void nfs_start(void)
{
nfs_init();
if (dfs_mount(RT_NULL, "/nfs", "nfs", 0, RT_NFS_HOST_EXPORT) == 0)
{
rt_kprintf("NFSv3 File System initialized!\n");
}
else
rt_kprintf("NFSv3 File System initialzation failed!\n");
}
void rt_init_thread_entry(void* parameter)
{
/* Filesystem Initialization */
#ifdef RT_USING_DFS
{
/* init the device filesystem */
dfs_init();
#ifdef RT_USING_DFS_ELMFAT
/* init the elm chan FatFs filesystam*/
elm_init();
/* mount sd card fat partition 1 as root directory */
if (dfs_mount("sd0", "/", "elm", 0, 0) == 0)
{
rt_kprintf("File System initialized!\n");
}
else
rt_kprintf("File System initialzation failed!\n");
#endif
}
#endif
/* LwIP Initialization */
#ifdef RT_USING_LWIP
{
extern void lwip_sys_init(void);
#ifdef STM32F10X_CL
extern void rt_hw_stm32_eth_init(void);
#endif
/* register ethernetif device */
eth_system_device_init();
#ifdef STM32F10X_CL
rt_hw_stm32_eth_init();
#else
/* STM32F103 */
#if STM32_ETH_IF == 0
rt_hw_enc28j60_init();
#elif STM32_ETH_IF == 1
rt_hw_dm9000_init();
#endif
#endif
/* re-init device driver */
rt_device_init_all();
/* init lwip system */
lwip_sys_init();
rt_kprintf("TCP/IP initialized!\n");
}
#endif
}
int mnt_init(void)
{
dfs_init();
#ifdef RT_USING_DFS_WINSHAREDIR
extern int dfs_win32_init(void);
extern rt_err_t rt_win_sharedir_init(const char *name);
dfs_win32_init();
rt_win_sharedir_init("wshare");
if (dfs_mount("wshare", "/", "wdir", 0, 0) == 0)
{
rt_kprintf("File System on root initialized!\n");
}
else
{
rt_kprintf("File System on root initialization failed!\n");
}
if (dfs_mount("sd0", "/sd", "elm", 0, 0) == 0)
{
rt_kprintf("File System on sd initialized!\n");
}
else
{
rt_kprintf("File System on sd initialization failed!\n");
}
#else
if (dfs_mount("sd0", "/", "elm", 0, 0) == 0)
{
rt_kprintf("File System on sd initialized!\n");
}
else
{
rt_kprintf("File System on sd initialization failed!\n");
}
#endif
return 0;
}
int mnt_init(void)
{
nftl_attach("nand0");
if (dfs_mount("nand0", "/", "elm", 0, 0) == 0)
{
rt_kprintf("Mount FatFs file system to root, Done!\n");
}
else
{
rt_kprintf("Mount FatFs file system failed.\n");
}
/* initilize sd card */
mci_hw_init("sd0");
/* mount sd card fat partition 1 as root directory */
if (dfs_mount("sd0", "/SD", "elm", 0, 0) == 0)
rt_kprintf("File System initialized!\n");
else
rt_kprintf("File System init failed!\n");
return 0;
}
void rt_init_thread_entry(void *parameter)
{
int fd;
rt_uint32_t sz;
char buffer[20];
#ifdef RT_USING_DFS
dfs_init();
#ifdef RT_USING_DFS_ELMFAT
elm_init();
/* mount sd card fat partition 1 as root directory */
if (dfs_mount("sd0", "/", "elm", 0, 0) == 0)
{
rt_kprintf("File System initialized!\n");
/*Open a file*/
fd = open("/fattest.txt", O_RDWR|O_CREAT, 0);
if (fd < 0)
{
rt_kprintf("open file for write failed\n");
return;
}
sz = write(fd,"Hello RT-Thread!",sizeof("Hello RT-Thread!"));
if (sz != 0)
{
rt_kprintf("written %d\n",sz);
}
else
rt_kprintf("haven't written\n");
lseek(fd, 0, SEEK_SET);
sz = read(fd, buffer, sizeof(buffer));
if (sz != 0)
{
rt_kprintf("READ %d:",sz);
while (sz--)
rt_kprintf("%c",buffer[sz]);//opposite
rt_kprintf("\n");
}
else
rt_kprintf("haven't read\n");
close(fd);
}
else
rt_kprintf("File System initialzation failed!\n");
#endif
#endif
}
void rt_init_thread_entry(void* parameter)
{
#ifdef RT_USING_COMPONENTS_INIT
/* initialization RT-Thread Components */
rt_components_init();
#endif
#ifdef RT_USING_FINSH
finsh_set_device(RT_CONSOLE_DEVICE_NAME);
#endif /* RT_USING_FINSH */
/* Filesystem Initialization */
#if defined(RT_USING_DFS) && defined(RT_USING_DFS_ELMFAT)
/* mount sd card fat partition 1 as root directory */
if (dfs_mount("sd0", "/", "elm", 0, 0) == 0)
{
rt_kprintf("File System initialized!\n");
}
else
rt_kprintf("File System initialzation failed!\n");
#endif /* RT_USING_DFS */
#ifdef RT_USING_RTGUI
{
extern void rt_hw_lcd_init();
extern void rtgui_touch_hw_init(void);
rt_device_t lcd;
/* init lcd */
rt_hw_lcd_init();
/* init touch panel */
rtgui_touch_hw_init();
/* find lcd device */
lcd = rt_device_find("lcd");
/* set lcd device as rtgui graphic driver */
rtgui_graphic_set_device(lcd);
#ifndef RT_USING_COMPONENTS_INIT
/* init rtgui system server */
rtgui_system_server_init();
#endif
calibration_set_restore(cali_setup);
calibration_set_after(cali_store);
calibration_init();
}
#endif /* #ifdef RT_USING_RTGUI */
}
void rt_init_thread_entry(void* parameter)
{
#ifdef RT_USING_LWIP
/* initialize eth interface */
lpc_emac_hw_init();
#endif
#ifdef RT_USING_COMPONENTS_INIT
/* initialization RT-Thread Components */
