/*
* @brief Application Program Loop
*/
void application()
{
// Stop Watchdog Timer
stopWatchdogTimer();
// Configure DCO Frequency 1 MHz
configureDCOFrequency1MHz();
// Configure PushButtons Inputs
pinDigitalInput(RTCSET);
pinDigitalInput(RTCINC);
pinDigitalInput(RTCDEC);
// Configure PullUps
pinDigitalEnabledPullUp(RTCSET);
pinDigitalEnabledPullUp(RTCINC);
pinDigitalEnabledPullUp(RTCDEC);
// Configure High Low Interrupt
pinDigitalSelectHighLowTransitionInterrupt(RTCSET);
pinDigitalSelectHighLowTransitionInterrupt(RTCINC);
pinDigitalSelectHighLowTransitionInterrupt(RTCDEC);
// Configure Pin Interrupts
pinDigitalEnableInterrupt(RTCSET);
pinDigitalEnableInterrupt(RTCINC);
pinDigitalEnableInterrupt(RTCDEC);
// Init PAP Motor
papMotorInit();
// Init ADC
adcInit();
// Configure A5 Input
adcAnalogInputEnable(5);
// RTC Init
rtcInit();
// Start RTC
rtcStart();
// Initialize LCD Module
lcdInit();
// Write Message Constant
lcdWriteMessage(1,1,mensaje);
lcdWriteMessage(3,1,mensajeADC);
lcdWriteMessage(3,11,mensajeTemp);
// Write Date and Time LCD Module
lcdDataTimeFormat(2, 1, rtcGetHour(), rtcGetMinute(), rtcGetSecond());
lcdDataDateFormat(2, 11, rtcGetDay(), rtcGetMonth(), rtcGetYear());
// Enable Interrupts
enableInterrupts();
// Entry Low Power Mode 0
entryLowPowerMode0();
}
void main(void) {
rccInit();
statusLed = digitalInit(GPIO_STATUS_LED_PORT, GPIO_STATUS_LED_PIN);
errorLed = digitalInit(GPIO_ERROR_LED_PORT, GPIO_ERROR_LED_PIN);
#ifdef ESC_DEBUG
tp = digitalInit(GPIO_TP_PORT, GPIO_TP_PIN);
digitalLo(tp);
#endif
timerInit();
configInit();
adcInit();
fetInit();
serialInit();
canInit();
runInit();
cliInit();
owInit();
runDisarm(REASON_STARTUP);
inputMode = ESC_INPUT_PWM;
fetSetDutyCycle(0);
fetBeep(200, 100);
fetBeep(300, 100);
fetBeep(400, 100);
fetBeep(500, 100);
fetBeep(400, 100);
fetBeep(300, 100);
fetBeep(200, 100);
pwmInit();
digitalHi(statusLed);
digitalHi(errorLed);
// self calibrating idle timer loop
{
uint32_t lastRunCount;
uint32_t thisCycles, lastCycles;
volatile uint32_t cycles;
volatile uint32_t *DWT_CYCCNT = (uint32_t *)0xE0001004;
volatile uint32_t *DWT_CONTROL = (uint32_t *)0xE0001000;
volatile uint32_t *SCB_DEMCR = (uint32_t *)0xE000EDFC;
*SCB_DEMCR = *SCB_DEMCR | 0x01000000;
*DWT_CONTROL = *DWT_CONTROL | 1; // enable the counter
minCycles = 0xffff;
while (1) {
idleCounter++;
if (runCount != lastRunCount && !(runCount % (RUN_FREQ / 1000))) {
if (commandMode == CLI_MODE)
cliCheck();
else
binaryCheck();
lastRunCount = runCount;
}
thisCycles = *DWT_CYCCNT;
cycles = thisCycles - lastCycles;
lastCycles = thisCycles;
// record shortest number of instructions for loop
totalCycles += cycles;
if (cycles < minCycles)
minCycles = cycles;
}
}
}
int main(void)
{
uint8_t i;
drv_pwm_config_t pwm_params;
drv_adc_config_t adc_params;
#if 0
// PC12, PA15
// using this to write asm for bootloader :)
RCC->APB2ENR |= RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOC | RCC_APB2Periph_AFIO; // GPIOA/C+AFIO only
AFIO->MAPR &= 0xF0FFFFFF;
AFIO->MAPR = 0x02000000;
GPIOA->CRH = 0x34444444; // PIN 15 Output 50MHz
GPIOA->BRR = 0x8000; // set low 15
GPIOC->CRH = 0x44434444; // PIN 12 Output 50MHz
GPIOC->BRR = 0x1000; // set low 12
#endif
#if 0
