void main()
{
u16 i;
u8 dir=0,height=0,cmd=0;
u8 color=0,light=0;
u8 temp;
u8 d,h;
Timer0Init();
Timer1Init();
usart_init(9600);
//SendString("mcu is working!\n");
while(1)
{
/*获取地址*/
block=P2&0x0f;
pole=(P3&0xf0)>>4;
/*串口接收处理*/
if(USART_RX_STA==STA_OK)
{
for(i=0;i<USART_REC_LEN;i++)//返回数据
{
SendData(USART_RX_BUF[i]);
}
if(USART_RX_BUF[0]==0)//群发数据
{
cmd = USART_RX_BUF[1];
switch(cmd)
{
case 1:Display_ALL();break;//同步
case 2:OFF_ALL();break;//复位
case 3:break;//呼吸灯
case 4:color = USART_RX_BUF[2];
light = USART_RX_BUF[3];
LED_ALL_ON(color,light);break;//跑马灯
case 5:check_led();break;//检测
case 6:WriteData(IAP_ADDRESS,480,EEPROM_TEMP);break;//将缓存区数据存入EEPORM
case 7:ReadRGB_EEPORM_ByID(IAP_ADDRESS,1);break;
case 8:for(i=0;i<ONE_SECTOR;i++)
{
temp = IAP_ReafByte(IAP_ADDRESS+i);
SendData(temp);
}break;//读取EEPROM数据
case 9:ET0=0;
SendData(block);//返回目标地址
SendData(pole);break;
case 10:ET0=1;break;
}
SendData(cmd);//返回命令字
}
else if(USART_RX_BUF[0]>0)//单个目标数据
{
if(USART_RX_BUF[0]==block&&USART_RX_BUF[1]==pole)//是否为目标地址
{
RGB_DATA.dir = USART_RX_BUF[2];//获取方向值
RGB_DATA.height = USART_RX_BUF[3];//获取高度值
RGB_DATA.rgb[0] = USART_RX_BUF[4];//获取数据值
RGB_DATA.rgb[1] = USART_RX_BUF[5];
RGB_DATA.rgb[2] = USART_RX_BUF[6];
RGB_DATA.id = USART_RX_BUF[7];//获得帧ID
// rgb =&USART_RX_BUF[4];//获取数据值
//
// SetRGB(dir,height,rgb);//设置数据值
WriteRGB_EEPROMTemp(EEPROM_TEMP,RGB_DATA);
// SendData(block);//返回目标地址
// SendData(pole);
}
}
USART_RX_STA=STA0;
USART_REC_LEN=0;
}
for(d=1;d<=4;d++)
for(h=1;h<=4;h++)
BreathingLight(d,h,1,60);
}
}
//////////////////////////////////////////////////////////////////////
// This function mainly loads ALL the images available in the TIM
// (except TIM, DUALTIM, and OBM) and validates them.
// It essentially returns the next image that we will transfer the
// control to.
//
// Inputs: Current TIM pointer, BootMode(SINGLE or DUAL)
// Outputs: Returns the next image that we will transfer the control to.
//////////////////////////////////////////////////////////////////////
pIMAGE_INFO_3_4_0 LoadAllImages( pTIM pTIM_h)
{
UINT_T Retval = NoError;
UINT_T ImageID = 0; // Initialize it as an invalid image
UINT_T ImageIndex, ImageSize, decompressLength, start, end, start_read, end_read;
pIMAGE_INFO_3_4_0 pImageInfo = NULL;
pIMAGE_INFO_3_4_0 pNextImageToTransferTo = NULL; // Used for storing the next image we want to transfer control to
// after loading all the available images.
