/* 启动星球运行支持
*/
static void* _STInitPlanet(void* _v) {
struct configOption *confOpt;
char tmpstr[ALLOW_PATH_SIZE] = {""};
/* 游戏服务端初始化 */
confOpt = configGet(g_conf, "planet_server", "relative_path");
if (confOpt) {
if (confOpt->valueLen > ALLOW_PATH_SIZE) {
trvExit(0, "星球文件地址太长");
}
confOptToStr(confOpt, tmpstr);
snprintf(g_srvPlanetdir, ALLOW_PATH_SIZE, "%s/../planet/%s", g_basedir, tmpstr);
STServerInit();
}
/* 游戏客户端初始化 */
confOpt = configGet(g_conf, "planet_client", "relative_path");
if (confOpt) {
if (confOpt->valueLen > ALLOW_PATH_SIZE) {
trvExit(0, "星球文件地址太长");
}
confOptToStr(confOpt, tmpstr);
snprintf(g_cliPlanetdir, ALLOW_PATH_SIZE, "%s/../planet/%s", g_basedir, tmpstr);
STClientInit();
}
return NULL;
}
// Password authentication for admin interface
int myPassFn(HttpdConnData *connData, int no, char *user, int userLen, char *pass, int passLen)
{
if(no==0)
{
os_strncpy(user, configGet()->admin_user, userLen);
os_strncpy(pass, configGet()->admin_pass, passLen);
return 1;
}
return 0;
}
int Hdf::compare(const char *v2) const {
const char *v1 = configGet();
if (v1 == nullptr && v2 == nullptr) return 0;
if (v1 == nullptr) return -1;
if (v2 == nullptr) return 1;
return strcmp(v1, v2);
}
double Hdf::configGetDouble(double defValue /* = 0 */) const {
const char *v = configGet();
if (v == nullptr) return defValue;
char *endptr = nullptr;
double n = strtod(v, &endptr);
if (!endptr && !*endptr) {
throw HdfDataTypeException(this, "double", v);
}
return n;
}
uint64_t Hdf::getUInt(uint64_t defValue, const char *type, uint64_t mask) const {
const char *v = configGet();
if (v == nullptr) return defValue;
char *endptr = nullptr;
int64_t n = strtoull(v, &endptr, 0);
if ((!endptr && !*endptr) || (mask && ((uint64_t)n & mask))) {
throw HdfDataTypeException(this, type, v);
}
return n;
}
int64_t Hdf::getInt(int64_t defValue, const char *type, int64_t maxValue) const {
const char *v = configGet();
if (v == nullptr) return defValue;
char *endptr = nullptr;
int64_t n = strtoll(v, &endptr, 0);
if ((!endptr && !*endptr) ||
(maxValue && (n > maxValue || n < (- maxValue - 1)))) {
throw HdfDataTypeException(this, type, v);
}
return n;
}
// Initialize wifi, sensors and push data
void ICACHE_FLASH_ATTR init_done(void)
{
// Init wifi IP configuration
configInitIP();
// Init sensors
sensorsInit();
if(configGet()->sensor_mode==MODE_NORMAL)
{
// Normal mode
pushSensorData();
} else {
// Configuration mode
statusLed(LED_BLINK);
}
}
/* 启动网络
*/
static void* _NTInit(void* _v) {
pthread_mutex_lock(&g_rootThreadMutex);
int listenPort;
struct configOption *confOpt;
char tmpstr[TMPSTR_SIZE] = {""};
confOpt = configGet(g_conf, "net_server", "port");
if (NULL != confOpt) {
if (confOpt->valueLen > TMPSTR_SIZE) {
trvExit(0, "监听端口太大");
}
memcpy(tmpstr, confOpt->value, confOpt->valueLen);
tmpstr[confOpt->valueLen] = 0;
listenPort = atoi(tmpstr);
}
else listenPort = -1; /* 输入一个不正常的监听端口，意味着不监听 */
if (ERRNO_ERR == NTInit(listenPort)) {
trvExit(0, "初始化网络失败");
}
/*
if(aeCreateTimeEvent(g_server.el, 1, serverCron, NULL, NULL) == AE_ERR) {
trvLogE("Can't create the serverCron time event.");
exit(1);
}
*/
aeSetBeforeSleepProc(g_server.el, beforeSleep);
pthread_mutex_unlock(&g_rootThreadMutex);
pthread_cond_signal(&g_rootThreadCond);
aeMain(g_server.el);
aeDeleteEventLoop(g_server.el);
return NULL;
}
int motor_adc_init(void)
{
_shunt_resistance = configGet("mot_i_shunt_mr") / 1000.0f;
chSysDisable();
RCC->AHBENR |= RCC_AHBENR_DMA1EN; // Never disabled
RCC->CFGR &= ~RCC_CFGR_ADCPRE;
#if STM32_PCLK2 == 72000000
// ADC clock 72 / 6 = 12 MHz
RCC->CFGR |= RCC_CFGR_ADCPRE_DIV6;
