int main(void)
{
FPUEnable();
led_Init();
button_Init();
can_Init();
pcsr_Init();
//can_SetLogging(0, 0x001, 0x3FF, LogHandler);
//uint8_t new_data[] = { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF };
//uint8_t new_data_mask[] = { 0x00, 0xFF, 0x00, 0xFF, 0x00, 0xFF, 0x00, 0xFF };
//can_SetFiltering(0, 0x001, 0x3FF, new_data, new_data_mask);
//uint8_t data[] = { 0xFF, 0x00, 0xFF, 0x00, '\n' };
//pcsr_WriteData("READY!\r\n", 8);
while(UARTCharsAvail(UART2_BASE))
{
led_Byte(UARTCharGetNonBlocking(UART2_BASE));
}
while(1)
{
uint8_t buf[22];
pcsr_ReadData(buf, 1);
if(buf[0] == FUNCTION_LOG)
{
pcsr_ReadData(buf + 1, 5);
uint16_t arbid = buf[2] + (buf[3] << 8);
uint16_t arbid_mask = buf[4] + (buf[5] << 8);
can_SetLogging(buf[1], arbid, arbid_mask, LogHandler);
}
else if(buf[0] == FUNCTION_FILTER)
{
pcsr_ReadData(buf + 1, 21);
uint16_t arbid = buf[2] + (buf[3] << 8);
uint16_t arbid_mask = buf[4] + (buf[5] << 8);
can_SetFiltering(buf[1], arbid, arbid_mask, buf + 6, buf + 14);
}
else if(buf[0] == FUNCTION_RESET)
{
can_ResetFunctions();
//led_Byte(buf[0]);
}
}
}
void J1939_init(const unsigned char startAddress,const unsigned char *name)
{
unsigned char i=0;
TXstart=TXend=RXstart=RXend=0;
TXsize=RXsize=0;
ComandedAddress = startAddress;
J1939_Address = startAddress;
for (i;i<8;i++) Name[i] = name[i];
can_Init(); // 250 Kbit/s
for (i=0; i<BUFFER_TX_COUNT;i++)
{
can_SetBuffer(START_BUFFER_TX+i,0,0xFFFFFE);
clear_CPU_operation_detection();
}
for (i=0; i<BUFFER_COUNT; i++)
{
can_SetBuffer(START_BUFFER+i,1,((unsigned long int)startAddress)<<8);
can_EnableIRQ(START_BUFFER+i);
clear_CPU_operation_detection();
}
for (i=0; i<BUFFER_GLOBAL_COUNT; i++)
{
can_SetBuffer(START_BUFFER_GLOBAL+i,1,0x0000F000);
can_EnableIRQ(START_BUFFER_GLOBAL+i);
clear_CPU_operation_detection();
}
can_SetMask0(0xFF00FF);
can_SetMask1(0xFF0FFF);
//can_Mode(0);
J1939_Flags.CannotClaimAddress = 0;
J1939_Flags.WaitingForAddressClaimContention = 0;
J1939_Flags.ReceivedMessagesDropped = 0;
J1939_Flags.AddressRequest = 0;
J1939_Flags.Connected = 0;
J1939_Flags.BAM = 0;
J1939_Flags.WaitingForConnection = 0;
J1939_Flags.ConnectFalied = 0;
J1939_Flags.TransmisionError = 0;
J1939_Flags.TransmisionComplete = 0;
J1939_Flags.RemoteAddress = J1939_NULL_ADDRESS;
J1939_timer = timer_Start();
can_DisableAllIRQ();
J1939_ClaimAddress(J1939_CLAIM_ADDRESS_TX);
while (J1939_Flags.WaitingForAddressClaimContention)
{
clear_CPU_operation_detection();
J1939_poll(5);
// clear_CPU_operation_detection();
}
can_EnableAllIRQ();
return;
}
DMPAPI(COMPort *) com_Init(int com)
{
COMPort *port;
if ((port = (COMPort *)CreateCOMPort(com)) == NULL) return NULL;
switch (com)
{
case COM1: case COM2: case COM3: case COM4: case COM5:
