/**
* @brief Main routine for MSC class application
* @param None
* @retval int
*/
int main(void)
{
NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0xC000);//初始化启动项
gpio_init();//初始化所有定义的gpio寄存器
cpu_run();
flash_stop();
// rs485_recv();//使能485接受数据
FLASH_ON();
remote_init();
LOOP_ON();//使能环流
// uart_init(9600);//设置波特率为9600 串口初始化
delay_ms(1);//定时器
SPI_Flash_Init();//初始化spi flash外围驱动
get_cfg_from_flash();//得到配置信息 (获取cfg文件的配置)
get_line_from_flash();
message_state |= MESSAGE_LINE_NEW;
message_state |= MESSAGE_LEFT_NEW;
message_state |= MESSAGE_RIGHT_NEW;
message_state |= MESSAGE_BRAKE_NEW;
alloc_memory(); //初始化缓存
wwdg_init(0x7F, 0x5F, WWDG_Prescaler_8); //计数器值为7f,窗口寄存器为5f,分频数为8 (使用窗口看门狗的原因是他可以被中断)
while (1)
{
if(uart_get_flag)
{
uart_get_flag = 0;
data_process();
LED_OK = 1;
}
get_disp_state(); //左转右转还有刹车的判断报站；
if(bflag)
{
LED_DispString(1, 1, disp_buff); //固定显示
}
else
{
LED_ScrollDispHZ(1, 1, disp_buff);//滚动显示
}
}
}
int sslbp_flash(char *fname){
const struct rtapi_firmware *fw;
struct rtapi_device dev;
int r;
int write_sz, erase_sz;
if (strstr("8i20", remote->name)){
if (hm2->sserial.version < 37){
rtapi_print("SSLBP Version must be at least v37 to flash the 8i20"
"This firmware has v%i. Sorry about that\n"
,hm2->sserial.version);
return -1;
}
}
else if (hm2->sserial.version < 34){
rtapi_print("SSLBP Version must be at least v34. This firmware has v%i"
"\n",hm2->sserial.version);
return -1;
}
if (hm2->sserial.baudrate != 115200){
rtapi_print("To flash firmware the baud rate of the board must be set "
"to 115200 by jumper, and in Hostmot2 using the "
"sserial_baudrate modparam\n");
return -1;
}
//Copied direct from hostmot2.c. A bit of a faff, but seems to be necessary.
memset(&dev, '\0', sizeof(dev));
rtapi_dev_set_name(&dev, hm2->llio->name);
dev.release = setsserial_release;
r = rtapi_device_register(&dev);
if (r != 0) {
HM2_ERR("error with device_register\n");
return -1;
}
r = rtapi_request_firmware(&fw, fname, &dev);
rtapi_device_unregister(&dev);
if (r == -ENOENT) {
HM2_ERR("firmware %s not found\n",fname);
return -1;
}
if (r != 0) {
HM2_ERR("request for firmware %s failed, aborting\n", fname);
return -1;
}
rtapi_print("Firmware size 0x%zx\n", fw->size);
if (setup_start() < 0) goto fail0;
flash_start();
write_sz = 1 << sslbp_read_byte(LBPFLASHWRITESIZELOC);
erase_sz = 1 << sslbp_read_byte(LBPFLASHERASESIZELOC);
HM2_PRINT("Write Size = %x, Erase Size = %x\n", write_sz, erase_sz);
flash_stop();
//Programming Loop
{
int ReservedBlock = 0;
int StartBlock = ReservedBlock + 1;
int blocknum = StartBlock;
int block_start;
int i, j, t;
while (blocknum * erase_sz < fw->size){
block_start = blocknum * erase_sz;
for (t = 0; t < erase_sz && fw->data[block_start + t] == 0 ; t++){ }
if (t < erase_sz){ // found a non-zero byte
flash_start();
sslbp_write_long(LBPFLASHOFFSETLOC, block_start);
sslbp_write_byte(LBPFLASHCOMMITLOC, FLASHERASE_CMD);
if (sslbp_read_cookie() != LBPCOOKIE){
HM2_ERR("Synch failed during block erase: aborting\n");
goto fail0;
}
flash_stop();
HM2_PRINT("Erased block %i\n", blocknum);
flash_start();
for (i = 0; i < erase_sz ; i += write_sz){
sslbp_write_long(LBPFLASHOFFSETLOC, block_start + i);
for (j = 0 ; j < write_sz ; j += 8){
rtapi_u32 data0, data1, m;
m = block_start + i + j;
data0 = (fw->data[m]
+ (fw->data[m + 1] << 8)
+ (fw->data[m + 2] << 16)
+ (fw->data[m + 3] << 24));
data1 = (fw->data[m + 4]
+ (fw->data[m + 5] << 8)
+ (fw->data[m + 6] << 16)
+ (fw->data[m + 7] << 24));
sslbp_write_double(j, data0, data1);
}
sslbp_write_byte(LBPFLASHCOMMITLOC, FLASHWRITE_CMD);
if (sslbp_read_cookie() != LBPCOOKIE){
HM2_ERR("Synch failed during block write: aborting\n");
goto fail0;
}
}
flash_stop();
HM2_PRINT("Wrote block %i\n", blocknum);
}
else // Looks like an all-zeros block
{
HM2_PRINT("Skipped Block %i\n", blocknum);
}
blocknum++;
}
}
rtapi_release_firmware(fw);
return 0;
fail0:
flash_stop();
return -1;
}