rt_components_init();
#endif
{
extern rt_err_t mci_hw_init(const char *device_name);
mci_hw_init("sd0");
}
/* Filesystem Initialization */
#ifdef RT_USING_DFS
{
#ifdef RT_USING_DFS_ELMFAT
/* mount sd card fat partition 1 as root directory */
if (dfs_mount("sd0", "/", "elm", 0, 0) == 0)
{
rt_kprintf("File System initialized!\n");
#if (RT_DFS_ELM_USE_LFN != 0) && (defined RT_DFS_ELM_CODE_PAGE_FILE)
{
extern void ff_convert_init(void);
ff_convert_init();
}
#endif
}
else
rt_kprintf("File System initialzation failed!\n");
#endif
}
#endif
/* do some thing here. */
#if defined(RT_USING_DFS) && defined(RT_USING_LWIP)
/* start ftp server */
rt_kprintf("ftp server begin...\n");
ftpd_start();
rt_kprintf("ftp server started!!\n");
#endif
}
static void thread_entry(void* parameter)
{
/* File System Initialization */
#ifdef RT_USING_DFS
{
/* initialize the device file system */
dfs_init();
#ifdef RT_USING_DFS_ELMFAT
/* initialize the elm FAT file system*/
elm_init();
#endif
#ifdef RT_USING_DFS_ROMFS
/* initialize romfs */
dfs_romfs_init();
#endif
if (dfs_mount(RT_NULL, "/", "rom", 0, DFS_ROMFS_ROOT) == 0)
{
rt_kprintf("ROM File System initialized!\n");
{
do_init();
rt_thread_delay(RT_TICK_PER_SECOND);
}
}
else
rt_kprintf("ROM File System initialzation failed!\n");
}
#endif
usbd_hw_init();
/* set console and finsh to USB vcom */
#ifdef RT_USING_CONSOLE
rt_console_set_device("vcom");
#endif
#ifdef RT_USING_FINSH
finsh_set_device("vcom");
#endif
#ifdef RT_USING_USB_HOST
rt_usb_host_init();
/* register stm32 usb host controller driver */
rt_hw_susb_init();
rt_device_init_all();
#endif
}
static void rt_thread_entry_usbmsc(void* parameter)
{
int ret;
dfs_init();
elm_init();
USBH_Init(&USB_OTG_Core,
USB_OTG_FS_CORE_ID,
&USB_Host,
&USBH_MSC_cb,
&USR_cb);
rt_kprintf("\r\nUSBH_Init\r\n");
#if defined(RT_USING_DFS_ROMFS)
dfs_romfs_init();
if (dfs_mount(RT_NULL, "/", "rom", 0, &romfs_root) == 0)
{
rt_kprintf("Root File System initialized!\n");
}
else
rt_kprintf("Root File System initialzation failed!\n");
#endif
//USB_OTG_Core.regs.GREGS->GUSBCFG|=(1<<29);
//USB_OTG_WRITE_REG32(USB_OTG_Core.regs.GREGS->GUSBCFG,value)
rt_thread_delay(RT_TICK_PER_SECOND);
while (1)
{
//GPIO_SetBits(GPIOD, GPIO_Pin_15);
USBH_Process(&USB_OTG_Core,&USB_Host);
rt_thread_delay(RT_TICK_PER_SECOND/20); // 根据写入速度调整
//GPIO_ResetBits(GPIOD, GPIO_Pin_15);
}
}
void sd_mount(void *parameter)
{
while (1)
{
rt_thread_mdelay(500);
if(rt_device_find("sd0") != RT_NULL)
{
if (dfs_mount("sd0", "/", "elm", 0, 0) == RT_EOK)
{
LOG_I("sd card mount to '/'");
break;
}
else
{
LOG_W("sd card mount to '/' failed!");
}
}
}
}
/* thread phase init */
void rt_init_thread_entry(void *parameter)
{
/* Filesystem Initialization */
#ifdef RT_USING_DFS
{
/* init the device filesystem */
dfs_init();
/* init the elm FAT filesystam*/
elm_init();
/* mount sd card fat partition 1 as SD directory */
if (dfs_mount("sd0", "/", "elm", 0, 0) == 0)
rt_kprintf("File System initialized!\n");
else
rt_kprintf("File System init failed!\n");
}
#endif
}
/* thread phase init */
void rt_init_thread_entry(void *parameter)
{
/* initialize platform */
platform_init();
#ifdef RT_USING_LWIP
/* register Ethernet interface device */
lpc17xx_emac_hw_init();
/* initialize lwip stack */
/* register ethernetif device */
eth_system_device_init();
/* initialize lwip system */
lwip_system_init();
rt_kprintf("TCP/IP initialized!\n");
#endif
/* Filesystem Initialization */
#ifdef RT_USING_DFS
rt_hw_sdcard_init();
/* initialize the device file system */
dfs_init();
#ifdef RT_USING_DFS_ELMFAT
/* initialize the elm chan FatFS file system*/
elm_init();
#endif
/* mount sd card fat partition 1 as root directory */
if (dfs_mount("sd0", "/", "elm", 0, 0) == 0)
rt_kprintf("File System initialized!\n");
else
rt_kprintf("File System init failed!\n");
#endif
#ifdef RT_USING_FINSH
/* initialize finsh */
finsh_system_init();
finsh_set_device(RT_CONSOLE_DEVICE_NAME);
#endif
}
void rt_init_thread_entry(void* parameter)
{
{
extern void rt_platform_init(void);
rt_platform_init();
}
/* Filesystem Initialization */
#if defined(RT_USING_DFS) && defined(RT_USING_DFS_ELMFAT)
/* initialize the device file system */
dfs_init();
/* initialize the elm chan FatFS file system*/
elm_init();
/* mount sd card fat partition 1 as root directory */
if (dfs_mount("sd0", "/", "elm", 0, 0) == 0)
{
rt_kprintf("File System initialized!\n");
}
else
{
rt_kprintf("File System initialzation failed!\n");
}
#endif /* RT_USING_DFS && RT_USING_DFS_ELMFAT */
#ifdef RT_USING_LWIP
