/******************************************************************************
* Outline : HardwareSetup
* Description : Configures the YRDK initial hardware settings.
* The YRRDK board was designed by partner Future
* Designs Inc. (www.teamfdi.com).
* Debugging is accomplished through the Segger
* J-Link Lite OB solution (www.segger.com)
* Argument : none
* Return value : none
******************************************************************************/
void HardwareSetup(void)
{
ConfigureOperatingFrequency();
ConfigureOutputPorts();
ConfigureInterrupts();
EnablePeripheralModules();
}
void main(void)
{
char TempVar;
// variable used for IMU chip Autotest
unsigned char IMUAutotestResult;
// structure used to store IMU data
struct IMUData CurrentIMUData;
// variable for CAN TX FIFO buffer
struct CANTxMsg TempCANTxMsg;
// variable for CAN RX FIFO buffer
struct CANRxMsg TempCANRxMsg;
//----------------------------------------------------
//---------- CPU internal configurations: -----------
//----------------------------------------------------
CLRWDT(); // clear watchdog timer at startup
/* Configure the oscillator for the CPU */
ConfigureOscillator();
__delay_ms(10); // wait for Oscillator to be stabilized
// configure CPU GPIO for IMU board
ConfigureGPIO();
//USART Initialize();
ConfigureUSART1();
ConfigureUSART2();
// SPI initialize
ConfigureSPI();
//CAN controller Initialize
ECANInitialize();
//Set MASK and Filters for CAN
ECANFiltersInit();
// Timers configuration
ConfigureTimers();
//----------------------------------------------------
//---------- Global variables initialisation --------
//----------------------------------------------------
// tick counter initialisation
TickCounter.AccelTick_ms=0;
TickCounter.GyroTick_ms=1;
TickCounter.MagnetTick_ms=2;
// initialize CAN tx FIFO
CANTxFifoInit();
CANRxFifoInit();
// initialise USART RX FIFO's
USARTFifoInit ();
//----------------------------------------------------
//------ external peripheral configurations: --------
//----------------------------------------------------
__delay_ms(10); // wait for reset to be released on external peripherals
ISM_RESET = 0; // release reset of ISM module
IMUInitRegisters(); // init of BMX055 chip
IMUAutotestResult=IMUAutotest(); // launch IMU autotest
//----------------------------------------------------
//---------- GSM startup delay -----------
//----------------------------------------------------
GSM_RTS=1;
for(char i=0;i<200;i++)
{
__delay_ms(10);
CLRWDT(); // clear watchdog timer each loop
}
GSM_RTS=0;
__delay_ms(10);
__delay_ms(10);
//----------------------------------------------------
//---------- Ready to go in main loop: -----------
//---------- interrupts activation -----------
//----------------------------------------------------
ConfigureInterrupts();
LED1=1; // everything is initialized: enable the PWR/booted LED
//----------------------------------------------------
//---------- GSM dummy AT command -----------
//----------------------------------------------------
USART1Write('A');
USART1Write('T');
USART1Write(0x0D);
for(char i=0;i<10;i++)
{
__delay_ms(10);
}
//-----------------------------------------------------
//------------- infinite main loop ----------
//----------------------------------------------------
while(1)
{
//--------------------------------------------------------------------------------
//------------- periodic tasks occures according to TickCounter variable----------
//--------------------------------------------------------------------------------
if(TickCounter.AccelTick_ms>IMU_TICK_PERIOD)
{
CLRWDT(); // clear watchdog timer each real time cycles
LED2=1;
TickCounter.AccelTick_ms=0; // reset IMU tick counter to 0
CurrentIMUData = IMUUpdateData(); // update IMU data from sensor
// send Accelerometer data to CAN Fifo
TempCANTxMsg.data_TX[0]=(char)(CurrentIMUData.XAccelerationData>>8); //fill data buffer
TempCANTxMsg.data_TX[1]=(char)(CurrentIMUData.XAccelerationData);
TempCANTxMsg.data_TX[2]=(char)(CurrentIMUData.YAccelerationData>>8);
TempCANTxMsg.data_TX[3]=(char)(CurrentIMUData.YAccelerationData);
TempCANTxMsg.data_TX[4]=(char)(CurrentIMUData.ZAccelerationData>>8);
TempCANTxMsg.data_TX[5]=(char)(CurrentIMUData.ZAccelerationData);
TempCANTxMsg.data_TX[6]=0;
TempCANTxMsg.data_TX[7]=0;
TempCANTxMsg.dataLen= ACCEL_DATA_MESSAGE_LEN;
TempCANTxMsg.id = (CAN_MESSAGE_IMU_TYPE << 7 | CAN_DEVICE_ADRESS <<4 | ACCEL_DATA_MESSAGE_ADRESS );
TempCANTxMsg.flags = ECAN_TX_STD_FRAME;
if(!CANTxFifo.Fifofull)
PutCANTxFifo(TempCANTxMsg);
LED2=0;
}
if(TickCounter.GyroTick_ms>IMU_TICK_PERIOD)
{
//LED2=1;
TickCounter.GyroTick_ms=0; // reset IMU tick counter to 0
// send Gyro data to CAN Fifo
TempCANTxMsg.data_TX[0]=(char)(CurrentIMUData.XGyroscopeData>>8);
TempCANTxMsg.data_TX[1]=(char)(CurrentIMUData.XGyroscopeData);
TempCANTxMsg.data_TX[2]=(char)(CurrentIMUData.YGyroscopeData>>8);
TempCANTxMsg.data_TX[3]=(char)(CurrentIMUData.YGyroscopeData);
TempCANTxMsg.data_TX[4]=(char)(CurrentIMUData.ZGyroscopeData>>8);
TempCANTxMsg.data_TX[5]=(char)(CurrentIMUData.ZGyroscopeData);
TempCANTxMsg.dataLen= GYRO_DATA_MESSAGE_LEN;
TempCANTxMsg.id = (CAN_MESSAGE_IMU_TYPE << 7 | CAN_DEVICE_ADRESS <<4 | GYRO_DATA_MESSAGE_ADRESS );
TempCANTxMsg.flags = ECAN_TX_STD_FRAME;
if(!CANTxFifo.Fifofull)
PutCANTxFifo(TempCANTxMsg);
}