// using this to write asm for bootloader :)
RCC->APB2ENR |= RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO; // GPIOB + AFIO
AFIO->MAPR &= 0xF0FFFFFF;
AFIO->MAPR = 0x02000000;
GPIOB->BRR = 0x18; // set low 4 & 3
GPIOB->CRL = 0x44433444; // PIN 4 & 3 Output 50MHz
#endif
systemInit();
init_printf(NULL, _putc);
checkFirstTime(false);
readEEPROM();
// configure power ADC
if (mcfg.power_adc_channel > 0 && (mcfg.power_adc_channel == 1 || mcfg.power_adc_channel == 9))
adc_params.powerAdcChannel = mcfg.power_adc_channel;
else {
adc_params.powerAdcChannel = 0;
mcfg.power_adc_channel = 0;
}
adcInit(&adc_params);
// We have these sensors; SENSORS_SET defined in board.h depending on hardware platform
sensorsSet(SENSORS_SET);
mixerInit(); // this will set useServo var depending on mixer type
// when using airplane/wing mixer, servo/motor outputs are remapped
if (mcfg.mixerConfiguration == MULTITYPE_AIRPLANE || mcfg.mixerConfiguration == MULTITYPE_FLYING_WING)
pwm_params.airplane = true;
else
pwm_params.airplane = false;
pwm_params.useUART = feature(FEATURE_GPS) || feature(FEATURE_SPEKTRUM); // spektrum support uses UART too
pwm_params.usePPM = feature(FEATURE_PPM);
pwm_params.enableInput = !feature(FEATURE_SPEKTRUM); // disable inputs if using spektrum
pwm_params.useServos = useServo;
pwm_params.extraServos = cfg.gimbal_flags & GIMBAL_FORWARDAUX;
pwm_params.motorPwmRate = mcfg.motor_pwm_rate;
pwm_params.servoPwmRate = mcfg.servo_pwm_rate;
switch (mcfg.power_adc_channel) {
case 1:
pwm_params.adcChannel = PWM2;
break;
case 9:
pwm_params.adcChannel = PWM8;
break;
default:
pwm_params.adcChannel = 0;
break;
}
pwmInit(&pwm_params);
// configure PWM/CPPM read function. spektrum below will override that
rcReadRawFunc = pwmReadRawRC;
if (feature(FEATURE_SPEKTRUM)) {
spektrumInit();
rcReadRawFunc = spektrumReadRawRC;
if (feature(FEATURE_GPS))
gpsInit(mcfg.gps_baudrate);
}
#ifdef SONAR
// sonar stuff only works with PPM
if (feature(FEATURE_PPM)) {
if (feature(FEATURE_SONAR))
Sonar_init();
}
#endif
LED1_ON;
LED0_OFF;
for (i = 0; i < 10; i++) {
LED1_TOGGLE;
LED0_TOGGLE;
delay(25);
BEEP_ON;
delay(25);
BEEP_OFF;
}
LED0_OFF;
LED1_OFF;
// drop out any sensors that don't seem to work, init all the others. halt if gyro is dead.
sensorsAutodetect();
imuInit(); // Mag is initialized inside imuInit
// Check battery type/voltage
if (feature(FEATURE_VBAT))
batteryInit();
serialInit(mcfg.serial_baudrate);
previousTime = micros();
if (mcfg.mixerConfiguration == MULTITYPE_GIMBAL)
calibratingA = 400;
calibratingG = 1000;
calibratingB = 200; // 10 seconds init_delay + 200 * 25 ms = 15 seconds before ground pressure settles
f.SMALL_ANGLES_25 = 1;
// loopy
while (1) {
loop();
}
}
//-- main
//
int main(void)
{
uint8_t i;
drv_pwm_config_t pwm_params;
drv_adc_config_t adc_params;
serialPort_t* loopbackPort = NULL;
//-- 하드웨어 초기화
//
systemInit();
#ifdef USE_LAME_PRINTF
init_printf(NULL, _putc);
#endif
checkFirstTime(false);
readEEPROM();
// configure power ADC
if (mcfg.power_adc_channel > 0 && (mcfg.power_adc_channel == 1 || mcfg.power_adc_channel == 9))
adc_params.powerAdcChannel = mcfg.power_adc_channel;
else
{
adc_params.powerAdcChannel = 0;
mcfg.power_adc_channel = 0;
}
