void main(void)
{
/*--------------initialization-----------*/
Set_System();
NVIC_Configuration();
GPIO_Config();
SD_Card_Check();
USB_Init();
ADC_Configuration();
Timer_Configuration();
LCD_Initial();
Clear_Screen(BLACK);
Display_Logo(110,150);
/*----------Power ON Information----------*/
Display_Str(80, 87, GRN, PRN, "System Initializing");
Display_Str(102, 71, GRN, PRN, "Please Wait");
Display_Str(8, 39, WHITE, PRN, "DSO FW Copyright (c) BenF 2010-2011");
Display_Str(8, 23, YEL, PRN, "LIB ver 3.13");
//WaitForKey();
// check for presence of APP and jump to start
pApp = (APP_Interface *)*(u32 *)(APP_VECTORS + 7 * 4);
if (pApp->Signature == APP_SIGNATURE)
pApp->APP_Start();
Display_Str(150, 23, RED, PRN, "No APP found");
while (1);
}
void ADC_Handler(char *pcInsert)
{
/* We have only one SSI handler iIndex = 0 */
char Digit1=0, Digit2=0, Digit3=0, Digit4=0;
uint32_t ADCVal = 0;
if (ADC_not_configured ==1) {
ADC_Configuration();
ADC_not_configured=0;
}
/* get ADC conversion value */
ADCVal = ADC_GetConversionValue(ADC1);
/* convert to Voltage, step = 0.8 mV */
ADCVal = (uint32_t)(ADCVal * 0.8);
/* get digits to display */
Digit1= ADCVal/1000;
Digit2= (ADCVal-(Digit1*1000))/100 ;
Digit3= (ADCVal-((Digit1*1000)+(Digit2*100)))/10;
Digit4= ADCVal -((Digit1*1000)+(Digit2*100)+ (Digit3*10));
/* prepare data to be inserted in html */
*pcInsert = (char)(Digit1+0x30);
*(pcInsert + 1) = (char)(Digit2+0x30);
*(pcInsert + 2) = (char)(Digit3+0x30);
*(pcInsert + 3) = (char)(Digit4+0x30);
*(pcInsert + 4) = 0;
}
/**
* @brief Main program.
* @param None
* @retval None
*/
int main(void)
{
/* Configure System clocks -----------------------------------------------*/
RCC_Configuration();
/* Configure GPIO ports --------------------------------------------------*/
GPIO_Configuration();
USART_Configuration();
/* Output a message on Hyperterminal using printf function */
printf("\n\rADC different test: \n\r");
ADC_Configuration();
while(ADC_GetBitState(ADC_FLAG_EOC) != SET);
ADCConvertedValue = ADC_GetConversionValue();
printf("\n\rThe original data %d\n\r",ADCConvertedValue);
ADC_DeInit(&ADC_InitStructure);
ADC_OVERConfiguration();
while(ADC_GetBitState(ADC_FLAG_EOC) != SET);
ADCConvertedValue_OVER = ADC_GetConversionValue();
printf("\n\rOversampling data %d\n\r",ADCConvertedValue_OVER);
while (1)
{
}
}
void adc_hw_init(void)
{
GPIO_Configuration();
TIM_Configuration();
DMA_Configuration();
ADC_Configuration();
NVIC_Configuration();
}
/**
* @brief Initialize the correspond device.
* @param Device_Init: specifies the devices which will be initalized
* This parameter can be any combination of the following values:
* @arg GPIO_INIT, RTC_INIT, USART_INIT, FLASH_INIT,
* FSCM_INIT, RCC_INIT
* @retval : None
*/
void SystemResourcesInit(uint32_t Device_Init)
{
if(Device_Init & RCC_INIT)
{
/* System Clocks Configuration */
RCC_Configuration();
//RCC_Internal_Configuration();
}
if(Device_Init & FSCM_INIT)
{
FSCM_Configuration();
}
if(Device_Init & FLASH_INIT)
{
Flash_Configuration(FALSE);
}
if(Device_Init & NVIC_INIT)
{
/* NVIC configuration */
NVIC_Configuration();
}
if(Device_Init & GPIO_INIT)
{
/* Configure the GPIO */
GPIO_Configuration();
}
if(Device_Init & USART_INIT)
{
/* Configure the USART */
USARTx_Configuration();
}
if(Device_Init & SYSTICK_INIT)
{
/* SysTick Configuration */
SysTick_Configuration();
}
if(Device_Init & TIMER_INIT)
{
/* Timer Configuration */
Timer_Configuration();
}
if(Device_Init & SPI_INIT)
{
SPIx_Configuration();
}
if(Device_Init & DAC_INIT)
{
DAC_VOLTAGE_Configuration();
}
if(Device_Init & ADC_INIT)
{
ADC_Configuration();
}
}
/* The core is running at 72MHz */
int main(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
/* Set the Vector Table base adress at 0x8004000 */
NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x4000);
RCC_APB2PeriphClockCmd (RCC_APB2Periph_GPIOB|RCC_APB2Periph_GPIOA , ENABLE);
/* Full SWJ Disabled (JTAG-DP + SW-DP) */
GPIO_PinRemapConfig (GPIO_Remap_SWJ_Disable, ENABLE);
//LED0 -> PB0, LED1 -> PB1
// Reset GPIO init structure
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(GPIOB, &GPIO_InitStructure);
// Configure PA1 as input floating
// Reset GPIO init structure
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;//GPIO_Mode_IPD;
GPIO_Init(GPIOA, &GPIO_InitStructure);
USART1_Init();
ADC_Configuration();
while (1)
{
/* LED0-ON LED1-OFF */
GPIO_SetBits(GPIOB , GPIO_Pin_0);
GPIO_ResetBits(GPIOB , GPIO_Pin_1);
Delay(0xfffff);
/* LED0-OFF LED1-ON */
GPIO_ResetBits(GPIOB , GPIO_Pin_0);
GPIO_SetBits(GPIOB , GPIO_Pin_1);
Delay(0xfffff);
/* Print the ADC PA1 DIP Switch value to USART */
USART1_Print_Int(readDIPSwitch());
if (GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_1) == 1) USART1_Print(", ON\n");
else USART1_Print(", OFF\n");
}
}
//各个外设的初始化
void Peripheral_Init(void)
{
// 中断向量表配置
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
PS_Init();
KEY_Init();
STATU_Init();
LED_Init();
BEEP_Init();
CAN1_Init();
CAN2_Init();
OLED_Init();
ADC_Configuration();
}
//------------------------------------------------------------------------------
// === Initialize Function ===
//------------------------------------------------------------------------------
void Init_Main(void)
{
RCC_Configuration();
// RCC_GetClocksFreq(&rcc_clocks);
GPIO_Configuration();
NVIC_Configuration();
DMA_Configuration();
ADC_Configuration();
// TIM_Configuration();
EXTI_Configuration();
nRF24_init();
// nRF24_ClearIRQFlags();
USART1_Init(57600); // in 36mhz error 0%
}
/********************************************************************************
* sampleAcquisitionInit
*
* Init the sampling routine.
* Blocking function.