/* initialize lwip stack */
/* register ethernetif device */
eth_system_device_init();
/* initialize lwip system */
lwip_system_init();
rt_kprintf("TCP/IP initialized!\n");
#endif
#ifdef RT_USING_FINSH
/* initialize finsh */
finsh_system_init();
finsh_set_device(RT_CONSOLE_DEVICE_NAME);
#endif
//led_tog_init();
}
void rt_init_thread_entry(void* parameter)
{
/* initialize LCD drv for GUI */
rtgui_lcd_init();
/* Filesystem Initialization */
mci_hw_init("sd0");
/* initialize the device file system */
dfs_init();
/* initialize the elm chan FatFS file system*/
elm_init();
/* mount sd card fat partition 1 as root directory */
if (dfs_mount("sd0", "/", "elm", 0, 0) == 0)
{
rt_kprintf("File System initialized!\n");
#if (RT_DFS_ELM_USE_LFN != 0) && (defined RT_DFS_ELM_CODE_PAGE_FILE)
{
extern void ff_convert_init(void);
ff_convert_init();
}
#endif
}
else
{
rt_kprintf("File System initialzation failed!\n");
}
/* initialize GUI system */
rtgui_system_server_init();
/* initialize keyboard */
rt_hw_key_init();
/* initialize touch */
rt_hw_spi_init();
rtgui_touch_hw_init();
/* GUI examples initializtion */
application_init();
finsh_system_init();
}
static rt_bool_t filesystem_format(void)
{
int rc;
startup_log("try to format disk...");
rc = dfs_mkfs("elm", "nand0");
if (rc != 0)
return RT_FALSE;
if (dfs_mount("nand0", "/", "elm", 0, 0) == 0)
{
startup_log("Mount Root done");
return RT_TRUE;
}
else
{
startup_log("Mount Root failed");
return RT_FALSE;
}
}
void rt_init_thread_entry(void* parameter)
{
/* Filesystem Initialization */
#ifdef RT_USING_DFS
{
/* init the device filesystem */
dfs_init();
#ifdef RT_USING_DFS_ELMFAT
/* init the elm chan FatFs filesystam*/
elm_init();
/* mount sd card fat partition 1 as root directory */
if (dfs_mount("sd0", "/", "elm", 0, 0) == 0)
{ /Users/ganyibin/Documents/opensource/RT-thread/rt-thread/bsp/stm32f20x/applications/startup.c
rt_kprintf("File System initialized!\n");
}
else
rt_kprintf("File System initialzation failed!\n");
#endif
}
void rt_init_thread_entry(void* parameter)
{
#ifdef RT_USING_LWIP
/* initialize eth interface */
rt_hw_stm32_eth_init();
#endif
#ifdef RT_USING_COMPONENTS_INIT
/* initialization RT-Thread Components */
rt_components_init();
#endif
rt_platform_init();
/* do some thing here. */
#if defined(RT_USING_DFS) && defined(RT_USING_LWIP) && defined(RT_USING_DFS_NFS)
{
/* NFSv3 Initialization */
rt_kprintf("begin init NFSv3 File System ...\n");
if (dfs_mount(RT_NULL, "/", "nfs", 0, RT_NFS_HOST_EXPORT) == 0)
rt_kprintf("NFSv3 File System initialized!\n");
else
rt_kprintf("NFSv3 File System initialzation failed!\n");
}
#endif
k9f2g08_nand_init();
FSMC_NAND_Init();
FSMC_NAND_ReadID(&NAND_ID);
rt_kprintf("\tMaker = %02x\n", NAND_ID.Maker_ID);
rt_kprintf("\tdevice = %02x\n", NAND_ID.Device_ID);
rt_kprintf("\tThird = %02x\n", NAND_ID.Third_ID);
rt_kprintf("\tFourth = %02x\n", NAND_ID.Fourth_ID);
nand_test();
}
void rt_init_thread_entry(void* parameter)
{
#if RT_USING_RTC
rt_device_t rtc_dev;
#endif
#if TEST_TRAP || EM_ALL_TYPE_BASE || TEST_485
rt_thread_t thread_h;
#endif
RT_APPS_INIT_DEBUG(("invoke rt_init_thread_entry()!\n"));
say_thread_start();
#if TEST_485
thread_h = rt_thread_create("t485", rt_test_485_entry, RT_NULL, 512, 30, 10);
if (thread_h != RT_NULL)
rt_thread_startup(thread_h);
#endif
#if TEST_TRAP
trap_test_init();
#endif
#if EM_ALL_TYPE_BASE && !TEST_485
/* recv ptct info server */
thread_h = rt_thread_create("rpct-ser", recv_em_frame, RT_NULL, 1024, 30, 10);
if (thread_h != RT_NULL)
rt_thread_startup(thread_h);
#endif
#if RT_USING_RS485_BUS && !TEST_485
#if EM_MASTER_DEV || EM_MULTI_MASTER_DEV
rs485_master_init(); /* David */
#elif WIRELESS_MASTER_NODE
rs485_slave_init();
#endif
#endif
/* Filesystem Initialization */
#if RT_USING_FILESYSTEM
RT_APPS_INIT_DEBUG(("will init fs\n"));
rt_hw_spiflash_init();
sf_set_prote_level_to_none();
/* init the device filesystem */
dfs_init();
#ifdef RT_USING_DFS_ELMFAT
/* init the elm chan FatFs filesystam*/
elm_init();
#if 1
/* mount spi-flash fat partition 1 as root directory */
if (dfs_mount("sf0", "/", "elm", 0, 0) == 0)
#else
/* mount sd card fat partition 1 as root directory */
if (dfs_mount("sd0", "/", "elm", 0, 0) == 0)
#endif
rt_kprintf("File System initialized!\n");
else
rt_kprintf("File System initialzation failed!\n");
#endif
#endif
/* LwIP Initialization */
#if RT_USING_TCPIP_STACK
init_tcpip_lwip_stack();
#endif
#if RT_USING_GUI
{
extern void rtgui_startup();
extern void rt_hw_lcd_init();
extern void rtgui_touch_hw_init(void);