adcInit(&adc_params);
initBoardAlignment();
// We have these sensors; SENSORS_SET defined in board.h depending on hardware platform
sensorsSet(SENSORS_SET);
mixerInit(); // this will set core.useServo var depending on mixer type
// when using airplane/wing mixer, servo/motor outputs are remapped
if (mcfg.mixerConfiguration == MULTITYPE_AIRPLANE || mcfg.mixerConfiguration == MULTITYPE_FLYING_WING)
pwm_params.airplane = true;
else
pwm_params.airplane = false;
//pwm_params.useUART = feature(FEATURE_GPS) || feature(FEATURE_SERIALRX); // spektrum/sbus support uses UART too
pwm_params.useUART = 0;
pwm_params.useSoftSerial = feature(FEATURE_SOFTSERIAL);
pwm_params.usePPM = feature(FEATURE_PPM);
pwm_params.enableInput = !feature(FEATURE_SERIALRX); // disable inputs if using spektrum
pwm_params.useServos = core.useServo;
pwm_params.extraServos = cfg.gimbal_flags & GIMBAL_FORWARDAUX;
pwm_params.motorPwmRate = mcfg.motor_pwm_rate;
pwm_params.servoPwmRate = mcfg.servo_pwm_rate;
pwm_params.idlePulse = PULSE_1MS; // standard PWM for brushless ESC (default, overridden below)
if (feature(FEATURE_3D))
pwm_params.idlePulse = mcfg.neutral3d;
if (pwm_params.motorPwmRate > 500)
pwm_params.idlePulse = 0; // brushed motors
pwm_params.servoCenterPulse = mcfg.midrc;
pwm_params.failsafeThreshold = cfg.failsafe_detect_threshold;
switch (mcfg.power_adc_channel) {
case 1:
pwm_params.adcChannel = PWM2;
break;
case 9:
pwm_params.adcChannel = PWM8;
break;
default:
pwm_params.adcChannel = 0;
break;
}
pwmInit(&pwm_params);
// configure PWM/CPPM read function and max number of channels. spektrum or sbus below will override both of these, if enabled
for (i = 0; i < RC_CHANS; i++)
rcData[i] = 1502;
rcReadRawFunc = pwmReadRawRC;
core.numRCChannels = MAX_INPUTS;
if (feature(FEATURE_SERIALRX)) {
switch (mcfg.serialrx_type) {
case SERIALRX_SPEKTRUM1024:
case SERIALRX_SPEKTRUM2048:
spektrumInit(&rcReadRawFunc);
break;
case SERIALRX_SBUS:
sbusInit(&rcReadRawFunc);
break;
case SERIALRX_SUMD:
sumdInit(&rcReadRawFunc);
break;
#if defined(SKYROVER)
case SERIALRX_HEXAIRBOT:
hexairbotInit(&rcReadRawFunc);
break;
#endif
}
} else { // spektrum and GPS are mutually exclusive
// Optional GPS - available in both PPM and PWM input mode, in PWM input, reduces number of available channels by 2.
// gpsInit will return if FEATURE_GPS is not enabled.
// Sanity check below - protocols other than NMEA do not support baud rate autodetection
if (mcfg.gps_type > 0 && mcfg.gps_baudrate < 0)
mcfg.gps_baudrate = 0;
gpsInit(mcfg.gps_baudrate);
}
#ifdef SONAR
// sonar stuff only works with PPM
if (feature(FEATURE_PPM)) {
if (feature(FEATURE_SONAR))
Sonar_init();
}
#endif
LED1_ON;
LED0_OFF;
for (i = 0; i < 10; i++) {
LED1_TOGGLE;
LED0_TOGGLE;
delay(25);
BEEP_ON;
delay(25);
BEEP_OFF;
}
LED0_OFF;
LED1_OFF;
serialInit(mcfg.serial_baudrate);
#if _DEF_MW_PORT == PORT_UART1
core.menuport = uartOpen(USART1, NULL, mcfg.serial_baudrate, MODE_RXTX);
core.debugport = core.menuport;
#else
core.menuport = uartOpen(USART1, NULL, mcfg.serial_baudrate, MODE_RXTX);
core.debugport = core.menuport;
#endif
DEBUG_PRINT("Booting.. V140926R1\r\n");
// drop out any sensors that don't seem to work, init all the others. halt if gyro is dead.
