int main (void) {
uint8_t data = 0;
uint32_t len = 0;
//SystemClockUpdate();
SystemCoreClockUpdate();
init_i2c();
uart2_init(115200, CHANNEL_A); // Control de flujo: NINGUNO
DACInit();
uart2_sendString((uint8_t*)"\r\nModulador PSK\r\n");
while (1) {
len = uart2_receive(&data, 1, FALSE);
if (len > 0) {
uart2_send(&data, 1);
procesarBytes(data);
}
Timer0_Wait(50);
}
}
////////////////////////////////////////////////////////////////////////////////////////
//初始化串口控制器
void usmart_init(u8 sysclk,u32 bound)
{
NVIC_InitTypeDef NVIC_InitStructure;
#if USMART_ENTIM2_SCAN==1
Timer2_Init(1000,(u32)sysclk*100-1);//分频,时钟为10K ,100ms中断一次
#endif
#ifdef USEING_USMART
#if USEING_USMART==1
uart_init(bound);
NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=2 ;//抢占优先级3
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; //子优先级3
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道使能
NVIC_Init(&NVIC_InitStructure); //根据指定的参数初始化VIC寄存器
USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);//开启中断
#endif
#if USEING_USMART==2
uart2_init(bound);
NVIC_InitStructure.NVIC_IRQChannel = USART2_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=2 ;//抢占优先级3
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; //子优先级3
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道使能
NVIC_Init(&NVIC_InitStructure); //根据指定的参数初始化VIC寄存器
USART_ITConfig(USART2, USART_IT_RXNE, ENABLE);//开启中断
#endif
#endif
usmart_dev.sptype=1; //十六进制显示参数
}
/*==================================================================================
* 函 数 名： Set_System
* 参 数： None
* 功能描述: 初始化系统
* 返 回 值： None
* 备 注：
* 作 者： gaodb
* 创建时间： 2012.10
==================================================================================*/
void Set_System(void)
{
rcc_init();
peri_clk_init();
NVIC_Configuration();
pins_init();
systick_init();
timer2_init();
timer4_init();
RAY12_ADC_Init();
LCD_Config();
DispInit();
uart1_init(BAUD_RATE_57600);
uart2_init(BAUD_RATE_57600);
dac1_init();
sys_variable_init();
}
//Function To Initialize all The Devices
void init_devices()
{
cli(); //Clears the global interrupts
port_init(); //Initializes all the ports
uart2_init(); //Initailize UART1 for serial communiaction
sei(); //Enables the global interrupts
}
int main()
{
delay_init(72);
uart1_init(); //串口1
uart2_init();
RCC_Configuration();
GPIO_Configuration();
GPIO_ResetBits(GPIOB, GPIO_Pin_5); //PB=0,LED亮
delay_ms(500);
GPIO_SetBits(GPIOB, GPIO_Pin_5);
while(1)
{
delay_ms(1000);
printf("State %c\r\n", lock); //串口输出调试
TIME_AREA();
printf("Time :%c%c : %c%c : %c%c%c%c%c \r\n",time[0],time[1],time[2],time[3],time[4],time[5],time[6],time[7],time[8]); //串口输出调试
JWD_AREA(JD); //经度转换
printf("Longitude :%f %c\r\n", D_D,JD_a); //串口输出调试jd
JWD_AREA(WD); //纬度转换
printf("Latitude :%f %c\r\n", D_D,WD_a); //串口输出调试wd
// printf("卫星 ：%s颗\r\n", use_sat); //串口输出调试
// printf("卫星 ：%s颗\r\n", total_sat); //串口输出调试
// printf("高度 ：%sm\r\n", haiba); //串口输出调试
// printf("海拔 ：%sm\r\n", high); //串口输出调试
// printf("速度 ：%s节\r\n", speed2); //串口输出调试
// printf("方位 ：%s度\r\n", angle); //串口输出调试
}
}
ER GPSRec_Open(UART_BAUDRATE BaudRate)
{
if (bGPSRecOpened)
return E_SYS;
#if (RECEIVE_FROM_UART2)
if (uart2_open() == E_OK)
#else
if (uart_open() == E_OK)
#endif
{
debug_msg("\r\nUART2: Open success\r\n");
#if (RECEIVE_FROM_UART2)
uart2_init(BaudRate, UART_LEN_L8_S1, UART_PARITY_NONE);
#else
uart_init(BaudRate, UART_LEN_L8_S1, UART_PARITY_NONE);
#endif
}
else
{
debug_err(("UART2: open fail!\r\n"));
return E_SYS;
}
debug_msg("Start GPS receive task\r\n");
sta_tsk(GPSRECEIVE_ID,0);
loc_cpu();
bGPSRecOpened = TRUE;
unl_cpu();
return E_OK;
}
int main(void)
{
uint16_t i;
FRESULT rc;
map_io();
init_port();
InitRTCC();
uart2_init();
xdev_out(uart2_put);
xdev_in(uart2_get);
dbg_printf("$" PROJECT_NAME "\n");
dbg_printf("$" __DATE__ " " __TIME__ "\n");
rc = f_mount(&fatfs, "", 1);
dbg_printf("$FF,f_mount,%s\n", get_rc(rc));
OpenTimer1(T1_PS_1_256 & T1_GATE_OFF & T1_SOURCE_INT & T1_IDLE_CON &
T1_ON & T1_SYNC_EXT_OFF, 0xFFFF);
ConfigIntTimer1(T1_INT_ON & T1_INT_PRIOR_1);
OpenCapture1(IC_IDLE_STOP & IC_TIMER1_SRC & IC_INT_1CAPTURE & IC_EVERY_RISE_EDGE,
IC_CASCADE_DISABLE & IC_TRIGGER_ENABLE & IC_UNTRIGGER_TIMER & IC_SYNC_TRIG_IN_DISABLE);
ConfigIntCapture1(IC_INT_ON & IC_INT_PRIOR_5);
_IC1IF = 0;
while (1) {
while (_RTCSYNC == 0);
while (_RTCSYNC == 1);
if (gps_pr > 0) {
_T1IE = 0;
float f = (float) TMR1 / gps_pr;
_T1IE = 1;
xprintf("%u\n", (uint16_t) (f * 1000));
}
if (ngpslines > 0) {
ngpslines--;
if (xgets(gps_line, 128)) {
xprintf("$GPS%s\n", gps_line);
}
}
}