flash_test();
#if ZIMI_PB05
extern PowerUPType_t powerup;
extern int isInNormalSys;
isInNormalSys = 1; //set Normal sys flag
if(powerup != PowerUP_USB)
{
#if ZIMI_LAST_LED_MODE
if(powerup == PowerUP_ONKEY)
{
zimi_blink_led();
}
else if(powerup == PowerUP_Reset)
{
LED_ALL_ON();
}
#else
LED_WIFI_G_ON();
LED_BAT_G_ON();
LED_LTE_G_ON();
#endif
}
else //xyl USB mode, we light BAT led only according to VBAT
{
#if 0
UINT16_T vbat_mv;
GetBatInstantVolt(&vbat_mv,USB_NotConnect);
UINT8_T m_temp = IIC_read(0x07) & 0xff;
if(3500<vbat_mv && vbat_mv<4050)
{
m_temp |= 0x20;
IIC_write(0x07,m_temp);
Delay_us(300*1000);
//GetBatInstantVolt(&vbat_mv,USB_NotConnect);
ReadBatVolt(&vbat_mv);
m_temp &= ~0x20;
IIC_write(0x07,m_temp);
}
else
{
//GetBatInstantVolt(&vbat_mv,USB_NotConnect);
ReadBatVolt(&vbat_mv);
}
serial_outstr("zimi# last vbat\n");
serial_outnum(vbat_mv);
serial_outstr("\n");
*(VUINT_T *)ZIMI_BATVOL_INIT_FLAG_ADDR = vbat_mv;
if(vbat_mv<3600)
{
serial_outstr("zimi# bat led low\n");
LED_BAT_R_ON();
}
else if(vbat_mv<3750)
{
serial_outstr("zimi# bat led middle\n");
LED_BAT_R_ON();
LED_BAT_G_ON();
}
else
{
serial_outstr("zimi# bat led high\n");
LED_BAT_G_ON();
}
#endif
}
#endif
#if LWG_LTG_SUPPORT
VUINT_T LWGLTGFlag = PlatformCheckLTGLWGFlag();
pWTP_RESERVED_AREA_HEADER pWRAH = NULL;
pLTG_LWG_Select pLL = NULL;
UINT_T choice = 0;
#endif
#if DECOMPRESS_SUPPORT
OBM_MPUCache_Init();
MPUFlag = 1;
#endif
// Depending on the version of the TIM, determine the size of each image in bytes.
// We will use this size to iterate through the TIM binary from image to image.
if (pTIM_h->pConsTIM->VersionBind.Version >= TIM_3_4_00)
ImageSize = sizeof(IMAGE_INFO_3_4_0);
else
ImageSize = sizeof(IMAGE_INFO_3_2_0);
// This is the very initial TIM image! Assumes that the TIM image is located at the top of the
// TIM file. Otherwise, we would skip images.
pImageInfo = pTIM_h->pImg;
#if LWG_LTG_SUPPORT
serial_outstr("LWG/LTG switch flag\n");
serial_outnum(LWGLTGFlag);
serial_outstr("\n");
if ((LWGLTGFlag != PLATFORM_5MODE_LTG_VER) &&
(LWGLTGFlag != PLATFORM_5MODE_LWG_VER) &&
(LWGLTGFlag != PLATFORM_3MODE_LTG_VER) &&
(LWGLTGFlag != PLATFORM_3MODE_LWG_VER))
{
pWRAH = FindPackageInReserved(&Retval, pTIM_h, LTGLWGSELECTID);
if ((pWRAH == NULL) || (Retval != NoError))
{
PlatformSetLTGLWGFlag(PLATFORM_3MODE_LTG_VER);
LWGLTGFlag = PLATFORM_3MODE_LTG_VER;
serial_outstr("LTG/LWG select package not found, default to 3Mode LTG\n");
}
else
{
pLL = (pLTG_LWG_Select) pWRAH;
choice = pLL->Choice;
switch (choice)
{
case 0: // 5Mdoe LTG
PlatformSetLTGLWGFlag(PLATFORM_5MODE_LTG_VER);
LWGLTGFlag = PLATFORM_5MODE_LTG_VER;
serial_outstr("Select to 5Mode LTG\n");
break;
case 1: // 5Mode LWG
PlatformSetLTGLWGFlag(PLATFORM_5MODE_LWG_VER);
LWGLTGFlag = PLATFORM_5MODE_LWG_VER;
serial_outstr("Select to 5Mode LWG\n");
break;
case 2: // 3Mode LTG