sensorsAutodetect();
imuInit(); // Mag is initialized inside imuInit
// Check battery type/voltage
if (feature(FEATURE_VBAT))
batteryInit();
if (feature(FEATURE_SOFTSERIAL)) {
setupSoftSerial1(mcfg.softserial_baudrate, mcfg.softserial_inverted);
#ifdef SOFTSERIAL_LOOPBACK
loopbackPort = (serialPort_t*)&(softSerialPorts[0]);
serialPrint(loopbackPort, "LOOPBACK ENABLED\r\n");
#endif
}
if (feature(FEATURE_TELEMETRY))
initTelemetry();
previousTime = micros();
if (mcfg.mixerConfiguration == MULTITYPE_GIMBAL)
calibratingA = CALIBRATING_ACC_CYCLES;
calibratingG = CALIBRATING_GYRO_CYCLES;
calibratingB = CALIBRATING_BARO_CYCLES; // 10 seconds init_delay + 200 * 25 ms = 15 seconds before ground pressure settles
f.SMALL_ANGLES_25 = 1;
//-- 센서초기화 루틴때문에 USB 통신안되는것 때문에 마지막으로 순서 변경
//
Hw_VCom_Init();
DEBUG_PRINT("Start\r\n");
//-- thread 시작
//
thread_main();
while(1)
{
}
}
int_t main(void)
{
error_t error;
NetInterface *interface;
OsTask *task;
MacAddr macAddr;
#if (APP_USE_DHCP == DISABLED)
Ipv4Addr ipv4Addr;
#endif
#if (APP_USE_SLAAC == DISABLED)
Ipv6Addr ipv6Addr;
#endif
//Initialize kernel
osInitKernel();
//Configure debug UART
debugInit(115200);
//Start-up message
TRACE_INFO("\r\n");
TRACE_INFO("**********************************\r\n");
TRACE_INFO("*** CycloneTCP Web Server Demo ***\r\n");
TRACE_INFO("**********************************\r\n");
TRACE_INFO("Copyright: 2010-2015 Oryx Embedded SARL\r\n");
TRACE_INFO("Compiled: %s %s\r\n", __DATE__, __TIME__);
TRACE_INFO("Target: SAM3X\r\n");
TRACE_INFO("\r\n");
//Configure I/Os
ioInit();
//ADC initialization
adcInit();
//Initialize LCD display
GLCD_Init();
GLCD_SetBackColor(Blue);
GLCD_SetTextColor(White);
GLCD_Clear(Blue);
//Welcome message
lcdSetCursor(0, 0);
printf("Web Server Demo\r\n");
//Generate a random seed
//PRNG initialization
error = yarrowInit(&yarrowContext);
//Any error to report?
if(error)
{
//Debug message
TRACE_ERROR("Failed to initialize PRNG!\r\n");
}
//Properly seed the PRNG
error = yarrowSeed(&yarrowContext, seed, sizeof(seed));
//Any error to report?
if(error)
{
//Debug message
TRACE_ERROR("Failed to seed PRNG!\r\n");
}
//TCP/IP stack initialization
error = netInit();
//Any error to report?
if(error)
{
//Debug message
TRACE_ERROR("Failed to initialize TCP/IP stack!\r\n");
}
//Configure the first Ethernet interface
interface = &netInterface[0];
//Set interface name
netSetInterfaceName(interface, "eth0");
//Set host name
netSetHostname(interface, "WebServerDemo");
//Select the relevant network adapter
netSetDriver(interface, &sam3xEthDriver);
netSetPhyDriver(interface, &dm9161PhyDriver);
//Set external interrupt line driver
netSetExtIntDriver(interface, &extIntDriver);
//Set host MAC address
macStringToAddr(APP_MAC_ADDR, &macAddr);
netSetMacAddr(interface, &macAddr);
//Initialize network interface
error = netConfigInterface(interface);
//Any error to report?
if(error)
{
//Debug message
TRACE_ERROR("Failed to configure interface %s!\r\n", interface->name);
}
#if (IPV4_SUPPORT == ENABLED)
#if (APP_USE_DHCP == ENABLED)
//Get default settings
dhcpClientGetDefaultSettings(&dhcpClientSettings);
//Set the network interface to be configured by DHCP
dhcpClientSettings.interface = interface;
//Disable rapid commit option
dhcpClientSettings.rapidCommit = FALSE;
//DHCP client initialization
error = dhcpClientInit(&dhcpClientContext, &dhcpClientSettings);
//Failed to initialize DHCP client?
if(error)
{
//Debug message
TRACE_ERROR("Failed to initialize DHCP client!\r\n");
}
//Start DHCP client
error = dhcpClientStart(&dhcpClientContext);
//Failed to start DHCP client?
if(error)
{
//Debug message
TRACE_ERROR("Failed to start DHCP client!\r\n");
}
#else
//Set IPv4 host address
ipv4StringToAddr(APP_IPV4_HOST_ADDR, &ipv4Addr);
ipv4SetHostAddr(interface, ipv4Addr);
//Set subnet mask
ipv4StringToAddr(APP_IPV4_SUBNET_MASK, &ipv4Addr);
ipv4SetSubnetMask(interface, ipv4Addr);
//Set default gateway
ipv4StringToAddr(APP_IPV4_DEFAULT_GATEWAY, &ipv4Addr);
ipv4SetDefaultGateway(interface, ipv4Addr);
//Set primary and secondary DNS servers
ipv4StringToAddr(APP_IPV4_PRIMARY_DNS, &ipv4Addr);
ipv4SetDnsServer(interface, 0, ipv4Addr);
ipv4StringToAddr(APP_IPV4_SECONDARY_DNS, &ipv4Addr);
ipv4SetDnsServer(interface, 1, ipv4Addr);
#endif
#endif
#if (IPV6_SUPPORT == ENABLED)
#if (APP_USE_SLAAC == ENABLED)
//Get default settings
slaacGetDefaultSettings(&slaacSettings);
//Set the network interface to be configured
slaacSettings.interface = interface;
//SLAAC initialization
error = slaacInit(&slaacContext, &slaacSettings);
//Failed to initialize SLAAC?