while (0) {
while (_RTCSYNC == 0);
while (_RTCSYNC == 1);
if (gps_pr > 0) {
_T1IE = 0;
float f = (float) TMR1 / gps_pr;
_T1IE = 1;
xprintf("%u\n", (uint16_t) (f * 1000));
}
}
return (EXIT_SUCCESS);
}
void uart_init( void )
{
#ifdef USE_UART1
uart1_init();
#endif
#ifdef USE_UART2
uart2_init();
#endif
#ifdef USE_UART3
uart3_init();
#endif
}
void init()
{
delay_init();
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); //设置NVIC中断分组2:2位抢占优先级，2位响应优先级
LED_Init(); //LED端口初始化
TIM3_Int_Init(719,4999); //主中断0.03
uart_init(9600); //串口初始化为115200，读上位机数据
uart2_init(9600); //读陀螺仪数据
uart3_init(9600);
ENCODE_Init(); //编码器初始化
queue_init(&rx_queue);
basketballbot.Control_ID = Global;
}
//Function to initialize all the devices
void init_devices()
{
cli(); //Clears the global interrupt
port_init(); //Initializes all the ports
left_position_encoder_interrupt_init();
right_position_encoder_interrupt_init();
timer4_init();
adc_init();
timer5_init();
store_init();
uart2_init();
TIMSK4 = 0x01;
sei(); // Enables the global interrupt
}
//----------------------------------------------------------
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();
}
void uart_init( void )
{
#ifdef USE_UART0
uart0_init();
#endif
#ifdef USE_UART1
uart1_init();
#endif
//TODO: add uart2 and greater
#ifdef USE_UART2
uart2_init();
#endif
#ifdef USE_UART3
uart3_init();
#endif
}
void wifi_init(u32 band){
// init usart2 PA2,PA3
uart2_init(band);
printf("Test1\r\n");
esp_write("AT+GMR\r\n");
while(available() != 0){
printf("%c",read());
}
printf("\r\n");
esp_write("AT+CWLAP\r\n");
delay_ms(5000);
printf("\r\n");
while(available() != 0){
printf("%c",read());
}
printf("\r\n");
}
/**
* Initialisation of the display driver
*
*/
void disp_init(void)
{
int i;
uart2_init();
for (i = 0; i < 0x10000; i++)
;
/* Reset display state machine */
disp_putc('\r');
/* Clear display */
disp_putc(0x1B);
/* Wait a short time */
for (i = 0; i < 0x10000; i++)
;
}
void ddk_init(void)
{
// 1. first, bring buffer enable into well defined state
buffer_init();
buf1_enable();
buf2_enable();
buf3_disable();
buf4_disable();
buf5_disable();
buf6_disable();
buf7_disable();
buf8_disable();
// 2. visuals
led_init();
led1_clr();
led2_clr();
led3_clr();
led4_clr();
// 3. comms
uart0_init(115200, 0);
uart1_init(115200, 0);
#ifdef WITH_UART2
uart2_init(115200, 0); // temporarily disabled and used as i/o
#endif
#ifdef WITH_UART3
uart3_init(115200, 0); // temporarily disabled and used as i/o
#endif
// 4. enable certain buffers if necessary
// 5. init misc i/o
io_init();
// 6. start fpga
io_fpga_enable();
//io_fpga_disable();
// enable systick interrupt. (1msec)
SysTick_Config(SystemCoreClock/1000 - 1); /* Generate interrupt each 1 ms */
SYSTICK_Cmd(DISABLE);
}
int main(void){
sys_init(); //配置系统时钟72M(包括clock, PLL and Flash configuration)
delay_init();//初始化延时
uart1_init(72,9600);
uart2_init(36,9600);//时钟为最高时钟的一半
// uart3_init(36,9600);//时钟为最高时钟的一半
led_init();
car_init();
jtag_set(2);//禁止JTAG,释放PB3,PA15
Steering_Init();
uart_printf("ok\r\n");
hwbz_init();
power_init();
while(1){
cmd_handle();
};
return 0;
}
void init_devices (void)
{
cli(); //Clears the global interrupts
//for motion
port_init();
//for LCD
port_init();
adc_init();
//for Xbee
uart0_init(); //Initailize UART0 for serial communiaction
uart2_init(); //Initailize UART1 for serial communiaction
sei(); //Enables the global interrupts
}
ER GPSRec_Open(UART_BAUDRATE BaudRate)
{
if (bGPSRecOpened)
return E_SYS;
#if (RECEIVE_FROM_UART2)
if (uart2_open() == E_OK)
#else
if (uart_open() == E_OK)
#endif
{
debug_msg("\r\nUART2: Open success\r\n");
#if (RECEIVE_FROM_UART2)
uart2_init(BaudRate, UART_LEN_L8_S1, UART_PARITY_NONE);
#else
uart_init(BaudRate, UART_LEN_L8_S1, UART_PARITY_NONE);
#endif
}
else
{
debug_err(("UART2: open fail!\r\n"));
return E_SYS;
}
debug_msg("Start GPS receive task\r\n");
//#NT#2011/1/14#philex Lin-begin
// init/toggle GPS Data buffer index,
// GPS log buffer is double buffering mechanism.
GPSRec_DataBufInit();
//#NT#2011/1/14#philex Lin-end
sta_tsk(GPSRECEIVE_ID);
loc_cpu();
bGPSRecOpened = TRUE;
unl_cpu();
return E_OK;
}
void main()
{
unsigned short val = 0;
unsigned int show_data = 0;
//unsigned short last_data = 0;
uart2_init();
init_led();
init_motor();
init_steering();
init_speed();
show_byte(0);
//led_vcc_on();
while(1) {
// show_byte(0x12,1);
if((uart_data >= '0') && (uart_data <= 'z')) {
//last_data = val;
val = uart_data;
}
//show_data = (cmd_func << 8) | (val & 0xff);
show_data = ((left_dis << 8)&0xff00) | (right_dis & 0xff);
