int main(void)
{
// u16 len = 0;
// len = menuDisplay(bufExtBin);
// if (len)
// signUSBMass = 0;
signUSBMass = 0;
//***********************************DEBUG********************************************/
//***********************************END OF DEBUG********************************************/
/* Configure IO connected to USB PWR DET *********************/
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD,ENABLE );
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOD, &GPIO_InitStructure);
if((GPIO_ReadInputData(GPIOD) & 0x08)) // USB is present after switch - work MASS Storage
{
signUSBMass = 1;
}
signUSBMass = 0; //debugga
#if 1 //that's for temporary off USB - for debugging
NVIC_Configuration();
Set_System();
Set_USBClock();
USB_Interrupts_Config();
USB_Init();
if(signUSBMass)
while (bDeviceState != CONFIGURED);
#endif
//
#if 1
if(!signUSBMass)
{
if (SysTick_Config(SystemCoreClock / 1000)) //1ms
{
/* Capture error */
while (1);
}
/* Flash unlock */
FLASH_Unlock();
/* Clear All pending flags */
FLASH_ClearFlag(FLASH_FLAG_BSY | FLASH_FLAG_EOP | FLASH_FLAG_PGERR | FLASH_FLAG_WRPRTERR);
//***********************************DEBUG********************************************/
//***********************************END OF DEBUG********************************************/
/* Enable CRC clock */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);
ledDioGPIOInit();
//LED_MIDDLE = 1;
//GPIO_ResetBits(LED_MID_PORT, LED_MID_PORT_PIN);
BKPInit();
//debugga
/*
u32 mileage = 0;
mileage = BKPReadReg(BKP_DR_MSG_NUMBER1) | ( (u32)(BKPReadReg(BKP_DR_MSG_NUMBER2) << 16) );
mileage++;
BKPWriteReg(BKP_DR_MSG_NUMBER1,mileage);BKPWriteReg(BKP_DR_MSG_NUMBER2,mileage >> 16);
mileage = BKPReadReg(BKP_DR_MSG_NUMBER1) | ( (u32)(BKPReadReg(BKP_DR_MSG_NUMBER2) << 16) );
mileage = 0;
BKPWriteReg(BKP_DR_MSG_NUMBER1,mileage);BKPWriteReg(BKP_DR_MSG_NUMBER2,mileage >> 16);
mileage = BKPReadReg(BKP_DR_MSG_NUMBER1) | ( (u32)(BKPReadReg(BKP_DR_MSG_NUMBER2) << 16) );
if(mileage)
signUSBMass = 0; //debugga
*/
Delay(1000);
//rs485Init();
//Delay(1000);
ais326dq_init();
ais326dq_data(&ais326dq_out);
adcInit();
gpsInit();
gprsModemInit();
gprsModemOn();
#ifndef BRIDGE_USB_GSM
setupGSM();
ftpGSMPrepare();
packetsIni();
#endif
rtc_init();
rtc_gettime(&rtc);
initSD();
/* reading settings */
readConfig();
/* Log */
saveSDInfo((u8 *)"TURN ON BLOCK ",strlen((u8 *)"TURN ON BLOCK "), SD_SENDED, SD_TYPE_MSG_LOG );
saveSDInfo((u8 *)readRTCTime(&rtc),strlen((const char *)readRTCTime(&rtc)), SD_SENDED, SD_TYPE_MSG_LOG );
} //if(!signUSBMass)
#endif
//u8 tempCnt;
while (1)
{
if(!signUSBMass)
{
gpsHandling();
#ifndef BRIDGE_USB_GSM
loopGSM();
loopFTP();
UpdatingFlash();
naviPacketHandle();
rcvPacketHandle();
rcvPacketHandleUSB();
#endif
buttonScan();
accelScan();
// if(getButtonUserPressed())
// {
// led_mid(BOARD_LED_XOR);
// ais326dq_data(&ais326dq_out);
// }
//rs485Analyse();
handleFOS();
adcScan();
} /* if(!signUSBMass) */
}
}
void systemInit(void)
{
RCC_ClocksTypeDef rccClocks;
///////////////////////////////////
// Init cycle counter
cycleCounterInit();
// SysTick
SysTick_Config(SystemCoreClock / 1000);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB |
RCC_APB2Periph_GPIOC | RCC_APB2Periph_AFIO |
RCC_APB2Periph_TIM1 | RCC_APB2Periph_TIM8 |
RCC_APB2Periph_ADC1, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4 |
RCC_APB1Periph_TIM5 | RCC_APB1Periph_TIM6 |
RCC_APB1Periph_I2C2, ENABLE);
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
#ifdef _DTIMING
timingSetup();
#endif
///////////////////////////////////////////////////////////////////////////
checkFirstTime(false);
readEEPROM();
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); // 2 bits for pre-emption priority, 2 bits for subpriority
pwmMotorDriverInit();
cliInit();
gpioInit();
adcInit();
LED2_ON;
delay(10000); // 10 seconds of 20 second delay for sensor stabilization
if (GetVCPConnectMode() != eVCPConnectReset)
{
cliPrintF("\r\nUSB startup delay...\r\n");
delay(3000);
if (GetVCPConnectMode() == eVCPConnectData)
{
cliPrintF("\r\nBGC32 firmware starting up, USB connected...\r\n");
}
}
else
{
cliPrintF("\r\nDelaying for usb/serial driver to settle\r\n");
delay(3000);
cliPrintF("\r\nBGC32 firmware starting up, serial active...\r\n");
}
#ifdef __VERSION__
cliPrintF("\ngcc version " __VERSION__ "\n");
#endif
cliPrintF("BGC32 Firmware V%s, Build Date " __DATE__ " "__TIME__" \n", __BGC32_VERSION);
if ((RCC->CR & RCC_CR_HSERDY) != RESET)
{
cliPrintF("\nRunning on external HSE clock....\n");
}
else
{
cliPrintF("\nERROR: Running on internal HSI clock....\n");
}
RCC_GetClocksFreq(&rccClocks);
cliPrintF("\nADCCLK-> %2d MHz\n", rccClocks.ADCCLK_Frequency / 1000000);
cliPrintF( "HCLK-> %2d MHz\n", rccClocks.HCLK_Frequency / 1000000);
cliPrintF( "PCLK1-> %2d MHz\n", rccClocks.PCLK1_Frequency / 1000000);
cliPrintF( "PCLK2-> %2d MHz\n", rccClocks.PCLK2_Frequency / 1000000);
cliPrintF( "SYSCLK-> %2d MHz\n\n", rccClocks.SYSCLK_Frequency / 1000000);
delay(10000); // Remaining 10 seconds of 20 second delay for sensor stabilization - probably not long enough..
LED1_ON;
i2cInit(I2C2);
rcInit();
timingFunctionsInit();
BKPInit();
initFirstOrderFilter();
initPID();
initSinArray();
orientIMU();
initMPU6050();
// initMag();
}
void bootloader(void)
{
BKPInit();
BKPWrite(STAY_IN_BOOTLOADER_MAGIC);
reboot();
}
int main(void)
{
//***********************************DEBUG********************************************/
#if 0
nmeaPOS p1,p2;
nmeaINFO info;
info.lat = 5547.1206;
info.lon = 4906.2111;
nmea_info2pos(&info, &p1);
info.lat = 5547.1221;
info.lon = 4906.208;
nmea_info2pos(&info, &p2);
m += 23;
u32 t = nmea_distance(&p1, &p2);
if(m)
#endif
//***********************************END OF DEBUG********************************************/
NVIC_Configuration(); //for all peripheria
if (SysTick_Config(SystemCoreClock / 1000)) //1ms
{
/* Capture error */
while (1);
}
Delay(500);
USBIniPin();
signUSBMass = USBDetectPin();
signUSBMass = 0; //deb
#if not defined (VER_3)
USBCommonIni();
#endif
if(signUSBMass)
{
#if defined (VER_3)
USBCommonIni();
#endif
while (bDeviceState != CONFIGURED);
}
else //if(!signUSBMass)
{
/* Flash unlock */
FLASH_Unlock();
/* Clear All pending flags */
FLASH_ClearFlag(FLASH_FLAG_BSY | FLASH_FLAG_EOP | FLASH_FLAG_PGERR | FLASH_FLAG_WRPRTERR);