*
* @param Void
* @return 0 if working
*******************************************************************************/
void sampleAcquisitionInit( void )
{
/*****************
* SYSTEM CLOCKS *
*****************/
RCC_Configuration();
/********
* GPIO *
********/
GPIO_Configuration();
/*******
* DMA *
*******/
DMA_Configuration();
/*******
* ADC *
*******/
ADC_Configuration();
/*********
* TIMER *
*********/
TIMER_Configuration();
/********
* NVIC *
********/
IT_Configuration();
/*********
* START *
*********/
}
//------------------------------------------------------------------------------
// === Initialize Function ===
//------------------------------------------------------------------------------
void Init_Main(void)
{
RCC_Configuration();
//RCC_GetClocksFreq(&rcc_clocks);
GPIO_Configuration();
NVIC_Configuration();
DMA_Configuration();
ADC_Configuration();
TIM_Configuration();
EXTI_Configuration();
Tim_Encoder_initial();
USART1_Init(57600); // in 36mhz error 0%
USART3_Init(115200);// in 72mhz error 0%
//if (SysTick_Config(rcc_clocks.SYSCLK_Frequency / 1000))
//{
/* Capture error */
// while (1);
//}
}
int main(void)
{
//设置NVIC中断分组2位抢占优先级，2位响应优先级
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2) ;
Ticker_Configuration();
LED_Configuration();
USART2_Configuration();
delay_init();
//Do_Loop_LED_Test();
//Do_Loop_Motor_Test();
//DISABLE_FOLLOWING_CODE(1);
//主控通信控制器初始化
Maincontrol_Configuration();
Encoder_Configuration();
Encoder_Start();
//速度采样控制器初始化
TIM2_Configuration(5);
TIM2_Start();
//电流检测
ADC_Configuration();
//电机初始化
Motor_Init();
while (1)
{
delay_ms(200);
LED_RED_TOGGLE();
LED_GREEN_TOGGLE();
}
}
/**
* @brief ADC_Handler : SSI handler for ADC page
*/
u16_t ADC_Handler(int iIndex, char *pcInsert, int iInsertLen)
{
/* We have only one SSI handler iIndex = 0 */
if (iIndex ==0)
{
char Digit1=0, Digit2=0, Digit3=0, Digit4=0;
uint32_t ADCVal = 0;
/* configure ADC if not yet configured */
if (ADC_not_configured ==1)
{
ADC_Configuration();
ADC_not_configured=0;
}
HAL_ADC_PollForConversion(&hadc, 10);
/* get ADC conversion value */
ADCVal = HAL_ADC_GetValue(&hadc);
/* convert to Voltage, step = 0.8 mV */
ADCVal = (uint32_t)(ADCVal * 0.8);
/* get digits to display */
Digit1= ADCVal/1000;
Digit2= (ADCVal-(Digit1*1000))/100;
Digit3= (ADCVal-((Digit1*1000)+(Digit2*100)))/10;
Digit4= ADCVal -((Digit1*1000)+(Digit2*100)+ (Digit3*10));
/* prepare data to be inserted in html */
*pcInsert = (char)(Digit1+0x30);
*(pcInsert + 1) = (char)(Digit2+0x30);
*(pcInsert + 2) = (char)(Digit3+0x30);
*(pcInsert + 3) = (char)(Digit4+0x30);
/* 4 characters need to be inserted in html*/
return 4;
}
return 0;
}
int main(void)
{
uint32_t data_counter=0; //used as data timestamp
uint8_t deadly_flashes=0,system_state=0,repetition_counter=0;
int16_t sensor_data, sensor_raw_data[3]={}; //used for handling data passed back from sensors
int16_t sfe_sensor_ref_buff[2][3],sfe_sensor_ref_buff_old[2][3];//used to detect and fix I2C bus lockup
RTC_t RTC_time;
wave_stuffer Gyro_wav_stuffer={0,0},Accel_wav_stuffer={0,0};//Used to controlling wav file bit packing
SystemInit(); //Sets up the clk
setup_gpio(); //Initialised pins, and detects boot source
DBGMCU_Config(DBGMCU_IWDG_STOP, ENABLE); //Watchdog stopped during JTAG halt
if(RCC->CSR&RCC_CSR_IWDGRSTF) { //Watchdog reset, turn off
RCC->CSR|=RCC_CSR_RMVF; //Reset the reset flags
shutdown();
}
SysTick_Configuration(); //Start up system timer at 100Hz for uSD card functionality
Watchdog_Config(WATCHDOG_TIMEOUT); //Set the watchdog
Watchdog_Reset(); //Reset watchdog as soon as possible incase it is still running at power on
rtc_init(); //Real time clock initialise - (keeps time unchanged if set)
Usarts_Init();
ISR_Config();
rprintfInit(__usart_send_char); //Printf over the bluetooth
if(USB_SOURCE==bootsource) {
Set_System(); //This actually just inits the storage layer
Set_USBClock();
USB_Interrupts_Config();
USB_Init();
uint32_t nojack=0x000FFFFF; //Countdown timer - a few hundered ms of 0v on jack detect forces a shutdown
while (bDeviceState != CONFIGURED) { //Wait for USB config - timeout causes shutdown
if(Millis>10000 || !nojack) //No USB cable - shutdown (Charger pin will be set to open drain, cant be disabled without usb)
shutdown();
if(GET_CHRG_STATE) //Jack detect resets the countdown
nojack=0x0FFFFF;
nojack--;
Watchdog_Reset(); //Reset watchdog here, if we are stalled here the Millis timeout should catch us
}
USB_Configured_LED();
EXTI_ONOFF_EN(); //Enable the off interrupt - allow some time for debouncing
while(1) { //If running off USB (mounted as mass storage), stay in this loop - dont turn on anything
if(Millis%1000>500) //1Hz on/off flashing
switch_leds_on(); //Flash the LED(s)
else
switch_leds_off();
Watchdog_Reset();
__WFI(); //Sleep until something arrives
}
}
else {
if(!GET_PWR_STATE) //Check here to make sure the power button is still pressed, if not, sleep
shutdown(); //This means a glitch on the supply line, or a power glitch results in sleep
EXTI_ONOFF_EN(); //Enable the off interrupt - allow some time for debouncing
ADC_Configuration(); //At present this is purely here to detect low battery
do {
battery_voltage=Battery_Voltage;//Have to flush adc for some reason
Delay(25000);
} while(fabs(Battery_Voltage-battery_voltage)>0.01 || !battery_voltage);
I2C_Config(); //Setup the I2C bus
Sensors=detect_sensors(0); //Search for connected sensors
if(battery_voltage<BATTERY_STARTUP_LIMIT)
deadly_flashes=1;
if(!(Sensors&(1<<FOREHEAD_ACCEL))) //Check for any missing sensors
deadly_flashes=2;
if(!(Sensors&(1<<(FOREHEAD_GYRO-1))))
deadly_flashes=3;
if(!(Sensors&(1<<(SFE_1_ACCEL-1))))
deadly_flashes=4;
if(!(Sensors&(1<<(SFE_1_MAGNO-1))))
deadly_flashes=5;
if(!(Sensors&(1<<(SFE_1_GYRO-1))))
deadly_flashes=6;
if(!(Sensors&(1<<(SFE_2_ACCEL-3))))
deadly_flashes=7;
if(!(Sensors&(1<<(SFE_2_MAGNO-3))))
deadly_flashes=8;
if(!(Sensors&(1<<(SFE_2_GYRO-3))))
deadly_flashes=9;
if((f_err_code = f_mount(0, &FATFS_Obj)))Usart_Send_Str((char*)"FatFs mount error\r\n");//This should only error if internal error
else if(!deadly_flashes){ //FATFS and the I2C initialised ok, try init the card, this also sets up the SPI1
if(!f_open(&FATFS_logfile,"time.txt",FA_OPEN_EXISTING | FA_READ | FA_WRITE)) {//Try and open a time file to get the system time
if(!f_stat((const TCHAR *)"time.txt",&FATFS_info)) {//Get file info
if(!FATFS_info.fsize) {//Empty file
RTC_time.year=(FATFS_info.fdate>>9)+1980;//populate the time struct (FAT start==1980, RTC.year==0)
RTC_time.month=(FATFS_info.fdate>>5)&0x000F;
RTC_time.mday=FATFS_info.fdate&0x001F;
RTC_time.hour=(FATFS_info.ftime>>11)&0x001F;
RTC_time.min=(FATFS_info.ftime>>5)&0x003F;
RTC_time.sec=(FATFS_info.ftime<<1)&0x003E;
rtc_settime(&RTC_time);
rprintfInit(__fat_print_char);//printf to the open file
printf("RTC set to %d/%d/%d %d:%d:%d\n",RTC_time.mday,RTC_time.month,RTC_time.year,\
RTC_time.hour,RTC_time.min,RTC_time.sec);
