/*!
* Init board.
*/
void BoardInit(void)
{
/* Initialise ports. */
PortInit();
/* Initialise system clock. */
SystemClkInit();
/* Initialise SPI1. */
Spi1Init();
/* Initialise Timer0. */
Timer0Init();
/* Initialise Timer3. */
Timer3Init();
/* Initialise interrupts. */
InterruptInit();
/* Initialise the LCD. */
LcdInit();
/* Clear LCD. */
LcdClearDisplay();
/* Initialise LEDs. */
LEDInit();
#ifdef RTC_ENABLED
/* RTC init. */
RTC_Init();
#endif //RTC_ENABLED
#ifdef UART0_ENABLED
/* UART0 init. */
Uart0Init();
#endif //UART0_ENABLED
}
void initServos()
{
Timer4Init(20000);
Timer3Init(20000);
Timer12Init(20000);
PWM12Ch1Init(AngleToDuty(0.0, HD_1501MG)); // servo przy podstawie (obrót wokó³ osi pionowej)
PWM12Ch2Init(AngleToDuty(0.0, HD_1501MG)); // servo przy podstawie (obrót wokó³ osi poziomej)
PWM3Ch1Init(AngleToDuty(90.0, HD_1201MG)); // serwo na przegubie 3
PWM3Ch2Init(AngleToDuty(0.0, HD_1201MG)); // servo na przegubie 4
PWM3Ch3Init(AngleToDuty(0.0, HS_645MG)); // servo na przegubie 5 (oœ wzd³u¿ ogniwa)
PWM4Ch1Init(AngleToDuty(0.0, HS_485HB)); // servo na przegubie 6
PWM4Ch2Init(AngleToDuty(45.0, HS_55)); // chwytak 1
PWM4Ch3Init(AngleToDuty(-45.0, HS_55)); // chwytak 2
}
void System_Config(void)
{
LED_GPIO_Config();
USART2_DT_Config();
SPI2_Init();
AT25512_SPI_GPIO_Config();
PwmInit();
Timer5Init();
Timer3Init();
Receive_Config();
SPI4_Config();
MS5803_Config();
MPU9250_Config();
mavlink_int();
}
int main(void)
{
FIL log_file;
int i, j, result;
int file_number = 0;
u8 configNumber = 1;
u8 maxConfig;
u8 *p;
time_t rawtime;
u8 debugState = 0; //debug off
#ifdef DEBUG
debug();
#endif
RCC_Configuration();
GPIO_Configuration();
NVIC_Configuration();
SystickConfigure();
Timer3Init();
#ifdef UART1_DEBUG
(void)USART1_Init(115200);
#endif
LedConfigureGPIO();
ButtonConfigureGPIO();
BuzzerConfigureGPIO();
#ifdef CAN_FEATURE_ENABLED
GPIO_InitTypeDef GPIO_InitStructure;
// Configure CAN pin: RX
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIOA, &GPIO_InitStructure);
// Configure CAN pin: TX
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOA, &GPIO_InitStructure);
#endif
MMC_PowerOff();
timer2=1000;
while(timer2);
MMC_PowerOn();
#ifdef UART1_DEBUG
printf("\n\n%s %s\n", HW_VERSION, SW_VERSION);
#endif
ConfigureClock();
timer2=1000;
while(timer2);
buttonState = 0;
CardInserted();
if (FR_OK != f_mount(0, &Fatfs[0]))
{
LedSetColor(amber, fast);
BuzzerSetMode(0x83);
#ifdef UART1_DEBUG
printf("error mounting fat device\n");
#endif
while(buttonState != 2);
NVIC_GenerateSystemReset();
}
if (ReadTimeDateFile())
{
#ifdef UART1_DEBUG
rawtime = RTC_GetCounter();
printf("Time set: %s\n", ctime (&rawtime) );
#endif
}
#ifdef DEBUG_LOG
if (ReadDebugFile())
{
debugState = 1;
}
#endif
#ifdef CAN_FEATURE_ENABLED
if (ReadCanFile())
{
canDiag = 1;
CAN_Open();
}
#endif
i = ReadSpeedFile();
if (i > 0)
{
KW1281_SPEED = i;
autobaud = 0;
}
if (ReadDelayFile())
{
user_defined_timings = 1;
}
if (!ReadConfig())
{
LedSetColor(amber, fast);
BuzzerSetMode(0x83);
#ifdef UART1_DEBUG
printf("error reading config\n");
#endif
MMC_PowerOff();
while(buttonState != 2);
NVIC_GenerateSystemReset();
}
if (config[0][0] > 0)
{
maxConfig = 1;
if (config[1][0] > 0)
{
maxConfig = 2;
if (config[2][0] > 0)
{
maxConfig = 3;
}
}
}
else
{
LedSetColor(amber, fast);
BuzzerSetMode(0x83);
#ifdef UART1_DEBUG
printf("error reading config\n");
#endif
MMC_PowerOff();
while(buttonState != 2);
NVIC_GenerateSystemReset();