PlatformSetLTGLWGFlag(PLATFORM_3MODE_LTG_VER);
LWGLTGFlag = PLATFORM_3MODE_LTG_VER;
serial_outstr("Select to 3Mode LTG\n");
break;
case 3: // 3Mode LWG
PlatformSetLTGLWGFlag(PLATFORM_3MODE_LWG_VER);
LWGLTGFlag = PLATFORM_3MODE_LWG_VER;
serial_outstr("Select to 3Mode LWG\n");
break;
default:
PlatformSetLTGLWGFlag(PLATFORM_3MODE_LTG_VER);
LWGLTGFlag = PLATFORM_3MODE_LTG_VER;
serial_outstr("Wrong package setting found, default to 3Mode LTG\n");
break;
}
}
}
#endif
// Read in the number of images from the TIM and iterate through each of these images.
// We load them and we validate them.
for( ImageIndex = 0; ImageIndex < pTIM_h->pConsTIM->NumImages; ImageIndex++ )
{
// We skip the TIM, DUALTIM, and OBM images. We load/validate all the others.
if( (pImageInfo->ImageID != TIMIDENTIFIER) &&
(pImageInfo->ImageID != OBMIDENTIFIER) &&
(pImageInfo->ImageID != OBM2IDENTIFIER) &&
(pImageInfo->LoadAddr != 0xFFFFFFFF)
)
{
#if I2C
//battery_process_step3();
#endif
#if BACKUP_IMAGE
if (pImageInfo->ImageID == SBOOT_ID)
{
serial_outstr("skip to load backup CP\n");
pImageInfo = (IMAGE_INFO_3_4_0*)((unsigned char*)pImageInfo + ImageSize);
continue;
}
#endif
#if SBOOT
if ((sboot_flag == 0x55) && (pImageInfo->ImageID == SBOOT_ID))
{
serial_outstr("skip to load sboot\n");
pImageInfo = (IMAGE_INFO_3_4_0*)((unsigned char*)pImageInfo + ImageSize);
continue;
}
#else
if (pImageInfo->ImageID == SBOOT_ID)
{
serial_outstr("skip to load sboot\n");
pImageInfo = (IMAGE_INFO_3_4_0*)((unsigned char*)pImageInfo + ImageSize);
continue;
}
#endif
#if LWG_LTG_SUPPORT
if ((LWGLTGFlag == PLATFORM_5MODE_LWG_VER) ||
(LWGLTGFlag == PLATFORM_3MODE_LWG_VER))
{
if ( (pImageInfo->ImageID == LTGOSLOADERID) ||
(pImageInfo->ImageID == LTGRELIABLEID) ||
(pImageInfo->ImageID == LTGDSPID) ||
(pImageInfo->ImageID == LTGSKYLARKID) ||
(pImageInfo->ImageID == LTGRESERVED1ID) ||
(pImageInfo->ImageID == LTGRESERVED2ID) ||
(pImageInfo->ImageID == LTGRESERVED3ID)
)
{
serial_outstr("Skip to load LTG image flash address\n");
serial_outnum(pImageInfo->FlashEntryAddr);
serial_outstr("\n");
pImageInfo = (IMAGE_INFO_3_4_0*)((unsigned char*)pImageInfo + ImageSize);
continue;
}
}
else if ((LWGLTGFlag == PLATFORM_5MODE_LTG_VER) ||
(LWGLTGFlag == PLATFORM_3MODE_LTG_VER))
{
if ( (pImageInfo->ImageID == OSLOADERID) ||
(pImageInfo->ImageID == RELIABLEID) ||
(pImageInfo->ImageID == LWGDSPID) ||
(pImageInfo->ImageID == LWGSKYLARKID) ||
(pImageInfo->ImageID == LWGRESERVED1ID) ||
(pImageInfo->ImageID == LWGRESERVED2ID) ||
(pImageInfo->ImageID == LWGRESERVED3ID)
)
{
serial_outstr("Skip to load LWG image flash address\n");
serial_outnum(pImageInfo->FlashEntryAddr);
serial_outstr("\n");
pImageInfo = (IMAGE_INFO_3_4_0*)((unsigned char*)pImageInfo + ImageSize);
continue;
}
}
#endif
// Store a pointer to the OSLO image because we will transfer control to it!