case COM6: case COM7: case COM8: case COM9: case COM10:
{
if ((port->func = (void *)CreateUART(com)) == NULL) goto FAIL;
if (uart_Init(port->func) == false)
{
uart_Close(port->func);
goto FAIL;
}
port->Close = uart_Close;
port->SetTimeOut = uart_SetTimeOut;
port->Read = uart_Read;
port->Receive = uart_Receive;
port->QueryRxQueue = uart_QueryRxQueue;
port->RxQueueFull = uart_RxQueueFull;
port->RxQueueEmpty = uart_RxQueueEmpty;
port->FlushRxQueue = uart_FlushRxQueue;
port->Write = uart_Write;
port->Send = uart_Send;
port->QueryTxQueue = uart_QueryTxQueue;
port->TxQueueFull = uart_TxQueueFull;
port->TxQueueEmpty = uart_TxQueueEmpty;
port->FlushTxQueue = uart_FlushTxQueue;
port->TxReady = uart_TxReady;
port->FlushWFIFO = uart_FlushWFIFO;
port->SetBPS = uart_SetBaud;
port->SetFormat = uart_SetFormat;
port->SetFlowControl = uart_SetFlowControl;
port->EnableFIFO = uart_SetHWFIFO;
port->SetWFIFOSize = uart_SetWFIFOSize;
port->ClearRFIFO = uart_ClearRFIFO;
port->ClearWFIFO = uart_ClearWFIFO;
port->SetLSRHandler = uart_SetLSRHandler;
port->SetMSRHandler = uart_SetMSRHandler;
port->GetLSR = uart_GetLSR;
port->GetMSR = uart_GetMSR;
port->EnableHalfDuplex = uart_EnableHalfDuplex;
port->EnableFullDuplex = uart_EnableFullDuplex;
port->EnableDebugMode = uart_EnableDebugMode;
port->DisableDebugMode = uart_DisableDebugMode;
return port;
}
case USB_COM:
{
if ((port->func = (void *)CreateUSBDevice()) == NULL) goto FAIL;
if (set_usb_pins == false)
{
err_print((char*)"%s: no set USB-Device pins.\n", __FUNCTION__);
usb_Close(port->func);
goto FAIL;
}
if (usb_SetUSBPins(port->func, usb_detect_port, usb_detect_pin, usb_on_off_port, usb_on_off_pin) == false)
{
usb_Close(port->func);
goto FAIL;
}
if (usb_Init(port->func) == false)
{
usb_Close(port->func);
goto FAIL;
}
port->Close = usb_Close;
port->SetTimeOut = usb_SetTimeOut;
port->Read = usb_Read;
port->Receive = usb_Receive;
port->QueryRxQueue = usb_QueryRxQueue;
port->RxQueueFull = usb_RxQueueFull;
port->RxQueueEmpty = usb_RxQueueEmpty;
port->FlushRxQueue = usb_FlushRxQueue;
port->Write = usb_Write;
port->Send = usb_Send;
port->QueryTxQueue = usb_QueryTxQueue;
port->TxQueueFull = usb_TxQueueFull;
port->TxQueueEmpty = usb_TxQueueEmpty;
port->FlushTxQueue = usb_FlushTxQueue;
port->TxReady = usb_TxReady;
port->FlushWFIFO = usb_FlushWFIFO;
port->Ready = usb_Ready;
port->GetLineCoding = usb_GetLineCoding;
port->SetSerialState = usb_SetSerialState;
port->GetControlLineState= usb_GetControlLineState;
return port;
}
case CAN_BUS:
{
if ((port->func = (void *)CreateCANBus(IO_PORT)) == NULL) goto FAIL;
if (can_Init(port->func) == false)
{
can_Close(port->func);
goto FAIL;
}
port->Close = can_Close;
port->SetTimeOut = can_SetTimeOut;
