void Mclib_API_init(void)
{
ENC_Init();
SVPWM_3ShuntInit();
TB_Init();
//#ifdef BRAKE_RESISTOR
// MCL_Brake_Init();
//#endif
/* TIM1 Counter Clock stopped when the core is halted */
DBGMCU_Config(DBGMCU_TIM1_STOP, ENABLE);
// Init Bus voltage and Temperature average
MCL_Init_Arrays();
Res_f=1;
}
static void prvSetupTimerInterrupt( void )
{
EIC_IRQInitTypeDef EIC_IRQInitStructure;
TB_InitTypeDef TB_InitStructure;
/* Setup the EIC for the TB. */
EIC_IRQInitStructure.EIC_IRQChannelCmd = ENABLE;
EIC_IRQInitStructure.EIC_IRQChannel = TB_IRQChannel;
EIC_IRQInitStructure.EIC_IRQChannelPriority = 1;
EIC_IRQInit(&EIC_IRQInitStructure);
/* Setup the TB for the generation of the tick interrupt. */
TB_InitStructure.TB_Mode = TB_Mode_Timing;
TB_InitStructure.TB_CounterMode = TB_CounterMode_Down;
TB_InitStructure.TB_Prescaler = portPRESCALE - 1;
TB_InitStructure.TB_AutoReload = ( ( configCPU_CLOCK_HZ / portPRESCALE ) / configTICK_RATE_HZ );
TB_Init(&TB_InitStructure);
/* Enable TB Update interrupt */
TB_ITConfig(TB_IT_Update, ENABLE);
/* Clear TB Update interrupt pending bit */
TB_ClearITPendingBit(TB_IT_Update);
/* Enable TB */
TB_Cmd(ENABLE);
}
//----------------------------------------------------------
void init(void)
{
DDRB = BV(PB0);
DDRD = BV(PD1) | BV(PD3) | BV(PD4);
uart0_init(); // PC
uart1_init(); // internal
uart2_init(); // external (via extBus)
adc_init();
timer_init();
TB_Callback_setBaud = uart1_set_baud;
TB_Init((void*) 0x10); // addr in eeprom with settings
pp_init();
sei();
}
int main(void)
{
// Interrupty pøesunuty na jinou adresu pro Bootloader.
Move_interrupts();
/* Replace with your application code */
cli();
//Nastavení Systemového enable pro RS485 pro UART0
DDRD |= (1 << DDD1) | (1 << DDD2);
timer_init();
uart0_init();
TB_Callback_setBaud = &uart0_set_baud;
TB_Callback_TX = &send_data;
TB_Init((void*) 0x10); // addr in eeprom with settings
Bootloader_Init();
sei();
while (1)
{
process_timer_100Hz();
uart0_process();
try_receive_data();
// 250 ms - V Bootloader režimu.
