/* One start -----------------------------------------------------------------*/
static void startup()
{
unsigned char err = 0;
init_hardware();
dbg_init();
dbg_print_app_ver();
crc32_init();
pins_init();
//spi0_init(); // used in m25pexx.c (FLASH)
spi1_init();
adc_init();
err = memory_init(); // memory initialization, external EEPROM (used in pref.c, orion.c), external FLASH, internal FLASH
if (err)
goto err;
pref_init();
ds1390_init();
evt_fifo_init();
GPS_init();
//SIM900_init();
light_init();
saveDatePorojectIP();//новые параметры связи
vpu_init(); /*VPU start*/
//Init_USB();
//if (PROJ.jornal.power_on)
//Event_Push_Str("СТАРТ");
return;
err:
Err_led(err);
}
static void en28j60_reset(u8 lag)
{
spi1_init();
enc28j60_rst = 0;
delay_ms(lag);
enc28j60_rst = 1;
delay_ms(lag);
}
/**
* @brief
* @param
* @retval
*/
static void device_init(void)
{
port_init();
#ifdef INTERFACE_4WIRE_SPI
spi1_init();
#endif
iic_init();
adc1_init();
}
int main()
{
/* Semaphore creation */
vSemaphoreCreateBinary(ahrs_task_semaphore);
vSemaphoreCreateBinary(flight_control_task_semaphore);
/* Peripheral initialization */
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);
led_init();
debug_port_init();
usart3_init(57600);
i2c1_init();
spi1_init();
timer1_init();
pwm_timer4_init();
pwm_timer5_init();
pwm_capture_timer2_init();
pwm_capture_timer3_init();
pwm_capture_timer8_init();
//Make sure all the peripheral is finished the initialization
delay_ms(5);
/* Device initialization */
while(mpu6050_init());
while(hmc5983_init());
nrf24l01_init();
motor_init();
/* Task creation */
//Attitude and Heading Reference System (AHRS) task
xTaskCreate(ahrs_task, (portCHAR *)"AHRS task",
4096, NULL, tskIDLE_PRIORITY + 3, NULL);
xTaskCreate(flight_control_task, (portCHAR *)"Flight control task",
4096, NULL, tskIDLE_PRIORITY + 2, NULL);
#ifndef DEBUG_PRINT
//USART plot task
xTaskCreate(usart_plot_task, (portCHAR *)"USART plot task",
2048, NULL, tskIDLE_PRIORITY + 1, NULL);
#endif
/* Start schedule */
vTaskStartScheduler();
return 0;
}
int main()
{
spi1_init ();
while (1)
{
for (int8_t i=0;i<8;++i)
{
spi1_transmit (1<<i);
delay_ms(200);
}
for (int8_t i=6;i>0;--i)
{
spi1_transmit (1<<i);
delay_ms(100);
}
}
}
void mcu_init(void)
{
mcu_arch_init();
#ifdef PERIPHERALS_AUTO_INIT
sys_time_init();
#ifdef USE_LED
led_init();
#endif
/* for now this means using spektrum */
#if defined RADIO_CONTROL & defined RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT & defined RADIO_CONTROL_BIND_IMPL_FUNC
RADIO_CONTROL_BIND_IMPL_FUNC();
#endif
#ifdef USE_UART0
uart0_init();
#endif
#ifdef USE_UART1
uart1_init();
#endif
#ifdef USE_UART2
uart2_init();
#endif
#ifdef USE_UART3
uart3_init();
#endif
#ifdef USE_UART4
uart4_init();
#endif
#ifdef USE_UART5
uart5_init();
#endif
#ifdef USE_I2C0
i2c0_init();
#endif
#ifdef USE_I2C1
i2c1_init();
#endif
#ifdef USE_I2C2
i2c2_init();
#endif
#ifdef USE_ADC
adc_init();
#endif
#ifdef USE_USB_SERIAL
VCOM_init();
#endif
#if USE_SPI
#if SPI_MASTER
#if USE_SPI0
spi0_init();
#endif
#if USE_SPI1
spi1_init();
#endif
#if USE_SPI2
spi2_init();
#endif
#if USE_SPI3
spi3_init();
#endif
spi_init_slaves();
#endif // SPI_MASTER
#if SPI_SLAVE
#if USE_SPI0_SLAVE
spi0_slave_init();
#endif
#if USE_SPI1_SLAVE
spi1_slave_init();
#endif
#if USE_SPI2_SLAVE
spi2_slave_init();
#endif
#if USE_SPI3_SLAVE
spi3_slave_init();
#endif
#endif // SPI_SLAVE
#endif // USE_SPI
#ifdef USE_DAC
dac_init();
#endif
#else
INFO("PERIPHERALS_AUTO_INIT not enabled! Peripherals (including sys_time) need explicit initialization.")
#endif /* PERIPHERALS_AUTO_INIT */
}
/**
* Initializes the High Level System such as IO Pins and Drivers
*/
void high_level_init(void)
{
// Initialize all board pins (early) that are connected internally.
board_io_pins_initialize();
#if ENABLE_TELEMETRY
/* Add default telemetry components */
tlm_component_add("disk");
tlm_component_add("debug");
#endif
/**
* Set-up Timer0 so that delay_ms(us) functions will work.
* This function is used by FreeRTOS run time statistics.
* If FreeRTOS is used, timer will be set-up anyway.
* If FreeRTOS is not used, call it here such that delay_ms(us) functions will work.