// If this image is not found in the TIM, then we return NULL and
// we will fail in BootLoaderMain.
#if LWG_LTG_SUPPORT
if (((LWGLTGFlag == PLATFORM_5MODE_LTG_VER) ||
(LWGLTGFlag == PLATFORM_3MODE_LTG_VER)) &&
(pImageInfo->ImageID == LTGOSLOADERID))
{
#if USE_SERIAL_DEBUG
serial_outstr("LTG uboot\n");
#endif
pNextImageToTransferTo = pImageInfo;
}
if (((LWGLTGFlag == PLATFORM_5MODE_LWG_VER) ||
(LWGLTGFlag == PLATFORM_3MODE_LWG_VER)) &&
(pImageInfo->ImageID == OSLOADERID))
{
#if USE_SERIAL_DEBUG
serial_outstr("LWG uboot\n");
#endif
pNextImageToTransferTo = pImageInfo;
}
#elif SBOOT
if ((pImageInfo->ImageID == OSLOADERID) && (sboot_flag == 0x55))
{
#if USE_SERIAL_DEBUG
serial_outstr("uboot\n");
#endif
pNextImageToTransferTo = pImageInfo;
}
if ((sboot_flag == 0xaa) && (pImageInfo->ImageID == SBOOT_ID))
{
#if USE_SERIAL_DEBUG
serial_outstr("Sboot\n");
#endif
pNextImageToTransferTo = pImageInfo;
}
#else
if (pImageInfo->ImageID == OSLOADERID)
{
#if USE_SERIAL_DEBUG
serial_outstr("uboot\n");
#endif
pNextImageToTransferTo = pImageInfo;
}
#endif
// We read images from the flash and load them into the LOAD ADDRESS specified in the TIM for each image.
// For now, we do NOT care if there is a conflict when an image needs to load where we are currently running from.
// We assume that this will not happen.
#if MMC_CODE
if((pTIM_h->pConsTIM->VersionBind.Version) >= TIM_3_2_00)
{
SetPartition(pImageInfo->PartitionNumber, BOOT_FLASH);
}
#endif
#if DECOMPRESS_SUPPORT
if ((pImageInfo->ImageID != RELIABLEID) &&
(pImageInfo->ImageID != LTGRELIABLEID) &&
(pImageInfo->ImageID != LWGRESERVED1ID) &&
(pImageInfo->ImageID != LTGRESERVED1ID))
{
#if SBOOT
if (pImageInfo->ImageID != SBOOT_ID)
#endif
{
CacheInvalidateMemory(DECOMPRESS_TEMP_ADDR, DECOMPRESS_LENGTH);
start_read= GetOSCR0();
start_read = GetOSCR0();
Retval = ReadFlash(pImageInfo->FlashEntryAddr, DECOMPRESS_TEMP_ADDR, pImageInfo->ImageSize, BOOT_FLASH);
end_read= GetOSCR0();
serial_outstr("read time\n");
if (end_read > start_read)
serial_outnum(OSCR0IntervalInMilli(start_read, end_read));
else
serial_outnum(OSCR0IntervalInMilli(end_read, start_read));
serial_outstr("\n");
// If ReadFlash function fails, then we fail and return NULL.
