/* init2():
*/
void
init2(void)
{
#if INCLUDE_FLASH | INCLUDE_TFS
int rc = 0;
#endif
#if INCLUDE_FBI
if(StateOfMonitor == INITIALIZE) {
fbdev_init(); /* Initialize the frame-buffer device */
}
#endif
#if INCLUDE_FLASH
if(StateOfMonitor == INITIALIZE) {
rc = FlashInit(); /* Init flashop data structures and (possibly) */
}
/* the relocatable functions. This MUST be */
#endif /* done prior to turning on cache!!! */
cacheInit(); /* Initialize cache. */
#if INCLUDE_ETHERNET
enreset(); /* Clear the ethernet interface. */
#endif
#if INCLUDE_TFS
if(rc != -1) { /* Start up TFS as long as flash */
tfsstartup(); /* initialization didn't fail. */
}
#endif
}
void setup()
{
setupSystemClock();
setup_system_tick(SYSTEM_TICK_FREQ);
setupUART();
#ifdef GPS
setupGPS();
#endif
I2C_Init();
FlashInit();
UpdateBoardVersion(false);
#ifdef OPTION_RC
RC_Init();
if(IsSSVConnected())
Battery_Init();
LED_Init();
TIMER_Init();
stabilizerInit();
#endif
#ifdef ABROBOT
ABRobotMotorInit();
#endif
nvtAHRSInit();
SensorsInit();
ChronographSet(ChronMain);
}
void Fl2FlashInitEntry()
{
#if USE_ARGC_ARGV
theFlashParams.count = FlashInit((CODE_REF)theFlashParams.base_ptr,
theFlashParams.block_size, // Image size
theFlashParams.offset_into_block,// link adr
theFlashParams.count, // flags
__argc,
__argv);
#else
theFlashParams.count = FlashInit((CODE_REF)theFlashParams.base_ptr,
theFlashParams.block_size, // Image size
theFlashParams.offset_into_block,// link adr
theFlashParams.count); // flags
#endif
}
void LogInit( void ){
if ( bInit == TRUE ){
return;
}
FlashInit( );
bInit = TRUE;
e2prom_read( (BYTE*)&logPtrSta, LOG_PTR_STA_ADDR, sizeof( DWORD ));
e2prom_read( (BYTE*)&logPtrEnd, LOG_PTR_END_ADDR, sizeof( DWORD ));
ScaleLogPtr(LOG_SAVE_PTR_NONE);
e2prom_read( (BYTE*)&wLogStamp, LOG_STAMP_ADDR, sizeof( WORD ));
e2prom_read( (BYTE*)&bLogLevel, LOG_LEVEL_ADDR, sizeof( BYTE ));
if ( bLogLevel > LOG_ALL ){
bLogLevel = LOG_ALL;
e2prom_write( (BYTE*)&bLogLevel, LOG_LEVEL_ADDR, sizeof( BYTE ));
}
if ( bLogLevel > LOG_HW ) {
bLogLevel = LOG_ALL;
}
return;
}
uint8 InitDevice()//TODO:异常处理
{
uint8 r=0,t=0;
//GPIO
PinInit();
IO0DIR=1<<29|1<<30;//P0.29,P0.30必须同为输出才能输出(SSP0的片选).
//GpioSpeedHigh();//全局高速模式,因为P0.29问题无法使用。
//指示系统启动
LED1ON();
//UART0-GCS
r+=UARTInit(FCUARTPORT,FCUARTBPS);//UART0-PC
UARTSendChar(FCUARTPORT,0x40);
UARTSendChar(FCUARTPORT,0x40);
//UART2-INS
r+=UARTInit(INSUARTPORT,INSUARTBPS);
//UARTSendChar(2,0x40);
//UARTSendChar(2,0x40);
//SSP0-FPGA
r+=SSP0FPGAMode();
//r+=SPIInit();
//while(1)
//{
t=FPGACheck();
//}
if(t==TRUE)
{
FCEventSend(OKFPGA);
}
else
{
FCEventSend(ErrFPGA);
}
r+=t;
//SSP1-FLASH
r+=FlashInit(FlashQueueSize);
//Timer0-MainLoop
r+=TimerInit(0,1000/MainLoopHz);
TimerDisable(0);
//TimerEnable(0);
//Timer1-Time+LED1
r+=TimerInit(1,1000);
TimerEnable(1);
//Timer2-Working-LED2
r+=TimerInit(2,100);
TimerDisable(2);
//启动中断
IRQEnable();
return r;
}
/************************************************************************************//**