rt_device_t lcd;
/* init lcd */
rt_hw_lcd_init();
/* init touch panel */
rtgui_touch_hw_init();
/* re-init device driver */
rt_device_init_all();
/* find lcd device */
lcd = rt_device_find("lcd");
/* set lcd device as rtgui graphic driver */
rtgui_graphic_set_device(lcd);
/* startup rtgui */
rtgui_startup();
}
#endif /* #if RT_USING_GUI */
nvic_cfg_app();
#if USE_STM32_IWDG
IWDG_Enable();
#endif
#if RT_USING_RTC
rtc_dev = rt_device_find("rtc");
if (NULL != rtc_dev) {
rtc_dev->control(rtc_dev, RT_DEVICE_CTRL_RTC_CALI_SET, NULL);
} else {
rt_kprintf("find rtc device fail\n");
}
#endif
#if EM_ALL_TYPE_BASE
extern void sinkinfo_ipc_init(void);
sinkinfo_ipc_init();
#endif
#if (RT_USING_RS485_BUS && EM_ALL_TYPE_BASE && !TEST_485)
ammeter_init();
#endif
#if WIRELESS_MASTER_NODE
creat_4432master_th();
#elif WIRELESS_SLAVE_NODE /* #if WIRELESS_MASTER_NODE */
creat_4432slave_th();
#else
/* none */
#endif /* #if WIRELESS_MASTER_NODE */
#if RT_USING_ADE7880 && !TEST_485
start_7880(); /* 有较长的延迟, 秒级别, David */
#endif
#if EM_ALL_TYPE_BASE && !TEST_485
sinkinfo_init();
#endif
}
void dfs_thread_entry(void* parameter)
{
char *rev_meail;//定义指针，用来保存邮件内容
/******************启动文件系统***************/
/* init the device filesystem */
dfs_init();
elm_init();
/* mount sd card fat partition 1 as root directory */
if (dfs_mount("sd0", "/", "elm", 0, 0) == 0)
{
rt_kprintf("文件系统初始化成功!\n");
}
else
rt_kprintf("文件系统初始化失败!\n");
/*************************初始化LD3320***********************/
ld3320_gpio_configuration();
ld3320_nvic_cfg();
ld3320_spi_init();
LD_reset();
nAsrStatus = LD_ASR_NONE;
bMp3Play=0;
if(wugege_read_ini(sys_ini_name)!=1)
rt_kprintf("读取系统配置文件失败,语音识别将受到严重影响\n");
rt_kprintf("读取系统配置文件成功\n");
if(PlayDemoSound_mp3(sys_shi_mp3)<0)
rt_kprintf(" 播放初始化音乐失败，请确认是否能使用LD3320!\n");
rt_kprintf("播放初始化音乐成功！\n");
rt_thread_delay(10);//延迟该线程10ms
sys_wake=1;
sys_wake_count=0;
while(1)
{
if(RT_EOK==(rt_mb_recv(&mb,(rt_uint32_t*)&rev_meail,RT_WAITING_NO)))
{
rt_kprintf("接收到邮件,播放音乐%s\r\n",rev_meail);
if(PlayDemoSound_mp3(rev_meail)<0)
rt_kprintf("播放音乐失败%s \r\n",rev_meail);
rt_kprintf("接收到邮件,播放音乐完毕\r\n");
// *rev_meail=NULL;
nAsrStatus = LD_ASR_NONE;
}
rt_thread_delay(5);//延迟该线程5ms
while(bMp3Play != 0)
rt_thread_delay(5);
switch (nAsrStatus)
{
case LD_ASR_RUNING: // LD3320芯片正在语音识别中
break;
case LD_ASR_ERROR: // LD3320芯片发生错误
break;
case LD_ASR_NONE: // LD3320芯片无动作
{
nAsrStatus=LD_ASR_RUNING;
if (RunASR(sys_wake)==0) // 启动一次ASR识别流程：ASR初始化，ASR添加关键词语，启动ASR运算
{
nAsrStatus = LD_ASR_ERROR;
}
break;
}
case LD_ASR_FOUNDOK: // LD3320芯片识别到语音
{
char mp3_name[25]; //mp3文件名缓冲区
char action[15];
char ini_name[20];
int nAsrRes = LD_GetResult(); // 一次ASR识别流程结束，去取ASR识别结果
if(nAsrRes==49)
{
sys_wake=1;
sys_wake_count=0;
PlayDemoSound_mp3(sys_shi_mp3);
rt_kprintf("系统唤醒成功 \n");
}
else if(sys_wake)
{
get_mps_ini_file(mp3_name,ini_name,action,nAsrRes);
rt_kprintf("识别用户的mp3名字 %s 配置文件%s 命令%s 原始码%d\r\n",mp3_name,ini_name,action,nAsrRes);
sys_wake_count=0;
sys_wake=1;
deal_action(action);
if(PlayDemoSound_mp3(mp3_name)<0)
rt_kprintf("播放音乐失败%s \r\n",mp3_name);
if(0!=strcmp(ini_name,sys_ini_name))
{
strcpy(sys_ini_name,ini_name);
rt_kprintf("重新载入配置文件%s \r\n",sys_ini_name);
if(wugege_read_ini(sys_ini_name)!=1)
rt_kprintf("读取系统配置文件失败,语音识别将受到严重影响\r\n");
}
}
rt_kprintf("\r\n识别到用户关键字为:%d \r\n",nAsrRes);
nAsrStatus = LD_ASR_NONE;
break;
}
case LD_ASR_FOUNDZERO: //无识别结果
nAsrStatus = LD_ASR_NONE;
break;
default:
nAsrStatus = LD_ASR_NONE;
break;
}
}
}
void rt_init_thread_entry(void *parameter)
{
#ifdef RT_USING_LWIP
#ifdef RT_USING_TAPNETIF
tap_netif_hw_init();
#else
pcap_netif_hw_init();
#endif
#endif
rt_platform_init();
/* initialization RT-Thread Components */
rt_components_init();
#ifdef RT_USING_RTGUI
/* start sdl thread to simulate an LCD. SDL may depend on DFS and should be
* called after rt_components_init. */
rt_hw_sdl_start();
#endif /* RT_USING_RTGUI */
/* File system Initialization */
#ifdef RT_USING_DFS
{
#ifdef RT_USING_DFS_WINSHAREDIR
{
extern rt_err_t rt_win_sharedir_init(const char *name);
extern int dfs_win32_init(void);
rt_win_sharedir_init("wdd");
dfs_win32_init();
if (dfs_mount("wdd", "/", "wdir", 0, 0) == 0)
rt_kprintf("win32 share directory initialized!\n");
else
rt_kprintf("win32 share directory initialized failed!\n");
}
#endif
#ifdef RT_USING_DFS_ELMFAT
/* mount sd card fatfs as root directory */
#ifdef _WIN32
if (dfs_mount("sd0", "/disk/sd", "elm", 0, 0) == 0)
#else
if (dfs_mount("sd0", "/", "elm", 0, 0) == 0)
#endif
rt_kprintf("fatfs initialized!\n");
else
rt_kprintf("fatfs initialization failed!\n");