if(cnt < 250)
{
cnt++;
}
else
{
if (!BootStatus)
{
cnt = 0;
jumpaddress();
}
}
}
}
int Tcl_AppInit(Tcl_Interp *interp)
{
if(Tcl_Init(interp) == TCL_ERROR)
return TCL_ERROR;
if(Tk_Init(interp) == TCL_ERROR)
return TCL_ERROR;
if(TB_Init(interp) == TCL_ERROR)
return TCL_ERROR;
#ifdef USE_TIDE
if(Tide_Init(interp) == TCL_ERROR)
return TCL_ERROR;
#endif
if(script) {
if(Tcl_EvalFile(interp, script) != TCL_OK) {
handle_error(interp, interp->result);
}
}
return TCL_OK;
}
void SV_Init(void)
{
int index;
SV_AddOperatorCommands();
// serverinfo vars
Cvar_Get("timelimit", "0", CVAR_SERVERINFO);
Cvar_Get("sv_keywords", "", CVAR_SERVERINFO); // unused. Kept for GameTracker.com compatibility
Cvar_Get("protocol", va("%i", PROTOCOL_VERSION), CVAR_SERVERINFO | CVAR_ROM);
sv_mapname = Cvar_Get("mapname", "nomap", CVAR_SERVERINFO | CVAR_ROM);
sv_privateClients = Cvar_Get("sv_privateClients", "0", CVAR_SERVERINFO);
sv_hostname = Cvar_Get("sv_hostname", "ETLHost", CVAR_SERVERINFO | CVAR_ARCHIVE);
sv_maxclients = Cvar_Get("sv_maxclients", "20", CVAR_SERVERINFO | CVAR_LATCH);
sv_maxRate = Cvar_Get("sv_maxRate", "0", CVAR_ARCHIVE | CVAR_SERVERINFO);
sv_minPing = Cvar_Get("sv_minPing", "0", CVAR_ARCHIVE | CVAR_SERVERINFO);
sv_maxPing = Cvar_Get("sv_maxPing", "0", CVAR_ARCHIVE | CVAR_SERVERINFO);
sv_floodProtect = Cvar_Get("sv_floodProtect", "1", CVAR_ARCHIVE | CVAR_SERVERINFO);
sv_allowAnonymous = Cvar_Get("sv_allowAnonymous", "0", CVAR_SERVERINFO);
sv_friendlyFire = Cvar_Get("g_friendlyFire", "1", CVAR_SERVERINFO | CVAR_ARCHIVE);
sv_maxlives = Cvar_Get("g_maxlives", "0", CVAR_ARCHIVE | CVAR_LATCH | CVAR_SERVERINFO);
sv_needpass = Cvar_Get("g_needpass", "0", CVAR_SERVERINFO | CVAR_ROM);
// systeminfo
// added cvar_t for sv_cheats so server engine can reference it
sv_cheats = Cvar_Get("sv_cheats", "1", CVAR_SYSTEMINFO | CVAR_ROM);
sv_serverid = Cvar_Get("sv_serverid", "0", CVAR_SYSTEMINFO | CVAR_ROM);
sv_pure = Cvar_Get("sv_pure", "1", CVAR_SYSTEMINFO);
Cvar_Get("sv_paks", "", CVAR_SYSTEMINFO | CVAR_ROM);
Cvar_Get("sv_pakNames", "", CVAR_SYSTEMINFO | CVAR_ROM);
Cvar_Get("sv_referencedPaks", "", CVAR_SYSTEMINFO | CVAR_ROM);
Cvar_Get("sv_referencedPakNames", "", CVAR_SYSTEMINFO | CVAR_ROM);
#ifdef FEATURE_ANTICHEAT
// note:
// we might add CVAR_LATCH flag to wh_active saving SV_InitWallhack() call when not needed
// but it may be helpfully (see sound issue) when wh_active isn't active all the time - we should give that a try
// just enable sv_wh_active by random intervals ... (would also save CPU usage too)
sv_wh_active = Cvar_Get("sv_wh_active", "0", CVAR_ARCHIVE);
// FIXME: adjust bounding box ?