}
file_number = GetNextFileNumber();
#ifdef UART1_DEBUG
printf("file number %d\n", file_number);
#endif
if (!file_number)
{
LedSetColor(amber, fast);
BuzzerSetMode(0x83);
#ifdef UART1_DEBUG
printf("can't get number of next file\n");
#endif
MMC_PowerOff();
while(buttonState != 2);
NVIC_GenerateSystemReset();
}
while(1)
{
i = USART2_GetData();
buttonState = 0;
LedSetColor(configNumber, continous);
BuzzerSetMode(configNumber);
do
{
if (2 == buttonState)
{
configNumber = (configNumber < maxConfig)?configNumber+1:1;
LedSetColor(configNumber, continous);
BuzzerSetMode(configNumber);
buttonState = 0;
}
} while (1 != buttonState);
buttonState = 0;
LedSetColor(green, fast);
BuzzerSetMode(0x81);
i = CreateLogFile(file_number, &log_file);
i = f_printf(&log_file, "%s, sw_ver: %s\n", HW_VERSION, SW_VERSION);
rawtime = RTC_GetCounter();
i = f_printf(&log_file, "Current time: %s\n", ctime (&rawtime));
timeSec = 0;
time10MSec = 0;
if (canDiag)
{
i = f_printf(&log_file, "CAN 500kbit\n\n");
LedSetColor(configNumber, slow);
BuzzerSetMode(configNumber);
result = vwtp(&config[configNumber-1], &log_file, debugState);
switch (result)
{
case 0:
timer2 = 500;
i = f_printf(&log_file, "\n\nLogging terminated by user\n");
break;
case 1:
LedSetColor(red, fast);
BuzzerSetMode(0x82); //communication error
timer2 = 2000;
i = f_printf(&log_file, "\n\nConnection lost\n");
break;
case 2:
i = CloseLogFile(&log_file);
LedSetColor(amber, fast);
BuzzerSetMode(0x83); //filesystem error
MMC_PowerOff();
while(buttonState != 2);
NVIC_GenerateSystemReset();
break;
case 11:
LedSetColor(red, fast);
BuzzerSetMode(0x82); //communication error
timer2 = 2000;
i = f_printf(&log_file, "\n\nCannot connect with ECU\n", result);
break;
default:
LedSetColor(red, fast);
BuzzerSetMode(0x82); //communication error
timer2 = 2000;
i = f_printf(&log_file, "\n\nCommunication error, error code = %d\n", result);
break;
}
}
else //KW1281 diag
{
i = kw1281_max_init_attempts;
do
{
result = ISO9141Init(&KW1281_SPEED);
--i;
if ((result>0) && (i>0))
{
timer2=1000;
while(timer2);
}
} while (result && i);
if (0 == result) //connected with ECU
{
i = f_printf(&log_file, "Connected @ %d baud %s%s\n\n", KW1281_SPEED, autobaud?"(autodetected)":"(set by user)", user_defined_timings?", user defined timings":"");
LedSetColor(configNumber, slow);
BuzzerSetMode(configNumber);
buttonState = 0;
i = kw1281_diag(&config[configNumber-1], &log_file, debugState);
switch (i)
{
case 0:
timer2 = 500;
i = f_printf(&log_file, "\n\nLogging terminated by user\n");
break;
case 1:
LedSetColor(red, fast);
BuzzerSetMode(0x82); //communication error
timer2 = 2000;
i = f_printf(&log_file, "\n\nConnection lost\n");
break;
case 2:
default:
i = CloseLogFile(&log_file);
LedSetColor(amber, fast);
BuzzerSetMode(0x83); //filesystem error
MMC_PowerOff();
while(buttonState != 2);
NVIC_GenerateSystemReset();
}
}
if (0 != result)
{
i = f_printf(&log_file, "Cannot connect with ECU: ");
if (0xff == result)
{
i = f_printf(&log_file, "no response\n");
}
else if (0x7f == result)
{
i = f_printf(&log_file, "sync error - wrong speed (set to %d baud)?!\n", KW1281_SPEED);
}
else if (0x10 == result)
{
i = f_printf(&log_file, "not a KW1281 protocol\n");
}
else
{
i = f_printf(&log_file, "error code %d\n", result);
}
LedSetColor(red, fast);
BuzzerSetMode(0x82);
timer2 = 2000;
}
} // end of KW1281 diag
i = CloseLogFile(&log_file);
file_number++;
while (timer2>0);
}
}