}
}
f_close(&FATFS_logfile);//Close the time.txt file
}
rtc_gettime(&RTC_time); //Get the RTC time and put a timestamp on the start of the file
rprintfInit(__str_print_char); //Print to the string
//timestamp name
printf("%d-%02d-%02dT%02d-%02d-%02d",RTC_time.year,RTC_time.month,RTC_time.mday,RTC_time.hour,RTC_time.min,RTC_time.sec);
rprintfInit(__usart_send_char); //Printf over the bluetooth
f_err_code = f_mkdir(print_string); //Try to make a directory where the logfiles will live
if(f_err_code) {
printf("FatFs drive error %d\r\n",f_err_code);
if(f_err_code==FR_DISK_ERR || f_err_code==FR_NOT_READY)
Usart_Send_Str((char*)"No uSD card inserted?\r\n");
repetition_counter=1;
}
else
f_err_code=f_chdir(print_string);//enter our new directory
if(f_err_code) {
if(!repetition_counter)
printf("FatFs drive error entering direcotry %d\r\n",f_err_code);
repetition_counter=1;
}
else {
strcat(print_string,".csv");
f_err_code=f_open(&FATFS_logfile,print_string,FA_CREATE_ALWAYS | FA_WRITE);//Try to open the main 100sps csv logfile
}
if(f_err_code) {
if(!repetition_counter)
printf("FatFs drive error creating logfile %d\r\n",f_err_code);
repetition_counter=1;
}
else {
print_string[strlen(print_string)-4]=0x00; //Wipe the .csv off the string
strcat(print_string,"_accel.wav");
f_err_code=f_open(&FATFS_wavfile_accel,print_string,FA_CREATE_ALWAYS | FA_WRITE);//Try to open the accel wav logfile
}
if(f_err_code) {
if(!repetition_counter)
printf("FatFs drive error creating accel wav file %d\r\n",f_err_code);
repetition_counter=1;
}
else {
print_string[strlen(print_string)-9]=0x00; //Wipe the accel.wav off the string
strcat(print_string,"gyro.wav");
f_err_code=f_open(&FATFS_wavfile_gyro,print_string,FA_CREATE_ALWAYS | FA_WRITE);//Try to open the gyro wav logfile
}
if(f_err_code) {
if(!repetition_counter)
printf("FatFs drive error creating gyro wav file %d\r\n",f_err_code);
}
else { //We have a mounted card
print_string[0]=0x00; //Wipe the string
f_err_code=f_lseek(&FATFS_logfile, PRE_SIZE);// Pre-allocate clusters
if (f_err_code || f_tell(&FATFS_logfile) != PRE_SIZE)// Check if the file size has been increased correctly
Usart_Send_Str((char*)"Pre-Allocation error\r\n");
else {
if((f_err_code=f_lseek(&FATFS_logfile, 0)))//Seek back to start of file to start writing
Usart_Send_Str((char*)"Seek error\r\n");
else
rprintfInit(__str_print_char);//Printf to the logfile
}
if(f_err_code)
f_close(&FATFS_logfile);//Close the already opened file on error
else
file_opened=0x01;//So we know to close the file properly on shutdown - bit mask for the files
if(!f_err_code) {
f_err_code=f_lseek(&FATFS_wavfile_accel, PRE_SIZE);// Pre-allocate clusters
if (f_err_code || f_tell(&FATFS_wavfile_accel) != PRE_SIZE)// Check if the file size has been increased correctly
Usart_Send_Str((char*)"Pre-Allocation error\r\n");
else {
if((f_err_code=f_lseek(&FATFS_wavfile_accel, 0)))//Seek back to start of file to start writing
Usart_Send_Str((char*)"Seek error\r\n");
}
if(f_err_code)
f_close(&FATFS_wavfile_accel);//Close the already opened file on error
else
file_opened|=0x02;//So we know to close the file properly on shutdown - bit mask for the files
}
if(!f_err_code) {
f_err_code=f_lseek(&FATFS_wavfile_gyro, PRE_SIZE);// Pre-allocate clusters
if (f_err_code || f_tell(&FATFS_wavfile_gyro) != PRE_SIZE)// Check if the file size has been increased correctly
Usart_Send_Str((char*)"Pre-Allocation error\r\n");
else {
if((f_err_code=f_lseek(&FATFS_wavfile_gyro, 0)))//Seek back to start of file to start writing
Usart_Send_Str((char*)"Seek error\r\n");
}
if(f_err_code)
f_close(&FATFS_wavfile_gyro);//Close the already opened file on error
else
file_opened|=0x04;//So we know to close the file properly on shutdown - bit mask for the files
}
}
}
repetition_counter=0; //Reset this here
//We die, but flash out a number of flashes first
if(f_err_code || deadly_flashes) { //There was an init error
for(;deadly_flashes;deadly_flashes--) {
RED_LED_ON;
Delay(200000);
RED_LED_OFF;
Delay(200000);
Watchdog_Reset();
}
RED_LED_ON;
Delay(400000);
shutdown(); //Abort after a (further )single red flash
}
}
void init(void)
{
SystemInit();
//Setup SystickTimer
if (SysTick_Config(SystemCoreClock / 1000)){ColorfulRingOfDeath();}
GPIO_Configuration();
#ifdef USE_MICROUSB
USBD_Init(&USB_OTG_dev,
USB_OTG_FS_CORE_ID,
&USR_desc,
&USBD_CDC_cb,
&USR_cb);
#endif
#ifdef USE_SDIO
UB_Fatfs_Init();
#endif
#ifdef USE_ADC
ADC_Configuration();
#endif
#ifdef USE_I2C
I2C_Configuration();
#endif
#ifdef USE_SPI
SPI_Configuration();
#endif
#ifdef USE_ENCODER
TIM_encoder_Configuration();
#endif
#ifdef USE_USART1
USART1_Configuration();
#endif
#ifdef USE_USART2
USART2_Configuration();
#endif
#ifdef USE_USART3
USART3_Configuration();
#endif
#ifdef USE_CAN
CAN_Configuration();
#endif
#ifdef USE_PWM
TIM_pwm_Configuration();
#endif
#ifdef USE_EXTI
EXTI_Configuration();
#endif
NVIC_Configuration();
}
/**
* @brief Setup STM32 system (clocks, Ethernet, GPIO, NVIC) and STM3210C-EVAL resources.
* @param None
* @retval None
*/
void System_Setup(void)
{
RCC_ClocksTypeDef RCC_Clocks;
/* Setup STM32 clock, PLL and Flash configuration) */
SystemInit();
/* Enable USART2 clock */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE);
/* Enable ETHERNET clock */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_ETH_MAC | RCC_AHBPeriph_ETH_MAC_Tx |
RCC_AHBPeriph_ETH_MAC_Rx, ENABLE);
/* Enable GPIOs and ADC1 clocks */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC |
RCC_APB2Periph_GPIOD | RCC_APB2Periph_GPIOE | RCC_APB2Periph_AFIO |
RCC_APB2Periph_ADC1, ENABLE);
/* NVIC configuration */
NVIC_Configuration();
/* ADC configuration */
ADC_Configuration();
/* Configure the GPIO ports */
GPIO_Configuration();
/* Initialize the STM3210C-EVAL's LCD */
STM3210C_LCD_Init();
/* Initialize STM3210C-EVAL's LEDs */
STM_EVAL_LEDInit(LED1);
STM_EVAL_LEDInit(LED2);
STM_EVAL_LEDInit(LED3);
STM_EVAL_LEDInit(LED4);
/* Turn on leds available on STM3210X-EVAL */
STM_EVAL_LEDOn(LED1);
STM_EVAL_LEDOn(LED2);
STM_EVAL_LEDOn(LED3);
STM_EVAL_LEDOn(LED4);
/* Clear the LCD */
LCD_Clear(Blue);
/* Set the LCD Back Color */
LCD_SetBackColor(Blue);
/* Set the LCD Text Color */
LCD_SetTextColor(White);
/* Display message on the LCD*/
LCD_DisplayStringLine(Line0, MESSAGE1);
LCD_DisplayStringLine(Line1, MESSAGE2);
LCD_DisplayStringLine(Line2, MESSAGE3);
LCD_DisplayStringLine(Line3, MESSAGE4);
/* Configure the Ethernet peripheral */
Ethernet_Configuration();
/* SystTick configuration: an interrupt every 10ms */
RCC_GetClocksFreq(&RCC_Clocks);
SysTick_Config(RCC_Clocks.SYSCLK_Frequency / 100);
/* Update the SysTick IRQ priority should be higher than the Ethernet IRQ */
/* The Localtime should be updated during the Ethernet packets processing */
NVIC_SetPriority (SysTick_IRQn, 1);
/* Configure the Key button */
STM_EVAL_PBInit(Button_KEY, Mode_GPIO);
}
/*
*@功能 主函数入口
*@参数 空
*@返回 空
*/
int main(void)
{