port->QueryRxQueue = can_QueryRxQueue;
port->RxQueueFull = can_RxQueueFull;
port->RxQueueEmpty = can_RxQueueEmpty;
port->FlushRxQueue = can_FlushRxQueue;
port->QueryTxQueue = can_QueryTxQueue;
port->TxQueueFull = can_TxQueueFull;
port->TxQueueEmpty = can_TxQueueEmpty;
port->FlushTxQueue = can_FlushTxQueue;
port->TxReady = can_TxReady;
port->FlushWFIFO = can_FlushWFIFO;
port->SetBPS = can_SetBPS;
port->Reset = can_Reset;
port->AddIDFilter = can_AddIDFilter;
port->GetIDFilter = can_GetIDFilter;
port->DelIDFilter = can_DelIDFilter;
port->ClearIDList = can_ClearIDList;
port->EnableBypass = can_EnableBypass;
port->DisableBypass = can_DisableBypass;
port->SetEWLimit = can_SetEWLimit;
port->GetEWLimit = can_GetEWLimit;
port->GetTxErrorCount = can_GetTxErrorCount;
port->GetRxErrorCount = can_GetRxErrorCount;
port->GetNowState = can_GetNowState;
port->EnableStoreError = can_EnableStoreError;
port->DisableStoreError = can_DisableStoreError;
port->SetCANBusOffHandler= can_SetCANBusOffHandler;
port->PopError = can_PopError;
port->GetLastError = can_GetLastError;
port->ReadCAN = can_Read;
port->WriteCAN = can_Write;
return port;
}
default: break;
};
FAIL:
ker_Mfree(port);
return NULL;
}
int main()
{
SYSCTL->RCGCGPIO |= 0x01; // GPIOA
SYSCTL->RCGCUART |= 0x01; // UART0
// Pins [0:1] digital enable
GPIOA->DEN |= 0x3;
// Pins [0:1] output
GPIOA->DIR |= 0x3;
// Pins [0:1] high
//GPIOA->DATA |= 0x3;
// Pins [0:1] alternate functionality (UART0 Rx/Tx)
GPIOA->AFSEL |= 0x3;
// Clear and set port mux for GPIOB pins [0:1]
GPIOA->PCTL &= ~0xFF;
GPIOA->PCTL |= 0x11;
// Disable UART0
UART0->CTL &= ~0x1;
// Clear and set integer baud-rate divisor
UART0->IBRD &= ~0xFFFF;
UART0->IBRD |= (16000000 / (16u * 9600u)) & 0xFFFF;
// Clear and set fractional baud-rate divisor
UART0->FBRD &= ~0x3F;
UART0->FBRD |= (((16000000u * 128u) / (16u * 9600u) + 1)/2) & 0x3F;
// Clear and set line control (8-bit, no FIFOs, 1 stop bit)
UART0->LCRH &= ~0xFF;
UART0->LCRH |= 0x70;
// Clear and set clock source (PIOSC)
UART0->CC &= ~0xF;
UART0->CC |= 0x5;
// Enable DMA on Tx line
// UART0->DMACTL |= 0x2;
// Enable interrupts for data received
// UART0->IM |= 0x10;
// Enable loopback operation
// UART0->CTL |= 0x80;
// Enable UART0
UART0->CTL |= 0x1;
led_Init();
can_Init();
//can_ReadInit(0x400, 0x7F8, 4);
CanPacket packet = {
.arbid = 0x165,
// Right Mirror Move Right
//.data = { 0x00, 0x00, 0x00, 0x01, 0x10, 0x2C, 0x80, 0x20 },
// Unlock doors
.data = { 0x20, 0xC0, 0x00, 0x00, 0x10, 0x65, 0x00, 0x00 },
};
can_Loopback();
//CanPacket packet2;
//can_ReadBlock(&packet2);
led_Set(true, false, false);
// Init for the lists
init_list(id_4D, 0x4D);
init_list(id_11A, 0x11A);
init_list(id_130, 0x130);
init_list(id_139, 0x139);
