/********** INIT *************************************************************/
void init_rctx( void ) {
hw_init();
sys_time_init();
#ifdef LED
led_init();
#endif
#ifdef USE_UART1
Uart1Init();
#endif
#ifdef ADC
adc_init();
adc_buf_channel(ADC_CHANNEL_VSUPPLY, &vsupply_adc_buf, DEFAULT_AV_NB_SAMPLE);
#endif
#ifdef RADIO_CONTROL
ppm_init();
#endif
int_enable();
/** - wait 0.5s (for modem init ?) */
uint8_t init_cpt = 30;
while (init_cpt) {
if (sys_time_periodic())
init_cpt--;
}
#if defined DATALINK
#if DATALINK == XBEE
xbee_init();
#endif
#endif /* DATALINK */
}
/**
* Initializes all PIC functionality beyond the clock.
* * Maps all ECAN/UART pins
* * Assigns pins as input/output
* * Initializes the UART
*/
void Init(void)
{
// And configure the Peripheral Pin Select pins:
PPSUnLock;
#ifdef __dsPIC33FJ128MC802__
// To enable ECAN1 pins: TX on 7, RX on 4
PPSOutput(OUT_FN_PPS_C1TX, OUT_PIN_PPS_RP7);
PPSInput(IN_FN_PPS_C1RX, IN_PIN_PPS_RP4);
// To enable UART1 pins: TX on B11/P11, RX on B13/P13
PPSOutput(OUT_FN_PPS_U1TX, OUT_PIN_PPS_RP11);
PPSInput(IN_FN_PPS_U1RX, IN_PIN_PPS_RP13);
#elif __dsPIC33EP256MC502__
// To enable ECAN1 pins: TX on 39, RX on 36
PPSOutput(OUT_FN_PPS_C1TX, OUT_PIN_PPS_RP39);
PPSInput(IN_FN_PPS_C1RX, IN_PIN_PPS_RP36);
// To enable UART1 pins: TX on B11/P43, RX on B13/P45
PPSOutput(OUT_FN_PPS_U1TX, OUT_PIN_PPS_RP43);
PPSInput(IN_FN_PPS_U1RX, IN_PIN_PPS_RPI45);
#else
#error Invalid processor selected.
#endif
PPSLock;
// Initialize status LEDs for use.
// A3 (output): Red LED, off by default.
_TRISA3 = 0;
_LATA3 = 0;
// A4 (output): Amber LED, on by default.
_TRISA4 = 0;
_LATA4 = 1;
_TRISB7 = 0; // Set ECAN1_TX pin to an output
_TRISB4 = 1; // Set ECAN1_RX pin to an input;
_TRISB11 = 0; // Set UART1_TX pin to an output
_TRISB13 = 1; // Set UART1_RX pin to an input;
// Set up UART1 for 57600 baud. There's no round() on the dsPICs, so we implement our own.
double brg = (double) F_OSC / 2.0 / 16.0 / UART_BAUD - 1.0;
if (brg - floor(brg) >= 0.5) {
brg = ceil(brg);
} else {
brg = floor(brg);
}
Uart1Init((uint16_t)brg);
// Initialize the Canaconda interface library callback functions
commandFunction[COMMAND_FUNCTION_INDEX_OPEN] = CommandOpen;
commandFunction[COMMAND_FUNCTION_INDEX_CLOSE] = CommandClose;
commandFunction[COMMAND_FUNCTION_INDEX_SETUP] = CommandSetup;
commandFunction[COMMAND_FUNCTION_INDEX_TRANSMIT] = CommandTransmit;
}
/***************************************************************
** 作 者: Songyimiao
** 官 网：http://www.miaowlabs.com
** 淘 宝：http://miaowlabs.taobao.com
** 日 期: 2015年11月29日
** 函数名称: DriversInit
** 功能描述: 底层驱动初始化
** 输 入:
** 输 出:
** 备 注:
********************喵呜实验室版权所有**************************
***************************************************************/
void DriversInit(void)
{
GPIOInit();
Timer1Init();
PWMInit();
Uart1Init();
Uart2Init();
Timer3Timer4Init();
}
int main (int argc, char** argv) {
hw_init();
sys_time_init();
led_init();
adc_init();
adc_buf_channel(ADC_0, &buf_adc[0], ADC_NB_SAMPLES);
adc_buf_channel(ADC_1, &buf_adc[1], ADC_NB_SAMPLES);
adc_buf_channel(ADC_2, &buf_adc[2], ADC_NB_SAMPLES);
adc_buf_channel(ADC_3, &buf_adc[3], ADC_NB_SAMPLES);
adc_buf_channel(ADC_4, &buf_adc[4], ADC_NB_SAMPLES);
adc_buf_channel(ADC_5, &buf_adc[5], ADC_NB_SAMPLES);
#ifdef ADC_6
adc_buf_channel(ADC_6, &buf_adc[6], ADC_NB_SAMPLES);
#endif
#ifdef ADC_7
adc_buf_channel(ADC_7, &buf_adc[7], ADC_NB_SAMPLES);
#endif
#if NB_ADC != 8
#error "8 ADCs expected !"
