void logger_number_(uint16_t value, uint8_t base) {
// Create buffer
char buffer[8*sizeof(uint16_t)+1];
char *str = &buffer[sizeof(buffer)-1];
// Set ending \0
*str = '\0';
uint16_t tmp;
uint8_t c;
// Make sure we have a base larger than 1
if (base < 2)
base = 10;
// Iterate over value
do {
// Set temp value
tmp = value;
// Calc divider
value /= base;
// Get digit
c = tmp - base * value;
*--str = c < 10 ? '0' + c : 'A' + c - 10;
} while (value);
// Send string
usart_send_string(str);
}
int main(void)
{
u32 result = 0;
u8 str_send[SEND_BUFFER_SIZE], str_verify[SEND_BUFFER_SIZE];
init_system();
while(1)
{
usart_send_string(USART1, (u8*)"Please enter string to write into Flash memory:\n\r", SEND_BUFFER_SIZE);
usart_get_string(USART1, str_send, SEND_BUFFER_SIZE);
result = flash_program_data(FLASH_OPERATION_ADDRESS, str_send, SEND_BUFFER_SIZE);
switch(result)
{
case RESULT_OK: /*everything ok*/
usart_send_string(USART1, (u8*)"Verification of written data: ", SEND_BUFFER_SIZE);
flash_read_data(FLASH_OPERATION_ADDRESS, SEND_BUFFER_SIZE, str_verify);
usart_send_string(USART1, str_verify, SEND_BUFFER_SIZE);
break;
case FLASH_WRONG_DATA_WRITTEN: /*data read from Flash is different than written data*/
usart_send_string(USART1, (u8*)"Wrong data written into flash memory", SEND_BUFFER_SIZE);
break;
default: /*wrong flags' values in Flash Status Register (FLASH_SR)*/
usart_send_string(USART1, (u8*)"Wrong value of FLASH_SR: ", SEND_BUFFER_SIZE);
local_ltoa_hex(result, str_send);
usart_send_string(USART1, str_send, SEND_BUFFER_SIZE);
break;
}
/*send end_of_line*/
usart_send_string(USART1, (u8*)"\r\n", 3);
}
return 0;
}
unsigned int ad_convert() //在需要检测电流时打开aden，检测完成之后需要关闭
{
unsigned char str[10];//串口用的
unsigned char temp;//用来记录模拟比较器在admux里设定的反向输入端
unsigned int current_temp=0;
temp = ADMUX; //记录下admux原来的值
ADMUX = 0x00; //指定adc输入通道
SFIOR = 0x00; //关闭模拟比较器adc管脚复用
ADCSRA = 0xd3;
ADCSRA |= 0x40;
while (((ADCSRA & 0x10) == 0));
current_temp = ADCW;
sprintf(str,"c:%d",current_temp);
usart_send_string(str);
ADMUX =temp; // zurück auf den Sense-Kanal
ADCSRA = 0x00;
SFIOR |= 0x08; // Analog Comperator ein
return 0;
}
static void usart_get_string(u32 usart, u8 *out_string, u16 str_max_size)
{
u8 sign = 0;
u16 iter = 0;
while(iter < str_max_size)
{
sign = usart_recv_blocking(usart);
#if USART_ECHO_EN == 1
usart_send_blocking(usart, sign);
#endif
if(sign != '\n' && sign != '\r')
out_string[iter++] = sign;
else
{
out_string[iter] = 0;
usart_send_string(USART1, (u8*)"\r\n", 3);
break;
}
}
}
void logger_string(char *string) {
usart_send_string(string);
}
/**************************************************************************//**
* @brief Main function
*****************************************************************************/
int main(void)
{
char buffer[] = "AT";
uint8_t delay_type = 0;
/* Chip errata */
CHIP_Init();
/* initalize clocks */
CMU->CTRL |= (1 << 14); // Set HF clock divider to /2 to keep core frequency <32MHz
CMU->OSCENCMD |= 0x4; // Enable XTAL Oscillator
while(! (CMU->STATUS & 0x8) ); // Wait for XTAL osc to stabilize
CMU->CMD = 0x2; // Select HF XTAL osc as system clock source. 48MHz XTAL, but we divided the system clock by 2, therefore our HF clock should be 24MHz
/* Setup SysTick Timer for 1 msec interrupts */
if (SysTick_Config(CMU_ClockFreqGet(cmuClock_CORE) / 1000)) while (1) ;
usart_init();
motor_init();
usart_enable_rx_isr();
BSP_LedsInit();
BSP_LedSet(0);
BSP_LedSet(1);
usart_send_string(buffer);
/* Infinite loop */
while (1) {
BSP_LedToggle(1);
switch(rx_data){
case 'f':
Move_Forward();
delay_type = 1;
break;
case 'b':
Move_Backward();
delay_type = 1;
break;
case 'r':
Move_Left();
delay_type = 2;
break;
case 'l':
Move_Right();
delay_type = 2;
break;
default:
delay_type = 1;
Stop_Robot();
break;
}
rx_data = 0;
//Chooses the delay depending on the movement
if (delay_type == 1){
Delay(1000);
}else if(delay_type == 2){
Delay(200);
}
}
}
/**
* Only task configured to start at boot; starts the rest of RTOS.