#else
# error "What's wrong with PCLK2?"
#endif
chSysEnable();
enable();
return 0;
}
bool Hdf::configGetBool(bool defValue /* = false */) const {
const char *v = configGet();
if (v == nullptr) return defValue;
return convertRawConfigToBool(v);
}
std::string Hdf::configGetString(const std::string &defValue /* = "" */) const {
const char *v = configGet();
if (v == nullptr) return defValue;
return v;
}
static void configure(void)
{
_params.timing_advance_deg64 = configGet("mot_tim_adv") * 64 / 60;
_params.motor_bemf_window_len_denom = configGet("mot_bemf_win_den");
_params.bemf_valid_range_pct128 = configGet("mot_bemf_range") * 128 / 100;
_params.zc_failures_max = configGet("mot_zc_fails_max");
_params.zc_detects_min = configGet("mot_zc_dets_min");
_params.comm_period_max = configGet("mot_comm_per_max") * HNSEC_PER_USEC;
_params.comm_blank_hnsec = configGet("mot_blank_usec") * HNSEC_PER_USEC;
_params.spinup_timeout = configGet("mot_spup_to_ms") * HNSEC_PER_MSEC;
_params.spinup_start_comm_period = configGet("mot_spup_st_cp") * HNSEC_PER_USEC;
_params.spinup_end_comm_period = configGet("mot_spup_en_cp") * HNSEC_PER_USEC;
_params.spinup_num_good_comms = configGet("mot_spup_gcomms");
_params.spinup_duty_cycle_increment = configGet("mot_spup_dc_inc");
/*
* Validation
*/
if (_params.comm_period_max > motor_timer_get_max_delay_hnsec()) {
_params.comm_period_max = motor_timer_get_max_delay_hnsec();
}
if (_params.spinup_end_comm_period > _params.comm_period_max) {
_params.spinup_end_comm_period = _params.comm_period_max;
}
_params.adc_sampling_period = motor_adc_sampling_period_hnsec();
printf("Motor: RTCTL config: Max comm period: %u usec, BEMF window denom: %i\n",
(unsigned)(_params.comm_period_max / HNSEC_PER_USEC),
_params.motor_bemf_window_len_denom);
}
int main(int argc, char *argv[]) {
struct configOption *confOpt;
char tmpstr[ALLOW_PATH_SIZE] = {""};
pthread_t ntid;
g_logdir = NULL;
g_logF = stderr;
g_logFInt = STDERR_FILENO;
setlocale(LC_ALL,"");
zmalloc_enable_thread_safeness();
snprintf(tmpstr, ALLOW_PATH_SIZE, "%s/../", argv[0]);
if (NULL == realpath(tmpstr, g_basedir)) {
trvExit(0, "获取当前路径失败");
}
g_conf = initConfig();
snprintf(tmpstr, ALLOW_PATH_SIZE, "%s/../conf/default.conf", g_basedir);
configRead(g_conf, tmpstr);
if (argc > 1) configRead(g_conf, argv[1]); /* argv[1] 是配置文件路径 */
if (NULL == g_conf->contents) {
trvExit(0, "请选择配置文件");
}
confOpt = configGet(g_conf, "log", "dir");
if (confOpt) {
g_logdir = (char *)zmalloc(confOpt->valueLen+1);
memcpy(g_logdir, confOpt->value, confOpt->valueLen);
g_logdir[confOpt->valueLen] = 0x00;
g_logF = fopen(g_logdir, "a+");
g_logFInt = fileno(g_logF);
}
signal(SIGHUP, SIG_IGN);
signal(SIGPIPE, SIG_IGN);
setupSignalHandlers();
/**
* 主线程睡眠，等待网络就绪
* 单独开一个线程处理网路
*/
pthread_mutex_lock(&g_rootThreadMutex);
pthread_create(&ntid, NULL, _NTInit, NULL);
pthread_cond_wait(&g_rootThreadCond, &g_rootThreadMutex);
pthread_mutex_unlock(&g_rootThreadMutex);
_STInitPlanet(NULL);
/* 主线程睡眠，避免退出进程 */
pthread_cond_wait(&g_rootThreadCond, &g_rootThreadMutex);
pthread_mutex_unlock(&g_rootThreadMutex);
return 0;
}
static void configure(void)
{
_params.dc_min_voltage = configGet("mot_v_min");
_params.dc_spinup_voltage = configGet("mot_v_spinup");
_params.dc_step_max = configGet("mot_dc_accel");
_params.dc_slope = configGet("mot_dc_slope");
_params.poles = configGet("mot_num_poles");
_params.reverse = configGet("ctl_dir");
_params.comm_period_limit = motor_rtctl_get_min_comm_period_hnsec();
_params.rpm_max = comm_period_to_rpm(_params.comm_period_limit);
_params.rpm_min = configGet("mot_rpm_min");
_params.current_limit = configGet("mot_i_max");
_params.current_limit_p = configGet("mot_i_max_p");
_params.voltage_current_lowpass_tau = 1.0f / configGet("mot_lpf_freq");
_params.num_unexpected_stops_to_latch = configGet("mot_stop_thres");
printf("Motor: RPM range: [%u, %u]; poles: %i\n", _params.rpm_min, _params.rpm_max, _params.poles);
}