/*测试变量部分*/
/*******************************************/
uint8_t t=' ';
uint8_t usb_code[6]={0x55,0x7A,0xBB,0x01,0x00,0x01};//下位机反复的向上位机发送此命令，用以建立初始化连接
uint8_t p[6]={0x30,0x31,0x32,0x33,0x34,0x35};
uint8_t hanzi[11];
uint8_t *phz;
uint32_t flash_data;
uint8_t flash_temp[4];
uint8_t status;
uint32_t addr;
uint8_t nChar;
// uint8_t char_buf[50];
// uint8_t count;
uint32_t batt_test=0;
/*********************************************/
//设置中断向量表的位置在 0x5000，即内部flash的前20K
NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x5000);
SystemTick_Init();
NVIC_Configuration();
//按键初始化
Init_Sw_Key_Io();
Exit_Line_Init();
EXTILine_Mask(EXTI_Line5);
EXTILine_Mask(EXTI_Line8);
EXTILine_Mask(EXTI_Line15);
//长按开机，如果长按不够3m则继续保持关机状态，如果长按3m，则退出停机模式，开机
WKUP_Init();
EXTILine_Unmask(EXTI_Line5);
EXTILine_Unmask(EXTI_Line8);
EXTILine_Unmask(EXTI_Line15);
//如果没有进入停机模式，则开启显示
OLED_WR_Byte(0xAF,OLED_CMD); //开启显示
longpress=0;
stop_flag=0;
SPI_FLASH_Init();
//正常运行后，显示logo
OLED_Init();
SPI_FLASH_Init();
OLED_Clear();
OLED_DrawBMP(32,2,48,4,hui);
OLED_ShowUnite(48,2,"合科技");
//delay_ms(800);
USB_BIT_Init();
//为降低功耗的控制位
/****************************************/
bluetooth_control_Init();
max232_control_Init();
oled_control_Init();
OLED_ON;
buzzer_control_Init();
BUZZER_OFF;
coil_control_Init();
COIL_NO_ACTUATE;
/****************************************/
Init_Timer();
//实时时钟初始化
RTC_init();
//初始化并启动看门狗
//iwdg_init();
//串口1 USB初始化及配置
Uart1_Init();
USART1_Configuration();
//串口2 RFID初始化及配置
Uart2_Init();
USART2_Configuration();
//串口3 bluetooth初始化及配置
Uart3_Init();
USART3_Configuration();
bluetooth_Configuration(); //蓝牙的EN和BRST配置
CLR_BT_EN; //开启蓝牙
ADC_GPIO_Configuration();
ADC_Configuration();
//flash区域指针初始化
//SPI_FLASH_WriteWord(INIT_FLAG,1); //此次下载清flash
SPI_FLASH_WriteWord(INIT_FLAG,0); //此次下载不清flash
if(SPI_FLASH_ReadWord(INIT_FLAG) ==0x01) //当初始化标志等于1，就初始化POINT和ROW
{
mykey_init(); //初始化钥匙操作的头指针 ---如何设定在什么情况下重新设置
}
// OLED_ClearArea(0,4,128,6);
// OLED_ShowUnite(24,4,"初始化蓝牙");
// mac_query_result=bluetooth_mac();
/*延时函数测试*/
/**********************************************/
// GPIO_Configuration();
// while(1)
// {
// GPIO_SetBits(GPIOB,GPIO_Pin_0);
// delay_ms(1000);
// GPIO_ResetBits(GPIOB,GPIO_Pin_0);
// delay_ms(3000);
// }
/**********************************************/
/*OLED测试*/
/**********************************************/
// while(1)
// {
// OLED_Clear();
// OLED_ShowChinese(0,0,0); //中
// OLED_ShowChinese(18,0,1); //景
// OLED_ShowChinese(36,0,2); //园
// OLED_ShowChinese(54,0,3); //电
// OLED_ShowChinese(72,0,4); //子
// OLED_ShowChinese(90,0,5); //科
// OLED_ShowChinese(108,0,6);//技
// OLED_ShowString(0,3,"1.3' OLED TEST");
// //OLED_ShowString(8,2,"ZHONGJINGYUAN");
// //OLED_ShowString(20,4,"2014/05/01");
// OLED_ShowString(0,6,"ASCII:");
// OLED_ShowString(63,6,"CODE:");
// OLED_ShowChar(48,6,t);//显示ASCII字符
// t++;
// if(t>'~')
// t=' ';
// OLED_ShowNum(103,6,t,3,16);//显示ASCII字符的码值
//
// delay_ms(8000);
// //OLED_Clear();
//
// OLED_DrawBMP(0,0,128,8,BMP1); //图片显示(图片显示慎用，生成的字表较大，会占用较多空间，FLASH空间8K以下慎用)
// delay_ms(800);
//
// //OLED_Display_On();
// //delay_ms(800);
//
// OLED_DrawBMP(0,0,128,8,BMP2);
// delay_ms(800);
//
// //OLED_Display_Off();
// //delay_ms(800);
// }
/**********************************************/
/*OLED+字库测试*/
/**********************************************/
// phz="字库";
// hanzi[0]=*phz;
// hanzi[1]=*(phz+1);
// hanzi[2]=*(phz+2);
// hanzi[3]=*(phz+3);
// hanzi[4]=*(phz+4);
//
//
// OLED_ShowChinese(0,0,"汉");
// OLED_ShowChinese(16,0,"字");
//
// OLED_ShowUnite(0,2,"你很不错");
// OLED_ShowUnite(0,4,"ABCDEF");
// OLED_ShowUnite(0,6,"123456");
/**********************************************/
/*
STM32F103C8串口有3个
串口1通过USB接充电器，与上位机PC通信
串口2通过串口读RFID的数据
串口3通过蓝牙与PDA通信
*/
/*串口1 USB测试*/
/**********************************************/
// while(1)
// {
// UART1nSendChar(1,"12345",5);
// delay_ms(1000);
// }
//UART1nSendChar(1,usb_code,6);
//USB_Cheak_init();
//Test_Usb_Data();
// UART1SendwordHex(1, 0x123456);
// UART1nSendChar(1,"汉字",5);
// while(1);
/**********************************************/
/*串口2 RFID测试*/
/**********************************************/
// while(1)
// {
// OLED_ShowUnite(32,2,"RFID");
// delay_ms(1000);
// UART1nSendChar(1,"12345",5);
// //OLED_Clear(); //清屏
// nChar =Read_RfidData(2,Rfid_Buff,0xff);
// m_UB2;
// if(nChar ==5)
// {
// if(Rfid_Buff[0]==0&&Rfid_Buff[1]==0&&Rfid_Buff[2]==0&&Rfid_Buff[3]==0)
// ;
// else //至少有一个不为零
// {
// UART1nSendChar(1,Rfid_Buff,5);
// OLED_ShowNumHex(32,4,Rfid_Buff[0],2,16);
// OLED_ShowNumHex(48,4,Rfid_Buff[1],2,16);
// OLED_ShowNumHex(64,4,Rfid_Buff[2],2,16);
// OLED_ShowNumHex(80,4,Rfid_Buff[3],2,16);
// delay_ms(1000);
// break;
// }
// }
// }
// while(1);
/**********************************************/
/*串口3 bluetooth测试*/
/**********************************************/
// CLR_BT_EN;
// CLR_BT_BRTS;
//
// while(1)
// {
// UART3nSendChar(3,"012345",6);
// delay_ms(1000);
// }
// while(1)
// {
// UART3nSendChar(3,"TTM:MAC-?",9);
// count=UART3GetCount(3);
// UART3nReadChar(3,char_buf,count);
//
//
//
//
// UART1nSendChar(1,char_buf,count);
// delay_ms(1000);
// }
/**********************************************/
/*flash测试*/
/**********************************************/
// SPI_FLASH_WriteWord(AUTHOR_ROW,0x456789);
//
// SPI_FLASH_BufferRead(flash_temp,AUTHOR_ROW,4);
//
// flash_data=SPI_FLASH_ReadWord(AUTHOR_ROW);
// UART1nSendChar(1,flash_temp,4);
//
// OLED_ShowNum(0,6,flash_data,8,16);
//
// //SPI_FLASH_WriteEnable();
// status=SPI_FLASH_ReadStatusReg();
// OLED_ShowNum(112,6,status,1,16);
// SPI_FLASH_BulkErase();
// SPI_FLASH_BufferWrite("98765",0x100002,6);
// SPI_FLASH_BufferRead(p,0x100002,6);
// SPI_FLASH_Write("98765",0x1f0005,6);
// SPI_FLASH_Read(p,0x1f0005,6);
// while(1)
// {
// UART1nSendChar(1,p,6);
// delay_ms(1000);
// }
/**********************************************/
//菜单测试
/**********************************************/
//Main_Lcd_Show(); //主界面显示
//Main_Lcd_Show2();
// mode=1;
//
// OLED_ShowChar(0,0,'A');
//
// OLED_ShowChinese(0,2,"我");
//
// OLED_ShowUnite(0,4,"你很不错");
//
// while(1);
//
// mode=0;
// delay_ms(1000);
//ShowMenu(HsMenu);
// Choose_MenuOp1();
// Choose_MenuOp4();
// Choose_MenuOp4_1();
// Choose_MenuOp4_2();
// Choose_MenuOp4_22();
// Choose_MenuOp4_3();
// Choose_MenuOp4_4();
// Choose_MenuOp5();
// Choose_MenuOp5_1();
// Choose_MenuOp5_3();
// Choose_MenuOp5_4();
// while(1)
// {
// Main_Oled_Time();
// Main_Oled_Power();
// delay_ms(1000);
// }
// while(1);
/**********************************************/
//蜂鸣器测试
/**********************************************/
// while(1)
// {
// BUZZER_OFF;
// delay_ms(1000);
//
// BUZZER_ON;
// delay_ms(1500);
// }
/**********************************************/
//协议测试
/**********************************************/
//OLED_Clear();
// OLED_ShowUnite(32,2,"通信中..");
// OLED_ShowUnite(0,4,"你很不错");
// delay_ms(1000);
// addr=0xFFFF;
