/*!
* 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 main (void)
{
TTaskHandle xdata A2DTaskHandle, HeaterStatusTaskHandle, HeaterControlTaskHandle;
TTaskHandle xdata EdenProtocolTaskHandle, OHDBMessageDecodeTaskHandle;
WDTCN = 0xde; // disable watchdog timer
WDTCN = 0xad;
XBR_Init(); // Initialize cross bars
SysClkInit();
Uart0Init();
Timer_0_Init();
SchedulerInit();
InitCoolingFans(); // Material and UV
XilinxWatchdogInit();
SpiA2D_Init();
A2D_Init();
SpiInit();
E2PROMInit();
XilinxInit();
OHDBPotenmtrInit();
Roller_Init();
Bumper_Init();
CommunicationLossTaskInit();
EdenProtocolInit();
MessageDecodeInitOHDB();
HeadData_Init();
EA |= ENABLE;
HeaterControlInit();
PrintDrv_Init();
SendWakeUpNotification();
HeadData_ReadDataFromAllE2PROMs();
A2DTaskHandle = SchedulerInstallTask(SpiA2D_Task);
EdenProtocolTaskHandle = SchedulerInstallTask(EdenProtocolDecodeTask);
OHDBMessageDecodeTaskHandle = SchedulerInstallTask(OHDBMessageDecodeTask);
HeaterStatusTaskHandle = SchedulerInstallTask(HeaterStatusTask);
HeaterControlTaskHandle = SchedulerInstallTask(HeaterControlTask);
HeaterSetTasksHandles(HeaterStatusTaskHandle, HeaterControlTaskHandle);
SchedulerResumeTask(GetXilinxWatchdogTaskHandle(),0);
SchedulerResumeTask(A2DTaskHandle,0);
SchedulerResumeTask(HeaterStatusTaskHandle,0);
SchedulerResumeTask(EdenProtocolTaskHandle,0);
SchedulerResumeTask(OHDBMessageDecodeTaskHandle,0);
while(1)
{
SchedulerRun();
}
}
int main (int argc, char** argv) {
hw_init();
sys_time_init();
led_init();
adc_init();
adc_buf_channel(ADC_0, &buf_adc[0], ADC_NB_SAMPLES);
adc_buf_channel(ADC_1, &buf_adc[1], ADC_NB_SAMPLES);
adc_buf_channel(ADC_2, &buf_adc[2], ADC_NB_SAMPLES);
adc_buf_channel(ADC_3, &buf_adc[3], ADC_NB_SAMPLES);
adc_buf_channel(ADC_4, &buf_adc[4], ADC_NB_SAMPLES);
adc_buf_channel(ADC_5, &buf_adc[5], ADC_NB_SAMPLES);
#ifdef ADC_6
adc_buf_channel(ADC_6, &buf_adc[6], ADC_NB_SAMPLES);
#endif
#ifdef ADC_7
adc_buf_channel(ADC_7, &buf_adc[7], ADC_NB_SAMPLES);
#endif
#if NB_ADC != 8
#error "8 ADCs expected !"
#endif
#ifdef USE_UART0
Uart0Init();
#endif
#ifdef USE_UART1
Uart1Init();
#endif
int_enable();
while(1) {
if (sys_time_periodic()) {
LED_TOGGLE(1);
uint16_t values[NB_ADC];
uint8_t i;
for(i = 0; i < NB_ADC; i++)
values[i] = buf_adc[i].sum / ADC_NB_SAMPLES;
uint8_t id = 42;
DOWNLINK_SEND_ADC(&id, NB_ADC, values);
}
}
return 0;
}
static void csc_main_init( void ) {
mcu_init();
sys_time_init();
led_init();
Uart0Init();
Uart1Init();
ppm_init();
// Configure P0.21 as GPIO, output and then pull high as we use it to drive ppm input transistor
PINSEL1 = PINSEL1 & ~(0x3 << 10);
IO0DIR = IO0DIR | (0x1 << 21);
IO0PIN = IO0DIR | (0x1 << 21);
mcu_int_enable();
}
main()
{
SysCtlClockSet(SYSCTL_SYSDIV_2_5| SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_6MHZ);
IntMasterEnable();
Uart0Init(19200);
Uart1Init(19200);
DPRINTF(("Bat=%d ,cha=%x ,Temp=%f \n",1,20,3.0));
// ADCBAT_init();
// Ssi0Init(); //AD7367
//spi_ad7705Init(); //AD7705
IoPortInit(); //IO口初始化
// I2CM_Init(); //Fm31256