** \brief Initializes the NVM driver.
** \return none.
**
****************************************************************************************/
void NvmInit(void)
{
#if (BOOT_NVM_HOOKS_ENABLE > 0)
/* give the application a chance to initialize a driver for operating on NVM
* that is not by default supported by this driver.
*/
NvmInitHook();
#endif
/* init the internal driver */
FlashInit();
} /*** end of NvmInit ***/
void SysInit(void)
{
/*****************************电源控制*******************************/
PowerIoInit(); //电源控制IO引脚初始化
POWER_MAIN_ON; //主电源开关(是否进行降压)
POWER_MCU_ON; //MCU电源开关
POWER_ZIGBEE_ON; //ZIGBEE电源开关
POWER_ADC_ON; //LTC2402以及其基准源电源开关
DRIVER_EN_OFF; //振弦电路的发射部分的开关
/*****************************串口输出******************************/
UART_Init(UART_0,UART_SouceClk_SMCLK,UART_SMCLKBaud_9600);
FlashInit();
}
void setup()
{
int i;
setupSystemClock();
setupUART();
setup_system_tick(SYSTEM_TICK_FREQ);
ID_Init(); // MO: Is it also system init?
GetID();
/* Init AHRS I2C */
/* ----Initialize I2C slave mode--- */
if(devNum == 0)
I2C_MS_Master_Init();
else
I2C_MS_Slave_Init();
//I2CWakeUpInit();
TIDMstFirstInitFIN = 0;
TIDMstInitFIN = 0;
TIDMstStage = 0;
TIDMstInitDevState = 1;
FlashInit();
// Setup function pointers for default sensor boards.
for(i=0; i<MAX_TID_DEV; i++)
{
if (pTidList[i])
SetDeviceFunction(pTidList[i], &(pfnDevFunc[i]));
}
// Call board init function
if (pTidList[devNum]->func.pfnSetup)
pTidList[devNum]->func.pfnSetup();
// Load TID feature from flash
GetFlashTID(&(pTidList[devNum]->Feature), devNum);
// Set Timer1 to (1000/value) in (Hz)
Timer1Init(1000 / (pTidList[devNum]->Feature.data1.value));
/* TID initialize */
SlvDataInit();
MstDataInit();
}
PUBLIC void FlashWrite(Object object)
{
uint8 data[CONFIG_OBJECT_SIZE];
// init
FlashInit(data);
data[0] = FLASH_HAS_DATA;
ConverterUint32ToUint8(object.valControl, &data[1]);
ConverterUint32ToUint8(object.sendDval, &data[5]);
ConverterUint16ToUint8(object.readTime, &data[9]);
ConverterUint16ToUint8(object.sendTime, &data[11]);
ConverterUint32ToUint8(object.config, &data[13]);
bAHI_FullFlashProgram(m_FlashStartAddress + DEVISEDESCRIPTOR_SIZE + object.objectID * CONFIG_OBJECT_SIZE, CONFIG_OBJECT_SIZE, data);
vAHI_FlashPowerDown();
}
PUBLIC void FlashRead(Object* object)
{
uint8 data[CONFIG_OBJECT_SIZE];
FlashInit(data);
bAHI_FullFlashRead(m_FlashStartAddress + DEVISEDESCRIPTOR_SIZE + object->objectID * CONFIG_OBJECT_SIZE, CONFIG_OBJECT_SIZE, data);
if (data[0] == FLASH_HAS_DATA)
{
ConverterUint8ToUint32(&data[1], (uint32*) &object->valControl);
ConverterUint8ToUint32(&data[5], (uint32*) &object->sendDval);
ConverterUint8ToUint16(&data[9], &object->readTime);
ConverterUint8ToUint16(&data[11], &object->sendTime);
ConverterUint8ToUint32(&data[13], (uint32*) &object->config);
}
vAHI_FlashPowerDown();
}