#endif
#ifdef RT_USING_DFS_UFFS
/* mount uffs as the nand flash file system */
if (dfs_mount("nand0", "/disk/nand", "uffs", 0, 0) == 0)
rt_kprintf("uffs initialized!\n");
else
rt_kprintf("uffs initialization failed!\n");
#endif
#ifdef RT_USING_DFS_JFFS2
/* mount jffs2 as the nor flash file system */
if (dfs_mount("nor", "/disk/nor", "jffs2", 0, 0) == 0)
rt_kprintf("jffs2 initialized!\n");
else
rt_kprintf("jffs2 initialization failed!\n");
#endif
}
#endif
}
void rt_init_thread_entry(void* parameter)
{
/* Filesystem Initialization */
#ifdef RT_USING_DFS
{
/* init the device filesystem */
dfs_init();
#ifdef RT_USING_DFS_ELMFAT
/* init the elm chan FatFs filesystam*/
elm_init();
/* mount sd card fat partition 1 as root directory */
if (dfs_mount("sd0", "/", "elm", 0, 0) == 0)
{
rt_kprintf("File System initialized!\n");
}
else
rt_kprintf("File System initialzation failed!\n");
#endif
}
#endif
/* LwIP Initialization */
#ifdef RT_USING_LWIP
{
extern void lwip_sys_init(void);
/* register ethernetif device */
eth_system_device_init();
#ifdef STM32F10X_CL
rt_hw_stm32_eth_init();
#else
/* STM32F103 */
#if STM32_ETH_IF == 0
rt_hw_enc28j60_init();
#elif STM32_ETH_IF == 1
rt_hw_dm9000_init();
#endif
#endif
/* re-init device driver */
rt_device_init_all();
/* init lwip system */
lwip_sys_init();
rt_kprintf("TCP/IP initialized!\n");
}
#endif
#ifdef RT_USING_RTGUI
{
extern void rtgui_system_server_init(void);
extern void rt_hw_lcd_init();
extern void rtgui_touch_hw_init(void);
rt_device_t lcd;
/* init lcd */
rt_hw_lcd_init();
/* init touch panel */
rtgui_touch_hw_init();
/* re-init device driver */
rt_device_init_all();
/* find lcd device */
lcd = rt_device_find("lcd");
/* set lcd device as rtgui graphic driver */
rtgui_graphic_set_device(lcd);
/* init rtgui system server */
rtgui_system_server_init();
}
#endif /* #ifdef RT_USING_RTGUI */
}
void rt_init_thread_entry(void* parameter)
{
platform_init();
/* Filesystem Initialization */
#ifdef RT_USING_DFS
{
/* init the device filesystem */
dfs_init();
#if defined(RT_USING_DFS_ELMFAT)
/* init the elm chan FatFs filesystam*/
elm_init();
#endif
#if defined(RT_USING_DFS_ROMFS)
dfs_romfs_init();
if (dfs_mount(RT_NULL, "/rom", "rom", 0, &romfs_root) == 0)
{
rt_kprintf("ROM File System initialized!\n");
}
else
rt_kprintf("ROM File System initialzation failed!\n");
#endif
#if defined(RT_USING_DFS_DEVFS)
devfs_init();
if (dfs_mount(RT_NULL, "/dev", "devfs", 0, 0) == 0)
rt_kprintf("Device File System initialized!\n");
else
rt_kprintf("Device File System initialzation failed!\n");
#ifdef RT_USING_NEWLIB
/* init libc */
libc_system_init(RT_CONSOLE_DEVICE_NAME);
#endif
#endif
#if defined(RT_USING_DFS_UFFS)
{
/* init the uffs filesystem */
dfs_uffs_init();
/* mount flash device as flash directory */
if(dfs_mount("nand0", "/nand0", "uffs", 0, 0) == 0)
rt_kprintf("UFFS File System initialized!\n");
else
rt_kprintf("UFFS File System initialzation failed!\n");
}
#endif
#ifdef RT_USING_I2C
{
rt_i2c_core_init();
davinci_i2c_init("I2C1");
}
#endif
#ifdef RT_USING_SPI
{
rt_hw_spi_init();
}
#endif
#ifdef RT_USING_SDIO
rt_mmcsd_core_init();
rt_mmcsd_blk_init();
rt_hw_mmcsd_init();
rt_thread_delay(RT_TICK_PER_SECOND*2);
/* mount sd card fat partition 1 as root directory */
if (dfs_mount("sd0", "/", "elm", 0, 0) == 0)
{
rt_kprintf("File System initialized!\n");
}
else
rt_kprintf("File System initialzation failed!%d\n", rt_get_errno());
#endif
}
#endif
#ifdef RT_USING_LWIP
{
/* register ethernetif device */
eth_system_device_init();
rt_hw_davinci_emac_init();
/* init lwip system */
lwip_system_init();
}
#endif
}
/* thread phase init */
void rt_init_thread_entry(void *parameter)
{
#ifdef RT_USING_SPI
{
extern void rt_hw_spi0_init(void);
rt_hw_spi0_init();
}
#endif
#ifdef RT_USING_I2C
{
extern void rt_hw_i2c_init(void);
rt_i2c_core_init();
rt_hw_i2c_init();
}
#endif
/* Filesystem Initialization */
#ifdef RT_USING_DFS
{
/* init the device filesystem */
dfs_init();
/* init the elm FAT filesystam*/
elm_init();
/* mount sd card fat partition 1 as root directory */
if (dfs_mount("sd0", "/", "elm", 0, 0) == 0)
rt_kprintf("File System initialized!\n");
else
rt_kprintf("File System init failed!\n");
}
#endif
/* LwIP Initialization */
#ifdef RT_USING_LWIP
{
extern void lwip_sys_init(void);
extern void lpc17xx_emac_hw_init(void);
eth_system_device_init();
/* register ethernetif device */
lpc_emac_hw_init();
/* init all device */
rt_device_init_all();
/* init lwip system */
lwip_sys_init();
rt_kprintf("TCP/IP initialized!\n");
}
#endif