init_list(id_156, 0x156);
init_list(id_165, 0x165);
init_list(id_167, 0x167);
init_list(id_171, 0x171);
init_list(id_178, 0x178);
init_list(id_202, 0x202);
init_list(id_179, 0x179);
init_list(id_204, 0x204);
init_list(id_185, 0x185);
init_list(id_25C, 0x25C);
init_list(id_1A0, 0x1A0);
init_list(id_200, 0x200);
init_list(id_230, 0x230);
init_list(id_25A, 0x25A);
init_list(id_25B, 0x25B);
init_list(id_270, 0x270);
init_list(id_280, 0x280);
init_list(id_312, 0x312);
init_list(id_352, 0x352);
init_list(id_365, 0x365);
init_list(id_366, 0x366);
init_list(id_367, 0x367);
init_list(id_368, 0x368);
init_list(id_369, 0x369);
init_list(id_410, 0x410);
init_list(id_421, 0x421);
init_list(id_42D, 0x42D);
init_list(id_42F, 0x42F);
init_list(id_43E, 0x43E);
init_list(id_440, 0x440);
init_list(id_472, 0x472);
init_list(id_473, 0x473);
init_list(id_474, 0x474);
init_list(id_475, 0x475);
init_list(id_476, 0x476);
init_list(id_477, 0x477);
init_list(id_595, 0x595);
while(1)
{
//uint8_t buf[12];
//pc_ReadData(buf, 2);
//led_Byte(buf[0]);
//led_Byte(buf[1]);
//UART0->DR = 'a';
for(unsigned i = 0 ; i < 50000 ; i ++);
can_Inject(&packet);
}
/*
//FPUEnable();
pc_comm_init();
count = 0;
// Enable clocking to peripherals
SYSCTL->RCGCTIMER |= 1; // TIMER0
// Enable TIMER0A Interrupt
NVIC->ISER[0] |= (1 << TIMER0A_IRQn);
// Kill TIMER0A
TIMER0->CTL &= ~0x1;
// 32 Bit timer configuration for TIMER0
TIMER0->CFG = 0;
// Regular, one-shot timer mode
TIMER0->TAMR = 1;
// .5 seconds at 16MHz
TIMER0->TAILR = 8000000;
// TIMER0A timeout interrupt mask
TIMER0->IMR = 1;
// Enable TIMER0A, enable debug stalling
TIMER0->CTL |= 0x3;
while(1){};
*/
}
int main(void)
{
utDisInt;
utInitInt();
utInitSys();
utEnInt;
/* Can bus init */
can_Init();
/* iobus init */
iobus_init();
/* 步进电机初始化 */
#if defined(motor_device)
/* L6470端口及SPI初始化 */
dSPIN_Peripherals_Init();
/* L6470复位 */
dSPIN_Reset_And_Standby(dSPIN_Device_All);
/* L6470中断初始化 */
dSPIN_Interrupt_Channel_Config();
/* 电机参数初始化 */
motor_init_set();
ENC_Init();
#endif
utPrt("********************************\r\n");
utPrt("CPU: STM32F103RCT6 at 72 MHz \r\n");
utPrt("Board: TMCS Board (Version2) \r\n");
utPrt("Editor: Tsui \r\n");
utPrt("Compant: TMCS \r\n");
utPrt("Shell: Shell Version1 \r\n");
utPrt("Compile Date: %s \r\n",__DATE__);
utPrt("Compile TIME: %s \r\n",__TIME__);
utPrt("********************************\r\n");
/* set can baud rate at 250Kbit */
can_set_baudrate(can_parameter._t_bit_rate);
#if 0
g_tCanTxMsg.DLC = 3;
g_tCanTxMsg.Data[0] = 0x11;
g_tCanTxMsg.Data[1] = 0x22;
g_tCanTxMsg.Data[2] = 0x33;
SendCanMsg(&g_tCanTxMsg);
#endif
DetectCal();
iobus_reload();
utDelay1s(1);
ENC_Clean();
/* Start os */
utPrt("Start utOs......\n");
utStartOS();
}