#endif
#ifdef USE_UART0
Uart0Init();
#endif
#ifdef USE_UART1
Uart1Init();
#endif
int_enable();
while(1) {
if (sys_time_periodic()) {
LED_TOGGLE(1);
uint16_t values[NB_ADC];
uint8_t i;
for(i = 0; i < NB_ADC; i++)
values[i] = buf_adc[i].sum / ADC_NB_SAMPLES;
uint8_t id = 42;
DOWNLINK_SEND_ADC(&id, NB_ADC, values);
}
}
return 0;
}
static void csc_main_init( void ) {
mcu_init();
sys_time_init();
led_init();
Uart0Init();
Uart1Init();
ppm_init();
// Configure P0.21 as GPIO, output and then pull high as we use it to drive ppm input transistor
PINSEL1 = PINSEL1 & ~(0x3 << 10);
IO0DIR = IO0DIR | (0x1 << 21);
IO0PIN = IO0DIR | (0x1 << 21);
mcu_int_enable();
}
main()
{
SysCtlClockSet(SYSCTL_SYSDIV_2_5| SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_6MHZ);
IntMasterEnable();
Uart0Init(19200);
Uart1Init(19200);
DPRINTF(("Bat=%d ,cha=%x ,Temp=%f \n",1,20,3.0));
// ADCBAT_init();
// Ssi0Init(); //AD7367
//spi_ad7705Init(); //AD7705
IoPortInit(); //IO口初始化
// I2CM_Init(); //Fm31256
//TimerInit();
PIN_JR_relay(ERelay_off);
PIN_JRTG_relay(ERelay_off);
PIN_JUNX_relay(ERelay_off);
PIN_JUN_relay(ERelay_off);
PIN_JUX_relay(ERelay_off);
FlashUsecSet(49);
AD7367_init();
AD7705_init();
// PIN_JR_relay(ERsample_1M);
/*
{
uint32 i;
set.Debug=EDebug_sub;
set.Fre=EFre_500;
gainchange();
Vac_read();
for(i=0;i<500;i++)
{
Fourier_Samplestart(); ;
delay(0xf000*200);
}
}
*/
/*
{
uint32 i;
set.Debug=EDebug_sub;
set.Fre=EFre_000;
V_read();
for(i=0;i<50;i++)
{
DPRINTF(("I=%x \n",Read_ad7705_I(0x07,1)));
}
for(i=0;i<50;i++)
{
DPRINTF(("U=%x \n",Read_ad7705_U(0x07,1)));
}
for(i=0;i<500;i++)
{
R_test();
delay(0xf000*200);
}
}
*/
modifyK_js();
rx_flag=0;
while(1)
{
// uint8 option=0;
if((rx_flag==rx_succeed))
{
Sendstc_ask();
set.Work=0x0f&rx_data.mune.workcommand;
set.Debug=0x0f&(rx_data.mune.workcommand>>4);
set.Fre=rx_data.mune.Fre;
set.Voltage=rx_data.mune.Voltage;
rx_flag=0x00;
switch(set.Work)
{
case EstartV_main:
V_read();
break;
case EstartTg_main://AC
Fourier_Samplestart();
PIN_JRTG_relay(ERelay_off);
PIN_JUNX_relay(ERelay_off);
PIN_JUN_relay(ERelay_off);
PIN_JUX_relay(ERelay_off);
break;
case EstartR_main://DC
R_test();
PIN_JRTG_relay(ERelay_off);
break;
case Emodifyin_main:
modify_save();
modifyK_js();
//DPRINTF(("In \n"));
break;
case Emodifyout_main :
delay(0x80000);
modify_ToView();
modifyK_js();
//DPRINTF(("out \n"));
break;
case EstartX_main :
Vacx_read();
break;
case ERelay_main:
PIN_JRTG_relay(ERelay_on);
PIN_JR_relay(ERsample_50);
break;
default :
SysCtlReset();
break;
}
if((rx_flag==rx_succeed))
{
if(set.Work==0x0f&rx_data.mune.workcommand)
{
rx_flag=0;
}
}
}
}
int main ( void )
{
//uint8_t static active= 0;
//uint8_t static ledstat;
SystemInit();//系统时钟等初始化
if(SysTick_Config(72000*1)) //配置错误返回1,max 16777216 默认72Mhz 时钟 ,1ms延时
{
//LED4_ON; //错误处理
while(1);
}
LED_Init(); //LED端口初始化
LED2_ON;
NVIC_Configuration();//设置NVIC中断分组2:2位抢占优先级，2位响应优先级
Uart1Init ( 115200 ); //串口初始化为115200
GSM_RST = 0; //启动GSM模块
delay_ms(1800);
USB_Port_Set(0); //USB???
delay_ms(700);
USB_Port_Set(1); //USB????
