Esempio n. 1
0
/* 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);
}
Esempio n. 2
0
static void en28j60_reset(u8 lag)
{
	spi1_init();
	enc28j60_rst = 0;
	delay_ms(lag);
	enc28j60_rst = 1;
	delay_ms(lag);
}
Esempio n. 3
0
/**
 * @brief 
 * @param 
 * @retval 
 */
static void device_init(void)
{
	port_init();
#ifdef INTERFACE_4WIRE_SPI
	spi1_init();
#endif
	iic_init();
	adc1_init();
}
Esempio n. 4
0
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;
}
Esempio n. 5
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);
	  }
  }
}
Esempio n. 6
0
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();
}
Esempio n. 8
0
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");

}