#ifdef RT_USING_RTGUI
{
extern void rtgui_system_server_init(void);
extern void application_init(void);
rt_device_t lcd;
/* init lcd */
rt_hw_lcd_init();
/* re-init device driver */
rt_device_init_all();
/* find lcd device */
lcd = rt_device_find("lcd");
if (lcd != RT_NULL)
{
/* set lcd device as rtgui graphic driver */
rtgui_graphic_set_device(lcd);
/* init rtgui system server */
rtgui_system_server_init();
rt_hw_joystick_init();
rtgui_touch_hw_init("spi20");
/* startup rtgui in demo of RT-Thread/GUI examples */
application_init();
}
}
#endif
#ifdef RT_USING_FINSH
/* initialize finsh */
finsh_system_init();
finsh_set_device(FINSH_DEVICE_NAME);
#endif
}
void rt_init_thread_entry(void* parameter)
{
rt_components_init();
LED_init();
Motor_Init();
rt_kprintf("start device init\n");
//rt_hw_i2c1_init();
i2cInit();
rt_hw_spi2_init();
rt_hw_spi3_init();
rt_event_init(&ahrs_event, "ahrs", RT_IPC_FLAG_FIFO);
dmp_init();
sonar_init();
HMC5983_Init();
adns3080_Init();
//config_bt();
rt_thread_init(&led_thread,
"led",
led_thread_entry,
RT_NULL,
led_stack,
256, 16, 1);
rt_thread_startup(&led_thread);
spi_flash_init();
// bmp085_init("i2c1");
rt_kprintf("device init succeed\n");
if (dfs_mount("flash0", "/", "elm", 0, 0) == 0)
{
rt_kprintf("flash0 mount to /.\n");
}
else
{
rt_kprintf("flash0 mount to / failed.\n");
}
//default settings
PID_Init(&p_rate_pid, 0, 0, 0);
PID_Init(&r_rate_pid, 0, 0, 0);
PID_Init(&y_rate_pid, 0, 0, 0);
PID_Init(&p_angle_pid, 0, 0, 0);
PID_Init(&r_angle_pid, 0, 0, 0);
PID_Init(&y_angle_pid, 0, 0, 0);
PID_Init(&x_v_pid, 0, 0, 0);
PID_Init(&y_v_pid, 0, 0, 0);
PID_Init(&x_d_pid, 0, 0, 0);
PID_Init(&y_d_pid, 0, 0, 0);
PID_Init(&h_pid, 0, 0, 0);
load_settings(&settings, "/setting", &p_angle_pid, &p_rate_pid
, &r_angle_pid, &r_rate_pid
, &y_angle_pid, &y_rate_pid
, &x_d_pid, &x_v_pid
, &y_d_pid, &y_v_pid
, &h_pid);
settings.roll_min = settings.pitch_min = settings.yaw_min = 1000;
settings.th_min = 1000;
settings.roll_max = settings.pitch_max = settings.yaw_max = 2000;
settings.th_max = 2000;
// if(settings.pwm_init_mode)
// {
// Motor_Set(1000,1000,1000,1000);
//
// rt_thread_delay(RT_TICK_PER_SECOND*5);
//
// Motor_Set(0,0,0,0);
//
// settings.pwm_init_mode=0;
// save_settings(&settings,"/setting");
//
// rt_kprintf("pwm init finished!\n");
// }
get_pid();
PID_Set_Filt_Alpha(&p_rate_pid, 1.0 / 166.0, 20.0);
PID_Set_Filt_Alpha(&r_rate_pid, 1.0 / 166.0, 20.0);
PID_Set_Filt_Alpha(&y_rate_pid, 1.0 / 166.0, 20.0);
PID_Set_Filt_Alpha(&p_angle_pid, 1.0 / 166.0, 20.0);
PID_Set_Filt_Alpha(&r_angle_pid, 1.0 / 166.0, 20.0);
PID_Set_Filt_Alpha(&y_angle_pid, 1.0 / 75.0, 20.0);
PID_Set_Filt_Alpha(&x_v_pid, 1.0 / 100.0, 20.0);
PID_Set_Filt_Alpha(&y_v_pid, 1.0 / 100.0, 20.0);
PID_Set_Filt_Alpha(&x_d_pid, 1.0 / 100.0, 20.0);
PID_Set_Filt_Alpha(&y_d_pid, 1.0 / 100.0, 20.0);
PID_Set_Filt_Alpha(&h_pid, 1.0 / 60.0, 20.0);
rt_thread_init(&control_thread,
"control",
control_thread_entry,
RT_NULL,
control_stack,
1024, 3, 5);
rt_thread_startup(&control_thread);
rt_thread_init(&correct_thread,
"correct",
correct_thread_entry,
RT_NULL,
correct_stack,
1024, 12, 1);
rt_thread_startup(&correct_thread);
LED1(5);
}
void rt_init_thread_entry(void *parameter)
{
#ifdef RT_USING_LWIP
pcap_netif_hw_init();
#endif
rt_platform_init();
/* initialization RT-Thread Components */
rt_components_init();
#if defined(RT_USING_COMPONENTS_INIT) && defined(__GNUC__) && defined(RT_USING_FINSH)
finsh_set_device(RT_CONSOLE_DEVICE_NAME);
#endif
/* File system Initialization */
#ifdef RT_USING_DFS
{
#ifdef RT_USING_DFS_WINSHAREDIR
{
extern rt_err_t rt_win_sharedir_init(const char *name);
extern int dfs_win32_init(void);
rt_win_sharedir_init("wdd");
dfs_win32_init();
if (dfs_mount("wdd", "/", "wdir", 0, 0) == 0)
rt_kprintf("win32 share directory initialized!\n");
else
rt_kprintf("win32 share directory initialized failed!\n");
}
#endif
#ifdef RT_USING_DFS_ELMFAT
/* mount sd card fatfs as root directory */
#ifdef _WIN32
if (dfs_mount("sd0", "/disk/sd", "elm", 0, 0) == 0)
#else
if (dfs_mount("sd0", "/", "elm", 0, 0) == 0)
#endif
rt_kprintf("fatfs initialized!\n");
else
rt_kprintf("fatfs initialization failed!\n");
#endif
#ifdef RT_USING_DFS_UFFS
/* mount uffs as the nand flash file system */
if (dfs_mount("nand0", "/disk/nand", "uffs", 0, 0) == 0)
rt_kprintf("uffs initialized!\n");
else
rt_kprintf("uffs initialization failed!\n");
#endif
#ifdef RT_USING_DFS_JFFS2
/* mount jffs2 as the nor flash file system */
if (dfs_mount("nor", "/disk/nor", "jffs2", 0, 0) == 0)