// OLED_ShowNumHex(0,6,addr,8,16);
//USB_Cheak_init();
//USB_transmit();
// bluetooth_uart_switch=1;
// Test_Usb_Data();
// while(1);
// SPI_FLASH_WriteWord(AUTHOR_POINT,AUTHOR_START);
// addr= SPI_FLASH_ReadWord(AUTHOR_POINT);
// OLED_ShowNum(0,0,addr,8,16);
/**********************************************/
//ADC测试
/**********************************************/
// while(1)
// {
// OLED_Clear();
// batt_test=ADC_GetConversionValue(ADC1);
// OLED_ShowNum(24,2,batt_test,8,16);
// delay_ms(1000);
// }
//
/**********************************************/
//定时器2测试
/**********************************************/
// GPIO_Configuration();
// GPIO_ResetBits(GPIOB,GPIO_Pin_6);
// delay_ms(10);
// GPIO_SetBits(GPIOB,GPIO_Pin_6);
// g_WaitTimeOut = 0;
// SetTimer(TIMER_TIMEOUT,1,Do_TimeOut,THREE_MIN);
// while(g_WaitTimeOut == 0)
// {
// GPIO_ResetBits(GPIOB,GPIO_Pin_6);
// }
// KillTimer(TIMER_TIMEOUT);
// GPIO_SetBits(GPIOB,GPIO_Pin_6);
// g_WaitTimeOut = 0;
// SetTimer(TIMER_TIMEOUT,10,Do_TimeOut,THREE_MIN);
// while(g_WaitTimeOut == 0)
// {
// nChar =Read_RfidData(2,Rfid_Buff,0xff);
// if(nChar ==5)
// {
// OLED_ShowUnite(32,80,Rfid_Buff);
// ++rfidrow;
// delay_ms(1000);
// for(i=0;i<4;i++)
// {
// for(k =0;k<40;k++)
// msDelay(500);
// WritEDAta(CAIMA_START+8*rfidrow+4+i,Rfid_Buff[i]);
// }
// break;
// }
// }
// KillTimer(TIMER_TIMEOUT);
/**********************************************/
// OLED_ClearArea(0,4,128,6);
// OLED_ShowUnite(24,4,"初始化完成");
// delay_ms(100);
//bluetooth_uart_switch=0;
// for(int iter=0;iter<3;iter++)
// Power_Cheak();
//主循环测试
g_State=ST_IDLE;
while(1)
{
switch (g_State) //g_State是一个全局函数
{
case ST_IDLE: //#define ST_IDLE 0XFF
ST_Idle(); //空闲时做状态检测，可改变g_State
break;
case ST_USB: //#define ST_USB 0XFD
USB_transmit(); //USB传输
break;
// case ST_KEY:
// Key_Trismit(); //读钥匙的RFID，判断是否已经连接上
// break;
case ST_LCDMENU: //#define ST_LCDMENU 0XFA 多选择菜单操作
Choose_MenuOp1();
break;
default:break;
}
}
}
int main(void)
{
uint32_t ppg; //PPG channel
uint32_t data_counter=0; //used as data timestamp
uint8_t system_state=0; //used to track button press functionality
float sensor_data; //used for handling data passed back from sensors
RTC_t RTC_time;
_REENT_INIT_PTR(&my_reent);
_impure_ptr = &my_reent;
SystemInit(); //Sets up the clk
setup_gpio(); //Initialised pins, and detects boot source
DBGMCU_Config(DBGMCU_IWDG_STOP, ENABLE); //Watchdog stopped during JTAG halt
if(RCC->CSR&RCC_CSR_IWDGRSTF) { //Watchdog reset, turn off
RCC->CSR|=RCC_CSR_RMVF; //Reset the reset flags
shutdown();
}
SysTick_Configuration(); //Start up system timer at 100Hz for uSD card functionality
Watchdog_Config(WATCHDOG_TIMEOUT); //Set the watchdog
Watchdog_Reset(); //Reset watchdog as soon as possible incase it is still running at power on
rtc_init(); //Real time clock initialise - (keeps time unchanged if set)
Usarts_Init();
ISR_Config();
rprintfInit(__usart_send_char); //Printf over the bluetooth
if(USB_SOURCE==bootsource) {
Set_System(); //This actually just inits the storage layer
Set_USBClock();
USB_Interrupts_Config();
USB_Init();
uint32_t nojack=0x000FFFFF; //Countdown timer - a few hundered ms of 0v on jack detect forces a shutdown
while (bDeviceState != CONFIGURED) { //Wait for USB config - timeout causes shutdown
if(Millis>10000 || !nojack) //No USB cable - shutdown (Charger pin will be set to open drain, cant be disabled without usb)
shutdown();
if(GET_VBUS_STATE) //Jack detect resets the countdown
nojack=0x0FFFFF;
nojack--;
Watchdog_Reset(); //Reset watchdog here, if we are stalled here the Millis timeout should catch us
}
USB_Configured_LED();
EXTI_ONOFF_EN(); //Enable the off interrupt - allow some time for debouncing
while(1) { //If running off USB (mounted as mass storage), stay in this loop - dont turn on anything
if(Millis%1000>500) //1Hz on/off flashing
switch_leds_on(); //Flash the LED(s)
else
switch_leds_off();
Watchdog_Reset();
}
}
if(!GET_PWR_STATE) //Check here to make sure the power button is still pressed, if not, sleep
shutdown(); //This means a glitch on the supply line, or a power glitch results in sleep
for(uint8_t n=0;n<PPG_CHANNELS;n++)
init_buffer(&(Buff[n]),PPG_BUFFER_SIZE);//Enough for ~0.25S of data
setup_pwm(); //Enable the PWM outputs on all three channels
Delay(100000); //Sensor+inst amplifier takes about 100ms to stabilise after power on
ADC_Configuration(); //We leave this a bit later to allow stabilisation
calibrate_sensor(); //Calibrate the offset on the diff pressure sensor
EXTI_ONOFF_EN(); //Enable the off interrupt - allow some time for debouncing
I2C_Config(); //Setup the I2C bus
uint8_t sensors_=detect_sensors(); //Search for connected sensors
sensor_data=GET_BATTERY_VOLTAGE; //Have to flush adc for some reason
Delay(10000);
if(!(sensors_&~(1<<PRESSURE_HOSE))||GET_BATTERY_VOLTAGE<BATTERY_STARTUP_LIMIT) {//We will have to turn off
Watchdog_Reset(); //LED flashing takes a while
if(abs(Reported_Pressure)>PRESSURE_MARGIN)
Set_Motor(-1); //If the is air backpressure, dump to rapidly drop to zero pressure before turnoff
if(file_opened)
f_close(&FATFS_logfile); //be sure to terminate file neatly
red_flash();
Delay(400000);
red_flash(); //Two flashes means battery abort -----------------ABORT 2
if(sensors_&~(1<<PRESSURE_HOSE))
shutdown();
Delay(400000);
red_flash(); //Three flashes means no sensors abort ------------ABORT 3
shutdown();
}
if((f_err_code = f_mount(0, &FATFS_Obj)))Usart_Send_Str((char*)"FatFs mount error\r\n");//This should only error if internal error
else { //FATFS initialised ok, try init the card, this also sets up the SPI1
if(!f_open(&FATFS_logfile,"time.txt",FA_OPEN_EXISTING | FA_READ | FA_WRITE)) {//Try and open a time file to get the system time
if(!f_stat((const TCHAR *)"time.txt",&FATFS_info)) {//Get file info
if(!FATFS_info.fsize) { //Empty file
RTC_time.year=(FATFS_info.fdate>>9)+1980;//populate the time struct (FAT start==1980, RTC.year==0)
RTC_time.month=(FATFS_info.fdate>>5)&0x000F;
RTC_time.mday=FATFS_info.fdate&0x001F;
RTC_time.hour=(FATFS_info.ftime>>11)&0x001F;
RTC_time.min=(FATFS_info.ftime>>5)&0x003F;
RTC_time.sec=(FATFS_info.ftime<<1)&0x003E;
rtc_settime(&RTC_time);
rprintfInit(__fat_print_char);//printf to the open file
printf("RTC set to %d/%d/%d %d:%d:%d\n",RTC_time.mday,RTC_time.month,RTC_time.year,\
RTC_time.hour,RTC_time.min,RTC_time.sec);
}
}
f_close(&FATFS_logfile); //Close the time.txt file
}
#ifndef SINGLE_LOGFILE
rtc_gettime(&RTC_time); //Get the RTC time and put a timestamp on the start of the file
rprintfInit(__str_print_char); //Print to the string
printf("%d-%d-%dT%d-%d-%d.txt",RTC_time.year,RTC_time.month,RTC_time.mday,RTC_time.hour,RTC_time.min,RTC_time.sec);//Timestamp name
rprintfInit(__usart_send_char); //Printf over the bluetooth
#endif
if((f_err_code=f_open(&FATFS_logfile,LOGFILE_NAME,FA_CREATE_ALWAYS | FA_WRITE))) {//Present
printf("FatFs drive error %d\r\n",f_err_code);
