04d%02d%02d_%02d%02d%02d%02d_%+05d_%+05d_%+05d\r\n",
year, month, day, hour, minute, second, tmsecond, x, y, z);
// Only when socket is established, allow send data
if(getSn_SR(SOCK_ZERO) == SOCK_ESTABLISHED) {
/* send selected data */
send(SOCK_ZERO, (uint8_t*)E2_Buf, strlen(E2_Buf), (bool)false);
}
}
}
/* do RTC work on every 0.5 sec */
if(RTCTIM6Count >= 499) {
RTCTIM6Count = 0;
/* RTC 1Hz interrupt */
if(RTCTimeDisplay) { // 1Hz calibrated by RTC
RTCTimeDisplay = false;
/* Display current time */
Time_Display(RTC_GetCounter());
}
/* RTC Alarm interrupt */
if(RTCAlarmFlag) {
RTCAlarmFlag = false;
printf("\r\nRTC Alarm Actviated!");
}
}
#endif
if(ParseUSART1) {
ParseUSART1 = false;
// print system configuration
//printSysCfg();
// run some test on SDIO
//SDIO_TEST();
#if (defined USE_EQDAS01) || (defined USE_EQDAS02)
#elif (defined) USE_EQDAS_SERVER
char buffer[37];
sprintf(buffer, "%s_%s_%s_%s_%s\r\n",
DAQBoardOne[arrIdx].Date,
DAQBoardOne[arrIdx].Time,
DAQBoardOne[arrIdx].AxisX,
DAQBoardOne[arrIdx].AxisY,
DAQBoardOne[arrIdx].AxisZ);
printf("\r\nRX_BUF : %s, strlen(RX_BUF) : %d", (char*)RX_BUF, strlen((char*)RX_BUF));
printf("\r\nstrlen(buffer) = %d\n%s", strlen(buffer), buffer);
/*
char *original = "-3843,+4095,+2069";
char target[20];
strncpy(target, original, strlen(original));
char *one, *two, *three;
char *AfterToken;
AfterToken = strtok(target, ",");
one = AfterToken;
AfterToken = strtok(NULL, ",");
two = AfterToken;
AfterToken = strtok(NULL, ",");
three = AfterToken;
AfterToken = strtok(NULL, ",");
if(AfterToken != NULL) printf("AfterToken is not empty");
printf("\r\none : %s, two : %s, three : %s", one, two, three);*/
#endif
}
#if (defined USE_EQDAS01) || (defined USE_EQDAS02)
for(i=0; i<100; i++) {
// Make a copy from raw collected data to temporary array
CopyToTmpArray(i);
// Copy to Temporary GAL array
CopyToTmpGalArray(i);
// Calculate GAL and copy to single temporary GAL value
CalculateGalAndCopyToGal(i);
// Determine KMA scale
DetermineKMA(i);
// Check sign bit and apply to int container
CheckSignAndToInt(i); // this function also cuts surplus 1G
// Copy to data buffer to be written through FATFS
//CopyToFatFsDataBuffer(arrIdx);
}
/* Save log to file process */
if(GoAppendDataFlag) { // every 500 sample (equals 5 sec), go save file.
GoAppendDataFlag = false;
int bytesWritten = 0;
/* Open or create a log file and ready to append */
//char *filePath = "/20130517/22H-23H/test.txt";
//res = open_append(&fsrc, filePath);
//FPrintFatResult(res);
if(FiveSecFlag) {
// it means that DATA1_BUF is full and ready to flush out
// be sure to empty out DATA1_BUF or will overflow and cause system to halt.
/* Append 5 second of data */
bytesWritten = f_printf(&fsrc, DATA1_BUF);
/* Close the file */
f_close(&fsrc);
printf("\r\n%d of bytesWritten", bytesWritten);
// Reset DATA1_BUF
memset(DATA1_BUF, 0, sizeof(DATA1_BUF));
} else {
// here means that DATA2_BUF is full and ready to flush out
// be sure to empty out DATA2_BUF or will overflow and cause system to halt.