//TimerInit();
PIN_JR_relay(ERelay_off);
PIN_JRTG_relay(ERelay_off);
PIN_JUNX_relay(ERelay_off);
PIN_JUN_relay(ERelay_off);
PIN_JUX_relay(ERelay_off);
FlashUsecSet(49);
AD7367_init();
AD7705_init();
// PIN_JR_relay(ERsample_1M);
/*
{
uint32 i;
set.Debug=EDebug_sub;
set.Fre=EFre_500;
gainchange();
Vac_read();
for(i=0;i<500;i++)
{
Fourier_Samplestart(); ;
delay(0xf000*200);
}
}
*/
/*
{
uint32 i;
set.Debug=EDebug_sub;
set.Fre=EFre_000;
V_read();
for(i=0;i<50;i++)
{
DPRINTF(("I=%x \n",Read_ad7705_I(0x07,1)));
}
for(i=0;i<50;i++)
{
DPRINTF(("U=%x \n",Read_ad7705_U(0x07,1)));
}
for(i=0;i<500;i++)
{
R_test();
delay(0xf000*200);
}
}
*/
modifyK_js();
rx_flag=0;
while(1)
{
// uint8 option=0;
if((rx_flag==rx_succeed))
{
Sendstc_ask();
set.Work=0x0f&rx_data.mune.workcommand;
set.Debug=0x0f&(rx_data.mune.workcommand>>4);
set.Fre=rx_data.mune.Fre;
set.Voltage=rx_data.mune.Voltage;
rx_flag=0x00;
switch(set.Work)
{
case EstartV_main:
V_read();
break;
case EstartTg_main://AC
Fourier_Samplestart();
PIN_JRTG_relay(ERelay_off);
PIN_JUNX_relay(ERelay_off);
PIN_JUN_relay(ERelay_off);
PIN_JUX_relay(ERelay_off);
break;
case EstartR_main://DC
R_test();
PIN_JRTG_relay(ERelay_off);
break;
case Emodifyin_main:
modify_save();
modifyK_js();
//DPRINTF(("In \n"));
break;
case Emodifyout_main :
delay(0x80000);
modify_ToView();
modifyK_js();
//DPRINTF(("out \n"));
break;
case EstartX_main :
Vacx_read();
break;
case ERelay_main:
PIN_JRTG_relay(ERelay_on);
PIN_JR_relay(ERsample_50);
break;
default :
SysCtlReset();
break;
}
if((rx_flag==rx_succeed))
{
if(set.Work==0x0f&rx_data.mune.workcommand)
{
rx_flag=0;
}
}
}
}
/*!
* Init board.
*/
void BoardInit(void)
{
SPI_InitTypeDef SPI_InitStructure;
EXTI_InitTypeDef EXTI_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
#ifdef STM32F10X_MD
RCC_APB2PeriphClockCmd( 0
| RCC_APB2Periph_GPIOA
| RCC_APB2Periph_GPIOB
| RCC_APB2Periph_AFIO
, ENABLE);
#else
#ifdef STM32L1XX_MD
RCC_AHBPeriphClockCmd( 0
| RCC_AHBPeriph_GPIOA
| RCC_AHBPeriph_GPIOB
, ENABLE);
#else
#error "Unknown CPU type"
#endif
#endif
DBGMCU_Config( 0
| DBGMCU_TIM2_STOP
| DBGMCU_TIM3_STOP
| DBGMCU_SLEEP
| DBGMCU_STOP
| DBGMCU_STANDBY
, ENABLE);
MAC_TIMER_CLOCK();
DELAY_TIMER_CLOCK();
LED1_OFF();
LED1_INIT();
LED2_OFF();
LED2_INIT();
TimerInit( MAC_TIMER, MAC_TIMER_PRESCALER, MAC_TIMER_IRQn );
TimerInit( DELAY_TIMER, DELAY_TIMER_PRESCALER, 0 );
RF_SDN_HIGH();
RF_SDN_INIT();
RF_NSS_HIGH();
RF_NSS_INIT();
RF_SCLK_INIT();
RF_MISO_INIT();
RF_MOSI_INIT();
RF_IRQ_INIT();
DELAY_uS(10 * DELAY_1MS_TIMER2);
RF_SDN_LOW();
DELAY_uS(50 * DELAY_1MS_TIMER2);
RF_SPI_CLOCK();
SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex;
SPI_InitStructure.SPI_Mode = SPI_Mode_Master;
SPI_InitStructure.SPI_DataSize = SPI_DataSize_8b;
SPI_InitStructure.SPI_CPOL = SPI_CPOL_Low;
SPI_InitStructure.SPI_CPHA = SPI_CPHA_2Edge;
SPI_InitStructure.SPI_NSS = SPI_NSS_Soft;
SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_32;
SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB;
SPI_InitStructure.SPI_CRCPolynomial = 7;