if(f_err_code==FR_DISK_ERR || f_err_code==FR_NOT_READY)
Usart_Send_Str((char*)"No uSD card inserted?\r\n");
}
else { //We have a mounted card
f_err_code=f_lseek(&FATFS_logfile, PRE_SIZE);// Pre-allocate clusters
if (f_err_code || f_tell(&FATFS_logfile) != PRE_SIZE)// Check if the file size has been increased correctly
Usart_Send_Str((char*)"Pre-Allocation error\r\n");
else {
if((f_err_code=f_lseek(&FATFS_logfile, 0)))//Seek back to start of file to start writing
Usart_Send_Str((char*)"Seek error\r\n");
else
rprintfInit(__str_print_char);//Printf to the logfile
}
if(f_err_code)
f_close(&FATFS_logfile);//Close the already opened file on error
else
file_opened=1; //So we know to close the file properly on shutdown
}
}
int main(void)
{
uint8_t system_state=0, i2c_resets=0, si446x_resets=0;//used to track button press functionality and any errors
uint8_t sensors=0;
uint32_t repetition_counter=0; //Used to detect any I2C lockup
uint8_t L3GD20_Data_Buffer_old[8]; //Used to test for noise in the gyro data (indicating that it is working)
uint8_t UplinkFlags=0,CutFlags=0;
uint16_t UplinkBytes=0; //Counters and flags for telemetry
uint32_t last_telemetry=0,cutofftime=0,indtest=0,badgyro=0,permission_time=0,countdown_time=0,last_cuttest=0;
uint16_t sentence_counter=0;
uint8_t silab;
//Cutdown config stuff here, atm uses hardcoded polygon defined in polygon.h
static const int32_t Geofence[UK_GEOFENCE_POINTS*2]=UK_GEOFENCE;
RTC_t RTC_time;
_REENT_INIT_PTR(&my_reent);
_impure_ptr = &my_reent;
SystemInit(); //Sets up the clk
setup_gpio(); //Initialised pins, and detects boot source
DBGMCU_Config(DBGMCU_IWDG_STOP, ENABLE); //Watchdog stopped during JTAG halt
RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR | RCC_APB1Periph_BKP, ENABLE);/* Enable PWR and BKP clocks */
PWR_BackupAccessCmd(ENABLE);/* Allow access to BKP Domain */
uint16_t shutdown_lock=BKP_ReadBackupRegister(BKP_DR3); //Holds the shutdown lock setting
uint16_t reset_counter=BKP_ReadBackupRegister(BKP_DR2); //The number of consecutive failed reboot cycles
PWR_BackupAccessCmd(DISABLE);
if(RCC->CSR&RCC_CSR_IWDGRSTF && shutdown_lock!=SHUTDOWNLOCK_MAGIC) {//Watchdog reset, turn off
RCC->CSR|=RCC_CSR_RMVF; //Reset the reset flags
shutdown();
}
if(USB_SOURCE==bootsource) {
RCC->CFGR &= ~(uint32_t)RCC_CFGR_PPRE1_DIV16;
RCC->CFGR |= (uint32_t)RCC_CFGR_PPRE1_DIV4;//Swap the ABP1 bus to run at 12mhz rather than 4 if we booted from USB, makes USB fast enough
}
SysTick_Configuration(); //Start up system timer at 100Hz for uSD card functionality
Watchdog_Config(WATCHDOG_TIMEOUT); //Set the watchdog
Watchdog_Reset(); //Reset watchdog as soon as possible incase it is still running at power on
rtc_init(); //Real time clock initialise - (keeps time unchanged if set)
Usarts_Init();
ISR_Config();
rprintfInit(__usart_send_char); //Printf over the bluetooth
if(USB_SOURCE==bootsource) {
Set_System(); //This actually just inits the storage layer
Set_USBClock();
USB_Interrupts_Config();
USB_Init();
uint32_t nojack=0x000FFFFF; //Countdown timer - a few hundered ms of 0v on jack detect forces a shutdown
while (bDeviceState != CONFIGURED) { //Wait for USB config - timeout causes shutdown
if((Millis>10000 && bDeviceState == UNCONNECTED)|| !nojack) //No USB cable - shutdown (Charger pin will be set to open drain, cant be disabled without usb)
shutdown();
if(GET_VBUS_STATE) //Jack detect resets the countdown
nojack=0x0FFFFF;
nojack--;
Watchdog_Reset(); //Reset watchdog here, if we are stalled here the Millis timeout should catch us
}
PWR_BackupAccessCmd(ENABLE); /* Allow access to BKP Domain */
BKP_WriteBackupRegister(BKP_DR3,0x0000);//Wipe the shutdown lock setting
PWR_BackupAccessCmd(DISABLE);
while(1) {
if(!(Millis%1000) && bDeviceState == SUSPENDED) {
Delay(100);
if(!GET_VBUS_STATE)
shutdown();
}
Watchdog_Reset();
__WFI(); //Sleep mode
}
}
if(!GET_PWR_STATE && !(CoreDebug->DHCSR&0x00000001) && shutdown_lock!=SHUTDOWNLOCK_MAGIC) {//Check here to make sure the power button is still pressed, if not, sleep if no debug and not in always on flight mode
shutdown(); //This means a glitch on the supply line, or a power glitch results in sleep
}
// check to see if battery has enough charge to start
ADC_Configuration(); //We leave this a bit later to allow stabilisation
{
uint32_t t=Millis;
while(Millis<(t+100)){__WFI();} //Sensor+inst amplifier takes about 100ms to stabilise after power on
}
if(Battery_Voltage<BATTERY_STARTUP_LIMIT) { //We will have to turn off
if(reset_counter<10)
shutdown();
}
Watchdog_Reset(); //Card Init can take a second or two
// system has passed battery level check and so file can be opened
{//Context
uint8_t silabs_header[5]={};
uint8_t* silabs_header_=NULL; //Pointer to the array (if all goes ok)
if((f_err_code = f_mount(0, &FATFS_Obj)))Usart_Send_Str((char*)"FatFs mount error\r\n");//This should only error if internal error
else { //FATFS initialised ok, try init the card, this also sets up the SPI1
if(!(f_err_code=f_open(&FATFS_logfile,(const TCHAR*)"time.txt",FA_OPEN_EXISTING|FA_READ|FA_WRITE))){//Try to open time file get system time
if(!f_stat((const TCHAR *)"time.txt",&FATFS_info)) {//Get file info
if(FATFS_info.fsize<5) { //Empty file
RTC_time.year=(FATFS_info.fdate>>9)+1980;//populate the time struct (FAT start==1980, RTC.year==0)
RTC_time.month=(FATFS_info.fdate>>5)&0x000F;
RTC_time.mday=FATFS_info.fdate&0x001F;
RTC_time.hour=(FATFS_info.ftime>>11)&0x001F;
RTC_time.min=(FATFS_info.ftime>>5)&0x003F;
RTC_time.sec=(FATFS_info.ftime<<1)&0x003E;
rtc_settime(&RTC_time);
rprintfInit(__fat_print_char);//printf to the open file
printf("RTC set to %d/%d/%d %d:%d:%d\n",RTC_time.mday,RTC_time.month,RTC_time.year,\
RTC_time.hour,RTC_time.min,RTC_time.sec);
}
}
f_close(&FATFS_logfile); //Close the time.txt file
}
// load settings if file exists
Watchdog_Reset(); //Card Init can take a second or two
if(!f_open(&FATFS_logfile,(const TCHAR *)"settings.dat",FA_OPEN_EXISTING | FA_READ)) {
UINT br;
int8_t rtc_correction;
f_read(&FATFS_logfile, (void*)(&rtc_correction),sizeof(rtc_correction),&br);
//Use the setting to apply correction to the RTC
if(br && (rtc_correction<30) && (rtc_correction>-92) && rtc_correction ) {
PWR_BackupAccessCmd(ENABLE);/* Allow access to BKP Domain */
uint16_t tweaked_prescale = (0x0001<<15)-2;/* Try to run the RTC slightly too fast so it can be corrected either way */
RTC_WaitForSynchro(); /* Wait for RTC registers synchronization */
if( RTC->PRLL != tweaked_prescale ) {/*Note that there is a 0.5ppm offset here (correction 0==0.5ppm slow)*/
RTC_SetPrescaler(tweaked_prescale); /* RTC period = RTCCLK/RTC_PR = (32.768 KHz)/(32767-2+1) */
RTC_WaitForLastTask();
}
BKP_SetRTCCalibrationValue((uint8_t) ((int16_t)31-(21*(int16_t)rtc_correction)/(int16_t)20) );
BKP_RTCOutputConfig(BKP_RTCOutputSource_None);/* Ensure any output is disabled here */
/* Lock access to BKP Domain */
PWR_BackupAccessCmd(DISABLE);
}