//show_data = (left_diff << 8) | (right_diff & 0xff);
show_byte(show_data);
if(sg_flag == 1) {
sg_flag = 0;
delay1ms_show(1000 * 3,show_data);
if(sg_flag == 0) { //maybe call up() twice in 3s
stop_sg();
}
}
//uart2_send('a');
//uart2_send('b');
//uart2_send('c');
}
}
//-------------------------------------------------------------------------------
//call this routine to initialize all peripherals
void init_devices(void)
{
//stop errant interrupts until set up
cli(); //disable all interrupts
port_init();
uart2_init();
adc_init();
timer1_init();
timer5_init();
lcd_set_4bit();
lcd_init();
spi_init();
// below for lines are important for Encoder init
left_position_encoder_interrupt_init();
right_position_encoder_interrupt_init();
EICRB = 0x0A; //pin change int edge 4:7
EIMSK = 0x30;
sei(); //re-enable interrupts
//all peripherals are now initialized
}
void lib_low_level_init()
{
sytem_clock_init();
#ifdef _GPIO_H_
gpio_init();
#endif
#ifdef _UART_H_
uart_init();
#endif
#ifdef _UART2_H_
uart2_init(9600);
#endif
#ifdef _TIMER_H_
timer_init();
#endif
#ifdef _PWM_H_
//pwm_init();
#endif
#ifdef _I2C_H_
//i2c_0_init();
#endif
#ifdef _SPI_H_
//spi_init();
#endif
#ifdef _ADC_H_
//adc_init();
#endif
}
int main(void)
{
u16 times=0,i=0;
NORMALTIME cur_time; //设置RTC的时间用
//Flash_Write(0x08041000,(u8 *)IndCalib,sizeof(IndCalib));
Flash_Read(0x08041000,(u8 *)IndCalib,sizeof(IndCalib));
delay_init(); //延时函数初始化
NVIC_Configuration(); //设置NVIC中断分组2:2位抢占优先级，2位响应优先级
uart1_init(115200); //上位机通信模块
uart2_init(9600); //风速传感器模块 A2 A3 要转为232
//uart3_init(19200); //SD卡模块 （兼职风向-因为3有重映射功能）
uart4_init(9600); //称重模块
uart5_init(9600); //AD模块
LED_Init(); //LED端口初始化
KEY_Init(); //初始化与按键连接的硬件接口
SD_init();
OPEN_SD_POWER;
CLOSE_SD_POWER;
OPEN_SD_POWER;
CLOSE_SD_POWER;
OPEN_SD_POWER;
cur_time.tm_year = 2016; //2016-1900
cur_time.tm_mon = 5;
cur_time.tm_mday = 29;
cur_time.tm_hour = 23;
cur_time.tm_min = 56;
cur_time.tm_sec = 2;
RTC_Init(cur_time);//
while(DS18B20_Init())//初始化DS18B20,兼检测18B20
{
printf("DS18B20 Check Failed!");
printf("Please Check! ");
}
printf("DS18B20 Ready! ");
while(1)
{
if(IS_BUT_DN)
{
BEEP = 0;
}
else
{
BEEP = 1;
g_PaOffset= -g_Pa;
g_IndValOffset[0]= -Volt2Distance(0,g_IndVal[0]);
g_IndValOffset[1]= -Volt2Distance(1,g_IndVal[1]);
g_IndValOffset[2]= -Volt2Distance(2,g_IndVal[2]);
g_IndValOffset[3]= -Volt2Distance(3,g_IndVal[3]);
}
if(times%60==0)
{
windSpeedDirFlag++;
sendWindSpeedCmd(); //串口2 带232
//printf("3\r\n");
if(5 == windSpeedDirFlag)
{
windSpeedDirFlag = 0;
}
//printf("4\r\n");
//风速的反应慢 一秒钟最多发一次指令 不然传感器要疯掉
if(0 == windSpeedDirFlag)
{
uart3_init(19200); //SD卡模块 （兼职风向-因为3有重映射功能）
g_uart3_used_for_SD = 1;
// 日期 时间 位移1, 2, 3, 4 |拉力| 温度 |SD|风速|风向
sprintf(CmdStr,"#01,%02d-%02d-%02d,%02d:%02d:%02d,%04d,%04d,%04d,%04d,%04d,%04d,%04d,%04d,%04d,%04d,%1d,%04d,%04d!\r\n",
cur_time.tm_year,cur_time.tm_mon,cur_time.tm_mday,
cur_time.tm_hour,cur_time.tm_min,cur_time.tm_sec,
dateSendtoPC[0],dateSendtoPC[1],dateSendtoPC[2],dateSendtoPC[3],
dateSendtoPC[4],
dateSendtoPC[6],dateSendtoPC[7],dateSendtoPC[8],dateSendtoPC[9],
g_Temper,lastSDerr,g_WindSpeed,g_WindDir);
//printf("7\r\n");
lastSDerr = write_string_to_files(CmdStr);
}
else
{
//printf("8\r\n");
uart3_init2(9600);
//SD卡的usart3 重映射到 PB10 和PB11口 来读风向
g_uart3_used_for_SD = 0;
send_byte_to_usart3(0x02);//初始化完后第一个字节会发不成功
sendWindDirCmd();//串口3
}
//printf("11\r\n");
cur_time = Time_GetTime();
}
if(times%10==0)
{
//sendWeightLoad1Cmd();
//称重标定代码
//printf("12\r\n");
switch(PC_Wcmd)
{
case 0x30:
//printf("13\r\n");
BEEP = 1;
sendWeightZeroCmd();
BEEP = 0;
PC_Wcmd = 0;
break;
case 0x40:
//printf("14\r\n");
BEEP = 1;
sendWeightLoad1Cmd();
PC_Wcmd = 0;
BEEP = 0;
break;
case 0x41:
//printf("15\r\n");
BEEP = 1;
sendWeightLoad2Cmd(g_weightCalib[0],g_weightCalib[1]);
PC_Wcmd = 0;
BEEP = 0;
break;
default:
//printf("16\r\n");
//sendWeightLoad2Cmd(0x27,0x10);
sendWeightCmd(); //串口4
break;
}
BLED3=1;
sendADCmd(); //串口5
BLED3=0;
dateSendtoPC[0] = g_IndVal[0];
dateSendtoPC[1] = g_IndVal[1];
dateSendtoPC[2] = g_IndVal[2];
dateSendtoPC[3] = g_IndVal[3];
dateSendtoPC[4] = g_PaOffset + g_Pa;
dateSendtoPC[6] = g_IndValOffset[0] + Volt2Distance(0,g_IndVal[0]);
dateSendtoPC[7] = g_IndValOffset[1] + Volt2Distance(1,g_IndVal[1]);
dateSendtoPC[8] = g_IndValOffset[2] + Volt2Distance(2,g_IndVal[2]);
dateSendtoPC[9] = g_IndValOffset[3] + Volt2Distance(3,g_IndVal[3]);
}
switch(PC_cmd)
{
case 1:
BLED2 = 1;
// 日期 时间 位移1, 2, 3, 4 |拉力| 温度 |SD|风速|风向
sprintf(CmdStr,"#01,%02d-%02d-%02d,%02d:%02d:%02d,%04d,%04d,%04d,%04d,%04d,%04d,%04d,%04d,%04d,%04d,%d,%04d,%04d!\r\n",