sv_wh_bbox_horz = Cvar_Get("sv_wh_bbox_horz", "50", CVAR_ARCHIVE);
if (sv_wh_bbox_horz->integer < 10)
{
Cvar_Set("sv_wh_bbox_horz", "10");
}
if (sv_wh_bbox_horz->integer > 50)
{
Cvar_Set("sv_wh_bbox_horz", "50");
}
sv_wh_bbox_vert = Cvar_Get("sv_wh_bbox_vert", "60", CVAR_ARCHIVE);
if (sv_wh_bbox_vert->integer < 10)
{
Cvar_Set("sv_wh_bbox_vert", "30");
}
if (sv_wh_bbox_vert->integer > 50)
{
Cvar_Set("sv_wh_bbox_vert", "80");
}
sv_wh_check_fov = Cvar_Get("wh_check_fov", "0", CVAR_ARCHIVE);
SV_InitWallhack();
#endif
// server vars
sv_rconPassword = Cvar_Get("rconPassword", "", CVAR_TEMP);
sv_privatePassword = Cvar_Get("sv_privatePassword", "", CVAR_TEMP);
sv_fps = Cvar_Get("sv_fps", "20", CVAR_TEMP);
sv_timeout = Cvar_Get("sv_timeout", "40", CVAR_TEMP); // used in game (also vid_restart)
sv_dl_timeout = Cvar_Get("sv_dl_timeout", "240", CVAR_TEMP);
sv_zombietime = Cvar_Get("sv_zombietime", "2", CVAR_TEMP);
Cvar_Get("nextmap", "", CVAR_TEMP);
sv_allowDownload = Cvar_Get("sv_allowDownload", "1", CVAR_ARCHIVE);
// master servers
sv_master[0] = Cvar_Get("sv_master1", MASTER_SERVER_NAME, 0);
for (index = 1; index < MAX_MASTER_SERVERS; index++)
{
sv_master[index] = Cvar_Get(va("sv_master%d", index + 1), "", CVAR_ARCHIVE);
}
sv_reconnectlimit = Cvar_Get("sv_reconnectlimit", "3", 0);
sv_tempbanmessage = Cvar_Get("sv_tempbanmessage", "You have been kicked and are temporarily banned from joining this server.", 0);
sv_padPackets = Cvar_Get("sv_padPackets", "0", 0);
sv_killserver = Cvar_Get("sv_killserver", "0", 0);
sv_mapChecksum = Cvar_Get("sv_mapChecksum", "", CVAR_ROM);
sv_lanForceRate = Cvar_Get("sv_lanForceRate", "1", CVAR_ARCHIVE);
sv_onlyVisibleClients = Cvar_Get("sv_onlyVisibleClients", "0", 0);
sv_showAverageBPS = Cvar_Get("sv_showAverageBPS", "0", 0); // net debugging
// create user set cvars
Cvar_Get("g_userTimeLimit", "0", 0);
Cvar_Get("g_userAlliedRespawnTime", "0", 0);
Cvar_Get("g_userAxisRespawnTime", "0", 0);
Cvar_Get("g_maxlives", "0", 0);
Cvar_Get("g_altStopwatchMode", "0", CVAR_ARCHIVE);
Cvar_Get("g_minGameClients", "8", CVAR_SERVERINFO);
Cvar_Get("g_complaintlimit", "6", CVAR_ARCHIVE);
Cvar_Get("gamestate", "-1", CVAR_WOLFINFO | CVAR_ROM);
Cvar_Get("g_currentRound", "0", CVAR_WOLFINFO);
Cvar_Get("g_nextTimeLimit", "0", CVAR_WOLFINFO);
Cvar_Get("g_fastres", "0", CVAR_ARCHIVE);
Cvar_Get("g_fastResMsec", "1000", CVAR_ARCHIVE);
Cvar_Get("g_voteFlags", "0", CVAR_ROM | CVAR_SERVERINFO);
Cvar_Get("g_antilag", "1", CVAR_ARCHIVE | CVAR_SERVERINFO);
Cvar_Get("g_needpass", "0", CVAR_SERVERINFO);
g_gameType = Cvar_Get("g_gametype", "4", CVAR_SERVERINFO | CVAR_LATCH);
// the download netcode tops at 18/20 kb/s, no need to make you think you can go above
sv_dl_maxRate = Cvar_Get("sv_dl_maxRate", "42000", CVAR_ARCHIVE);
sv_wwwDownload = Cvar_Get("sv_wwwDownload", "0", CVAR_ARCHIVE);
sv_wwwBaseURL = Cvar_Get("sv_wwwBaseURL", "", CVAR_ARCHIVE);
sv_wwwDlDisconnected = Cvar_Get("sv_wwwDlDisconnected", "0", CVAR_ARCHIVE);
sv_wwwFallbackURL = Cvar_Get("sv_wwwFallbackURL", "", CVAR_ARCHIVE);
sv_packetdelay = Cvar_Get("sv_packetdelay", "0", CVAR_CHEAT);
// note: redirecting of clients to other servers relies on this,
// ET://someserver.com
sv_fullmsg = Cvar_Get("sv_fullmsg", "Server is full.", CVAR_ARCHIVE);
sv_advert = Cvar_Get("sv_advert", "1", CVAR_ARCHIVE);
sv_protect = Cvar_Get("sv_protect", "1", CVAR_ARCHIVE);
sv_protectLog = Cvar_Get("sv_protectLog", "", CVAR_ARCHIVE);
SV_InitAttackLog();
// init the botlib here because we need the pre-compiler in the UI
SV_BotInitBotLib();
svs.serverLoad = -1;
#ifdef FEATURE_TRACKBASE
TB_Init();
#endif
}
/*******************************************************************************
* Function Name : main
* Description : Main program.