if (Retval != NoError)
{
zimi_force_minisys(Retval);
FatalError(Retval);
}
decompressLength = DECOMPRESS_LENGTH;
#if ZIMI_PB05
#if ZIMI_LED_MODE
UINT8_T onkey_long_flag =0;
onkey_long_flag = UsticaBaseRead(USTICA_STATUS);
onkey_long_flag = UsticaBaseRead(USTICA_STATUS);//xyl:re-read for bug,f**k marvell
if ((onkey_long_flag & USTICA_ONKEY_STATUS) == USTICA_ONKEY_STATUS) //when onkey pressed > 3s, we need to tell CP
{
serial_outstr("onkey long press detected\n");
*(VUINT_T *)ZIMI_ONKEY_LONG_PRESS_FLAG_ADDR= 0x4C4F4E47;//LONG
LED_WIFI_G_ON();
}
#endif
#endif
start = GetOSCR0();
start = GetOSCR0();
#if QPRESS
Retval = quickLZ_decompress(DECOMPRESS_TEMP_ADDR, (UINT8_T *)pImageInfo->LoadAddr);
#else
Retval = LZMA_Decompress((UINT_T *)pImageInfo->LoadAddr, &decompressLength, (UINT_T *)DECOMPRESS_TEMP_ADDR, pImageInfo->ImageSize);
#endif
end = GetOSCR0();
if (pImageInfo->ImageID == OSLOADERID)
nextImageSize = decompressLength;
serial_outstr("Retval\n");
serial_outnum(Retval);
serial_outstr("\n");
serial_outstr("time\n");
if (end > start)
serial_outnum(OSCR0IntervalInMilli(start, end));
else
serial_outnum(OSCR0IntervalInMilli(end, start));
serial_outstr("\n");
//CacheInvalidateMemory(DECOMPRESS_TEMP_ADDR, DECOMPRESS_LENGTH);
if (Retval != NoError)
{
zimi_force_minisys(Retval);
FatalError(Retval);
}
}
#if SBOOT
else
{
Retval = ReadFlash(pImageInfo->FlashEntryAddr, pImageInfo->LoadAddr, pImageInfo->ImageSize, BOOT_FLASH);
if (Retval != NoError)
{
zimi_force_minisys(Retval);
FatalError(Retval);
}
}
#endif
}
else
{
#if MRD_CHECK
PlatformSetMRDAddr(pImageInfo->FlashEntryAddr, pImageInfo->ImageID);
Retval = ReadFlash(pImageInfo->FlashEntryAddr, pImageInfo->LoadAddr, pImageInfo->ImageSize, BOOT_FLASH);
if (Retval != NoError)
{
zimi_force_minisys(Retval);
FatalError(Retval);
}
CheckMRD(pImageInfo);
#else
Retval = ReadFlash(pImageInfo->FlashEntryAddr, pImageInfo->LoadAddr, pImageInfo->ImageSize, BOOT_FLASH);
if (Retval != NoError)
{
zimi_force_minisys(Retval);
FatalError(Retval);
}
#endif
}
#else
#if MRD_CHECK
if ((pImageInfo->ImageID != RELIABLEID) &&
(pImageInfo->ImageID != LTGRELIABLEID) &&
(pImageInfo->ImageID != LWGRESERVED1ID) &&
(pImageInfo->ImageID != LTGRESERVED1ID))
{
//start = GetOSCR0();
Retval = ReadFlash(pImageInfo->FlashEntryAddr, pImageInfo->LoadAddr, pImageInfo->ImageSize, BOOT_FLASH);
//end = GetOSCR0();
//serial_outstr("read singal image\n");
//if (end > start)
// serial_outnum(OSCR0IntervalInMilli(start, end));
//else
// serial_outnum(OSCR0IntervalInMilli(end, start));
//serial_outstr("\n");
if (Retval != NoError)
{
zimi_force_minisys(Retval);
FatalError(Retval);
}
}
else
{
PlatformSetMRDAddr(pImageInfo->FlashEntryAddr, pImageInfo->ImageID);
Retval = ReadFlash(pImageInfo->FlashEntryAddr, pImageInfo->LoadAddr, pImageInfo->ImageSize, BOOT_FLASH);
if (Retval != NoError)
{
zimi_force_minisys(Retval);
FatalError(Retval);
}
CheckMRD(pImageInfo);
}
#else
Retval = ReadFlash(pImageInfo->FlashEntryAddr, pImageInfo->LoadAddr, pImageInfo->ImageSize, BOOT_FLASH);
if (Retval != NoError)
{
zimi_force_minisys(Retval);
FatalError(Retval);
}
#endif
#endif
}
// Get a pointer to the next image we will load.
