void CommHandler(void) //UART4 Interrupt handler implementation
{
int c = GetChar();
if (c >= 0)
{
LEDon();
switch (c)
{
case 'a':
debugAutoPan ^= 1;
print("Autopan messages %s\r\n", debugAutoPan ? "on" : "off");
break;
case 'b':
print("rebooting into boot loader ...\r\n");
Delay_ms(1000);
bootloader();
break;
case 'c':
debugCnt ^= 1;
print("counter messages %s\r\n", debugCnt ? "on" : "off");
break;
case 'd':
debugPrint ^= 1;
print("debug messages %s\r\n", debugPrint ? "on" : "off");
break;
case 'g':
Delay_ms(100);
PutChar('x');
for (int i = 0; i < CONFIGDATASIZE; i++)
{
uint8_t data = configData[i];
PutChar(data);
}
break;
case 'G':
printConfig();
break;
#if 0
case 'H':
if (CharAvailable() >= CONFIGDATASIZE)
{
for (int i = 0; i < CONFIGDATASIZE; i++)
{
uint8_t data = GetChar();
if (data <= LARGEST_CONFIGDATA)
{
configData[i] = data;
}
}
configSave();
}
else
{
UnGetChar(c); // try again in next loop
}
break;
#endif
case 'h':
for (int i = 0; i < CONFIGDATASIZE; i++)
{
int data;
while ((data = GetChar()) < 0)
;
if (data <= LARGEST_CONFIGDATA)
{
configData[i] = data;
}
}
configSave();
break;
case 'i':
ConfigMode = 1;
break;
case 'j':
ConfigMode = 0;
break;
case 'o':
debugOrient ^= 1;
print("Orientation messages %s\r\n", debugOrient ? "on" : "off");
break;
case 'O':
debugGravityVector ^= 1;
print("GVector messages %s\r\n", debugGravityVector ? "on" : "off");
break;
case 'S':
debugSetpoints ^= 1;
print("Setpoints messages %s\r\n", debugSetpoints ? "on" : "off");
break;
case 'p':
debugPerf ^= 1;
print("performance messages %s\r\n", debugPerf ? "on" : "off");
break;
case 'r':
debugRC ^= 1;
print("RC messages %s\r\n", debugRC ? "on" : "off");
break;
case 'R':
print("rebooting...\r\n");
Delay_ms(1000);
reboot();
break;
case 's':
debugSense ^= 1;
print("Sensor messages %s\r\n", debugSense ? "on" : "off");
break;
case 'u':
{
extern int bDeviceState;
printUSART("\r\nYY bDeviceState %3d VCPConnectMode %d\r\n", bDeviceState, GetVCPConnectMode());
break;
}
case 'v':
print("Version: %s\r\n", __EV_VERSION);
break;
case '+':
testPhase += 0.1;
print("test phase output %5.1f\r\n", testPhase);
break;
case '-':
testPhase -= 0.1;
print("test phase output %5.1f\r\n", testPhase);
break;
/*
case '?':
print("CLI documentation\r\n");
// print("\t'+' test phase output increase (now %5.1f)\r\n", testPhase);
//print("\t'-' test phase output decrease (now %5.1f)\r\n", testPhase);
print("\t'a' autopan messages display (now %s)\r\n", debugAutoPan ? "on" : "off");
print("\t'b' reboot into bootloader\r\n");
print("\t'c' counter messages display (now %s)\r\n", debugCnt ? "on" : "off");
print("\t'd' debug messages display (now %s)\r\n", debugPrint ? "on" : "off");
print("\t'g' dump configuration (binary)\r\n");
print("\t'G' dump configuration (hexadecimal)\r\n");
// print("\t'h' write and save config array\r\n");
print("\t'i' enter config mode (now %s)\r\n", ConfigMode ? "on" : "off");
print("\t'j' leave config mode (now %s)\r\n", ConfigMode ? "on" : "off");
print("\t'o' orientation messages display (now %s)\r\n", debugOrient ? "on" : "off");
print("\t'p' performance messages display (now %s)\r\n", debugPerf ? "on" : "off");
print("\t'r' RC messages display (now %s)\r\n", debugRC ? "on" : "off");
print("\t'R' reboot\r\n");
print("\t's' toggle sensor messages display (now %s)\r\n", debugSense ? "on" : "off");
print("\t'u' print USB state (bDeviceState %3d VCPConnectMode %d)\r\n", bDeviceState, GetVCPConnectMode());
print("\t'v' print version (%s)\r\n", __EV_VERSION);
break;
*/
default:
// TODO
break;
}
}
}
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 CommHandler(void) //UART4 Interrupt handler implementation
{
int c = GetChar();
if (c >= 0)
{
//ConfigMode = 1;
LEDon();
//print("got char %02X\r\n", c);
switch (c)
{
case 'b':
print("rebooting into boot loader ...\r\n");
Delay_ms(1000);
bootloader();
break;
case 'c':
debugCnt ^= 1;
print("counter messages %s\r\n", debugCnt ? "on" : "off");
break;
case 'd':
debugPrint ^= 1;
print("debug messages %s\r\n", debugPrint ? "on" : "off");
break;
case 'g':
Delay_ms(100);
PutChar('x');
for (int i = 0; i < CONFIGDATASIZE; i++)
{
uint8_t data = configData[i];
PutChar(data);
}
break;
case 'G':
printConfig();
break;
#if 0
case 'H':
if (CharAvailable() >= CONFIGDATASIZE)
{
for (int i = 0; i < CONFIGDATASIZE; i++)
{
uint8_t data = GetChar();
if (data <= LARGEST_CONFIGDATA)
{
configData[i] = data;
}
}
configSave();
}
else
{
UnGetChar(c); // try again in next loop
}
break;
#endif
case 'h':
for (int i = 0; i < CONFIGDATASIZE; i++)
{
int data;
while ((data = GetChar()) < 0)
;
if (data <= LARGEST_CONFIGDATA)
{
configData[i] = data;
}
}
configSave();
break;
case 'i':
ConfigMode = 1;
break;
case 'j':
ConfigMode = 0;
break;
case 'o':
debugOrient ^= 1;
print("Orientation messages %s\r\n", debugOrient ? "on" : "off");
break;
case 'p':
debugPerf ^= 1;
print("performance messages %s\r\n", debugPerf ? "on" : "off");
break;
case 'r':
debugRC ^= 1;
print("RC messages %s\r\n", debugRC ? "on" : "off");
break;
case 'R':
print("rebooting...\r\n");
Delay_ms(1000);
reboot();
break;
case 's':
debugSense ^= 1;
print("Sensor messages %s\r\n", debugSense ? "on" : "off");
break;
case 'u':
{
extern int bDeviceState;
printUSART("\r\nYY bDeviceState %3d VCPConnectMode %d\r\n", bDeviceState, GetVCPConnectMode());
break;
}
case '+':
testPhase += 0.1;
print("test phase output %5.1f\r\n", testPhase);
break;
case '-':
testPhase -= 0.1;
print("test phase output %5.1f\r\n", testPhase);
break;
default:
// TODO
break;
}
}
}