PUBLIC void FlashWriteDeviceDescriptor(DeviceDescriptor deviceDescriptor)
{
uint8 data[DEVISEDESCRIPTOR_SIZE];
// init
FlashInit(data);
bAHI_FlashEraseSector(3);
data[0] = FLASH_HAS_DATA;
ConverterStringToUint8(deviceDescriptor.name, &data[1]);
data[33] = deviceDescriptor.netID;
data[34] = deviceDescriptor.demoMode;
data[35] = deviceDescriptor.testMode;
ConverterStringToUint8(deviceDescriptor.descriptor, &data[36]);
ConverterStringToUint8(deviceDescriptor.xdata, &data[49]); // запись даты поверки в датчиках и цифровой подписи в координаторах
data[50] = deviceDescriptor.router; // 1-режим работы только с роутерами
//bAHI_FullFlashProgram(m_FlashStartAddress+deviceDescriptor.objectID*CONFIG_OBJECT_SIZE, DEVISEDESCRIPTOR_SIZE, data);
bAHI_FullFlashProgram(m_FlashStartAddress, DEVISEDESCRIPTOR_SIZE, data);
vAHI_FlashPowerDown();
}
static DWORD*
AllocXIPLoc(void)
{
DWORD *pMem;
DWORD dwBlockStart;
DWORD dwBlockLen;
FlashInit(TRUE);
FlashGetBlockInfo((LPVOID)pdwXIPLoc, &dwBlockStart, &dwBlockLen);
pMem = (DWORD *) malloc(dwBlockLen * sizeof(BYTE));
if (NULL == pMem)
{
return 0;
}
FlashRead((LPVOID)pdwXIPLoc, (LPVOID)pMem, dwBlockLen);
return pMem;
}
void InitAll()
{
__disable_irq();
TimInit();
PWMStart();
InputDecoder();
UartInit();
FlashInit();
SDFatFSInit();
printf("mpu6050 id:0x%x\r\n",MPU6050_Init());
IMU_Init();
UIInit();
sys.status = READY;
HAL_ADC_Start(&hadc1);
printf("init finish!\r\n");
__enable_irq();
}
PUBLIC void FlashReadDeviceDescriptor(DeviceDescriptor* deviceDescriptor)
{
uint8 data[DEVISEDESCRIPTOR_SIZE];
FlashInit(data);
//bAHI_FullFlashRead(m_FlashStartAddress+deviceDescriptor->objectID*CONFIG_OBJECT_SIZE, DEVISEDESCRIPTOR_SIZE, data);
bAHI_FullFlashRead(m_FlashStartAddress, DEVISEDESCRIPTOR_SIZE, data);
if (data[0] == FLASH_HAS_DATA)
{
ConverterUint8ToString(&data[1], deviceDescriptor->name);
deviceDescriptor->netID = data[33];
deviceDescriptor->demoMode = data[34];
deviceDescriptor->testMode = data[35];
ConverterUint8ToString(&data[36], deviceDescriptor->descriptor);
ConverterUint8ToString(&data[49], deviceDescriptor->xdata); // чтение даты поверки в датчиках и цифровой подписи в координаторах
deviceDescriptor->router = data[50]; // 1-режим работы только с роутерами
}
vAHI_FlashPowerDown();
}
/* configure for arrangement of flash */
FlashError_t
BDMFlashConfigSet( int fd,
unsigned int Base,
unsigned int Chips,
unsigned int Bytes )
{
FlashError_t Error;
PRINTD( "Base = %u, Chips = %u, Bytes = %u\n", Base, Chips, Bytes );
BDMFlash.Device = fd;
BDMFlash.Base = Base;
Error = FlashInit( &Flash,
&BDMFlash,
BDMFlashElementRead,
BDMFlashElementWrite,
Bytes,
1, /* BDM in Big-Endian */
Chips );
return (Error);
}
/////////////////////////////////////////////////////////////////////////////
// Function: InitializeBoard()
// Input: none
// Output: none
// Overview: Initializes the hardware components including the PIC device
// used.