if(error)
{
//Debug message
TRACE_ERROR("Failed to initialize SLAAC!\r\n");
}
//Start IPv6 address autoconfiguration process
error = slaacStart(&slaacContext);
//Failed to start SLAAC process?
if(error)
{
//Debug message
TRACE_ERROR("Failed to start SLAAC!\r\n");
}
#else
//Set link-local address
ipv6StringToAddr(APP_IPV6_LINK_LOCAL_ADDR, &ipv6Addr);
ipv6SetLinkLocalAddr(interface, &ipv6Addr);
//Set IPv6 prefix
ipv6StringToAddr(APP_IPV6_PREFIX, &ipv6Addr);
ipv6SetPrefix(interface, &ipv6Addr, APP_IPV6_PREFIX_LENGTH);
//Set global address
ipv6StringToAddr(APP_IPV6_GLOBAL_ADDR, &ipv6Addr);
ipv6SetGlobalAddr(interface, &ipv6Addr);
//Set router
ipv6StringToAddr(APP_IPV6_ROUTER, &ipv6Addr);
ipv6SetRouter(interface, &ipv6Addr);
//Set primary and secondary DNS servers
ipv6StringToAddr(APP_IPV6_PRIMARY_DNS, &ipv6Addr);
ipv6SetDnsServer(interface, 0, &ipv6Addr);
ipv6StringToAddr(APP_IPV6_SECONDARY_DNS, &ipv6Addr);
ipv6SetDnsServer(interface, 1, &ipv6Addr);
#endif
#endif
//Get default settings
httpServerGetDefaultSettings(&httpServerSettings);
//Bind HTTP server to the desired interface
httpServerSettings.interface = &netInterface[0];
//Listen to port 80
httpServerSettings.port = HTTP_PORT;
//Client connections
httpServerSettings.maxConnections = APP_HTTP_MAX_CONNECTIONS;
httpServerSettings.connections = httpConnections;
//Specify the server's root directory
strcpy(httpServerSettings.rootDirectory, "/www/");
//Set default home page
strcpy(httpServerSettings.defaultDocument, "index.shtm");
//Callback functions
httpServerSettings.authCallback = httpServerAuthCallback;
httpServerSettings.cgiCallback = httpServerCgiCallback;
httpServerSettings.uriNotFoundCallback = httpServerUriNotFoundCallback;
//HTTP server initialization
error = httpServerInit(&httpServerContext, &httpServerSettings);
//Failed to initialize HTTP server?
if(error)
{
//Debug message
TRACE_ERROR("Failed to initialize HTTP server!\r\n");
}
//Start HTTP server
error = httpServerStart(&httpServerContext);
//Failed to start HTTP server?
if(error)
{
//Debug message
TRACE_ERROR("Failed to start HTTP server!\r\n");
}
//Create user task
task = osCreateTask("User Task", userTask, NULL, 500, 1);
//Failed to create the task?
if(task == OS_INVALID_HANDLE)
{
//Debug message
TRACE_ERROR("Failed to create task!\r\n");
}
//Create a task to blink the LED
task = osCreateTask("Blink", blinkTask, NULL, 500, 1);
//Failed to create the task?
if(task == OS_INVALID_HANDLE)
{
//Debug message
TRACE_ERROR("Failed to create task!\r\n");
}
//Start the execution of tasks
osStartKernel();
//This function should never return
return 0;
}
/**
* @brief HAL initialization.
* @details This function invokes the low level initialization code then
* initializes all the drivers enabled in the HAL. Finally the
* board-specific initialization is performed by invoking
* @p boardInit() (usually defined in @p board.c).