*/
vConfigureTimerForRunTimeStats();
/**
* Intentional delay here because this gives the user some time to
* close COM Port at Hyperload and Open it at Hercules
*/
delay_ms(STARTUP_DELAY_MS);
hl_print_line();
/* Print boot info */
const unsigned int cpuClock = sys_get_cpu_clock();
const unsigned int sig = cpuClock / (1000 * 1000);
const unsigned int fraction = (cpuClock - (sig*1000*1000)) / 1000;;
printf("\nSystem Boot @ %u.%u Mhz\n", sig, fraction);
if(SysBootType_watchdog_recover == sys_get_boot_type()) {
hl_print_line();
printf("System rebooted after crash. Relevant info:\n"
"PC: 0x%08X. LR: 0x%08X. PSR: 0x%08X\n",
(unsigned int)FAULT_PC, (unsigned int)FAULT_LR, (unsigned int)FAULT_PSR);
hl_print_line();
}
/**
* Initialize the Peripherals used in the system
* I2C2 : Used by LED Display, Acceleration Sensor, Temperature Sensor
* ADC0 : Used by Light Sensor
* SPI0 : Used by Nordic
* SPI1 : Used by SD Card & External SPI Flash Memory
*/
adc0_init();
spi1_init();
spi0_init(SPI0_CLOCK_SPEED_MHZ);
if (!I2C2::getInstance().init(I2C2_CLOCK_SPEED_KHZ)) {
puts("I2C #2: ERROR: Possible short on SDA or SCL wire!");
}
/* Initialize nordic wireless mesh network before setting up sys_setup_rit()
* callback since it may access NULL function pointers.
*/
if (!wireless_init()) {
puts("ERROR: Failed to initialize wireless");
}
/* Set-up our RIT callback to perform some background book-keeping
* If FreeRTOS is running, this service is disabled and FreeRTOS
* tick hook will call hl_periodic_service()
* @warning RIT interrupt should be setup before SD card is mounted
* since it relies on our timer.
*/
sys_rit_setup(hl_periodic_service, m_time_per_rit_isr_ms);
/**
* If Flash is not mounted, it is probably a new board and the flash is not
* formatted so format it, alert the user, and try to re-mount it
*/
bool flashMounted = hl_mount_storage(Storage::getFlashDrive(), " Flash ");
if(!flashMounted)
{
printf("FLASH not formatted, formatting now ... ");
printf("%s\n", FR_OK == Storage::getFlashDrive().format() ? "Done" : "Error");
flashMounted = hl_mount_storage(Storage::getFlashDrive(), " Flash ");
}
/**
* If SD Card is present, try to copy log file from Flash to SD Card
*/
const bool sdMounted = hl_mount_storage(Storage::getSDDrive(), "SD Card");
if(flashMounted && sdMounted)
{
hl_move_log_file();
}
/* After SD card is initted, set desired speed for spi1 */
spi1_set_max_clock(SPI1_CLOCK_SPEED_MHZ);
hl_print_line();
#if LOG_BOOT_INFO_TO_FILE
log_boot_info(__DATE__);
#endif
/**
* Print discovered I2C devices.
* But not really useful if no external I2C device attached.
* If we do find an external device though, we will print a line after the output.
*/
if(hl_discover_external_i2c_devs()) {
hl_print_line();
}
/* Initialize all sensors of this board. */
if(!hl_init_board_io()) {
hl_print_line();
LD.setLeftDigit('-');
LD.setRightDigit('-');
LE.setAll(0xFF);
}
else {
LD.setNumber(TS.getFarenheit());
}
/* Print memory information before we call main() */
do {
char buff[512] = { 0 };
sys_get_mem_info_str(buff);
puts(buff);
hl_print_line();
} while(0);
/* After Flash memory is mounted, try to set node address from a file */
wireless_set_addr_from_file();
srand(LS.getRawValue());
// Display CPU speed in Mhz on LED display
// LD.setNumber(sys_get_cpu_clock()/(1000*1000));
puts("Calling your main()");
hl_print_line();
}
void fpga_config(void)
{
FIL fp;
int i, retv, addr;
u32 rv;
u8 fbuf[256];
// 检查是否有升级文件. 如果有,就升级. 如果没有,就继续.
retv = f_open(&fp, "/SSMaster.rbf", FA_READ);
if(retv){
printk("NO FPGA config file found!\n");
return;
}
printk("Found FPGA config file.\n");
printk(" Size %08x\n", f_size(&fp));
// 发现升级文件
spi1_init();
// 启动配置
fpga_set_config(0);
os_dly_wait(1);
fpga_set_config(1);
while(fpga_status()==1);
os_dly_wait(1);
// 写配置数据
for(addr=0; addr<f_size(&fp); addr+=256){
rv = 0;
f_read(&fp, fbuf, 256, &rv);
for(i=0; i<rv; i++){
spi1_trans(fbuf[i]);
}
}
spi1_trans(0xff);
// 等待FPGA配置完成
for(i=0; i<10; i++){
if(fpga_config_done())
break;
os_dly_wait(10);
}
if(i==10){
printk("FPGA config timeout!\n");
}else{
printk("FPGA config done!\n");
}
for(i=0; i<10; i++){
if(fpga_init_done())
break;
os_dly_wait(10);
}
if(i==10){
printk("FPGA init timeout!\n");
}else{
printk("FPGA init done!\n");
}
// 关闭升级文件
f_close(&fp);
// FPGA_nRESET = 1;
GPIOC->BSRR = 0x0020;
printk("FPGA state:\n");
printk(" config done: %d\n", fpga_config_done());
printk(" init done: %d\n", fpga_init_done());
printk(" status: %d\n", fpga_status());
printk("\n");
}