* We use this task to do most of the startup because it allows
* use of various RTOS functionality (which can cause issues when used
* before the scheduler is running).
* WARNING: The vApplicationDaemonTaskStartupHook did not work for us.
*/
void startup_task(void* pvParameters) {
print("EQUiSatOS starting... ");
#ifdef WRITE_DEFAULT_MRAM_VALS
// utility function to write initial state to MRAM (ONCE before launch)
write_custom_state();
#endif
/************************************************************************/
/* DATA INITIALIZATION */
/************************************************************************/
// Initialize misc. state mutexes
hardware_state_mutex = xSemaphoreCreateMutexStatic(&_hardware_state_mutex_d);
critical_action_mutex = xSemaphoreCreateMutexStatic(&_critical_action_mutex_d);
// Initialize EQUiStack mutexes
_idle_equistack_mutex = xSemaphoreCreateMutexStatic(&_idle_equistack_mutex_d);
_attitude_equistack_mutex = xSemaphoreCreateMutexStatic(&_attitude_equistack_mutex_d);
_flash_equistack_mutex = xSemaphoreCreateMutexStatic(&_flash_equistack_mutex_d);
_flash_cmp_equistack_mutex = xSemaphoreCreateMutexStatic(&_flash_cmp_equistack_mutex_d);
_low_power_equistack_mutex = xSemaphoreCreateMutexStatic(&_low_power_equistack_mutex_d);
// Initialize EQUiStacks
equistack_Init(&idle_readings_equistack, &_idle_equistack_arr,
sizeof(idle_data_t), IDLE_STACK_MAX, _idle_equistack_mutex);
equistack_Init(&attitude_readings_equistack, &_attitude_equistack_arr,
sizeof(attitude_data_t), ATTITUDE_STACK_MAX, _attitude_equistack_mutex);
equistack_Init(&flash_readings_equistack, &_flash_equistack_arr,
sizeof(flash_data_t), FLASH_STACK_MAX, _flash_equistack_mutex);
equistack_Init(&flash_cmp_readings_equistack, &_flash_cmp_equistack_arr,
sizeof(flash_cmp_data_t), FLASH_CMP_STACK_MAX, _flash_cmp_equistack_mutex);
equistack_Init(&low_power_readings_equistack, &_low_power_equistack_arr,
sizeof(low_power_data_t), LOW_POWER_STACK_MAX, _low_power_equistack_mutex);
/************************************************************************/
/* ESSENTIAL INITIALIZATION */
/************************************************************************/
// read state from MRAM for first time
// this initializes the error equistacks, so make sure no errors
// are logged before this (they shouldn't be before RTOS is started...)
configure_state_from_reboot();
// function in global to init things that use RTOS
// (MUST be done after config state from reboot)
global_init_post_rtos();
// populate task_handles array and setup constants
pre_init_rtos_tasks();
#if configUSE_TRACE_FACILITY == 1
// name mutexes
vTraceSetMutexName(critical_action_mutex, "CA");
vTraceSetMutexName(i2c_irpow_mutex, "I2C");
vTraceSetMutexName(irpow_semaphore, "IRPOW");
vTraceSetMutexName(processor_adc_mutex, "ADC");
vTraceSetMutexName(hardware_state_mutex, "HWST");
vTraceSetMutexName(watchdog_mutex, "WD");
vTraceSetMutexName(mram_spi_cache_mutex, "SPI");
vTraceSetMutexName(_idle_equistack_mutex, "eqIDLE");
vTraceSetMutexName(_attitude_equistack_mutex, "eqATT");
vTraceSetMutexName(_flash_equistack_mutex , "eqF_BST");
vTraceSetMutexName(_flash_cmp_equistack_mutex, "eqF_CMP");
vTraceSetMutexName(_low_power_equistack_mutex, "eqLP");
vTraceSetMutexName(_error_equistack_mutex, "eqERR");
#endif
// note RTOS is ready for watchdog callback, and log error if it already tripped
rtos_ready = true;
if (got_early_warning_callback_in_boot) {
log_error(ELOC_WATCHDOG, ECODE_WATCHDOG_EARLY_WARNING, true);
}
/************************************************************************/
/* TASK CREATION */
/************************************************************************/
// NOTE: We can't actually set task state before they are started below,
// and tasks start as active (resumed), so we have the tasks themselves
// call the function below which will either suspend them or leave them
// running as defined by the configuration of initial state.