cur_time.tm_year,cur_time.tm_mon,cur_time.tm_mday,
cur_time.tm_hour,cur_time.tm_min,cur_time.tm_sec,
dateSendtoPC[0],dateSendtoPC[1],dateSendtoPC[2],dateSendtoPC[3],
dateSendtoPC[4],
dateSendtoPC[6],dateSendtoPC[7],dateSendtoPC[8],dateSendtoPC[9],
g_Temper,lastSDerr,g_WindSpeed,g_WindDir);
send_string_to_usart1(CmdStr);
BLED2 = 0;
PC_cmd = 0;
break;
case 0x10:
case 0x11:
case 0x12:
case 0x13:
case 0x14:
BEEP = 1;
sprintf(CmdStr,"#%02x",PC_cmd);
for(i=0;i<21;i++)
{
sprintf(CmdStr,"%s,%+05d",CmdStr,IndCalib[PC_cmd-0x10][i]);
}
sprintf(CmdStr,"%s!\r\n",CmdStr);
send_string_to_usart1(CmdStr);
PC_cmd = 0;
BEEP = 0;
break;
case 0x20:
case 0x21:
case 0x22:
case 0x23:
case 0x24:
sprintf(CmdStr,"#%02x",PC_cmd-0x10);
for(i=0;i<21;i++)
{
sprintf(CmdStr,"%s,%+05d",CmdStr,IndCalib[PC_cmd-0x20][i]);
}
sprintf(CmdStr,"%s!\r\n",CmdStr);
send_string_to_usart1(CmdStr);
PC_cmd = 0;
break;
}
times++;
delay_ms(10);
}
}
void mcu_init(void)
{
mcu_arch_init();
#ifdef PERIPHERALS_AUTO_INIT
sys_time_init();
#ifdef USE_LED
led_init();
#endif
/* for now this means using spektrum */
#if defined RADIO_CONTROL & defined RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT & defined RADIO_CONTROL_BIND_IMPL_FUNC
RADIO_CONTROL_BIND_IMPL_FUNC();
#endif
#ifdef USE_UART0
uart0_init();
#endif
#ifdef USE_UART1
uart1_init();
#endif
#ifdef USE_UART2
uart2_init();
#endif
#ifdef USE_UART3
uart3_init();
#endif
#ifdef USE_UART4
uart4_init();
#endif
#ifdef USE_UART5
uart5_init();
#endif
#ifdef USE_I2C0
i2c0_init();
#endif
#ifdef USE_I2C1
i2c1_init();
#endif
#ifdef USE_I2C2
i2c2_init();
#endif
#ifdef USE_ADC
adc_init();
#endif
#ifdef USE_USB_SERIAL
VCOM_init();
#endif
#if USE_SPI
#if SPI_MASTER
#if USE_SPI0
spi0_init();
#endif
#if USE_SPI1
spi1_init();
#endif
#if USE_SPI2
spi2_init();
#endif
#if USE_SPI3
spi3_init();
#endif
spi_init_slaves();
#endif // SPI_MASTER
#if SPI_SLAVE
#if USE_SPI0_SLAVE
spi0_slave_init();
#endif
#if USE_SPI1_SLAVE
spi1_slave_init();
#endif
#if USE_SPI2_SLAVE
spi2_slave_init();
#endif
#if USE_SPI3_SLAVE
spi3_slave_init();
#endif
#endif // SPI_SLAVE
#endif // USE_SPI
#ifdef USE_DAC
dac_init();
#endif
#else
INFO("PERIPHERALS_AUTO_INIT not enabled! Peripherals (including sys_time) need explicit initialization.")
#endif /* PERIPHERALS_AUTO_INIT */
}
void app_task_gsm (void *p_arg)
{
unsigned char rec_str[AT_CMD_LENGTH], err_code;
unsigned int relay_timer=0, var_int_data = 0;
#if OS_CRITICAL_METHOD == 3 /* Allocate storage for CPU status register */
OS_CPU_SR cpu_sr = 0;
#endif
(void)p_arg;
my_icar.mg323.server_ip_port = (unsigned char *)dest_server;
my_icar.mg323.power_on = false;
my_icar.mg323.gprs_count = 0 ;
my_icar.mg323.gprs_ready = false;
my_icar.mg323.tcp_online = false;
my_icar.mg323.ask_online = false;
my_icar.mg323.try_online_cnt = 1;
my_icar.mg323.try_online_time = 0;
my_icar.mg323.apn_index = NULL;
my_icar.mg323.roam = false;
my_icar.mg323.cgatt= false;
my_icar.mg323.rx_empty = true ;
my_icar.mg323.at_timer = OSTime ;
my_icar.mg323.ring_count = 0 ;
my_icar.mg323.dial_timer=0 ;
my_icar.mg323.need_dial = false ;
my_icar.mg323.voice_confirm = true ;
memset(my_icar.mg323.ip_local, 0x0, IP_LEN);
uart2_init( );
USART_ITConfig(USART2, USART_IT_RXNE, ENABLE);
//1,需增加，长时间不能连线，复位GSM模块
//2,Uart2 无反馈时，超时，重置状态 online ...
while ( 1 ) {
if ( my_icar.mg323.ask_power ) {//ask power on the GSM module
if ( !my_icar.mg323.power_on ) {
err_code = gsm_power_on() ;
if ( err_code == 0 ) {
my_icar.mg323.power_on = true;
my_icar.mg323.at_timer = OSTime ;
//check gprs network also
if ( !my_icar.mg323.gprs_ready ) {
err_code = gsm_check_gprs( );
if ( err_code == 0 ) {
my_icar.mg323.gprs_ready = true;
}
else { //error, maybe no gprs network or APN error
prompt("Reg gprs failure:%d will try later.\r\n",err_code);
my_icar.mg323.gprs_ready = false;
my_icar.mg323.tcp_online = false ;
//save to BK reg
save_2g_err(0, GPRS_SETTING);
}
}
}
else { //error, maybe no GSM network
prompt("GSM power on failure:%d will try later.\r\n",err_code);
save_2g_err(0, GSM_HW);
gsm_pwr_off( );
}
}
}
else {
;//TBD: power off to save power
}
if ( my_icar.mg323.power_on ) {//below action need power on
//should receive feedback < 10 seconds, because we enquire every sec.
if ((OSTime > my_icar.mg323.at_timer) && \
(OSTime - my_icar.mg323.at_timer > 10*AT_TIMEOUT) ) {
//GSM module no respond, reset it
prompt("\r\nGSM Module no respond, will be reset...%s\tline: %d\r\n",\
__FILE__, __LINE__);
save_2g_err(1, NO_RESPOND);
gsm_pwr_off( );
}
//Check need online or not?