*
* @init
*/
void halInit(void) {
hal_lld_init();
#if HAL_USE_TM || defined(__DOXYGEN__)
tmInit();
#endif
#if HAL_USE_PAL || defined(__DOXYGEN__)
palInit(&pal_default_config);
#endif
#if HAL_USE_ADC || defined(__DOXYGEN__)
adcInit();
#endif
#if HAL_USE_CAN || defined(__DOXYGEN__)
canInit();
#endif
#if HAL_USE_EXT || defined(__DOXYGEN__)
extInit();
#endif
#if HAL_USE_GPT || defined(__DOXYGEN__)
gptInit();
#endif
#if HAL_USE_I2C || defined(__DOXYGEN__)
i2cInit();
#endif
#if HAL_USE_ICU || defined(__DOXYGEN__)
icuInit();
#endif
#if HAL_USE_MAC || defined(__DOXYGEN__)
macInit();
#endif
#if HAL_USE_PWM || defined(__DOXYGEN__)
pwmInit();
#endif
#if HAL_USE_SERIAL || defined(__DOXYGEN__)
sdInit();
#endif
#if HAL_USE_SDC || defined(__DOXYGEN__)
sdcInit();
#endif
#if HAL_USE_SPI || defined(__DOXYGEN__)
spiInit();
#endif
#if HAL_USE_UART || defined(__DOXYGEN__)
uartInit();
#endif
#if HAL_USE_USB || defined(__DOXYGEN__)
usbInit();
#endif
#if HAL_USE_MMC_SPI || defined(__DOXYGEN__)
mmcInit();
#endif
#if HAL_USE_SERIAL_USB || defined(__DOXYGEN__)
sduInit();
#endif
#if HAL_USE_RTC || defined(__DOXYGEN__)
rtcInit();
#endif
/* Board specific initialization.*/
boardInit();
}
//----------------------------------------------------------
// System initialization
//----------------------------------------------------------
static inline void initSystem(void)
{
bool success;
(void)success;
// disable interrupts: disabled on msp430 by default, but other systems might need this
DISABLE_INTS();
// stop the watchdog: GCC disables it by default, but other compilers might not be so helpful
watchdogStop();
// TODO: init dynamic memory
// platformMemInit();
// basic, platform-specific initialization: timers, platform-specific drivers (?)
initPlatform();
// start energy accounting (as soon as timers are initialized)
energyConsumerOn(ENERGY_CONSUMER_MCU);
#ifdef USE_PRINT
// init printing to serial (makes sense only after clock has been calibrated)
if (printInit != NULL) printInit();
#endif
INIT_PRINTF("starting MansOS...\n");
#ifdef USE_LEDS
INIT_PRINTF("init LED(s)...\n");
ledsInit();
#endif
#ifdef USE_BEEPER
beeperInit();
#endif
#ifdef RAMTEXT_START
if ((MemoryAddress_t)&_end > RAMTEXT_START) {
// Panic right aways on RAM overflow.
// In case this happens, you might want to increase the address
// specified by CONST_RAMTEXT_START in config file
assertionFailed("Overflow between .data and .ramtext sections", __FILE__, __LINE__);
}
#endif
#ifdef USE_ADC
if (adcInit != NULL) {
INIT_PRINTF("init ADC...\n");
adcInit();
}
#endif
#ifdef USE_RANDOM
INIT_PRINTF("init RNG...\n");
randomInit();
#endif
#if USE_ALARMS
INIT_PRINTF("init alarms...\n");
initAlarms();
#endif
#ifdef USE_RADIO
INIT_PRINTF("init radio...\n");
radioInit();
#endif
#ifdef USE_ADDRESSING
INIT_PRINTF("init communication stack...\n");
networkingInit();
#endif
#ifdef USE_EXT_FLASH
INIT_PRINTF("init external flash...\n");
extFlashInit();
#endif
#ifdef USE_SDCARD
INIT_PRINTF("init SD card...\n");
sdcardInit();
#endif
#ifdef USE_EEPROM
INIT_PRINTF("init EEPROM...\n");
eepromInit();
#endif
#ifdef USE_ISL29003
INIT_PRINTF("init ISL light sensor...\n");
success = islInit();
if (!success) {
INIT_PRINTF("ISL init failed!\n");
}
#endif
#ifdef USE_ADS1115
INIT_PRINTF("init ADS111x ADC converter chip...\n");
adsInit();
#endif
#if USE_ADS8638
INIT_PRINTF("init ADS8638 ADC converter chip...\n");
ads8638Init();
#endif
#if USE_ADS8328
INIT_PRINTF("init ADS8328 ADC converter chip...\n");
ads8328Init();
#endif
#if USE_AD5258
INIT_PRINTF("init AD5258 digital potentiometer...\n");
ad5258Init();
#endif
#if USE_DAC7718
INIT_PRINTF("init DAC7718 DAC converter chip...\n");
dac7718Init();
#endif