else if(br && ((uint8_t)rtc_correction==0x91) ) {/* 0x91 magic flag sets the RTC clock output on */
PWR_BackupAccessCmd(ENABLE);/* Allow access to BKP Domain */
BKP_RTCOutputConfig(BKP_RTCOutputSource_CalibClock);/* Output a 512Hz reference clock on the TAMPER pin*/
PWR_BackupAccessCmd(DISABLE);
}
if(br) {
f_read(&FATFS_logfile, (void*)(&shutdown_lock),sizeof(shutdown_lock),&br);/*This needs to be set with the same magic flag value*/
if(br==2) {
PWR_BackupAccessCmd(ENABLE);/* Allow access to BKP Domain */
BKP_WriteBackupRegister(BKP_DR3,shutdown_lock);//Wipe the shutdown lock setting
PWR_BackupAccessCmd(DISABLE);
}
}
if(br==2) { //Read was successful, next try to read 5 bytes of packet header
f_read(&FATFS_logfile, (void*)(silabs_header),5,&br);
if(br!=5)
silabs_header_=silabs_header;
}
f_close(&FATFS_logfile); //Close the settings.dat file
}
#ifndef SINGLE_LOGFILE
rtc_gettime(&RTC_time); //Get the RTC time and put a timestamp on the start of the file
rprintfInit(__str_print_char); //Print to the string
printf("%02d-%02d-%02dT%02d-%02d-%02d-%s.csv",RTC_time.year,RTC_time.month,RTC_time.mday,RTC_time.hour,RTC_time.min,RTC_time.sec,"Log");//Timestamp name
rprintfInit(__usart_send_char); //Printf over the bluetooth
#endif
Watchdog_Reset(); //Card Init can take a second or two
if((f_err_code=f_open(&FATFS_logfile,(TCHAR*)LOGFILE_NAME,FA_CREATE_ALWAYS | FA_WRITE))) {//Present
Delay(10000);
if((f_err_code=f_open(&FATFS_logfile,(TCHAR*)LOGFILE_NAME,FA_CREATE_ALWAYS | FA_WRITE))) {//Try again
printf("FatFs drive error %d\r\n",f_err_code);
if(f_err_code==FR_DISK_ERR || f_err_code==FR_NOT_READY)
Usart_Send_Str((char*)"No uSD card inserted?\r\n");
}
}
else {
Watchdog_Reset(); //Card Init can take a second or two
print_string[strlen(print_string)-4]=0x00;//Wipe the .csv off the string
strcat(print_string,"_gyro.wav");
if((f_err_code=f_open(&FATFS_wavfile_gyro,(TCHAR*)LOGFILE_NAME,FA_CREATE_ALWAYS | FA_WRITE))) {//Present
printf("FatFs drive error %d\r\n",f_err_code);
if(f_err_code==FR_DISK_ERR || f_err_code==FR_NOT_READY)
Usart_Send_Str((char*)"No uSD card inserted?\r\n");
}
else { //We have a mounted card
f_err_code=f_lseek(&FATFS_logfile, PRE_SIZE);// Pre-allocate clusters
if (f_err_code || f_tell(&FATFS_logfile) != PRE_SIZE)// Check if the file size has been increased correctly
Usart_Send_Str((char*)"Pre-Allocation error\r\n");
else {
if((f_err_code=f_lseek(&FATFS_logfile, 0)))//Seek back to start of file to start writing
Usart_Send_Str((char*)"Seek error\r\n");
else
rprintfInit(__str_print_char);//Printf to the logfile
}
if(f_err_code)
f_close(&FATFS_logfile);//Close the already opened file on error
else
file_opened=1; //So we know to close the file properly on shutdown
if(file_opened==1) {
Watchdog_Reset(); //Card Init can take a second or two
if (f_err_code || f_tell(&FATFS_wavfile_gyro) != PRE_SIZE)// Check if the file size has been increased correctly
Usart_Send_Str((char*)"Pre-Allocation error\r\n");
else {
if((f_err_code=f_lseek(&FATFS_logfile, 0)))//Seek back to start of file to start writing
Usart_Send_Str((char*)"Seek error\r\n");
else
rprintfInit(__str_print_char);//Printf to the logfile
}
if(f_err_code)
f_close(&FATFS_wavfile_gyro);//Close the already opened file on error
else
file_opened|=2; //So we know to close the file properly on shutdown
}
}
}
}
f_err_code|=write_wave_header(&FATFS_wavfile_gyro, 4, 100, 16);//4 channels, last channel is for the current rpm
Watchdog_Reset(); //Card Init can take a second or two
//Setup and test the silabs radio
silab=si446x_setup(silabs_header_);
if(silab!=0x44) { //Should return the device code
print_string[0]=0x00;
printf("Silabs: %02x\n",silab);
f_puts("Silabs detect error, got:",&FATFS_logfile);
f_puts(print_string,&FATFS_logfile);
shutdown_filesystem(ERR, file_opened);//So we log that something went wrong in the logfile
shutdown();
}
}//Context
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
/*!< At this stage the microcontroller clock setting is already configured,
this is done through SystemInit() function which is called from startup
file (startup_stm32f10x_xx.s) before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
system_stm32f10x.c file
*/
uint32_t delay;
uint8_t sendFlag_Ai = 0;
SOE_Struct soe;
uint32_t start = 0;
/* System clocks configuration ---------------------------------------------*/
SystemInit();
RCC_ClocksTypeDef clock;
RCC_GetClocksFreq(&clock);
RCC_Configuration();
GPIO_Configuration();
ADC_Configuration();
COM3_Configuration(9600);
DMA_Configuration();
TIM_UART_Config(); //uart3-rx
FREQ_MEA_Init(); //freq采样
TIM2_Configuration(); //adc采样
SysTick_Configuration(); //DI采样
RTC_Init();
NVIC_Configuration();
DataBase_Init();
//memset(DiStatus_DI, 0, sizeof(DiStatus_Type)*DI_NUM); //初始化DI内存列表
GetComAddr();
SetCurrent.ChannelCoef[0] =1050;//1#:1029;2#:1028
SetCurrent.ChannelCoef[1] =1029;//1#:1029;2#:1027
SetCurrent.ChannelCoef[2] =1050;//1#:1030;2#:1028
SetCurrent.ChannelCoef[3] =1028;//1#:1033;2#:1028
SetCurrent.ChannelCoef[4] =1029;//1#:1033;2#:1029
SetCurrent.ChannelCoef[5] =1028;//1#:1033;2#:1028
SetCurrent.ChannelCoef[6] =1025;//1#:1029;2#:1028
SetCurrent.ChannelCoef[7] =1026;//1#:1029;2#:1027
SetCurrent.ChannelCoef[8] =1027;//1#:1030;2#:1028
#ifdef WATCHDOG
IWDG_Configuration();
#endif
DMA_Cmd(DMA1_Channel3, ENABLE); // Emable TIM3, 使能串口接收通道
TIM_Cmd(TIM3, ENABLE); //UART3接收，使能
while (1)
{
Di_PostWork();
if(63==PeriodCycle_Index)
{
TOTAL_MEASURE(&meas);
SequenceFilter_2(&meas);
SequenceFilter_0(&meas);
ValueScaling(MeaTab,&meas);
//tyh:20150629 添加遥测数据上送
if(Begin_AI_Send)
{
if(Is_new_soe())
{
get_soe(&soe, 1);
SoeResponse(soe);
}
else
{
if((sendFlag_Ai%3)==0)
AiResponse(0);
else
{
if((sendFlag_Ai%5)==0) //tyh:20150803 增加遥信数据上送
DiResponse(0);
}
sendFlag_Ai++;
}
}
}
if(Flag_Uart_Recv)
BusCalling_Process(Flag_Uart_Recv); //处理数据
#ifdef WATCHDOG
WDGFeeding();
#endif
}
}
void System_Configuration(void)
{
__disable_interrupt();
/* System Clocks Configuration */
RCC_Configuration();
/* NVIC configuration */
NVIC_Configuration();
/* Configure the GPIO ports */
GPIO_Configuration();
/* Unlock the Flash Program Erase controller */
FLASH_Unlock();
/* USART Configuration */
USART_Configuration(USART_DXL,Baudrate_DXL);
//dxl_initialize(USART_DXL,Baudrate_DXL);
zgb_initialize(0);
//USART_Configuration(USART_ZIGBEE,Baudrate_ZIGBEE);
//USART_Configuration(USART_PC,1000000);
//USART_Configuration(USART_PC,3000000);
USART_Configuration(USART_PC,Baudrate_PC);
/* ADC Configuration */
ADC_Configuration();
SysTick_Configuration();
Timer_Configuration();
SPI_Configuration();
Buzzer_Configuration();
GPIO_ResetBits(PORT_ENABLE_TXD, PIN_ENABLE_TXD); // TX Disable
GPIO_SetBits(PORT_ENABLE_RXD, PIN_ENABLE_RXD); // RX Enable
GPIO_SetBits(PORT_SIG_ACC_CS,PIN_SIG_ACC_CS);
GPIO_SetBits(PORT_SIG_GYRO_CS,PIN_SIG_GYRO_CS);
__enable_interrupt();
Gyro_Configuration();
ACC_Configuration();
}
/**
* @brief Configures the ADC.