if ( my_icar.mg323.ask_online ) {
if ( my_icar.mg323.gprs_ready ) {
//reset counter
my_icar.mg323.gprs_count = 0 ;
if ( !my_icar.mg323.tcp_online ) { //no online
//try_online <= 4 when normally
if ( my_icar.mg323.try_online_cnt%9 == 0 ) {//Try close first
prompt("will re-init GSM again... try_online: %d\r\n",my_icar.mg323.try_online_cnt);
my_icar.mg323.gprs_count = 0 ;
my_icar.mg323.gprs_ready = false;
my_icar.mg323.tcp_online = false ;
my_icar.mg323.power_on = false;
}
if ( OSTime - my_icar.mg323.try_online_time > 3*OS_TICKS_PER_SEC ) {
my_icar.mg323.try_online_time = OSTime ;
//send online command
putstring(COM2,"AT^SISO=0\r\n");
//will be return ^SISW: 0,1,1xxx
//confirm this return in later
c2s_data.check_timer = OSTime ;//Prevent check when offline
my_icar.need_sn = true ;//need upload SN
my_icar.mg323.try_online_cnt++;
prompt("Try %d to online...\r\n",my_icar.mg323.try_online_cnt);
}
if ( my_icar.mg323.try_online_cnt > MAX_ONLINE_TRY ) {//failure
prompt("Try %d to online, still failure, \
reboot GSM module.\r\n",my_icar.mg323.try_online_cnt);
//will be auto power on because ask_power is true
//need to double check this logic
gsm_pwr_off( );
OSTimeDlyHMSM(0, 0, 0, 500);
}
}
}
else { //GPRS network no ready
putstring(COM2, "AT+CGREG?\r\n");
my_icar.mg323.gprs_count++;
//wait... timeout => restart
if ( my_icar.mg323.gprs_count > 60 ) {//about 60s
save_2g_err(0,NO_GPRS_NET);
gsm_pwr_off( );
prompt("Find GPRS network timeout! check %s: %d\r\n",\
__FILE__, __LINE__);
//will be auto power on because ask_power is true
OSTimeDlyHMSM(0, 0, 1, 0);
}
}
}//end of if ( my_icar.mg323.ask_online )
int main(void)
{
u8 mybuff[10];
/* HT1621 端口配置 */
HT1621_GPIO_Config ();
/* 通用定时器 TIMx,x[2,3,4,5] 定时配置 */
TIMx_Configuration();
/* 配置通用定时器 TIMx,x[2,3,4,5]的中断优先级 */
TIMx_NVIC_Configuration();
/* 通用定时器 TIMx,x[2,3,4,5] 重新开时钟，开始计时 */
macTIM_APBxClock_FUN (macTIM_CLK, ENABLE);
HT1621_BL(OFF); //显示背光
HT1621_LED(OFF); //按键背光
Ht1621_clrbuf(); //显示初始化
Ht1621_cls(); //清屏
delay_ms(50);
device_state_init();
uart2_init();
#if 0
Ht1621_on_disp(8); //T14 清洗故障
Ht1621_on_disp(9); //T13 光氢故障
Ht1621_on_disp(10); //T12 电机故障
Ht1621_on_disp(11); //T11 静电故障
Ht1621_on_disp(12); //T10 运行故障
Ht1621Display(); //PM2.5位置显示
#endif
time_tick_cnt = TICKS_PER_SECOND;
time_tick_cnt1 = TICKS_PER_SECOND1;
while(1)
{
Key_Scan(); //按键扫描
onoff_Scan(); //按键开关
cmd_uart_check();
if(time_tick_cnt> TICKS_PER_SECOND )
{
for(u8 kk=0;kk<5;kk++)
{
if(house_id >= 5)
house_id = 1;
else
house_id++;
Ht1621Tab3[4]=house_id; //房间号
switch(house_id)
{
case 1:
mybuff[0] = device_work_data.para_type.house1_pm2_5>>8;
mybuff[1] = device_work_data.para_type.house1_pm2_5&0xff;
mybuff[2] = device_work_data.para_type.house1_co2>>8;
mybuff[3] = device_work_data.para_type.house1_co2&0xff;
break;
case 2:
mybuff[0] = device_work_data.para_type.house2_pm2_5>>8;
mybuff[1] = device_work_data.para_type.house2_pm2_5&0xff;
mybuff[2] = device_work_data.para_type.house2_co2>>8;
mybuff[3] = device_work_data.para_type.house2_co2&0xff;
break;
case 3:
mybuff[0] = device_work_data.para_type.house3_pm2_5>>8;
mybuff[1] = device_work_data.para_type.house3_pm2_5&0xff;
mybuff[2] = device_work_data.para_type.house3_co2>>8;
mybuff[3] = device_work_data.para_type.house3_co2&0xff;
break;
case 4:
mybuff[0] = device_work_data.para_type.house4_pm2_5>>8;
mybuff[1] = device_work_data.para_type.house4_pm2_5&0xff;
mybuff[2] = device_work_data.para_type.house4_co2>>8;
mybuff[3] = device_work_data.para_type.house4_co2&0xff;
break;
case 5:
mybuff[0] = device_work_data.para_type.house5_pm2_5>>8;
mybuff[1] = device_work_data.para_type.house5_pm2_5&0xff;
mybuff[2] = device_work_data.para_type.house5_co2>>8;
mybuff[3] = device_work_data.para_type.house5_co2&0xff;
break;
default:
break;
}
if(mybuff[0]==0&&mybuff[1]==0&&mybuff[2]==0&&mybuff[3]==0)
{
continue;
}
else
{
u16 tmp;
tmp = (u16)mybuff[0]<<8;
tmp += (u16)mybuff[1];
Ht1621Tab3[0]= tmp/1000; //PM2.5 高位
Ht1621Tab3[1]= tmp%1000/100; //PM2.5
Ht1621Tab3[2]= tmp%1000%100/10; //PM2.5
Ht1621Tab3[3]= tmp%1000%100%10; //PM2.5 低位
tmp = (u16)mybuff[2]<<8;
tmp += (u16)mybuff[3];
Ht1621Tab3[10]= tmp/1000; //PM2.5 高位
Ht1621Tab3[9]= tmp%1000/100; //PM2.5
Ht1621Tab3[8]= tmp%1000%100/10; //PM2.5
Ht1621Tab3[7]= tmp%1000%100%10; //PM2.5 低位
break;
}
}
time_tick_cnt = 0;
}
}
}
int main(int argc, char** argv) {
int i,r;
int rbuf[20];
int data;
int format;
processor_init();
uart1_init();
uart2_init();
TRISDbits.TRISD0 = 0;
TRISBbits.TRISB12 = 0;
TRISBbits.TRISB11 = 0;
TRISBbits.TRISB0 = 1;
TRISBbits.TRISB1 = 1;
TRISBbits.TRISB2 = 1;
ADPCFGbits.PCFG0 = 1;
ADPCFGbits.PCFG1 = 1;
ADPCFGbits.PCFG2 = 1;
ledstatus = 0;
cb = buffer_init();
while(1)
{
if ( buffer_full(cb) )
/* Signal buffer overflow */
PORTDbits.RD0 = 1;
if ( !buffer_empty(cb) )
{
int data;
/* Get a 'char' from the buffer */
buffer_read(cb, &data);
if ( data & 0x0100 )
{
format = (~PORTB) & 0x3;
/* Print the last sentence and begin reading the new one */
PORTBbits.RB12 = 1;
//transmit_raw_buffer(rbuf, r);
process_seatalk_string(rbuf, r, format);
PORTBbits.RB12 = 0;
r = 0;
rbuf[r++] = data;
}
else
{
/* Accumulate data into the buffer */
//printf("rx: %x\n",data);
rbuf[r++] = data;
}
}
}
return (EXIT_SUCCESS);
}
/*!
* Board specific initialization.