SPI_Init(RF_SPI, &SPI_InitStructure);
SPI_Cmd(RF_SPI, ENABLE);
#ifdef STM32F10X_MD
GPIO_EXTILineConfig(RF_IRQ_EXT_PORT, RF_IRQ_EXT_PIN);
#else
#ifdef STM32L1XX_MD
SYSCFG_EXTILineConfig(RF_IRQ_EXT_PORT, RF_IRQ_EXT_PIN);
#endif
#endif
EXTI_InitStructure.EXTI_Line = RF_IRQ_EXT_LINE;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
DISABLE_MAC_EXT_INTERRUPT();
CLEAR_MAC_EXT_INTERRUPT();
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0);
NVIC_InitStructure.NVIC_IRQChannel = RF_IRQ_EXT_IRQ;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
#ifdef RTC_ENABLED
RTC_INIT();
#endif
#ifdef UART0_ENABLED
Uart0Init();
#endif
}
main()
{
uint8 option=0;
uint8 key;
SysCtlClockSet(SYSCTL_SYSDIV_4| SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_6MHZ);
Uart0Init(19200);
Uart1Init(9600);
Uart2Init(19200);
IntMasterEnable();
SysLinearTimer =0;
IoPortInit(); //IO口初始化
I2C1Init() ;//Fm31256
TimerInit();
xs6963_init();
PIN_TDA7367stand_Write(ETDA7367work_no);
FlashUsecSet(49);
//T1Init_LM331();
DPRINTF(("Bat=%d ,cha=%d ,Temp=%d \n",1,2,3));
Usb_Host_Init();
mainHandleinit();
signPWM_init(50.0);
PWM_sign_stop();
/*LCD初始化*/
start_mune();
/* fm31256 eeprom 8 */
readbyte_much(setsto_addr,settype_nub,set.byte );
/*修正系数*/
modify_read();
/**/
Oiltempset.oilTwork=EOiltemp_Workon;
/*lm331初始化 温度测量使用*/
T1Init_LM331();
/*系统节拍*/
SysLinearTimer=0;
while(SysLinearTimer<3*TIMER_FREQ)//后台参数设置
{
key=Keyset.keyEfficiency;
if(key==key_modify)
{
while(Keyset.keyEfficiency==key_modify);
option++;
if(option>=4)
{
modify_read();//读取修正参数
TgC_read();
modify();//修正
}
}
}
modifyK_js();
SysLinearTimer=0;
rx_flag=0;
option=0;
mainset_go:
key=Keyset.keyEfficiency;
mainset_mune();
Reversepic(mainset_lin+option*mainset_high, mainset_column, mainset_high, 2*4);
while(1)
{
while(key==Keyset.keyEfficiency)
{
if(SysLinearTimer>(3*TIMER_FREQ/4))
{
// Temp_account();
if(TRUE_z==Gandispose())//地线检测
{
mainset_mune();
Reversepic(mainset_lin+option*mainset_high, mainset_column, mainset_high, 2*4);
}
read_time();
{
uint8 byte[12];
Clock_viewxs(byte) ;
}
SysLinearTimer=0;
}
}
key=Keyset.keyEfficiency;
/*按键处理*/
switch(key)
{
case key_no:
case key_back:
continue;
case key_down:
case key_up:
Reversepic(mainset_lin+option*mainset_high, mainset_column, mainset_high, 2*4);
option=keyoption_js(option, key,4,Emune_key);//
Reversepic(mainset_lin+option*mainset_high, mainset_column, mainset_high, 2*4);
/* if(key==key_up)
{
PWM_sign_acc(0.0, 0.0);
delay(0x80000);
PIN_DCAC_pwm(EDC_power);
PWM_sign_acc(0.0, 0.7);
}
else
{
PWM_sign_acc(0.0, 0.0);
delay(0x80000);
PIN_DCAC_pwm(EAC_power);
PWM_sign_acc(50.0, 0.8);
}
*/
break;
case key_ok:
switch(option)
{
case ELan_main://语言
set.mune.Langue++;
set.mune.Langue&=0x01;
//ShowtextLine(mainset_lin+option*mainset_high, mainset_column+0x10,Lanset_p[set.mune.Langue]);
break;
case EOilset_main://油样设置
oidset();
break;
case EView_main://历史数据
Viewdata_Hander();
break;
case EClock_main://时钟设置
clockset_mune();
break;
}
goto mainset_go ;
case key_oil:
Oilclear();//排油
