int main(void) { // u16 len = 0; // len = menuDisplay(bufExtBin); // if (len) // signUSBMass = 0; signUSBMass = 0; //***********************************DEBUG********************************************/ //***********************************END OF DEBUG********************************************/ /* Configure IO connected to USB PWR DET *********************/ RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD,ENABLE ); GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOD, &GPIO_InitStructure); if((GPIO_ReadInputData(GPIOD) & 0x08)) // USB is present after switch - work MASS Storage { signUSBMass = 1; } signUSBMass = 0; //debugga #if 1 //that's for temporary off USB - for debugging NVIC_Configuration(); Set_System(); Set_USBClock(); USB_Interrupts_Config(); USB_Init(); if(signUSBMass) while (bDeviceState != CONFIGURED); #endif // #if 1 if(!signUSBMass) { if (SysTick_Config(SystemCoreClock / 1000)) //1ms { /* Capture error */ while (1); } /* Flash unlock */ FLASH_Unlock(); /* Clear All pending flags */ FLASH_ClearFlag(FLASH_FLAG_BSY | FLASH_FLAG_EOP | FLASH_FLAG_PGERR | FLASH_FLAG_WRPRTERR); //***********************************DEBUG********************************************/ //***********************************END OF DEBUG********************************************/ /* Enable CRC clock */ RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE); ledDioGPIOInit(); //LED_MIDDLE = 1; //GPIO_ResetBits(LED_MID_PORT, LED_MID_PORT_PIN); BKPInit(); //debugga /* u32 mileage = 0; mileage = BKPReadReg(BKP_DR_MSG_NUMBER1) | ( (u32)(BKPReadReg(BKP_DR_MSG_NUMBER2) << 16) ); mileage++; BKPWriteReg(BKP_DR_MSG_NUMBER1,mileage);BKPWriteReg(BKP_DR_MSG_NUMBER2,mileage >> 16); mileage = BKPReadReg(BKP_DR_MSG_NUMBER1) | ( (u32)(BKPReadReg(BKP_DR_MSG_NUMBER2) << 16) ); mileage = 0; BKPWriteReg(BKP_DR_MSG_NUMBER1,mileage);BKPWriteReg(BKP_DR_MSG_NUMBER2,mileage >> 16); mileage = BKPReadReg(BKP_DR_MSG_NUMBER1) | ( (u32)(BKPReadReg(BKP_DR_MSG_NUMBER2) << 16) ); if(mileage) signUSBMass = 0; //debugga */ Delay(1000); //rs485Init(); //Delay(1000); ais326dq_init(); ais326dq_data(&ais326dq_out); adcInit(); gpsInit(); gprsModemInit(); gprsModemOn(); #ifndef BRIDGE_USB_GSM setupGSM(); ftpGSMPrepare(); packetsIni(); #endif rtc_init(); rtc_gettime(&rtc); initSD(); /* reading settings */ readConfig(); /* Log */ saveSDInfo((u8 *)"TURN ON BLOCK ",strlen((u8 *)"TURN ON BLOCK "), SD_SENDED, SD_TYPE_MSG_LOG ); saveSDInfo((u8 *)readRTCTime(&rtc),strlen((const char *)readRTCTime(&rtc)), SD_SENDED, SD_TYPE_MSG_LOG ); } //if(!signUSBMass) #endif //u8 tempCnt; while (1) { if(!signUSBMass) { gpsHandling(); #ifndef BRIDGE_USB_GSM loopGSM(); loopFTP(); UpdatingFlash(); naviPacketHandle(); rcvPacketHandle(); rcvPacketHandleUSB(); #endif buttonScan(); accelScan(); // if(getButtonUserPressed()) // { // led_mid(BOARD_LED_XOR); // ais326dq_data(&ais326dq_out); // } //rs485Analyse(); handleFOS(); adcScan(); } /* if(!signUSBMass) */ } }
