void main(void) {
rccInit();
timerInit();
configInit();
adcInit();
fetInit();
serialInit();
runInit();
cliInit();
owInit();
runDisarm(REASON_STARTUP);
inputMode = ESC_INPUT_PWM;
fetSetDutyCycle(0);
fetBeep(200, 100);
fetBeep(300, 100);
fetBeep(400, 100);
fetBeep(500, 100);
fetBeep(400, 100);
fetBeep(300, 100);
fetBeep(200, 100);
pwmInit();
statusLed = digitalInit(GPIO_STATUS_LED_PORT, GPIO_STATUS_LED_PIN);
digitalHi(statusLed);
errorLed = digitalInit(GPIO_ERROR_LED_PORT, GPIO_ERROR_LED_PIN);
digitalHi(errorLed);
#ifdef ESC_DEBUG
tp = digitalInit(GPIO_TP_PORT, GPIO_TP_PIN);
digitalLo(tp);
#endif
// self calibrating idle timer loop
{
volatile unsigned long cycles;
volatile unsigned int *DWT_CYCCNT = (int *)0xE0001004;
volatile unsigned int *DWT_CONTROL = (int *)0xE0001000;
volatile unsigned int *SCB_DEMCR = (int *)0xE000EDFC;
*SCB_DEMCR = *SCB_DEMCR | 0x01000000;
*DWT_CONTROL = *DWT_CONTROL | 1; // enable the counter
minCycles = 0xffff;
while (1) {
idleCounter++;
NOPS_4;
cycles = *DWT_CYCCNT;
*DWT_CYCCNT = 0; // reset the counter
// record shortest number of instructions for loop
totalCycles += cycles;
if (cycles < minCycles)
minCycles = cycles;
}
}
}
void expbrdInit()
{
if(isInit)
return;
owInit();
expbrdScan();
#ifndef FORCE_EXP_DETECT
if (expbrdIsPresent(EXPBRD_VID_BITCRAZE, EXPBRD_PID_LEDRING))
#endif
{
neopixelringInit();
DEBUG_PRINT("neopixelringInit ok\n");
}
isInit = true;
}
void expbrdInit()
{
if(isInit)
return;
owInit();
expbrdScan();
#ifndef FORCE_EXP_DETECT
if (expbrdIsPresent(EXPBRD_VID_BITCRAZE, EXPBRD_PID_LEDRING))
#endif
{
#ifndef BRUSHLESS_PROTO_DECK_MAPPING
// Can't have LED-ring and brushless breakout at the same time
// as they share TIM3
neopixelringInit();
#endif
}
isInit = true;
}
void esc32SetupOw(const GPIO_TypeDef *port, const uint16_t pin, uint8_t mode) {
int16_t paramId;
int i = 0;
owInit((GPIO_TypeDef *)port, pin);
// get ESC32 version
owData.buf[0] = OW_VERSION;
owTransaction(1, 16);
if (owData.status != OW_STATUS_NO_PRESENSE) {
AQ_PRINTF("ESC32: OW ver: %s\n", owData.buf);
paramId = esc32OwGetParamId("STARTUP_MODE");
if (paramId < 0) {
AQ_NOTICE("ESC32: OW cannot read parameters\n");
}
else if (esc32OwReadParamById(paramId) != (float)mode) {
if (esc32OwSetMode(mode) != mode)
AQ_NOTICE("ESC32: OW failed to set run mode\n");
if (esc32OwWriteParam(paramId, (float)mode) != (float)mode)
AQ_NOTICE("ESC32: OW failed to write parameter\n");
else
i++;
}
i += esc32ReadFile(0, 0);
if (i > 0) {
esc32OwConfigWrite();
AQ_PRINTF("ESC32: OW updated %d param(s) in flash\n", i);
}
}
else {
AQ_NOTICE("ESC32: cannot detect ESC via OW\n");
}
}
static void enumerateDecks(void)
{
uint8_t nDecks = 0;
bool noError = true;
owInit();
if (owScan(&nDecks))
{
DECK_INFO_DBG_PRINT("Found %d deck memor%s.\n", nDecks, nDecks>1?"ies":"y");
} else {
DEBUG_PRINT("Error scanning for deck memories, "
"no deck drivers will be initialised\n");
nDecks = 0;
}
#ifndef IGNORE_OW_DECKS
for (int i = 0; i < nDecks; i++)
{
DECK_INFO_DBG_PRINT("Enumerating deck %i\n", i);
if (owRead(i, 0, sizeof(deckInfos[0].raw), (uint8_t *)&deckInfos[i]))
{
if (infoDecode(&deckInfos[i]))
{
deckInfos[i].driver = findDriver(&deckInfos[i]);
printDeckInfo(&deckInfos[i]);
} else {
#ifdef DEBUG
DEBUG_PRINT("Deck %i has corrupt OW memory. "
"Ignoring the deck in DEBUG mode.\n", i);
deckInfos[i].driver = &dummyDriver;
#else
DEBUG_PRINT("Deck %i has corrupt OW memory. "
"No driver will be initialized!\n", i);
noError = false;
#endif
}
}
else
{
DEBUG_PRINT("Reading deck nr:%d [FAILED]. "
"No driver will be initialized!\n", i);
noError = false;
}
}
#else
DEBUG_PRINT("Ignoring all OW decks because of compile flag.\n");
nDecks = 0;
#endif
// Add build-forced driver
if (strlen(deck_force) > 0) {
DEBUG_PRINT("DECK_FORCE=%s found\n", deck_force);