//***********************************DEBUG********************************************/
//***********************************END OF DEBUG********************************************/
/* Enable CRC clock */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);
ledDioGPIOInit();
led_dn(BOARD_LED_ON);
led_mid(BOARD_LED_ON);
#if defined (VER_3)
led_up(BOARD_LED_ON);
ibuttonInit();
rfmodemInit();
#endif
Delay(1000);
alarmInit();
BKPInit();
//timer6Init();
//rs485Init();
#if not defined (VER_3)
ais326dq_init();
#endif
//ais326dq_data(&ais326dq_out);
/*ADC*/
adcInit();
/*GPS*/
gpsInit();
/* reading settings */
readConfig();
/*MODEM*/
gprsModemInit();
gprsModemOn(innerState.activeSIMCard);
//***********************************DEBUG********************************************/
//GSMSpeaker(1);
//***********************************END OF DEBUG********************************************/
#ifndef BRIDGE_USB_GSM
setupGSM();
ftpGSMPrepare();
packetsIni();
#endif
led_dn(BOARD_LED_OFF);
led_mid(BOARD_LED_OFF);
#if defined (VER_3)
led_up(BOARD_LED_OFF);
#endif
rtc_init();
rtc_gettime(&rtc);
#if 1 /* WATCH DOG */
/* IWDG timeout equal to 3.27 sec (the timeout may varies due to LSI frequency dispersion) */
/* Enable write access to IWDG_PR and IWDG_RLR registers */
IWDG_WriteAccessCmd(IWDG_WriteAccess_Enable);
/* IWDG counter clock: 40KHz(LSI) / 32 = 1.25 KHz */
IWDG_SetPrescaler(IWDG_Prescaler_64); //32
/* Set counter reload value to 0xFFF */
IWDG_SetReload(0xFFF);
/* Reload IWDG counter */
IWDG_ReloadCounter();
/* Enable IWDG (the LSI oscillator will be enabled by hardware) */
IWDG_Enable();
setTimerIWDG(ONE_SEC);
#endif
initSD();
#if defined (VER_3)
//DACInit();
#endif
/* Log */
saveSDInfo((u8 *)"TURN ON BLOCK ",strlen((u8 *)"TURN ON BLOCK "), SD_SENDED, SD_TYPE_MSG_LOG );
//saveSDInfo((u8 *)readRTCTime(&rtc),strlen((const char *)readRTCTime(&rtc)), SD_SENDED, SD_TYPE_MSG_LOG );
#if defined (VER_3)
//DACSpeaker(1);
//wp_play("0:/sound.wav");
//DACSpeaker(0);
#endif
} //if(!signUSBMass)
while (1)
{
if(!signUSBMass)
{
monitorWatchDog();
#ifndef BRIDGE_USB_GPS
if(!innerState.bootFTPStarted)
gpsHandling();
#endif
#ifndef BRIDGE_USB_GSM
if(!innerState.flagTmpDebug)
loopGSM();
loopFTP();
UpdatingFlash();
if(!innerState.bootFTPStarted)
naviPacketHandle();
rcvPacketHandle();
rcvPacketHandleUSB();
#endif
#if !defined (VER_3)
buttonScan();
accelScan();
#endif
//rs485Analyse();
handleFOS();
executeDelayedCmd();
#if defined (VER_3)
#if 0
if(innerState.flagDebug)
{
DACSpeaker(1);
/* Start DAC Channel1 conversion by software */
//a += 300;
//DAC_SetChannel1Data(DAC_Align_12b_R, 4000);
//DAC_SetChannel1Data(DAC_Align_12b_L, a); //for saw
//DAC_SetChannel1Data(DAC_Align_8b_R, a);
//DAC_SetChannel1Data(DAC_Align_12b_R, 4095);
//DAC_SetChannel1Data(DAC_Align_12b_R, 0);
//for (a = 0; a<4095; ++a)
//for(;;)
// DAC_SetChannel1Data(DAC_Align_12b_R, 0);
//DAC_SetChannel1Data(DAC_Align_12b_R, 0);
//for ( ; ; )
//{
// DAC_SoftwareTriggerCmd(DAC_Channel_1, ENABLE);
//}
DAC_SoftwareTriggerCmd(DAC_Channel_1, ENABLE); //debugga
}
else
{
DACSpeaker(0);
}
#endif
#endif
}
else
handleUSBPresent();
} //while(1)
}
