void CommandSetup(const void *d)
{
if (opMode != ACTIVE) {
opMode = CONFIGURED;
uint32_t baudRate = *(uint32_t*)d;
Ecan1Init(F_OSC, baudRate);
}
}
void BallastNodeInit(void)
{
nodeId = CAN_NODE_RUDDER_CONTROLLER;
// Initialize our ECAN peripheral
Ecan1Init(F_OSC, NODE_CAN_BAUD);
// Initialize the EEPROM for storing the onboard parameters.
enum DATASTORE_INIT x = DataStoreInit();
if (x == DATASTORE_INIT_SUCCESS) {
ballastCalData.RestoredCalibration = true;
ballastCalData.Calibrated = true;
LATAbits.LATA3 = 1;
} else if (x == DATASTORE_INIT_FAIL) {
FATAL_ERROR();
}
// Transmit the ballast angle at 10Hz
if (!AddMessageRepeating(&sched, SCHED_ID_BALLAST_ANGLE, 10)) {
while (1);
}
// Transmit status at 4Hz
if (!AddMessageRepeating(&sched, SCHED_ID_CUSTOM_LIMITS, 4)) {
while (1);
}
// Transmit temperature at 1Hz
if (!AddMessageRepeating(&sched, SCHED_ID_TEMPERATURE, 1)) {
while (1);
}
// Transmit error/status at 2Hz
if (!AddMessageRepeating(&sched, SCHED_ID_STATUS, 2)) {
while (1);
}
}
void HilNodeInit(void)
{
// Set a unique node ID for this node.
nodeId = CAN_NODE_HIL;
// And configure the Peripheral Pin Select pins:
PPSUnLock;
// To enable ECAN1 pins: TX on 7, RX on 4
PPSOutput(OUT_FN_PPS_C1TX, OUT_PIN_PPS_RP7);
PPSInput(PPS_C1RX, PPS_RP4);
// To enable UART1 pins: TX on 11, RX on 13
PPSOutput(OUT_FN_PPS_U1TX, OUT_PIN_PPS_RP11);
PPSInput(PPS_U1RX, PPS_RP13);
// Configure SPI1 so that:
// * (input) SPI1.SDI = B8
PPSInput(PPS_SDI1, PPS_RP10);
// * SPI1.SCK is output on B9
PPSOutput(OUT_FN_PPS_SCK1, OUT_PIN_PPS_RP9);
// * (output) SPI1.SDO = B10
PPSOutput(OUT_FN_PPS_SDO1, OUT_PIN_PPS_RP8);
PPSLock;
// Enable pin A4, the amber LED on the CAN node, as an output. We'll blink this at 1Hz. It'll
// stay lit when in HIL mode with it turning off whenever packets are received.
_TRISA4 = 0;
// Initialize communications for HIL.
HilInit();
// Set Timer4 to be a 4Hz timer. Used for blinking the amber status LED.
Timer4Init(HilNodeBlink, 39062);
// Set up Timer2 for a 100Hz timer. This triggers CAN message transmission at the same frequency
// that the sensors actually do onboard the boat.