#if USE_ISL1219
INIT_PRINTF("init ISL1219 real-time clock chip...\n");
isl1219Init();
#endif
#ifdef USE_HUMIDITY
INIT_PRINTF("init humidity sensor...\n");
humidityInit();
#endif
#ifdef USE_ACCEL
INIT_PRINTF("init accelerometer...\n");
accelInit();
#endif
#ifdef USE_TIMESYNC
INIT_PRINTF("init base station time sync...\n");
timesyncInit();
#endif
#ifdef USE_SMP
INIT_PRINTF("init SSMP...\n");
smpInit();
#endif
#ifdef USE_REPROGRAMMING
INIT_PRINTF("init reprogramming...\n");
bootParamsInit();
#endif
#ifdef USE_DCO_RECALIBRATION
extern void dcoRecalibrationInit(void);
INIT_PRINTF("init DCO recalibration...\n");
dcoRecalibrationInit();
#endif
#ifdef USE_FS
INIT_PRINTF("init file system...\n");
fsInit();
#endif
#ifdef USE_FATFS
INIT_PRINTF("init FAT file system...\n");
fatFsInit();
INIT_PRINTF("init POSIX-like file routines...\n");
posixStdioInit();
#endif
#ifdef USE_WMP
INIT_PRINTF("init WMP...\n");
wmpInit();
#endif
#ifdef USE_SEAL_NET
INIT_PRINTF("init SEAL networking...\n");
sealNetInit();
#endif
INIT_PRINTF("starting the application...\n");
}
int main()
{
// PORTB output for LCD
DDRB = 0xff;
PORTB = 0xff;
#ifdef BOARD2
// PORTC PC0-4 output, PC5 input
DDRC = 0x1f;
PORTC = 0x00;
sbi(PORTC, MUTE);
#endif
#ifdef BOARD1
// PORTC PC0,2-5 output, PC1 input
DDRC = 0x3d;
PORTC = 0x00;
sbi(PORTC, MUTE);
#endif
// PORTD is input with pullup
DDRD = 0x00;
PORTD = 0xff;
lcdInit();
adcInit();
readGlobalSettings();
toneCount = 5*F_CPU/tone;
initInterrupts();
initPLL();
sprintf(str, "PE1JPD 23cm v%s", version);
lcdCursor(0,0);
lcdStr(str);
_delay_ms(500);
for (;;) {
switch(mode) {
case VFO:
mode = Vfo();
writeGlobalSettings();
break;
case MEMORY:
mode = Memory();
writeGlobalSettings();
break;
case SPECTRUM:
mode = Spectrum();
break;
case MENU:
mode = Menu(mode);
break;
case MEMORY_MENU:
mode = MemoryMenu(mode);
break;
default:
mode = VFO;
break;
}
}
}
int main() {
initialize();
UBRR0H = UBRRH_VALUE;
UBRR0L = UBRRL_VALUE;
UCSR0B = (1 << RXCIE0) | (1 << RXEN0) | (1 << TXEN0);
UCSR0C = (1<<UCSZ00) | (1<<UCSZ01);
// enable interrupts for the timer
sei();
/* Timer aufsetzen: nach 1 ms soll der Interrupt ausgelöst werden. */
/* 8 bit counter (TIMER0) */
/* normal mode */
TCCR0A = 0;
/* CLK/64 */
TCCR0B = (1 << CS01) | (1 << CS00);
/* timer ticks: 250 */
TCNT0 = 5;
TIMSK0 = (1 << TOIE0);
TIFR0 = (1 << TOV0);
adcInit();
int16_t ii = 0;
int16_t jj = 0;
wdt_enable(WDTO_2S);
/*
for(;;i++) {
uart_bin(PINB);
uart_puts(" ");
uart_bin(PIND);
uart_puts(" ");
uart_hex16(i);
uart_puts("\r\n");
_delay_ms(1000);
wdt_reset();
}
*/
uart_puts("Starting up\r\n");
for (ii = 0; ii < 4; ii++) {
positions[ii] = 0;
}
// Count the number of cycles the autofocus is stuck in mid-state
uint8_t mid_state_counter = 0;
// Count the number of successive movements in the same direction before increasing speed
uint16_t movement_counter = 0;
uint16_t current_delay = INITIAL_DELAY;
enum movement{NONE, UP, DOWN, TILT_DOWN, TILT_UP, LEVEL, EMERGENCY} last_movement, movement;
last_movement = NONE;
movement = NONE;
// Reset autofocus position
/*
while(1) {
adc_start_conversion(7);
const uint16_t autofocus_result = adc_wait();
uart_hex16(autofocus_result);
wdt_reset();
uart_puts("\r\n");
}
// */
uint8_t autofocus_hit_counter = 0;
movement_counter = 0;
current_delay = INITIAL_DELAY;
initialize();
adcInit();
adc_start_conversion();
uint16_t autofocus_result = adc_wait();
uint16_t no_movement_counter = 0;
autofocusPosition = 2*HEIGHT_LIMIT;
for(ii = 0; ; ii++){
wdt_reset();
//*
if (current_delay > 1) {
for (jj = 0; jj < current_delay; jj++) {
_delay_us(1);
}
}
// */
#ifdef DEBUG
uart_hex16(current_delay);
uart_puts("\r\n");
#endif
// True if autofocus endstop not yet hit.