/////////////////////////////////////////////////////////////////////////////
void InitializeBoard(void)
{
CLKDIVbits.RCDIV = 0;
CLKDIVbits.DOZE = 0;
CLKDIVbits.PLLEN = 1;
CLKDIVbits.CPDIV = 0;
OSCCONbits.COSC = 0b001;
ANSA = 0x0000;
ANSB = 0x0000;
ANSC = 0x0010; // RC4 as touch screen X+
ANSD = 0x0000;
ANSE = 0x0200; // RE9 used as Y+
ANSF = 0x0000;
ANSG = 0x0000;
LED_TRIS = 0;
// Initialize graphics library and create default style scheme for GOL
GOLInit();
_DPTEST = 0b00;
i2cInit();
SPI1CON1 = 0b0000000100111110;
SPI1STAT = 0x8000;
RFIF = 0;
if( RF_INT_PIN == 0 )
{
RFIF = 1;
}
//The following are PIC device specific settings for the SPI channel
//used.
//Set IOs directions for SST25 SPI
SST25_CS_LAT = 1;
Nop();
SST25_CS_TRIS = 0;
SST25_SCK_TRIS = 0;
Nop();
SST25_SDO_TRIS = 0;
Nop();
SST25_SDI_TRIS = 1;
//radio pins
_RP11R = 8; // assign RP11 for SCK1
_RP2R = 7; // assign RP2 for SDO1
_SDI1R = 36; // assign RP36 for SDI1
_INT1R = 37;
// set the peripheral pin select for the PSI channel used
__builtin_write_OSCCONL(OSCCON & 0xbf); // unlock PPS
#if (SST25_SPI_CHANNEL == 1)
RPOR3bits.RP6R = 8; // assign RP6 for SCK1
RPOR9bits.RP18R = 7; // assign RP18 for SDO1
RPINR20bits.SDI1R = 32; // assign RP18 for SDI1
#elif (SST25_SPI_CHANNEL == 2)
_RP6R = 11; // assign RP11 for SCK2
_RP18R = 10; // assign RP2 for SDO2
_SDI2R = 32; // assign RP36 for SDI2
#endif
__builtin_write_OSCCONL(OSCCON | 0x40); // lock PPS
//radio
PHY_CS_TRIS = 0;
Nop();
PHY_CS = 1;
Nop();
PHY_RESETn_TRIS = 0;
PHY_RESETn = 1;
RF_INT_TRIS = 1;
SDI_TRIS = 1;
SDO_TRIS = 0;
SCK_TRIS = 0;
SPI_SDO = 0;
SPI_SCK = 0;
PHY_WAKE_TRIS = 0;
PHY_WAKE = 1;
LED = 1;
TRISAbits.TRISA1 = 0;
Nop();
PORTAbits.RA1 = 1;
// initialize the Flash Memory driver
FlashInit(&SPI_Init_Data);
LED = 0;
// initialize the timer that manages the tick counter
TickInit();
// initialize the components for Resistive Touch Screen
TouchInit(NVMWrite, NVMRead, NVMSectorErase, TOUCH_INIT_VALUES);
LED = 0;
}
void setup()
{
uint8_t i=0;
//初始化系统时钟
setupSystemClock();
//初始化串口
setupUART();
UART_NVIC_INIT();
//初始化System_tick
setup_system_tick(SYSTEM_TICK_FREQ);
//初始化IIC
I2C_Init();
//初始化FLASH
FlashInit();
LoadParamsFromFlash();
//初始化低电压检测
BatteryCheckInit();
//初始化遥控
Comm_Init();
//初始化LED
LED_Init();
//初始化SENSOR
#ifdef IMU_SW //软件姿态解算
// MPU6050_initialize();
// DelayMsec(1000); //必须加延迟，否则读取陀螺仪数据出错
#else
MPU6050_initialize();
DelayMsec(1000); //必须加延迟，否则读取陀螺仪数据出错
MPU6050_DMP_Initialize(); //初始化DMP引擎
#endif
//初始化自稳定
// LED_ON();
// //测试用，延迟启动时间
// for(i=0;i<6;i++)
// {
// DelayMsec(1000);
// LED_OFF();
// }
//初始化电机
Motor_Init();
//printf("Motor_Init(); \n");
//IMU_Init(); // sample rate and cutoff freq. sample rate is too low now due to using dmp.