// For the last iteration (e.g. after the last image), we won't find an image.
// However, this is OK because pImageInfo is not used again.
pImageInfo = (IMAGE_INFO_3_4_0*)((unsigned char*)pImageInfo + ImageSize);
}
#if MRD_CHECK
#if SBOOT
if ((pMRD_valid == NULL) && (sboot_flag != 0xaa))
{
zimi_force_minisys(NOVALIDMRD);
FatalError(NOVALIDMRD);
}
#else
if (pMRD_valid == NULL)
{
zimi_force_minisys(NOVALIDMRD);
FatalError(NOVALIDMRD);
}
#endif
FinalizeMRD();
#endif
#if DECOMPRESS_SUPPORT
OBM_Flush();
OBM_MPUCache_Disable();
#endif
#if SPI_CODE
Giga_Disable4BytesMode();
#endif
return pNextImageToTransferTo;
}
int main(void) {
//***************************************************************************************//
//*****************ARRANCAMOS LA CONFIGURACION DEL PIC **********************************//
//***************************************************************************************//
Init_Hw();
Delay1msT1(0); //Configuramos el puertos y quitamos analogicos
Init_Pll();
Delay1msT1(0); //configuramos el pll que abiasmos arracamos sin él
Init_PWM();
Delay1msT1(0); //configuramos el PWM
init_interr_extern();
Delay1msT1(0); //configuramos las interrupciones externas
Init_Bluetooh();
Delay1msT1(0); //Configuramos el serial-Bluetooth
cargar_datos_ajuste();
Init_I2C();
Delay1msT1(0); //incializamos el I2c
set_inicial();
Delay1msT1(0); //Configuramos la incialicacion de sensor
getAngle_init();
Delay1msT1(0); //Incializamos el filtro kalman
set_inicial();
Delay1msT1(0); //Incializamos el acelerometro
LED_ALL_ON();
for (i = 0; i < 2500; i++) Delay_Nop(2000);
LED_ALL_OFF();
//***************************************************************************************//
//***************************************************************************************//
//*****************CALIBRAMOS EL ACELEROMETRO Y GIROSCOPO *******************************//
// get_calibrado_acelerometro(5, 50); //cojemos los valres por defecto del giroscopo y aceletometro
LED_ALL_OFF();
//***************************************************************************************//
//*****************INICIALIZAMOS EL PID Y LAS VARIABLES ********************************//
// pid_dsp_configuracion();
//***************************************************************************************//
LED_ALL_OFF();
//*****************ARRANCAMOS INTERRUPCION DEL BUCLE PRINCIPAL *************************//
SetupT3ForXmsPID(Tsample); //configuramos la interrupcion principal
SetupT4For20msPID(); //configuramos la interrupcion principal
StartInterrup4(); //incializamos la interrupcion
StartInterrup3(); //incializamos la interrupcion
enviar_mensaje("------------------------------------------------------");
//***************************************************************************************//
while (1) {
}
}