break;
}
}
}
void init_ap( void ) {
#ifndef SINGLE_MCU /** init done in main_fbw in single MCU */
hw_init();
sys_time_init();
#ifdef LED
led_init();
#endif
#ifdef ADC
adc_init();
#endif
#endif /* SINGLE_MCU */
/************* Sensors initialization ***************/
#ifdef USE_INFRARED
ir_init();
#endif
#ifdef USE_GYRO
gyro_init();
#endif
#ifdef USE_GPS
gps_init();
#endif
#ifdef USE_UART0
Uart0Init();
#endif
#ifdef USE_UART1
Uart1Init();
#endif
#ifdef USE_UART2
Uart2Init();
#endif
#ifdef USE_UART3
Uart3Init();
#endif
#ifdef USE_USB_SERIAL
VCOM_init();
#endif
#ifdef USE_GPIO
GpioInit();
#endif
#ifdef USE_I2C0
i2c0_init();
#endif
#ifdef USE_I2C1
i2c1_init();
#endif
#ifdef USE_I2C2
i2c2_init();
#endif
/************* Links initialization ***************/
#if defined USE_SPI
spi_init();
#endif
#if defined MCU_SPI_LINK
link_mcu_init();
#endif
#ifdef MODEM
modem_init();
#endif
/************ Internal status ***************/
h_ctl_init();
v_ctl_init();
estimator_init();
#ifdef ALT_KALMAN
alt_kalman_init();
#endif
nav_init();
modules_init();
/** - start interrupt task */
int_enable();
/** wait 0.5s (historical :-) */
sys_time_usleep(500000);
#if defined GPS_CONFIGURE
gps_configure_uart();
#endif
#if defined DATALINK
#if DATALINK == XBEE
xbee_init();
#endif
#endif /* DATALINK */
#if defined AEROCOMM_DATA_PIN
IO0DIR |= _BV(AEROCOMM_DATA_PIN);
IO0SET = _BV(AEROCOMM_DATA_PIN);
#endif
power_switch = FALSE;
/************ Multi-uavs status ***************/
#ifdef TRAFFIC_INFO
traffic_info_init();
#endif
}
/********************************************************************
函数功能：主函数。
入口参数：无。
返 回：无。
备 注：无。
********************************************************************/
void main(void)
{
#ifdef DEBUG0
int i;
#endif
int InterruptSource;
SystemClockInit(); //系统时钟初始化
LedInit(); //LED对应的管脚初始化
LcdInit(); //LCD初始化
AdcInit(); //ADC初始化
Timer1Init(); //定时器1初始化，用来产生10ms的定时扫描信号
KeyInit(); //键盘初始化
Uart0Init(); //串口0初始化
#ifdef DEBUG0
for(i=0;i<16;i++) //显示头信息
{
Prints(HeadTable[i]);
}
#endif
UsbChipInit(); //初始化USB部分
while(1)
{
InterruptSource=(*AT91C_UDP_ISR)&(0x0F|(1<<8)|(1<<12)); //取出需要的中断
if(InterruptSource) //如果监视的中断发生
{
if(InterruptSource&(1<<8))
{
*AT91C_UDP_ICR=1<<8; //清除中断
UsbBusSuspend(); //总线挂起中断处理
}
if(InterruptSource&(1<<12))
{
*AT91C_UDP_ICR=1<<12; //清除中断
UsbBusReset(); //总线复位中断处理
}
if(InterruptSource&(1<<0))
{
if(AT91C_UDP_CSR[0]&((1<<1)|(1<<2)|(1<<6))) //如果是SETUP包、缓冲未空等
{
UsbEp0Out(); //端点0输出中断处理
}
if(AT91C_UDP_CSR[0]&(1<<0)) //如果是端点0输入完成
{
UsbEp0In(); //端点0输入中断处理
}
}
if(InterruptSource&(1<<1))
{
UsbEp1In(); //端点1输入中断处理
}
if(InterruptSource&(1<<2))
{
UsbEp2Out(); //端点2输出中断处理
}
if(InterruptSource&(1<<3))
{
UsbEp3In(); //端点3输入中断处理
}
}
if(KeyUp||KeyDown) //如果用户操作了按键
{
DispKey(); //在LCD上显示按键情况
if(ConfigValue!=0) //如果已经设置为非0的配置，则可以返回报告数据
{
if(!Ep1InIsBusy) //如果端点1输入没有处于忙状态，则可以发送数据
{
KeyCanChange=0; //禁止按键扫描
if(KeyUp||KeyDown) //如果有按键事件发生
{
SendReport(); //则返回报告
}
KeyCanChange=1; //允许按键扫描
}
}
//清除KeyUp和KeyDown
KeyUp=0;
KeyDown=0;
LcdRefresh(); //刷新LCD显示
}
}
}