rt_kprintf("jffs2 initialized!\n");
else
rt_kprintf("jffs2 initialization failed!\n");
#endif
}
#endif
}
void rt_init_thread_entry(void* parameter)
{
#ifdef RT_USING_COMPONENTS_INIT
/* initialization RT-Thread Components */
rt_components_init();
#endif
/* LwIP Initialization */
#ifdef RT_USING_LWIP
{
extern void lwip_sys_init(void);
/* register ethernetif device */
eth_system_device_init();
rt_hw_stm32_eth_init();
/* re-init device driver */
rt_device_init_all();
/* init lwip system */
lwip_sys_init();
rt_kprintf("TCP/IP initialized!\n");
}
#endif
//FS
#ifdef RT_USING_DFS
dfs_init();
#ifdef RT_USING_MTD_NAND
nand_mtd_init();
dfs_uffs_init();
if (dfs_mount("psram0", "/", "uffs", 0, 0) == 0)
{
rt_kprintf("uffs mount / partion ok\n");
}
else
rt_kprintf("uffs mount / partion failed!\n");
#endif
#endif
rt_hw_lcd_init();
//GUI
#ifdef RT_USING_RTGUI
{
extern void rt_hw_lcd_init();
//extern void rtgui_touch_hw_init(void);
rt_device_t lcd;
/* init lcd */
rt_hw_lcd_init();
/* init touch panel */
//rtgui_touch_hw_init();
/* find lcd device */
lcd = rt_device_find("lcd");
/* set lcd device as rtgui graphic driver */
rtgui_graphic_set_device(lcd);
#ifndef RT_USING_COMPONENTS_INIT
/* init rtgui system server */
rtgui_system_server_init();
#endif
//calibration_set_restore(cali_setup);
//calibration_set_after(cali_store);
//calibration_init();
}
#endif /* #ifdef RT_USING_RTGUI */
}
void rt_init_thread_entry(void *parameter)
{
/* Filesystem Initialization */
#ifdef RT_USING_DFS
{
/* init the device filesystem */
dfs_init();
#if defined(RT_USING_DFS_ELMFAT)
/* init the elm chan FatFs filesystam*/
elm_init();
/* mount sd card fat partition 1 as root directory */
if (dfs_mount("sd0", "/", "elm", 0, 0) == 0)
{
rt_kprintf("File System initialized!\n");
}
else
rt_kprintf("File System initialzation failed!\n");
#endif
#if defined(RT_USING_DFS_ROMFS)
dfs_romfs_init();
if (dfs_mount(RT_NULL, "/rom", "rom", 0, &romfs_root) == 0)
{
rt_kprintf("ROM File System initialized!\n");
}
else
rt_kprintf("ROM File System initialzation failed!\n");
#endif
#if defined(RT_USING_DFS_DEVFS)
devfs_init();
if (dfs_mount(RT_NULL, "/dev", "devfs", 0, 0) == 0)
rt_kprintf("Device File System initialized!\n");
else
rt_kprintf("Device File System initialzation failed!\n");
#ifdef RT_USING_NEWLIB
/* init libc */
libc_system_init("uart0");
#endif
#endif
#if defined(RT_USING_DFS) && defined(RT_USING_LWIP) && defined(RT_USING_DFS_NFS)
/* NFSv3 Initialization */
nfs_init();
if (dfs_mount(RT_NULL, "/nfs", "nfs", 0, RT_NFS_HOST_EXPORT) == 0)
rt_kprintf("NFSv3 File System initialized!\n");
else
rt_kprintf("NFSv3 File System initialzation failed!\n");
#endif
#if defined(RT_USING_DFS_UFFS)
/* init the uffs filesystem */
dfs_uffs_init();
/* mount flash device as flash directory */
if (dfs_mount("nand0", "/nand0", "uffs", 0, 0) == 0)
rt_kprintf("UFFS File System initialized!\n");
else
rt_kprintf("UFFS File System initialzation failed!\n");
#endif
}
#endif
#ifdef RT_USING_RTGUI
{
extern void rtgui_system_server_init(void);
rt_device_t lcd;
/* init lcd */
rt_hw_lcd_init();
/* init touch panel */
rtgui_touch_hw_init();
/* init keypad */
rt_hw_key_init();
/* find lcd device */
lcd = rt_device_find("lcd");
/* set lcd device as rtgui graphic driver */
rtgui_graphic_set_device(lcd);
/* initalize rtgui system server */
rtgui_system_server_init();
}
#endif
/* LwIP Initialization */
#ifdef RT_USING_LWIP
{
extern void lwip_sys_init(void);
eth_system_device_init();
/* register ethernetif device */
rt_hw_dm9000_init();
/* init lwip system */
lwip_sys_init();
rt_kprintf("TCP/IP initialized!\n");
}
#endif
#ifdef RT_USING_FTK
{
rt_thread_t ftk_thread;
/* init lcd */
rt_hw_lcd_init();
/* init touch panel */
rtgui_touch_hw_init();
/* init keypad */
rt_hw_key_init();
/* create ftk thread */
ftk_thread = rt_thread_create("ftk",
rt_ftk_thread_entry, RT_NULL,
10 * 1024, 8, 20);
/* startup ftk thread */
if (ftk_thread != RT_NULL)
rt_thread_startup(ftk_thread);
}
#endif
}
void rt_init_thread_entry(void* parameter)
{
{
extern void rt_platform_init(void);
rt_platform_init();
}
/* Filesystem Initialization */
#if defined(RT_USING_DFS) && defined(RT_USING_DFS_ELMFAT)
/* initialize the device file system */
dfs_init();
/* initialize the elm chan FatFS file system*/
elm_init();
/* mount sd card fat partition 1 as root directory */
if (dfs_mount("sd0", "/", "elm", 0, 0) == 0)
{
rt_kprintf("File System initialized!\n");
}
else
{
rt_kprintf("File System initialzation failed!\n");
}
#endif /* RT_USING_DFS && RT_USING_DFS_ELMFAT */
#ifdef RT_USING_LWIP