void systemInit(void) { RCC_ClocksTypeDef rccClocks; /////////////////////////////////// // Init cycle counter cycleCounterInit(); // SysTick SysTick_Config(SystemCoreClock / 1000); RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC | RCC_APB2Periph_AFIO | RCC_APB2Periph_TIM1 | RCC_APB2Periph_TIM8 | RCC_APB2Periph_ADC1, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4 | RCC_APB1Periph_TIM5 | RCC_APB1Periph_TIM6 | RCC_APB1Periph_I2C2, ENABLE); RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE); #ifdef _DTIMING timingSetup(); #endif /////////////////////////////////////////////////////////////////////////// checkFirstTime(false); readEEPROM(); NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); // 2 bits for pre-emption priority, 2 bits for subpriority pwmMotorDriverInit(); cliInit(); gpioInit(); adcInit(); LED2_ON; delay(10000); // 10 seconds of 20 second delay for sensor stabilization if (GetVCPConnectMode() != eVCPConnectReset) { cliPrintF("\r\nUSB startup delay...\r\n"); delay(3000); if (GetVCPConnectMode() == eVCPConnectData) { cliPrintF("\r\nBGC32 firmware starting up, USB connected...\r\n"); } } else { cliPrintF("\r\nDelaying for usb/serial driver to settle\r\n"); delay(3000); cliPrintF("\r\nBGC32 firmware starting up, serial active...\r\n"); } #ifdef __VERSION__ cliPrintF("\ngcc version " __VERSION__ "\n"); #endif cliPrintF("BGC32 Firmware V%s, Build Date " __DATE__ " "__TIME__" \n", __BGC32_VERSION); if ((RCC->CR & RCC_CR_HSERDY) != RESET) { cliPrintF("\nRunning on external HSE clock....\n"); } else { cliPrintF("\nERROR: Running on internal HSI clock....\n"); } RCC_GetClocksFreq(&rccClocks); cliPrintF("\nADCCLK-> %2d MHz\n", rccClocks.ADCCLK_Frequency / 1000000); cliPrintF( "HCLK-> %2d MHz\n", rccClocks.HCLK_Frequency / 1000000); cliPrintF( "PCLK1-> %2d MHz\n", rccClocks.PCLK1_Frequency / 1000000); cliPrintF( "PCLK2-> %2d MHz\n", rccClocks.PCLK2_Frequency / 1000000); cliPrintF( "SYSCLK-> %2d MHz\n\n", rccClocks.SYSCLK_Frequency / 1000000); delay(10000); // Remaining 10 seconds of 20 second delay for sensor stabilization - probably not long enough.. LED1_ON; i2cInit(I2C2); rcInit(); timingFunctionsInit(); BKPInit(); initFirstOrderFilter(); initPID(); initSinArray(); orientIMU(); initMPU6050(); // initMag(); }
void bootloader(void) { BKPInit(); BKPWrite(STAY_IN_BOOTLOADER_MAGIC); reboot(); }
int main(void) { //***********************************DEBUG********************************************/ #if 0 nmeaPOS p1,p2; nmeaINFO info; info.lat = 5547.1206; info.lon = 4906.2111; nmea_info2pos(&info, &p1); info.lat = 5547.1221; info.lon = 4906.208; nmea_info2pos(&info, &p2); m += 23; u32 t = nmea_distance(&p1, &p2); if(m) #endif //***********************************END OF DEBUG********************************************/ NVIC_Configuration(); //for all peripheria if (SysTick_Config(SystemCoreClock / 1000)) //1ms { /* Capture error */ while (1); } Delay(500); USBIniPin(); signUSBMass = USBDetectPin(); signUSBMass = 0; //deb #if not defined (VER_3) USBCommonIni(); #endif if(signUSBMass) { #if defined (VER_3) USBCommonIni(); #endif while (bDeviceState != CONFIGURED); } else //if(!signUSBMass) { /* Flash unlock */ FLASH_Unlock(); /* Clear All pending flags */ FLASH_ClearFlag(FLASH_FLAG_BSY | FLASH_FLAG_EOP | FLASH_FLAG_PGERR | FLASH_FLAG_WRPRTERR); //***********************************DEBUG********************************************/ //***********************************END OF DEBUG********************************************/ /* Enable CRC clock */ RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE); ledDioGPIOInit(); led_dn(BOARD_LED_ON); led_mid(BOARD_LED_ON); #if defined (VER_3) led_up(BOARD_LED_ON); ibuttonInit(); rfmodemInit(); #endif Delay(1000); alarmInit(); BKPInit(); //timer6Init(); //rs485Init(); #if not defined (VER_3) ais326dq_init(); #endif //ais326dq_data(&ais326dq_out); /*ADC*/ adcInit(); /*GPS*/ gpsInit(); /* reading settings */ readConfig(); /*MODEM*/ gprsModemInit(); gprsModemOn(innerState.activeSIMCard); //***********************************DEBUG********************************************/ //GSMSpeaker(1); //***********************************END OF DEBUG********************************************/ #ifndef BRIDGE_USB_GSM setupGSM(); ftpGSMPrepare(); packetsIni(); #endif led_dn(BOARD_LED_OFF); led_mid(BOARD_LED_OFF); #if defined (VER_3) led_up(BOARD_LED_OFF); #endif rtc_init(); rtc_gettime(&rtc); #if 1 /* WATCH DOG */ /* IWDG timeout equal to 3.27 sec (the timeout may varies due to LSI frequency dispersion) */ /* Enable write access to IWDG_PR and IWDG_RLR registers */ IWDG_WriteAccessCmd(IWDG_WriteAccess_Enable); /* IWDG counter clock: 40KHz(LSI) / 32 = 1.25 KHz */ IWDG_SetPrescaler(IWDG_Prescaler_64); //32 /* Set counter reload value to 0xFFF */ IWDG_SetReload(0xFFF); /* Reload IWDG counter */ IWDG_ReloadCounter(); /* Enable IWDG (the LSI oscillator will be enabled by hardware) */ IWDG_Enable(); setTimerIWDG(ONE_SEC); #endif initSD(); #if defined (VER_3) //DACInit(); #endif /* Log */ saveSDInfo((u8 *)"TURN ON BLOCK ",strlen((u8 *)"TURN ON BLOCK "), SD_SENDED, SD_TYPE_MSG_LOG ); //saveSDInfo((u8 *)readRTCTime(&rtc),strlen((const char *)readRTCTime(&rtc)), SD_SENDED, SD_TYPE_MSG_LOG ); #if defined (VER_3) //DACSpeaker(1); //wp_play("0:/sound.wav"); //DACSpeaker(0); #endif } //if(!signUSBMass) while (1) { if(!signUSBMass) { monitorWatchDog(); #ifndef BRIDGE_USB_GPS if(!innerState.bootFTPStarted) gpsHandling(); #endif #ifndef BRIDGE_USB_GSM if(!innerState.flagTmpDebug) loopGSM(); loopFTP(); UpdatingFlash(); if(!innerState.bootFTPStarted) naviPacketHandle(); rcvPacketHandle(); rcvPacketHandleUSB(); #endif #if !defined (VER_3) buttonScan(); accelScan(); #endif //rs485Analyse(); handleFOS(); executeDelayedCmd(); #if defined (VER_3) #if 0 if(innerState.flagDebug) { DACSpeaker(1); /* Start DAC Channel1 conversion by software */ //a += 300; //DAC_SetChannel1Data(DAC_Align_12b_R, 4000); //DAC_SetChannel1Data(DAC_Align_12b_L, a); //for saw //DAC_SetChannel1Data(DAC_Align_8b_R, a); //DAC_SetChannel1Data(DAC_Align_12b_R, 4095); //DAC_SetChannel1Data(DAC_Align_12b_R, 0); //for (a = 0; a<4095; ++a) //for(;;) // DAC_SetChannel1Data(DAC_Align_12b_R, 0); //DAC_SetChannel1Data(DAC_Align_12b_R, 0); //for ( ; ; ) //{ // DAC_SoftwareTriggerCmd(DAC_Channel_1, ENABLE); //} DAC_SoftwareTriggerCmd(DAC_Channel_1, ENABLE); //debugga } else { DACSpeaker(0); } #endif #endif } else handleUSBPresent(); } //while(1) }