Timer2Init(HilNodeTimer100Hz, 1562);
// Initialize ECAN1
Ecan1Init();
// Set a schedule for outgoing CAN messages
// Transmit the rudder angle at 10Hz
if (!AddMessageRepeating(&sched, SCHED_ID_RUDDER_ANGLE, 10)) {
FATAL_ERROR();
}
// Transmit the rudder status at 10Hz
if (!AddMessageRepeating(&sched, SCHED_ID_RUDDER_LIMITS, 10)) {
FATAL_ERROR();
}
// Transmit the throttle status at 100Hz
if (!AddMessageRepeating(&sched, SCHED_ID_THROTTLE_STATUS, 10)) {
FATAL_ERROR();
}
// Transmit the RC status at 2Hz
if (!AddMessageRepeating(&sched, SCHED_ID_RC_STATUS, 2)) {
FATAL_ERROR();
}
// Transmit latitude/longitude at 5Hz
if (!AddMessageRepeating(&sched, SCHED_ID_LAT_LON, 5)) {
FATAL_ERROR();
}
// Transmit heading & speed at 5Hz
if (!AddMessageRepeating(&sched, SCHED_ID_COG_SOG, 5)) {
FATAL_ERROR();
}
// Transmit heading & speed at 5Hz
if (!AddMessageRepeating(&sched, SCHED_ID_GPS_FIX, 5)) {
FATAL_ERROR();
}
}
void ImuNodeInit(uint32_t f_osc)
{
// And configure the Peripheral Pin Select pins:
PPSUnLock;
PPSUnLock;
#ifdef __dsPIC33FJ128MC802__
// To enable ECAN1 pins: TX on 7, RX on 4
PPSOutput(OUT_FN_PPS_C1TX, OUT_PIN_PPS_RP7);
PPSInput(IN_FN_PPS_C1RX, IN_PIN_PPS_RP4);
// To enable UART1 pins: TX on 9, RX on 8
PPSOutput(OUT_FN_PPS_U1TX, OUT_PIN_PPS_RP9);
PPSInput(IN_FN_PPS_U1RX, IN_PIN_PPS_RP8);
#elif __dsPIC33EP256MC502__
// To enable ECAN1 pins: TX on 39, RX on 36
PPSOutput(OUT_FN_PPS_C1TX, OUT_PIN_PPS_RP39);
PPSInput(IN_FN_PPS_C1RX, IN_PIN_PPS_RP36);
// To enable UART1 pins: TX on 41, RX on 40
PPSOutput(OUT_FN_PPS_U1TX, OUT_PIN_PPS_RP41);
PPSInput(IN_FN_PPS_U1RX, IN_PIN_PPS_RP40);
#endif
PPSLock;
// Also disable analog functionality on B8 so we can use it for UART1 RX.
// This only applies to the dsPIC33E family.
#ifdef __dsPIC33EP256MC502__
ANSELBbits.ANSB8 = 0;
#endif
// Initialize status LEDs for use.
// A3 (output): Red LED, off by default, and is solid when the system hit a fatal error.
_TRISA3 = 0;
_LATA3 = 0;
// A4 (output): Amber LED, blinks at 1Hz when disconnected from the IMU, 2Hz otherwise.
_TRISA4 = 0;
_LATA4 = 0;
_TRISB7 = 0; // Set ECAN1_TX pin to an output
_TRISB4 = 1; // Set ECAN1_RX pin to an input;
// Set up UART1 for 115200 baud. There's no round() on the dsPICs, so we implement our own.
double brg = (double)f_osc / 2.0 / 16.0 / 115200.0 - 1.0;
if (brg - floor(brg) >= 0.5) {
brg = ceil(brg);
} else {
brg = floor(brg);
}
Uart1Init((uint16_t)brg);
// Initialize ECAN1 for input and output using DMA buffers 0 & 2
Ecan1Init(f_osc, NODE_CAN_BAUD);
// Set the node ID
nodeId = CAN_NODE_IMU_SENSOR;
// Set up all of our tasks.
// Blink at 1Hz
if (!AddMessageRepeating(&taskSchedule, TASK_BLINK, RATE_TRANSMIT_BLINK_DEFAULT)) {
FATAL_ERROR();
}
// Transmit node status at 2Hz
if (!AddMessageRepeating(&taskSchedule, TASK_TRANSMIT_STATUS, RATE_TRANSMIT_NODE_STATUS)) {
FATAL_ERROR();
}
// Transmit IMU data at 25Hz
if (!AddMessageRepeating(&taskSchedule, TASK_TRANSMIT_IMU, RATE_TRANSMIT_IMU_DATA)) {
FATAL_ERROR();
}
}