//split deck_force into multiple, separated by colons, if available
char delim[] = ":";
char temp_deck_force[strlen(deck_force)];
strcpy(temp_deck_force, deck_force);
char * token = strtok(temp_deck_force, delim);
while (token) {
deck_force = token;
const DeckDriver *driver = deckFindDriverByName(deck_force);
if (!driver) {
DEBUG_PRINT("WARNING: compile-time forced driver %s not found\n", deck_force);
} else if (driver->init || driver->test) {
if (nDecks <= DECK_MAX_COUNT)
{
nDecks++;
deckInfos[nDecks - 1].driver = driver;
DEBUG_PRINT("compile-time forced driver %s added\n", deck_force);
} else {
DEBUG_PRINT("WARNING: No room for compile-time forced driver\n");
}
}
token = strtok(NULL, delim);
}
}
if (noError) {
count = nDecks;
}
return;
}
void scu_init()
{
uchar FamilySN[MAXDEVICES][8];
int current_temp;
int c_frac;
int i = 0;
int j = 0;
int cnt = 0;
int NumDevices = 0;
SMALLINT didRead = 0;
uchar read_buffer[32];
uchar write_buffer[32];
owInit();
uart_init();
uart_write_string("SCU\n");
//use port number for 1-wire
uchar portnum = ONEWIRE_PORT;
j = 0;
// Find the device(s)
NumDevices = 0;
NumDevices += FindDevices(portnum, &FamilySN[NumDevices], 0x42, MAXDEVICES-NumDevices);
NumDevices += FindDevices(portnum, &FamilySN[NumDevices], 0x20, MAXDEVICES-NumDevices);
NumDevices += FindDevices(portnum, &FamilySN[NumDevices], 0x43, MAXDEVICES-NumDevices);
if (NumDevices)
{
mprintf("\r\n");
// read the temperature and print serial number and temperature
for (i = NumDevices; i; i--)
{
mprintf("(%d) ", j++);
DisplaySerialNum(FamilySN[i-1]);
if (FamilySN[i-1][0] == 0x43) {
// if(!Write43(portnum, FamilySN[i-1], write_buffer))
// mprintf("write failed!\n");
owLevel(portnum, MODE_NORMAL);
if (ReadMem43(portnum, FamilySN[i-1], read_buffer))
{
for(cnt = 0; cnt < 32; cnt++)
{
mprintf("read_buffer[%x]: %x\n",cnt, read_buffer[cnt]);
}
}
continue;
}
if (FamilySN[i-1][0] == 0x42) {
didRead = ReadTemperature42(portnum, FamilySN[i-1],¤t_temp,&c_frac);
}
if (didRead)
{
mprintf(" %d",current_temp);
if (c_frac)
mprintf(".5");
else
mprintf(".0");
mprintf(" deegree celsius\r\n");
}
else
{
mprintf(" Convert failed. Device is");
if(!owVerify(portnum, FALSE))
mprintf(" not");
mprintf(" present.\r\n");
#ifdef SOCKIT_OWM_ERR_ENABLE
while(owHasErrors())
mprintf(" - Error %d\r\n", owGetErrorNum());
#endif
}
}
}
else
mprintf("No temperature devices found!\r\n");
}
void main(void) {
rccInit();
statusLed = digitalInit(GPIO_STATUS_LED_PORT, GPIO_STATUS_LED_PIN);
errorLed = digitalInit(GPIO_ERROR_LED_PORT, GPIO_ERROR_LED_PIN);
#ifdef ESC_DEBUG
tp = digitalInit(GPIO_TP_PORT, GPIO_TP_PIN);
digitalLo(tp);
#endif
timerInit();
configInit();
adcInit();
fetInit();
serialInit();
canInit();
runInit();
cliInit();
owInit();
runDisarm(REASON_STARTUP);
inputMode = ESC_INPUT_PWM;
fetSetDutyCycle(0);
fetBeep(200, 100);
fetBeep(300, 100);
fetBeep(400, 100);
fetBeep(500, 100);
fetBeep(400, 100);
fetBeep(300, 100);
fetBeep(200, 100);
pwmInit();
digitalHi(statusLed);
digitalHi(errorLed);
// self calibrating idle timer loop
{
uint32_t lastRunCount;
uint32_t thisCycles, lastCycles;
volatile uint32_t cycles;
volatile uint32_t *DWT_CYCCNT = (uint32_t *)0xE0001004;
volatile uint32_t *DWT_CONTROL = (uint32_t *)0xE0001000;
volatile uint32_t *SCB_DEMCR = (uint32_t *)0xE000EDFC;
*SCB_DEMCR = *SCB_DEMCR | 0x01000000;
*DWT_CONTROL = *DWT_CONTROL | 1; // enable the counter
minCycles = 0xffff;
while (1) {
idleCounter++;
if (runCount != lastRunCount && !(runCount % (RUN_FREQ / 1000))) {
if (commandMode == CLI_MODE)
cliCheck();
else
binaryCheck();
lastRunCount = runCount;
}
thisCycles = *DWT_CYCCNT;
cycles = thisCycles - lastCycles;
lastCycles = thisCycles;
// record shortest number of instructions for loop
totalCycles += cycles;
if (cycles < minCycles)
minCycles = cycles;
}
}
}
