void BSP_Init()
{
NVIC_Configuration();
#if USING_SRAM_AS_HEAP > 0
FSMC_SRAM_Init();
#endif
#if WATCHDOG_ENABLE > 0
WATCHDOG_setTimeOut(15); //如果15秒仍未启动完成，那么就复位
WATCHDOG_enable(); //调试时要屏蔽
#endif
_init_alloc(HEAP_BASE, HEAP_TOP);
USART1_Init();
USART2_Init();
USART3_Init();
#ifdef STM32F10X_CL
UART4_Init();
UART5_Init();
#endif //STM32F10X_CL
Delay_ms(10);
}
void
board_init(void)
{
printf("\n\n");
printf("BWCT FSB-A920-1\n");
printf("http://www.bwct.de\n");
printf("\n");
#if defined(SDRAM_128M)
printf("AT92RM9200 180MHz 128MB\n");
#else
printf("AT92RM9200 180MHz 64MB\n");
#endif
printf("Initialising USART0\n");
USART0_Init();
printf("Initialising USART1\n");
USART1_Init();
printf("Initialising USART2\n");
USART2_Init();
printf("Initialising USART3\n");
USART3_Init();
printf("Initialising TWI\n");
EEInit();
printf("Initialising DS1672\n");
DS1672_Init();
printf("Initialising Ethernet\n");
printf("MAC %x:%x:%x:%x:%x:%x\n", mac[0],
mac[1], mac[2], mac[3], mac[4], mac[5]);
EMAC_Init();
EMAC_SetMACAddress(mac);
printf("Initialising SD-card\n");
sdcard_init();
}
int main(void)
{
unsigned int nCount;
unsigned char vEncoder[20]="--------------------";
int i;
RCC_Configuration();
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
NVIC_Configuration();
EXTI_Configuration();
USART1_Init();
USART2_Init();
USART3_Init();
UART4_Init();
UART5_Init();
SPI2_Init();
SysTick_Init();
//init_NRF24L01();
RX_Mode();
//nRF24L01_ISR();
while(1)
{
//Serial_PutString("While ");
}
}
void SysInit(void)
{
//__disable_irq();
SystemInit();
TICK_Init(1);
RCC->APB2ENR = (RCC_APB2ENR_AFIOEN | /*enable clock for Alternate Function*/
RCC_APB2ENR_IOPAEN | /* enable clock for GPIOA*/
RCC_APB2ENR_IOPBEN | /*enable clock for GPIOB*/
RCC_APB2ENR_IOPCEN | /*enable clock for GPIOc*/
RCC_APB2ENR_SPI1EN /*enable clock for SPI1*/
);
RCC->CFGR |= RCC_CFGR_USBPRE; // precale is 1 for usb clock
RCC->APB1ENR |= RCC_APB1ENR_USBEN;/*enable clock for USB*/
AFIO->MAPR |= AFIO_MAPR_SWJ_CFG_JTAGDISABLE; //Disable JTAG funtion, keep SWJ funtion for debug(only user when PB3,PB4,PB5,PA15 user for another funtion)
USART3_Init(SystemCoreClock,115200);
__enable_irq();
}
//------------------------------------------------------------------------------
// === 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);
//}
}
/********************************** 功能说明 ***********************************
* 移植串口
*******************************************************************************/
void vMBM_Serial_Init( uint32_t ulBaudRate, uint8_t ucDataBits, eMBParity eParity )
{
USART3_Init( ulBaudRate );
USART3_PortInit( );
}
void RTC_Init(void)
{
uint32_t tout = 10000000;
// GPIOC->CRH &= ~(GPIO_CRH_MODE14 | GPIO_CRH_CNF14 | GPIO_CRH_MODE15 | GPIO_CRH_CNF15); // Clear PC12
// GPIOC->CRH |= GPIO_CRH_CNF14_1 | GPIO_CRH_CNF15_1 | GPIO_CRH_MODE14_0 | GPIO_CRH_MODE15_0;
RCC->APB1ENR |= RCC_APB1ENR_PWREN; // enable clock for Power interface
PWR->CR |= PWR_CR_DBP; // enable access to RTC, BDC registers
if(RTC_SanityCheck() != 0)
{
rtcTimeSec = RTC_GetCounter();
}
//#ifdef RTC_USE_LSI
// RCC->CSR |= RCC_CSR_LSION; // enable LSI
// while ((RCC->CSR & RCC_CSR_LSIRDY) == 0); // Wait for LSERDY = 1 (LSI is ready)
// RCC->BDCR |= (RCC_BDCR_RTCSEL_1 | RCC_BDCR_RTCEN); // set RTC clock source, enable RTC clock