*/
static void __init mx6_evk_init(void)
{
u32 i;
mxc_iomux_v3_setup_multiple_pads(mx6sl_brd_pads,
ARRAY_SIZE(mx6sl_brd_pads));
elan_ts_init();
gp_reg_id = mx6sl_evk_dvfscore_data.reg_id;
soc_reg_id = mx6sl_evk_dvfscore_data.soc_id;
imx6q_add_imx_snvs_rtc();
imx6q_add_imx_i2c(0, &mx6_evk_i2c0_data);
imx6q_add_imx_i2c(1, &mx6_evk_i2c1_data);
i2c_register_board_info(0, mxc_i2c0_board_info,
ARRAY_SIZE(mxc_i2c0_board_info));
/* setting sii902x address when hdmi enabled */
if (hdmi_enabled) {
for (i = 0; i < ARRAY_SIZE(mxc_i2c1_board_info); i++) {
if (!strcmp(mxc_i2c1_board_info[i].type, "sii902x")) {
mxc_i2c1_board_info[i].addr = 0x39;
break;
}
}
}
i2c_register_board_info(1, mxc_i2c1_board_info,
ARRAY_SIZE(mxc_i2c1_board_info));
/* only camera on I2C3, that's why we can do so */
if (csi_enabled == 1) {
mxc_register_device(&csi_v4l2_devices, NULL);
imx6q_add_imx_i2c(2, &mx6_evk_i2c2_data);
i2c_register_board_info(2, mxc_i2c2_board_info,
ARRAY_SIZE(mxc_i2c2_board_info));
}
/* SPI */
imx6q_add_ecspi(0, &mx6_evk_spi_data);
spi_device_init();
mx6sl_evk_init_pfuze100(0);
imx6q_add_anatop_thermal_imx(1, &mx6sl_anatop_thermal_data);
mx6_evk_init_uart();
/* get enet tx reference clk from FEC_REF_CLK pad.
* GPR1[14] = 0, GPR1[18:17] = 00
*/
mxc_iomux_set_gpr_register(1, 14, 1, 0);
mxc_iomux_set_gpr_register(1, 17, 2, 0);
imx6_init_fec(fec_data);
platform_device_register(&evk_vmmc_reg_devices);
imx6q_add_sdhci_usdhc_imx(1, &mx6_evk_sd2_data);
imx6q_add_sdhci_usdhc_imx(0, &mx6_evk_sd1_data);
imx6q_add_sdhci_usdhc_imx(2, &mx6_evk_sd3_data);
mx6_evk_init_usb();
imx6q_add_otp();
imx6q_add_mxc_pwm(0);
imx6q_add_mxc_pwm_backlight(0, &mx6_evk_pwm_backlight_data);
if (hdmi_enabled) {
imx6dl_add_imx_elcdif(&hdmi_fb_data[0]);
} else {
imx6dl_add_imx_elcdif(&wvga_fb_data[0]);
gpio_request(MX6_BRD_LCD_PWR_EN, "elcdif-power-on");
gpio_direction_output(MX6_BRD_LCD_PWR_EN, 1);
mxc_register_device(&lcd_wvga_device, NULL);
}
imx6dl_add_imx_pxp();
imx6dl_add_imx_pxp_client();
mxc_register_device(&max17135_sensor_device, NULL);
setup_spdc();
if (csi_enabled) {
imx6sl_add_fsl_csi();
} else {
if (!spdc_sel)
imx6dl_add_imx_epdc(&epdc_data);
else
imx6sl_add_imx_spdc(&spdc_data);
}
imx6q_add_dvfs_core(&mx6sl_evk_dvfscore_data);
imx6q_init_audio();
/* uart2 for bluetooth */
#ifdef SXSDMAN_BLUETOOTH_ENABLE
if (uart4_enabled)
uart4_init();
#else
if (uart2_enabled)
uart2_init();
#endif
mxc_register_device(&mxc_bt_rfkill, &mxc_bt_rfkill_data);
imx6q_add_viim();
imx6q_add_imx2_wdt(0, NULL);
imx_add_viv_gpu(&imx6_gpu_data, &imx6q_gpu_pdata);
imx6sl_add_imx_keypad(&mx6sl_evk_map_data);
imx6q_add_busfreq();
imx6sl_add_dcp();
imx6sl_add_rngb();
imx6sl_add_imx_pxp_v4l2();
mxc_spdif_data.spdif_core_clk = clk_get_sys("mxc_spdif.0", NULL);
clk_put(mxc_spdif_data.spdif_core_clk);
imx6q_add_spdif(&mxc_spdif_data);
imx6q_add_spdif_dai();
imx6q_add_spdif_audio_device();
imx6q_add_perfmon(0);
imx6q_add_perfmon(1);
imx6q_add_perfmon(2);
/* Register charger chips */
platform_device_register(&evk_max8903_charger_1);
pm_power_off = mx6_snvs_poweroff;
imx6q_add_pm_imx(0, &mx6sl_evk_pm_data);
if (imx_ion_data.heaps[0].size)
platform_device_register_resndata(NULL, "ion-mxc", 0, NULL, 0, \
&imx_ion_data, sizeof(imx_ion_data) + sizeof(struct ion_platform_heap));
}
int main() {
/* receive enable aktivieren, data deaktivieren */
DDRD = (1 << PD4) | (1 << PD5) | (1 << PD6) | (1 << PD7);
PORTD = (1 << PD6);
/* Ziffernfeld-pins (PA0-PA7) als Eingang schalten */
DDRA = 0;
PORTA = 0xFF;
/* LEDs und Summer als Ausgang schalten */
DDRB = (1 << PB0) | (1 << PB1) | (1 << PB2) | (1 << PB3) | (1 << PB4);
/* Selbst-Test: Alle LEDs hintereinander für 250 ms aktivieren, ebenso den Summer */
PORTB = 0;
_delay_ms(250);
PORTB = (1 << PB0);
_delay_ms(250);
PORTB = (1 << PB1);
_delay_ms(250);
PORTB = (1 << PB2);
_delay_ms(250);
PORTB = (1 << PB3);
_delay_ms(250);
PORTB = (1 << PB4);
_delay_ms(250);
PORTB = 0;
memset((void*)ibuffer, '\0', sizeof(ibuffer));
uart2_init();
uart2_puts("Initializing RS485\r\n");
uart1_init();
uart2_puts("Waiting for LCD...\r\n");
lcd_init(LCD_DISP_ON);
uart2_puts("initialized LCD\r\n");
lcd_clrscr();
lcd_puts("pinpad ready\nself-test ok");
uart2_puts("done. now accepting cmds\r\n");
/* 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);
sei();
int c;
char keypress_buffer[COMMAND_BUFFER_SIZE + 2] =
"^PAD c $\r\n";
char bufcopy[COMMAND_BUFFER_SIZE];
for (;;) {
/* Handle commands received on the UART */
if (ibuffer[sizeof(ibuffer)-2] == '$') {
strncpy(bufcopy, (const char *)ibuffer, sizeof(bufcopy));
/* change the end of packet marker in memory so that the next
* packet will be accepted by the RX interrupt handler */
ibuffer[sizeof(ibuffer)-2] = '\0';
handle_command(bufcopy);
}
uint8_t sample = (PINA | (1 << 3));
bool button_debounced = true;
for (c = 0; c < sizeof(lookup_table) / sizeof(struct lookup_entry); c++) {
if (sample != lookup_table[c].state || lookup_table[c].debounce != DEBOUNCE_MS) {
button_debounced = false;
continue;
}
keypress_buffer[5] = lookup_table[c].key;
uart_puts(keypress_buffer);
lookup_table[c].debounce = DEBOUNCE_MS+1;
}
if (button_debounced) {
_delay_ms(80);
}
}
}
/*!