* Input : None
* Output : None
* Return : None
*******************************************************************************/
int main(void)
{
SystemInit();
/*速度反馈初始化*/
ENC_Init( );
/*电流反馈初始化*/
SVPWM_3ShuntInit();
/*时基初始化，并启动TIM6计算速度，初始化PID*/
TB_Init( );
Tim6_Init( );
PID_Init(&PID_Torque_InitStructure, &PID_Flux_InitStructure, &PID_Speed_InitStructure);
/*温度，电压数组初始化*/
MCL_Init_Arrays();
/*交互界面初始化*/
KEYS_Init( );
LCD_Display_init();
/*-------------------*/
Res_f=1; //上电完成
//串口示波器初始化
usart_init(115200);
while(1)
{
/*UI显示，以及电源报警，用户管理*/
Display_LCD( );
MCL_ChkPowerStage( );
KEYS_process( );
/*状态机开启运行*/
switch (State)
{
case IDLE: //通过sel按键进入INIT ，在WAIT和FAULT中进入IDEL
break;
case INIT:
MCL_Init( );//初始化电机控制层
TB_Set_StartUp_Timeout(3000);
State = START;
break;
case START:
//passage to state RUN is performed by startup functions;
break;
case RUN: //电机运行过程中，检测速度反馈是否存在问题
if(ENC_ErrorOnFeedback() == TRUE)
{
MCL_SetFault(SPEED_FEEDBACK);
}
break;
case STOP: //关闭TIM1的输出，状态转为等待，停止电流检测，设置Valpha和Vbeta为0，计算三相占空比
TIM_CtrlPWMOutputs(TIM1, DISABLE);
State = WAIT;
SVPWM_3ShuntAdvCurrentReading(DISABLE);
Stat_Volt_alfa_beta.qV_Component1 = Stat_Volt_alfa_beta.qV_Component2 = 0;
SVPWM_3ShuntCalcDutyCycles(Stat_Volt_alfa_beta);
TB_Set_Delay_500us(2000); // 1 sec delay
break;
case WAIT: // 等待速度为零时，将状态转为IDEL
if (TB_Delay_IsElapsed( ) == TRUE)
{
if(ENC_Get_Mechanical_Speed( ) ==0)
{
State = IDLE;
}
}
break;
case FAULT: //状态变为IDEL，全局变量设为第一次启动
if (MCL_ClearFault( ) == TRUE)
{
if(wGlobal_Flags & SPEED_CONTROL == SPEED_CONTROL)
{
//速度控制模式
bMenu_index = CONTROL_MODE_MENU_1;
}
else
{
//力矩控制模式
bMenu_index = CONTROL_MODE_MENU_6;
}
State = IDLE;
wGlobal_Flags |= FIRST_START;
Hall_Start_flag=0;
}
break;
default:
break;
}
usart_watcher(Speed_Iq_Id_watch);
/********End of Usart_watch**************/
}
}