//#else
// RCC->BDCR |= RCC_BDCR_LSEON;
// while ((RCC->BDCR & RCC_BDCR_LSERDY) == 0);
// RCC->BDCR |= (RCC_BDCR_RTCSEL_0 | RCC_BDCR_RTCEN); // set RTC clock source, enable RTC clock
//#endif
// RTC->CRL |= RTC_CRL_CNF; // set configuration mode
// RTC->PRLH = 0; // set prescaler load register high
//#ifdef RTC_USE_LSI
// RTC->PRLL = (40000)/RTC_FREQUENCY - 1;// set prescaler load register low
//#else
// RTC->PRLL = 32768/RTC_FREQUENCY - 1;// set prescaler load register low
//#endif
tout = 10000000;
RCC->BDCR |= RCC_BDCR_LSEON;
while ((RCC->BDCR & RCC_BDCR_LSERDY) == 0)
{
tout--;
if(tout == 0) break;
}
if(tout){
RCC->BDCR |= (RCC_BDCR_RTCSEL_0 | RCC_BDCR_RTCEN); // set RTC clock source, enable RTC clock
RTC->CRL |= RTC_CRL_CNF; // set configuration mode
RTC->PRLH = 0; // set prescaler load register high
RTC->PRLL = 32768/RTC_FREQUENCY - 1;// set prescaler load register low
}
else
{
RCC->BDCR &= ~RCC_BDCR_LSEON;
RCC->CSR |= RCC_CSR_LSION; // enable LSI
while ((RCC->CSR & RCC_CSR_LSIRDY) == 0); // Wait for LSERDY = 1 (LSI is ready)
RCC->BDCR |= (RCC_BDCR_RTCSEL_1 | RCC_BDCR_RTCEN); // set RTC clock source, enable RTC clock
RTC->CRL |= RTC_CRL_CNF; // set configuration mode
RTC->PRLH = 0; // set prescaler load register high
}
RTC->CNTH = 0; // set counter high
RTC->CNTL = 0; // set counter low
RTC->ALRH = 0; // set alarm high
RTC->ALRL = 0; // set alarm low
//interrupt enable
NVIC->ISER[1] |= (1 << (RTCAlarm_IRQn & 0x1F)); // enable interrupt
RTC->CRH = RTC_CRH_ALRIE;
NVIC->ISER[0] |= (1 << (RTC_IRQn & 0x1F)); // enable interrupt
RTC->CRL &= ~RTC_CRL_CNF; // reset configuration mode
while ((RTC->CRL & RTC_CRL_RTOFF) == 0) // wait until write is finished
{
if(tout-- == 0)
{
USART3_Init(SystemCoreClock/2,__USART3_BAUDRATE);
USART3_PutString("\r\nRTC Crystal 32k problem!\r\n");
USART3_PutString("\r\nRTC Crystal 32k problem!\r\n");
USART3_PutString("\r\nRTC Crystal 32k problem!\r\n");
USART3_PutString("\r\nRTC Crystal 32k problem!\r\n");
USART3_PutString("\r\nRTC Crystal 32k problem!\r\n");
break;
}
}
//RTC_SetAlarm((60));
//PWR->CR &= ~PWR_CR_DBP; // disable access to RTC registers
}
int main(void)
{
// u8 a[] = {0xAA, 0xAA, 0x33, 0x44, 0x55, 0x66, 0x77, 0x88,0x99,0xa0,0x04,0x10,0x08,0x01,0x08,0x99};
u8 a[] = {0x11, 0x22, 0x33,0x44, 0x55, 0x66, 0x77};
RobotRate rate;
WheelSpeed wheelspeed;
SystemInit();
USART1_Init(115200);
USART2_Init(115200);
USART3_Init(38400);
UART4_Init(115200);
CAN1_Init();
LED_Init();
// TIM2_Init();
TIM3_Init();
SysTick_Init();
Motor_init();
amp_init();
mag_sensor_init();
flash_init();
DelayMs(1000); //Time for Motor Driver Board to init
//set_all_speedctl();
t3 = micros();
//*************************initial sensor***************************************************************//
while(t < 0x15)
{
if(UART4RecvPtrR != UART4RecvPtrW)
{
op = AHRSCheckDataFrame();
if(op == ACC_METER || op == GYRO || op == ANGLE_OUTPUT || op == MAG_METER )
{
SensorInitial(op);
t++;
}
}
t4 = micros();
time_taken = t4 - t3;
if(time_taken > 3000000)
{
//break;
}
}
sch_init();
sch_add_task(sensors, 6, 20);
sch_add_task(AHRS_compute, 1, 50);
// sch_add_task(led_task, 4, 100);
sch_add_task(UART2Proc, 10, 20);
// sch_add_task(UART3Proc, 3, 20);
// sch_add_task(UART3Proc, 4, 20);