* Board specific initialization.
*/
static void __init mx6_evk_init(void)
{
u32 i;
mxc_iomux_v3_setup_multiple_pads(mx6sl_brd_pads,
ARRAY_SIZE(mx6sl_brd_pads));
#ifdef CONFIG_MX6_INTER_LDO_BYPASS
gp_reg_id = mx6sl_evk_dvfscore_data.reg_id;
soc_reg_id = mx6sl_evk_dvfscore_data.soc_id;
#else
gp_reg_id = mx6sl_evk_dvfscore_data.reg_id;
soc_reg_id = mx6sl_evk_dvfscore_data.soc_id;
pu_reg_id = mx6sl_evk_dvfscore_data.pu_id;
mx6_cpu_regulator_init();
#endif
imx6q_add_imx_snvs_rtc();
imx6q_add_imx_i2c(0, &mx6_evk_i2c0_data);
imx6q_add_imx_i2c(1, &mx6_evk_i2c1_data);
/* setting sii902x address when hdmi enabled */
switch (display_panel_mode) {
case PANEL_MODE_EINK:
for (i = 0; i < ARRAY_SIZE(mxc_i2c0_board_info); i++)
if (!strcmp(mxc_i2c0_board_info[i].type, "max17135"))
mxc_i2c0_board_info[i].addr = 0x48;
for (i = 0; i < ARRAY_SIZE(mxc_i2c0_board_info); i++)
if (!strcmp(mxc_i2c0_board_info[i].type, "elan-touch"))
mxc_i2c0_board_info[i].addr = 0x10;
elan_ts_init();
mxc_register_device(&max17135_sensor_device, NULL);
setup_spdc();
if (!spdc_sel)
imx6dl_add_imx_epdc(&epdc_data);
else
imx6sl_add_imx_spdc(&spdc_data);
break;
case PANEL_MODE_HDMI:
for (i = 0; i < ARRAY_SIZE(mxc_i2c1_board_info); i++)
if (!strcmp(mxc_i2c1_board_info[i].type, "sii902x"))
mxc_i2c1_board_info[i].addr = 0x39;
#ifdef CONFIG_IMX_HAVE_PLATFORM_IMX_ELCDIF//[
imx6dl_add_imx_elcdif(&hdmi_fb_data[0]);
#endif //]CONFIG_IMX_HAVE_PLATFORM_IMX_ELCDIF
mxc_spdif_data.spdif_core_clk = clk_get_sys("mxc_spdif.0",
NULL);
clk_put(mxc_spdif_data.spdif_core_clk);
imx6q_add_spdif(&mxc_spdif_data);
imx6q_add_spdif_dai();
imx6q_add_spdif_audio_device();
break;
case PANEL_MODE_LCD:
#ifdef CONFIG_IMX_HAVE_PLATFORM_IMX_ELCDIF//[
imx6dl_add_imx_elcdif(&wvga_fb_data[0]);
#endif //]CONFIG_IMX_HAVE_PLATFORM_IMX_ELCDIF
gpio_request(MX6_BRD_LCD_PWR_EN, "elcdif-power-on");
gpio_direction_output(MX6_BRD_LCD_PWR_EN, 1);
mxc_register_device(&lcd_wvga_device, NULL);
break;
default:
pr_err("Error display_panel_mode\n");
}
i2c_register_board_info(0, mxc_i2c0_board_info,
ARRAY_SIZE(mxc_i2c0_board_info));
i2c_register_board_info(1, mxc_i2c1_board_info,
ARRAY_SIZE(mxc_i2c1_board_info));
/* only camera on I2C2, that's why we can do so */
if (csi_enabled == 1) {
mxc_register_device(&csi_v4l2_devices, NULL);
imx6q_add_imx_i2c(2, &mx6_evk_i2c2_data);
i2c_register_board_info(2, mxc_i2c2_board_info,
ARRAY_SIZE(mxc_i2c2_board_info));
}
/* SPI */
imx6q_add_ecspi(0, &mx6_evk_spi_data);
spi_device_init();
mx6sl_evk_init_pfuze100(0);
imx6q_add_anatop_thermal_imx(1, &mx6sl_anatop_thermal_data);
mx6_evk_init_uart();
/* get enet tx reference clk from FEC_REF_CLK pad.
* GPR1[14] = 0, GPR1[18:17] = 00
*/
mxc_iomux_set_gpr_register(1, 14, 1, 0);
mxc_iomux_set_gpr_register(1, 17, 2, 0);
imx6_init_fec(fec_data);
platform_device_register(&evk_vmmc_reg_devices);
imx6q_add_sdhci_usdhc_imx(1, &mx6_evk_sd2_data);
imx6q_add_sdhci_usdhc_imx(0, &mx6_evk_sd1_data);
imx6q_add_sdhci_usdhc_imx(2, &mx6_evk_sd3_data);
mx6_evk_init_usb();
imx6q_add_otp();
imx6q_add_mxc_pwm(0);
imx6q_add_mxc_pwm_backlight(0, &mx6_evk_pwm_backlight_data);
#ifdef CONFIG_IMX_HAVE_PLATFORM_IMX_ELCDIF//[
imx6dl_add_imx_elcdif(&wvga_fb_data[0]);
#endif //] CONFIG_IMX_HAVE_PLATFORM_IMX_ELCDIF
gpio_request(MX6_BRD_LCD_PWR_EN, "elcdif-power-on");
gpio_direction_output(MX6_BRD_LCD_PWR_EN, 1);
mxc_register_device(&lcd_wvga_device, NULL);
imx6dl_add_imx_pxp();
imx6dl_add_imx_pxp_client();
if (csi_enabled) {
imx6sl_add_fsl_csi();
}
imx6q_add_dvfs_core(&mx6sl_evk_dvfscore_data);
imx6q_init_audio();
/* uart2 for bluetooth */
if (uart2_enabled)
uart2_init();
//mxc_register_device(&mxc_bt_rfkill, &mxc_bt_rfkill_data);
imx6q_add_viim();
imx6q_add_imx2_wdt(0, NULL);
imx_add_viv_gpu(&imx6_gpu_data, &imx6q_gpu_pdata);
imx6sl_add_device_buttons();
imx6sl_add_imx_keypad(&mx6sl_evk_map_data);
imx6q_add_busfreq();
imx6sl_add_dcp();
imx6sl_add_rngb();
imx6sl_add_imx_pxp_v4l2();
imx6q_add_perfmon(0);
imx6q_add_perfmon(1);
imx6q_add_perfmon(2);
/* Register charger chips */
platform_device_register(&evk_max8903_charger_1);
pm_power_off = mx6_snvs_poweroff;
}
int main (void)
{
/* variables for the UART0 (USB connection) */
unsigned int c = 0, c2 = 0, c3 = 0; // Variable for reading UARTS
char buffer[MAX_MSG_SIZE];
char buffer2[MAX_MSG_SIZE];
char buffer3[MAX_MSG_SIZE];
int idx = 0, idx2 = -1, idx3 = -1;
int len2 = 0;
int len3 = 0;
char meas_buffer[TX_BUFF_SIZE];
int txi = 0;
int txtop=0;
unsigned int i = 0;