// suspend the scheduler while adding tasks so their task handles
// are non-null when they start executing (i.e. they can be controlled)
pet_watchdog(); // in case this takes a bit and we're close
vTaskSuspendAll();
/************************************************************************/
/* TESTING/MISC */
/************************************************************************/
create_testing_tasks();
/************************************************************************/
/* END TESTING */
/************************************************************************/
#ifndef ONLY_RUN_TESTING_TASKS
battery_charging_task_handle = xTaskCreateStatic(battery_charging_task,
"battery charging action task",
TASK_BATTERY_CHARGING_STACK_SIZE,
NULL,
TASK_BATTERY_CHARGING_PRIORITY,
battery_charging_task_stack,
&battery_charging_task_buffer);
antenna_deploy_task_handle = xTaskCreateStatic(antenna_deploy_task,
"antenna deploy action task",
TASK_ANTENNA_DEPLOY_STACK_SIZE,
NULL,
TASK_ANTENNA_DEPLOY_PRIORITY,
antenna_deploy_task_stack,
&antenna_deploy_task_buffer);
state_handling_task_handle = xTaskCreateStatic(state_handling_task,
"state handling action task",
TASK_STATE_HANDLING_STACK_SIZE,
NULL,
TASK_STATE_HANDLING_PRIORITY,
state_handling_task_stack,
&state_handling_task_buffer);
watchdog_task_handle = xTaskCreateStatic(watchdog_task,
"watchdog task",
TASK_WATCHDOG_STACK_SIZE,
NULL,
TASK_WATCHDOG_PRIORITY,
watchdog_task_stack,
&watchdog_task_buffer);
persistent_data_backup_task_handle = xTaskCreateStatic(persistent_data_backup_task,
"persistent data backup task",
TASK_PERSISTENT_DATA_BACKUP_STACK_SIZE,
NULL,
TASK_PERSISTENT_DATA_BACKUP_PRIORITY,
persistent_data_backup_task_stack,
&persistent_data_backup_task_buffer);
flash_activate_task_handle = xTaskCreateStatic(flash_activate_task,
"flash action task",
TASK_FLASH_ACTIVATE_STACK_SIZE,
NULL,
TASK_FLASH_ACTIVATE_PRIORITY,
flash_activate_task_stack,
&flash_activate_task_buffer);
transmit_task_handle = xTaskCreateStatic(transmit_task,
"transmit action task",
TASK_TRANSMIT_STACK_SIZE,
NULL,
TASK_TRANSMIT_PRIORITY,
transmit_task_stack,
&transmit_task_buffer);
/* Data tasks */
idle_data_task_handle = xTaskCreateStatic(idle_data_task,
"idle data reader task",
TASK_IDLE_DATA_RD_STACK_SIZE,
NULL,
TASK_IDLE_DATA_RD_PRIORITY,
idle_data_task_stack,
&idle_data_task_buffer);
attitude_data_task_handle = xTaskCreateStatic(attitude_data_task,
"attitude data reader task",
TASK_ATTITUDE_DATA_RD_STACK_SIZE,
NULL,
TASK_ATTITUDE_DATA_DATA_RD_PRIORITY,
attitude_data_task_stack,
&attitude_data_task_buffer);
low_power_data_task_handle = xTaskCreateStatic(low_power_data_task,
"low power data reader task",
TASK_LOW_POWER_DATA_RD_STACK_SIZE,
NULL,
TASK_LOW_POWER_DATA_RD_PRIORITY,
low_power_data_task_stack,
&low_power_data_task_buffer);
#endif
xTaskResumeAll();
setTXEnable(false);
usart_send_string((uint8_t*) "EQUiSatOS started");
setTXEnable(true);
print("initialization complete.\n");
// delete this task after it's done booting
vTaskDelete(NULL);
}