/* Append 5 second of data */
bytesWritten = f_printf(&fsrc, DATA2_BUF);
/* Close the file */
f_close(&fsrc);
printf("\r\n%d of bytesWritten", bytesWritten);
// Reset DATA2_BUF
memset(DATA2_BUF, 0, sizeof(DATA2_BUF));
}
}
// following routine is only necessary when the board works as server
#elif defined USE_EQDAS_SERVER
/* EQ-DAQ-01 Parsing routine ------------------------------------------------- */
/* Set E1Flag indicate that we have valid connection from EQ-DAQ-01(port 5050) */
if(E1Flag) {
E1Flag = false; // clear flag since this routine excutes ceaselessly over time
ProcessTextStream(EQ_ONE, (char*)RX_BUF, E1Order);
/* PC Client Parsing routine ------------------------------------------------- */
/* Set PCFlag indicate that we have valid connection from PC Client(port 7070) */
if(PCFlag) {
// Send directly to PC
SendToPC(E1Order);
}
if(E1Order < 99) E1Order++;
else E1Order = 0;
}
/* EQ-DAQ-02 Parsing routine ------------------------------------------------- */
/* Set E2Flag indicate that we have valid connection from EQ-DAQ-02(port 6060) */
if(E2Flag) {
E2Flag = false;
ProcessTextStream(EQ_TWO, (char*)RX_BUF, E2Order);
/* PC Client Parsing routine ------------------------------------------------- */
/* Set PCFlag indicate that we have valid connection from PC Client(port 7070) */
if(PCFlag) {
// Send directly to PC
SendToPC(E2Order);
}
if(E2Order < 99) E2Order++;
else E2Order = 0;
}
#endif
/* Setup TCP Client or Server -----------------------------------------------------*/
/* Please open config.h file to choose a proper board you wish to use */
#if (defined USE_EQDAS01) || (defined USE_EQDAS02)
/* Start TCP Client process */
ProcessTcpClient(SOCK_ZERO);
#elif defined USE_EQDAS_SERVER
/* Process server socket with each port */
ProcessTcpServer(SOCK_ZERO, 5050); // designated as for EQM-DAQ-01 with port 5050
ProcessTcpServer(SOCK_ONE, 6060); // designated as for EQM-DAQ-02 with port 6060
ProcessTcpServer(SOCK_TWO, 7070); // designated as for PC-CLIENT with port 7070
ProcessTcpServer(SOCK_THREE, 8080); // designated as for PC_DUMP with port 8080
/*
ProcessTcpServer(SOCK_FOUR, 9090); // designated as for TOBEUSED with port 9090
ProcessTcpServer(SOCK_FIVE, 10010); // designated as for TOBEUSED with port 10010
ProcessTcpServer(SOCK_SIX, 10020); // designated as for TOBEUSED with port 10020
ProcessTcpServer(SOCK_SEVEN, 10030); // designated as for TOBEUSED with port 10030
*/
#endif
}
}
int main(void)
{
while (1);
/* Configuration */
SystemInit();
LED_Configuration();
BUZZ_Configuration();
//ADC_Configuration();
CAN_Configuration();
/****************************µ×Å̳õʼ»¯******************************/
Elmo_Init(elmo, 3);
// PositionPID_Init();
PositionIPD_Init();
MoveLock();
Delay_ms(100);
BLUETOOTH_Configuration();
Delay_ms(100);
Encoder_Clear();
Delay_ms(1000);
MPU6500_init();
TIM1_Configuration();
TIM2_Configuration();
TIM3_Configuration();
TIM4_Configuration();
if (SysTick_Config(SystemCoreClock / 1000)) /* Setup SysTick Timer for 1 msec interrupts */
{
while(1){LED_ON(LED2);}/* Capture error */
}
// IpdAxisX.setpoint = 200;
// IpdAngle.setpoint = 90;
// PidAxisX.setpoint = 200;
// CMDVelocity.X = 10;
// CMDVelocity.Y = 0;
// CMDVelocity.A = 0;//Degree/Second
// Elmo_Write(&elmo[0],0x01,0x01,50);
while (1)
{
if(MPU_FLAG == 1)
{
MPU_FLAG = 0;
}
if(MAPAN_FLAG == 1)
{
MAPAN_FLAG = 0;
// LED_TOGGLE(LED1);
MapanTask();//ÂëÅÌ
}
if(PID_PFLAG ==1)
{
PID_PFLAG = 0;
// PositionPIDCal();
PositionIPDCal();
VelocityTransform();
// LED_TOGGLE(LED2);
}
if (LED_FLAG == 1)
{
LED_FLAG = 0;
// SquareTracking();
// CircleTracking();
// GoBack();
// LED_TOGGLE(LED3);
// SignalTracking();
// angle_print();
// PositionVelocity_print();
}
}
}