char *ptr;
unsigned char hli_mutex = 0;
unsigned int gps = 0;
unsigned int imu = 0;
signed int ratio = 0;
uint16_t xacc = 0;
uint8_t xacca[2];
char s[64];
char rmc[256];
awake_flag = 0;
#ifdef RF_TEST_IDX
uint8_t gps_rf_test_idx = 0;
uint8_t imu_rf_test_idx = 0;
#endif
/* set outputs */
PORTL = 0xff; // Turn off LEDS
DDRL = (1<<LED1) | (1<<LED2) | (1<<LED3) | (1<<LED4); // Set pins for LED as output
pwm_init();
spiInit();
/* initialize UARTS */
uart_init( UART_BAUD_SELECT(UART_BAUD_RATE,F_CPU) ); // USB connection
uart2_init( UART_BAUD_SELECT(UART2_BAUD_RATE,F_CPU) ); // APC220 radio
uart3_init( UART_BAUD_SELECT(UART3_BAUD_RATE,F_CPU) ); // UP-501 GPS
/* Interrupt stuff for ADIS */
PCICR |= 1<<PCIE2; // Enable interrupt PORTK
PCMSK2 |= (1<<PCINT23); // interrupt in PCINT23
/* now enable interrupt, since UART library is interrupt controlled */
sei();
spiTransferWord(0xBE80); // ADSI software reset
_delay_ms(500);
/* Set GPS to a faster baud and update UART speed */
//uart3_puts("$PMTK251,115200*1F");
uart3_puts("$PMTK251,57600*2C\r\n");
//uart3_puts("$PMTK251,38400*27");
//uart3_puts("$PMTK251,0*28");
_delay_ms(500);
// uart3_init( UART_BAUD_SELECT(115200,F_CPU) );
uart3_init( UART_BAUD_SELECT(57600,F_CPU) );
//uart3_init( UART_BAUD_SELECT(38400,F_CPU) );
/* 115200 seems to be a little bit unstable, at least testing via radio*/
adis_reset_factory();
adis_set_sample_rate();
while (1) {
/* Read each UART serially and check each of them for data, if there is handle it */
c = uart_getc();
c2 = uart2_getc();
c3 = uart3_getc();
// Stop motors when connection is lost
if (awake_flag > AWAKE_THRESHOLD) {
pwm_set_duty(RC1, 0 );
pwm_set_duty(RC2, 0 );
};
if(tx_counter >= TX_READY) {
//empty buffer
for (txi = 0; txi < txtop; txi++) {
uart2_putc(meas_buffer[txi]); // Sending buffered data to RF
}
txtop = 0;
#ifdef AUTO_SHUTDOWN_ENABLE
awake_flag++;
#endif
PORTL ^= (1<<LED2);
tx_counter -= TX_READY;
}
if (adis_ready_counter >= ADIS_READY) {
adis_decode_burst_read_pack(&adis_data_decoded);
adis_reduce_decoded_burst(); // Reduce data ammount
#ifdef LOG_ENABLE
hli_send(package(sizeof(adis8_t), 0x14, 0x0D, &adis_data_decoded), sizeof(adis8_t)); // Log to SD card
#endif
#ifdef RF_TEST_IDX
memcpy(&adis_data_decoded_reduced.zgyro[0],&imu_rf_test_idx,1);
if (imu_rf_test_idx == 255)
imu_rf_test_idx = 1;
else
imu_rf_test_idx++;
memcpy(&meas_buffer[txtop], (char *)package(sizeof(adis8_reduced_t), 0x14, 0x0F, &adis_data_decoded_reduced),sizeof(adis8_reduced_t)+6);
#endif
#ifndef RF_TEST_IDX
memcpy(&meas_buffer[txtop], (char *)package(sizeof(adis8_reduced_t), 0x14, 0x0E, &adis_data_decoded_reduced),sizeof(adis8_reduced_t)+6);
#endif
txtop=txtop+sizeof(adis8_reduced_t)+6;
adis_ready_counter -= ADIS_READY;
PORTL ^= (1<<LED4);
}
/* Reading from radio */
if ( c2 & UART_NO_DATA ) {} else // Data available
{ //if data is $, set a flag, read next byte, set that value as the length, read while incrementing index until length reached, parse
//uart_putc(c2);
if (idx2 == 0) { // We should buffer a packet
len2 = c2+5; // Set length
}
if ( (idx2 < len2) && (idx2 >= 0)) { // We are buffering
buffer2[idx2] = c2;
idx2++;
if (idx2 == len2) { // We now have a full packet
if (parse(&rfmsg, buffer2)) {
PORTL ^= (1<<LED1);
process(&rfmsg);
}
idx2 = -1; // Set flag in new packet mode
#ifdef DEBUG
//puts_msg(&rfmsg);
#endif
}
}
if (c2 == '$') { // We have a possible message comming
// PORTL ^= (1<<LED4);
idx2 = 0; // Set "flag"
}
}
/* Reading from GPS */
if ( c3 & UART_NO_DATA ) {} else // Data available
{
/* Transmitting NMEA GPS sentences to the HLI */
if (c3 == '$') { // We have a possible message comming
//PORTL ^= (1<<LED3);
len3 = 0; // Set "flag"
}
if (len3 >= 0) { // We are buffering
buffer3[len3] = c3;
len3++;
if (c3 == '\n') { // We now have a full packet
if(buffer3[4] != 'S') { // Disable GSV and GSA messages
#ifdef LOG_ENABLE
hli_send(package(len3, 0x1E, 0x06, buffer3), len3); // Log to SD card
#endif
if (rmc_cut(buffer3,rmc)) {
// Invalid RMC data
} else {
#ifdef RF_TEST_IDX
memcpy(&rmc[0],&gps_rf_test_idx,1);
if (gps_rf_test_idx == 255)
gps_rf_test_idx = 1;
else
gps_rf_test_idx++;
memcpy(&meas_buffer[txtop], (char *)package(rmc_idx, 30, 31, rmc),rmc_idx+6);
#endif
#ifndef RF_TEST_IDX
memcpy(&meas_buffer[txtop], (char *)package(rmc_idx, 30, 6, rmc),rmc_idx+6);
#endif
txtop=txtop+rmc_idx+6;
PORTL ^= (1<<LED3);
}
len3 = -1; // Set flag in new packet mode
}
}
}
}
}
return 1;
}