// printf("\n\nCPU @ %dHz\n", SystemCoreClock);
//MotorPwmOutput(100,100,0,0);
}
/**
* @brief Main program.
* @param None
* @retval None
*/
void main(void)
{
CLK_Config();
FlashInit();
sim(); // disable interrupts
GPIO_Init(GPIOA, GPIO_Pin_All, GPIO_Mode_Out_PP_Low_Fast);
GPIO_Init(GPIOB, GPIO_Pin_All, GPIO_Mode_Out_PP_Low_Fast);
GPIO_Init(GPIOC, GPIO_Pin_All, GPIO_Mode_Out_PP_Low_Fast);
GPIO_Init(GPIOD, GPIO_Pin_All, GPIO_Mode_Out_PP_Low_Fast);
GPIO_Init(GPIOE, GPIO_Pin_All, GPIO_Mode_Out_PP_Low_Fast);
GPIO_Init(GPIOF, GPIO_Pin_All, GPIO_Mode_Out_PP_Low_Fast);
GPIO_Init(GPIOG, GPIO_Pin_All, GPIO_Mode_Out_PP_Low_Fast);
delay1s(5);
#ifdef DEBUG
AppTrace_Init();
printf("\r\nSTM8L152 Start ...\r\n");
#endif
LED_Init();
LED1_ON();
scheduler_init();
// Build count init event
count_event.eCount_event = COUNT_INIT;
app_sched_event_put(&count_event,sizeof(count_event),count_event_handler);
// Build key init event
key_event.eKey_event = KEY_INIT;
app_sched_event_put(&key_event,sizeof(key_event),key_event_handler);
// Build the valve standby event
valve_event.eValve_event = VALVE_STANDBY_EVENT;
app_sched_event_put(&valve_event,sizeof(valve_event),valve_event_handler);
// Build the LCD init event
lcd_event.eLcd_event = LCD_INIT;
app_sched_event_put(&lcd_event,sizeof(lcd_event),lcd_event_handler);
// Build the beeper init event
beeper_event.eBeeper_event = BEEPER_INIT;
app_sched_event_put(&beeper_event,sizeof(beeper_event),beeper_event_handler);
// Build the cc1120 Init event
cc112x_event.eCC112x_event = CC112X_INIT_EVENT;
app_sched_event_put(&cc112x_event,sizeof(cc112x_event),cc112x_event_handler);
// Build the IC card Init event
ic_card_event.eIC_event = IC_CARD_INIT;
app_sched_event_put(&ic_card_event,sizeof(ic_card_event),ic_event_handler);
// Build the IC card Init event
battery_event.eBattery_event = INT_BATTERY_EVENT;
app_sched_event_put(&battery_event,sizeof(battery_event),battery_event_handler);
// enable interrupts
rim();
LED1_OFF();
// Infinite loop
while (1)
{
app_sched_execute();
app_evt_wait();
}
}