// sch_add_task(FRIDCheck, 2, 20);
sch_start();
while (1)
{
sch_dispatch_tasks();
//Welcome();
}
}
int main(void)
{
u8 len=0;
u8 temp[100];
u8 t=0;
u8 flag=0;
char mode='O';
long value=0;
u8 counter=0;
//char val2str[]="50";
char SelfCheck='O';
int D_val=0;
u8 SelfCheckCounter=0;
/////////////////////以上变量定义///////////////////////////
delay_init(72);
USART1_Init(19200);//与地面站传递命令
USART2_Init(115200);//与X86板子传递命令
USART3_Init(115200);//调试用
HCSR04_Init();
ResetOLED();
OLED_Init();
Key_Init();
///////////////以上初始化///////////////////////
OLED_ShowString(35,20,"READY",24);
OLED_Refresh_Gram();
delay_ms(1000);
OLED_Clear();
/////////////////////////////欢迎界面，提示准备工作/////////////////////////////////
while(KEY==1)
{
OLED_ShowString(0,0,"Self checking now...",12);
OLED_Refresh_Gram();
if(USART_RX2_STA&0x8000)
{
len=USART_RX2_STA&0x3fff;//得到此次接收到的数据长度
for(t=0;t<len;t++)
{
temp[t]=Rx2Buf[t];
while((USART2->SR&0X40)==0);//等待发送结束
}
flag=1;
USART_RX2_STA=0;
}//接受来自X86的命令,用于自检。
if(flag==1)
{
SelfCheck=TempOrPressure(temp);
{
if(SelfCheck=='C')
{
value=ValueOfMea(temp);
if(value==1)
{
OLED_ShowString(0,15,"Environment ok",12);
SelfCheckCounter++;
}
if(value==2)
{
OLED_ShowString(0,30,"The data chain ok",12);
}
if(value==0)
{
OLED_ShowString(0,42,"Checking fail...",12);
}
}
}
memset(temp,0,sizeof(u8)*100);
flag=0;
}//先对开发环境进行自检，在VS下下发ok标志即可。
OLED_Refresh_Gram();
if(SelfCheckCounter==1)//如果已经通过了开发环境自检
{
while(KEY==1)//不按强制退出就一直自检，直到成功
{
if(DataChain_SelfTest()==1)//数据链自检完成
break;
else
continue;
}
SelfCheckCounter=0;
break;//在不按按键强制退出的情况下，只有自检成功了才能退出。
}
}
OLED_Clear();
/////////////////////////以上对上位机的自检，按键强制结束//////////////////
OLED_ShowString(0,0,"Parameters",16);
OLED_ShowString(0,16,"X=",12);
OLED_ShowString(0,28,"Y=",12);
OLED_ShowString(0,40,"S=",12);
OLED_ShowString(0,52,"D=",12);
OLED_Refresh_Gram();
flag=0;//复位flag
///////////显示参数////////////////////////////////
//AutoLaunch();
////////////////////////以上开始起飞/////////////////////////////////
while(1)
{
if(USART_RX2_STA&0x8000)
{
len=USART_RX2_STA&0x3fff;//得到此次接收到的数据长度
for(t=0;t<len;t++)
{
temp[t]=Rx2Buf[t];
while((USART2->SR&0X40)==0);//等待发送结束
}
flag=1;
USART_RX2_STA=0;
//printf3("%s\r\n",temp);
}//接受来自X86的命令
if(flag==1)
{
mode=TempOrPressure(temp);
if(mode=='S')
{
value=ValueOfMea(temp);
{
#ifdef __TRANSPARENT_MODE
printf1("\"S\":\"%ld\"\r\n",value);
#endif
#ifdef __COMMAND_MODE
E17_SendMsg(CMD_S_PARAM,value);
#endif
}
OLED_ShowNum(20,40,value,6,12);
// counter++;
}
if(mode=='X')
{
value=ValueOfMea(temp);
{
#ifdef __TRANSPARENT_MODE
printf1("\"X\":\"%ld\"\r\n",value);
#endif
#ifdef __COMMAND_MODE
E17_SendMsg(CMD_X_PARAM,value);
#endif
}
OLED_ShowNum(20,16,value,6,12);
// counter++;
}
else if(mode=='Y')
{
value=ValueOfMea(temp);
{
#ifdef __TRANSPARENT_MODE
printf1("\"Y\":\"%ld\"\r\n",value);
#endif
#ifdef __COMMAND_MODE
E17_SendMsg(CMD_Y_PARAM,value);
#endif
}
OLED_ShowNum(20,28,value,6,12);
// counter++;
}
{
delay_ms(10);//太小在透传情况下可能出问题？
{
D_val=HCSR04_GetDistance_Filter();
#ifdef __TRANSPARENT_MODE
printf1("\"D\":\"%ld\"\r\n",D_val);
#endif
#ifdef __COMMAND_MODE
E17_SendMsg(CMD_D_PARAM,value);
#endif
}
OLED_ShowNum(20,52,D_val,6,12);
// counter=0;
}//去掉了判断，每个周期都要做判断，同时进行距离的pid调控。
OLED_Refresh_Gram();
memset(temp,0,sizeof(u8)*100);
flag=0;
}
}
}