* @param None
* @retval None
*/
static void ADC_Configuration(void)
{
MappingGpio_s PinConfig;
// Lecture de la configuration de la pin
PinConfig = GPIO_GetPinConfiguration(PORT_TRIM);
// Execution de la fonction
ADC1_ChannelConf_t ADC_Channel = {
.ADCx = (ADC_TypeDef*) PinConfig.PERIPH,
.ADC_Channel = PinConfig.PARAM,
.pStoreValue_mV = NULL,
.pFct_CallbackEOC = NULL, };
ADC_IdChannel = ADC1_ChannelConfigure(ADC_Channel);
ADC1_ConversionContinue_Activer(ADC_IdChannel);
}
/**
* @brief ADC_Handler : SSI handler for ADC page
*/
u16_t ADC_Handler(int iIndex, char *pcInsert, int iInsertLen)
{
/* We have only one SSI handler iIndex = 0 */
if (iIndex == 0)
{
char Digit1 = 0, Digit2 = 0, Digit3 = 0, Digit4 = 0;
uint32_t ADCVal = 0;
/* configure ADC if not yet configured */
if (ADC_not_configured == 1)
{
ADC_Configuration();
ADC_not_configured = 0;
}
/* get ADC conversion value */
ADCVal = ADC1_Get_mV(ADC_IdChannel);
/* get digits to display */
Digit1 = ADCVal / 1000;
Digit2 = (ADCVal - (Digit1 * 1000)) / 100;
Digit3 = (ADCVal - ((Digit1 * 1000) + (Digit2 * 100))) / 10;
Digit4 = ADCVal - ((Digit1 * 1000) + (Digit2 * 100) + (Digit3 * 10));
/* prepare data to be inserted in html */
*pcInsert = (char) (Digit1 + 0x30);
*(pcInsert + 1) = (char) (Digit2 + 0x30);
*(pcInsert + 2) = (char) (Digit3 + 0x30);
*(pcInsert + 3) = (char) (Digit4 + 0x30);
/* 4 characters need to be inserted in html*/
return 4;
}
return 0;
}
/**
* @brief CGI handler for LEDs control
*/
const char * LEDS_CGI_Handler(int iIndex, int iNumParams, char *pcParam[], char *pcValue[])
{
uint32_t i = 0;
if (iIndex == 0)
{
/* All leds off */
GPIO_Set(PORT_STAT1, Etat_INACTIF);
GPIO_Set(PORT_STAT2, Etat_INACTIF);
GPIO_Set(PORT_STAT4, Etat_INACTIF);
/* Check cgi parameter : example GET /leds.cgi?led=2&led=4 */
for (i = 0; i < iNumParams; i++)
{
/* check parameter "led" */
if (strcmp(pcParam[i], "led") == 0)
{
/* switch led1 ON if 1 */
if (strcmp(pcValue[i], "1") == 0)
GPIO_Set(PORT_STAT1, Etat_ACTIF);
/* switch led2 ON if 2 */
else if (strcmp(pcValue[i], "2") == 0)
GPIO_Set(PORT_STAT2, Etat_ACTIF);
/* switch led3 ON if 3 */
else if (strcmp(pcValue[i], "3") == 0)
__NOP();
/* switch led4 ON if 4 */
else if (strcmp(pcValue[i], "4") == 0)
GPIO_Set(PORT_STAT4, Etat_ACTIF);
}
}
}
/* uri to send after cgi call*/
return "/index.shtml";
}
/**
*******************************************************************************
* @brief Initialization task
* @param[in] pdata A pointer to parameter passed to task.
* @param[out] None
* @retval None
*
* @details This task is called to initial hardware and created tasks.
*******************************************************************************
*/
void task_init(void *pdata)
{
uart_printf (" [OK]. \n\r\n\r");
uart_printf ("\r \"task_init\" task enter. \n\r\n\r ");
pdata = pdata;
/* Initiate Time buffer for LCD display */
chart[0] = time[2]/10 + '0';
chart[1] = time[2]%10 + '0';
chart[3] = time[1]/10 + '0';
chart[4] = time[1]%10 + '0';
chart[6] = time[0]/10 + '0';
chart[7] = time[0]%10 + '0';
uart_printf ("\r Create the \"mut_uart\" mutex... ");
mut_uart = CoCreateMutex();
if(mut_uart != E_CREATE_FAIL)
uart_printf (" [OK]. \n");
else
uart_printf (" [Fail]. \n");
uart_printf ("\r Create the \"mut_lcd\" mutex... ");
mut_lcd = CoCreateMutex();
if(mut_lcd != E_CREATE_FAIL)
uart_printf (" [OK]. \n");
else
uart_printf (" [Fail]. \n");
uart_printf ("\r Create the \"button_sel_flg\" flag... ");
/*!< Manual reset flag,initial state:0 */
button_sel_flg = CoCreateFlag(Co_FALSE,0);
if(button_sel_flg != E_CREATE_FAIL)
uart_printf (" [OK]. \n");
else
uart_printf (" [Fail]. \n");
uart_printf ("\r Create the \"button_add_flag\" flag...");
/*!< Manual reset flag,initial state:0 */
button_add_flg = CoCreateFlag(Co_FALSE,0);
if(button_add_flg != E_CREATE_FAIL)
uart_printf (" [OK]. \n\n");
else
uart_printf (" [Fail]. \n\n");
uart_printf ("\r Create the \"lcd_blink_flg\" flag... ");
lcd_blink_flg = CoCreateFlag(Co_FALSE,0); /*!< Manual reset flag,initial state:0 */
if(lcd_blink_flg != E_CREATE_FAIL)
uart_printf (" [OK]. \n");
else
uart_printf (" [Fail]. \n");
uart_printf ("\r Create the \"time_display_flg\" flag...");
/*!< Manual reset flag,initial state:0 */
time_display_flg = CoCreateFlag(Co_FALSE,0);
if(time_display_flg != E_CREATE_FAIL)
uart_printf (" [OK]. \n");
else
uart_printf (" [Fail]. \n");
/*!< Set flag to allow "time_display_flg" task run. */
CoSetFlag(time_display_flg);
uart_printf ("\r Create the first mailbox... ");
mbox0 = CoCreateMbox(EVENT_SORT_TYPE_FIFO);
if(mbox0 == E_CREATE_FAIL)
uart_printf (" [Fail]. \n\n");
else
uart_printf (" [OK]. \n\n");
/* Configure Peripheral */
uart_printf ("\r Initial hardware in Board : \n\r");
uart_printf ("\r ADC initial... ");
ADC_Configuration ();
uart_printf (" [OK]. \n");
uart_printf ("\r RTC initial... ");
RTC_Configuration ();
uart_printf (" [OK]. \n");
uart_printf ("\r GPIO initial... ");
GPIO_Configuration ();
uart_printf (" [OK]. \n");
uart_printf ("\r External interrupt initial... ");
EXIT_Configuration ();
uart_printf (" [OK]. \n");
uart_printf ("\r LCD initial... ");
LCD_Configuration ();
uart_printf (" [OK]. \n\n");
/* Create Tasks */
CoCreateTask( lcd_display_adc,
(void *)0 ,
LCD_DISPLAY_PRI ,
&lcd_display_adc_Stk[TASK_STK_SIZE-1] ,
TASK_STK_SIZE
);
CoCreateTask( uart_print ,
(void *)0 ,
UART_PRINT_PRI ,
&uart_print_Stk[TASK_STK_SIZE-1],
TASK_STK_SIZE
);
CoCreateTask( led_blink ,
(void *)0 ,
LCD_BLINK_PRI ,
&led_display_Stk[TASK_STK_SIZE-1],
TASK_STK_SIZE
);
time_display_id = CoCreateTask( time_display,
(void *)0,
TIME_DISRPLAY_PRI,
&time_display_Stk[TASK_STK_SIZE - 1],
TASK_STK_SIZE
);
CoCreateTask( time_set ,
(void *)0 ,
TIME_SET_PRI ,
&time_set_Stk[TASK_STK_SIZE-1],
TASK_STK_SIZE
);
CoExitTask(); /*!< Delete 'task_init' task. */
}