const bool autofocus_switch_clear = (autofocus_result <= OPEN_VALUE + INTERVAL_SIZE && autofocus_result >= OPEN_VALUE - INTERVAL_SIZE);
bool autofocus_clear = true;
if (!autofocus_switch_clear) {
if (autofocus_hit_counter > 10) {
autofocus_clear = false;
if ((ii % 1024) == 0) {
uart_puts("Autofocus hit at: ");
printPositions();
autofocusPosition = positions[0];
uart_puts("\r\n");
}
if (autofocus_result < SHORT_CIRCUIT_VALUE) {
uart_puts("Autofocus has short circuit, value is: ");
uart_hex16(autofocus_result);
uart_puts("\r\n");
}
else if (autofocus_result > CABLE_BROKEN_VALUE) {
uart_puts("Autofocus cable is broken, value is: ");
uart_hex16(autofocus_result);
uart_puts("\r\n");
}
else if(autofocus_result > OPEN_VALUE + INTERVAL_SIZE && autofocus_result < CLOSED_VALUE - INTERVAL_SIZE) {
if (mid_state_counter > 10) {
uart_puts("Autofocus stuck in mid-state, value is: 0x");
uart_hex16(autofocus_result);
uart_puts("\r\n");
}
else {
mid_state_counter++;
}
}
}
// Increment autofocus_hit_counter in order to detect series of hit autofocus.
if (autofocus_hit_counter < 20) {
autofocus_hit_counter++;
}
}
else {
mid_state_counter = 0;
autofocus_hit_counter = 0;
}
movement = NONE;
if (!buttonEmergency()) {
if (buttonDown()) {
if (!anyStopReached()) {
stepAllDown();
movement = DOWN;
}
_delay_us(2.08);
}
else if (buttonUp()) {
if (!anyHeightLimitReached() && autofocus_clear) {
stepAllUp();
movement = UP;
}
}
else if (buttonTiltFrontUp()) {
if (!anyStopReached() && !anyHeightLimitReached() && (positions[3]-positions[1] < TILT_LIMIT) && autofocus_clear) {
stepUp3();
stepDown1();
movement = TILT_UP;
}
_delay_us(0.96);
}
else if (buttonTiltFrontDown()) {
if (!anyStopReached() && !anyHeightLimitReached() && (positions[1]-positions[3] < TILT_LIMIT) && autofocus_clear) {
stepDown3();
stepUp1();
movement = TILT_DOWN;
}
_delay_us(1.52);
}
else if (buttonLevel()) {
if (!anyStopReached() && autofocus_clear) {
if (positions[1] > positions[3]+1) {
stepDown1();
stepUp3();
movement = LEVEL;
_delay_us(0.72);
}
else if (positions[1]+1 < positions[3]) {
stepDown3();
stepUp1();
movement = LEVEL;
}
}
_delay_us(2.22);
}
else if (buttonFocus()) {
if ((positions[0] > (autofocusPosition - FOCUS_DISTANCE)) && !anyStopReached()) {
stepAllDown();
movement = DOWN;
}
else if ((positions[0] < (int32_t)(autofocusPosition - FOCUS_DISTANCE)) && autofocus_clear) {
stepAllUp();
movement = UP;
}
// Needed to fulfill the 2us hold constraint of the step pin
}
}
if (movement == last_movement && movement != NONE) {
if (movement_counter > 500) {
current_delay--;
if (current_delay < MIN_DELAY) {
current_delay = MIN_DELAY;
}
movement_counter = 0;
}
movement_counter += current_delay;
}
else {
current_delay = INITIAL_DELAY;
movement_counter = 0;
}
// Do all the emergency stuff
if (buttonEmergency()) {
_delay_us(17);
movement = EMERGENCY;
if (buttonEmergency() && buttonFocus()) {
gotoEndstops();
}
if (buttonUp()) {
if (buttonTiltFrontDown()) {
stepUp1();
}
if (buttonLevel()) {
stepUp2();
}
if (buttonTiltFrontUp()) {
stepUp3();
}
}
if (buttonDown()) {
if (buttonTiltFrontDown()) {
stepDown1();
}
if (buttonLevel()) {
stepDown2();
}
if (buttonTiltFrontUp()) {
stepDown3();
}
}
if (buttonLevel()) {
int32_t maxPosition = max(positions[1], max(positions[2], positions[3]));
if (positions[1] < maxPosition) {
stepUp1();
}
if (positions[2] < maxPosition) {
stepUp2();
}
if (positions[3] < maxPosition) {
stepUp3();
}
}
// In case of emergency, introduce a safe delay for the step hold time
_delay_us(2);
}
last_movement = movement;
if (movement == NONE) {
no_movement_counter++;
if (no_movement_counter > 2e3) {
sleep();
no_movement_counter = 0;
printPositions();
uart_puts("\r\n");
}
}
else {
no_movement_counter = 0;
if (sleeping) {
wakeup();
_delay_ms(100);
}
}
if(!(ADCSRA & (1<<ADSC))) { // auf Abschluss der Konvertierung warten
autofocus_result = ADCW;
adc_start_conversion();
}
_delay_us(1.08);
unsetStep1;
unsetStep2;
unsetStep3;
}
}
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)
}