/* initialize lwip stack */
/* register ethernetif device */
eth_system_device_init();
/* initialize lwip system */
lwip_system_init();
rt_kprintf("TCP/IP initialized!\n");
#endif
#ifdef RT_USING_FINSH
/* initialize finsh */
finsh_system_init();
finsh_set_device(RT_CONSOLE_DEVICE_NAME);
#endif
#ifdef RT_USING_RTGUI
{
rt_device_t device;
struct rt_device_rect_info info;
extern int rtgui_system_server_init(void);
rtgui_system_server_init();
device = rt_device_find("lcd");
/* re-set graphic device */
rtgui_graphic_set_device(device);
rtgui_system_server_init();
/* ´¥ÃþÆÁУ׼
calibration();*/
/* ²âÊÔ´¥ÃþÆÁ°´Å¥ ¼°¼òÒ×¼ÆËãÆ÷
ui_button();*/
/*ÔËÐÐdemo */
application_init();
}
#endif
}
void rt_init_thread_entry(void* parameter)
{
rt_hw_sdcard_init();
/* Filesystem Initialization */
#ifdef RT_USING_DFS
{
/* init the device filesystem */
dfs_init();
#if defined(RT_USING_DFS_ELMFAT)
/* init the elm chan FatFs filesystam*/
elm_init();
/* mount sd card fat partition 1 as root directory */
if (dfs_mount("sd0", "/", "elm", 0, 0) == 0)
{
rt_kprintf("File System initialized!\n");
}
else
rt_kprintf("File System initialzation failed!\n");
#endif
#if defined(RT_USING_DFS_ROMFS)
dfs_romfs_init();
if (dfs_mount(RT_NULL, "/rom", "rom", 0, &romfs_root) == 0)
{
rt_kprintf("ROM File System initialized!\n");
}
else
rt_kprintf("ROM File System initialzation failed!\n");
#endif
#if defined(RT_USING_DFS_DEVFS)
devfs_init();
if (dfs_mount(RT_NULL, "/dev", "devfs", 0, 0) == 0)
rt_kprintf("Device File System initialized!\n");
else
rt_kprintf("Device File System initialzation failed!\n");
#ifdef RT_USING_NEWLIB
/* init libc */
libc_system_init("uart0");
#endif
#endif
#if defined(RT_USING_DFS_UFFS)
{
/* init the uffs filesystem */
dfs_uffs_init();
/* mount flash device as flash directory */
if(dfs_mount("nand0", "/nand0", "uffs", 0, 0) == 0)
rt_kprintf("UFFS File System initialized!\n");
else
rt_kprintf("UFFS File System initialzation failed!\n");
}
#endif
}
#endif
#ifdef RT_USING_RTGUI
{
/* init lcd */
rt_hw_lcd_init();
/* init touch panel */
rtgui_touch_hw_init();
/* init keypad */
rt_hw_key_init();
/* re-init device driver */
rt_device_init_all();
/* startup rtgui */
//rtgui_startup();
}
#endif
/* LwIP Initialization */
#ifdef RT_USING_LWIP
{
extern void lwip_sys_init(void);
eth_system_device_init();
/* register ethernetif device */
rt_hw_dm9000_init();
/* re-init device driver */
rt_device_init_all();
/* init lwip system */
lwip_sys_init();
rt_kprintf("TCP/IP initialized!\n");
}
#endif
#ifdef RT_USING_FTK
{
rt_thread_t ftk_thread;
int FTK_MAIN(int argc, char* argv[]);
/* init lcd */
rt_hw_lcd_init();
/* init touch panel */
rtgui_touch_hw_init();
/* init keypad */
rt_hw_key_init();
/* re-init device driver */
rt_device_init_all();
/* create ftk thread */
ftk_thread = rt_thread_create("ftk",
FTK_MAIN, RT_NULL,
10 * 1024, 8, 20);
/* startup ftk thread */
if(ftk_thread != RT_NULL)
rt_thread_startup(ftk_thread);
}
#endif
}
/* thread phase init */
void rt_init_thread_entry(void *parameter)
{
/* Filesystem Initialization */
#ifdef RT_USING_DFS
{
extern void ff_convert_init();
/* init the device filesystem */
dfs_init();
/* init the elm FAT filesystam*/
elm_init();
/* mount spi flash fat as root directory */
if (dfs_mount("spi0", "/", "elm", 0, 0) == 0)
{
rt_kprintf("SPI File System initialized!\n");
/* mount sd card fat partition 1 as SD directory */
if (dfs_mount("sd0", "/SD", "elm", 0, 0) == 0)
rt_kprintf("SD File System initialized!\n");
else
rt_kprintf("SD File System init failed!\n");
}
else
rt_kprintf("SPI File System init failed!\n");
#ifdef RT_DFS_ELM_USE_LFN
ff_convert_init();
#endif
}
#endif
load_setup();
/* RTGUI Initialization */
#ifdef RT_USING_RTGUI
{
extern void rt_hw_key_init(void);
extern void remote_init(void);
extern void rtgui_touch_hw_init(void);
radio_rtgui_init();
rt_hw_key_init();
rtgui_touch_hw_init();
remote_init();
}
#endif
/* set default setup */
{
extern void vol(uint16_t v);
extern void brightness_set(unsigned int value);
vol(radio_setup.default_volume);
brightness_set(radio_setup.lcd_brightness);
}
/* start RTC */
rt_hw_rtc_init();
/* LwIP Initialization */
#ifdef RT_USING_LWIP
{
extern void lwip_sys_init(void);
extern void rt_hw_dm9000_init(void);
eth_system_device_init();
/* register ethernetif device */
rt_hw_dm9000_init();
/* init all device */
rt_device_init_all();
/* init lwip system */
lwip_sys_init();
rt_kprintf("TCP/IP initialized!\n");
}
#endif
#if STM32_EXT_SRAM
/* init netbuf worker */
net_buf_init(320 * 1024);
#endif
}
