int main(void) {
/* GPIOD Periph clock enable */
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);
/* Configures the leds and the read/write pin on D1 */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_13| GPIO_Pin_14| GPIO_Pin_15 | USART6_ENABLE_PIN | USART6_DISABLE_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOD, &GPIO_InitStructure);
init_USART6(BOTTOM_MOTOR_BAUD); // initialize USART6 baud rate
init_USART2(TOP_BOTTOM_BAUD); // initialize USART2 baud rate
GPIO_SetBits(USART6_ENABLE_PORT, USART6_ENABLE_PIN); //Turns the read/write pin for rs485 to write mode
Delay(0xFFF); //Delays to give the read/write pin time to initialize
while (1){
//Reads the top packet, converts the top packet to motor packets, and then sends the motor packets to the motor controllers
if(handleTopPacket()) //If the read top packet function was successful, go within the if statement
{
GPIO_ResetBits(GPIOD, GPIO_Pin_15);
//Increments how many times the motor packets have been sent
pollCounter++;
//Waits for twenty packets to be sent to the motors before polling a motor.
if(pollCounter > 20)
{
GPIO_SetBits(GPIOD, GPIO_Pin_14);
//Sends a packet to poll the motor at pollAddress
pollMotor(pollAddress);
if(!readSlavePacket()) //If we cannot read the packet
{
//TODO
}
//Add the fault data information to the packet we are sending back to the battle station
//Increments through the addresses and goes back to address one after eight time
pollAddress++; //Changes which motor will be polled next
if(pollAddress == 9)
pollAddress = 1;
pollCounter = 0; //Resets the poll counter
}
}
GPIO_ResetBits(GPIOD, GPIO_Pin_12); //Turns off the led
GPIO_ResetBits(GPIOD, GPIO_Pin_14);
}
}
int main(void)
{
/*!< At this stage the microcontroller clock setting is already configured to
144 MHz, this is done through SystemInit() function which is called from
startup file (startup_stm32f4xx.s) before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
system_stm32f4xx.c file
*/
init_USART6(115200);
/*Initialize LCD and Leds */
printf("LCD_LED_Init\r\n");
LCD_LED_Init();
/* configure ethernet (GPIOs, clocks, MAC, DMA) */
printf("ETH_BSP_Config\r\n");
ETH_BSP_Config();
/* Initilaize the LwIP stack */
printf("LwIP_Init\r\n");
LwIP_Init();
/* Initialize webserver demo */
printf("http_server_socket_init\r\n");
http_server_socket_init();
#ifdef USE_DHCP
/* Start DHCPClient */
printf("DHCP task create\r\n");
xTaskCreate(LwIP_DHCP_task, "DHCPClient", configMINIMAL_STACK_SIZE * 2, NULL,DHCP_TASK_PRIO, NULL);
#endif
/* Start toogleLed4 task : Toggle LED4 every 250ms */
printf("xTaskCreate(ToggleLed4)\r\n");
xTaskCreate(ToggleLed4, "LED4", configMINIMAL_STACK_SIZE, NULL, LED_TASK_PRIO, NULL);
/* Start scheduler */
printf("Start vTaskStartScheduler\r\n");
vTaskStartScheduler();
/* We should never get here as control is now taken by the scheduler */
for ( ;; );
}