Set_USBClock();
USB_Interrupts_Config();
USB_Init();
Uart2Init ( 115200 ); //串口初始化为115200
Uart3Init ( 115200 );//串口初始化为115200
//Uart1SendStr(STR("uart1 init\r\n"));
//Uart2SendStr(STR("uart2 init\r\n"));
//Uart3SendStr(STR("uart3 init\r\n"));
C_bt_init();
C_bt_module_reset();
C_bt_module_init();
GSM_RST = 1; //启动GSM模块
while(1)
{
if(C_bt_device_active())
{
LED2_ON;
if(USB_USART_RX_STA&0x8000){
//delay_ms(100);
C_bt_sendBinary((char*)USB_USART_RX_BUF,USB_USART_RX_STA&0x3FFF);
USB_USART_RX_STA=0;
}
}
else
{
LED2_OFF;
}
if((ms_timer %2) == 0){
C_bt_step();
}
//模块初始化
if(C_bt_selftest()){
LED2_OFF;
}else{
//LED2_ON;
}
}
}
main()
{
uint8 option=0;
uint8 key;
SysCtlClockSet(SYSCTL_SYSDIV_4| SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_6MHZ);
Uart0Init(19200);
Uart1Init(9600);
Uart2Init(19200);
IntMasterEnable();
SysLinearTimer =0;
IoPortInit(); //IO口初始化
I2C1Init() ;//Fm31256
TimerInit();
xs6963_init();
PIN_TDA7367stand_Write(ETDA7367work_no);
FlashUsecSet(49);
//T1Init_LM331();
DPRINTF(("Bat=%d ,cha=%d ,Temp=%d \n",1,2,3));
Usb_Host_Init();
mainHandleinit();
signPWM_init(50.0);
PWM_sign_stop();
/*LCD初始化*/
start_mune();
/* fm31256 eeprom 8 */
readbyte_much(setsto_addr,settype_nub,set.byte );
/*修正系数*/
modify_read();
/**/
Oiltempset.oilTwork=EOiltemp_Workon;
/*lm331初始化 温度测量使用*/
T1Init_LM331();
/*系统节拍*/
SysLinearTimer=0;
while(SysLinearTimer<3*TIMER_FREQ)//后台参数设置
{
key=Keyset.keyEfficiency;
if(key==key_modify)
{
while(Keyset.keyEfficiency==key_modify);
option++;
if(option>=4)
{
modify_read();//读取修正参数
TgC_read();
modify();//修正
}
}
}
modifyK_js();
SysLinearTimer=0;
rx_flag=0;
option=0;
mainset_go:
key=Keyset.keyEfficiency;
mainset_mune();
Reversepic(mainset_lin+option*mainset_high, mainset_column, mainset_high, 2*4);
while(1)
{
while(key==Keyset.keyEfficiency)
{
if(SysLinearTimer>(3*TIMER_FREQ/4))
{
// Temp_account();
if(TRUE_z==Gandispose())//地线检测
{
mainset_mune();
Reversepic(mainset_lin+option*mainset_high, mainset_column, mainset_high, 2*4);
}
read_time();
{
uint8 byte[12];
Clock_viewxs(byte) ;
}
SysLinearTimer=0;
}
}
key=Keyset.keyEfficiency;
/*按键处理*/
switch(key)
{
case key_no:
case key_back:
continue;
case key_down:
case key_up:
Reversepic(mainset_lin+option*mainset_high, mainset_column, mainset_high, 2*4);
option=keyoption_js(option, key,4,Emune_key);//
Reversepic(mainset_lin+option*mainset_high, mainset_column, mainset_high, 2*4);
/* if(key==key_up)
{
PWM_sign_acc(0.0, 0.0);
delay(0x80000);
PIN_DCAC_pwm(EDC_power);
PWM_sign_acc(0.0, 0.7);
}
else
{
PWM_sign_acc(0.0, 0.0);
delay(0x80000);
PIN_DCAC_pwm(EAC_power);
PWM_sign_acc(50.0, 0.8);
}
*/
break;
case key_ok:
switch(option)
{
case ELan_main://语言
set.mune.Langue++;
set.mune.Langue&=0x01;
//ShowtextLine(mainset_lin+option*mainset_high, mainset_column+0x10,Lanset_p[set.mune.Langue]);
break;
case EOilset_main://油样设置
oidset();
break;
case EView_main://历史数据
Viewdata_Hander();
break;
case EClock_main://时钟设置
clockset_mune();
break;
}
goto mainset_go ;
case key_oil:
Oilclear();//排油
break;
}
}
}
void init_ap( void ) {
#ifndef SINGLE_MCU /** init done in main_fbw in single MCU */
hw_init();
sys_time_init();
#ifdef LED
led_init();
#endif
#ifdef ADC
adc_init();
#endif
#endif /* SINGLE_MCU */
/************* Sensors initialization ***************/
#ifdef USE_INFRARED
ir_init();
#endif
#ifdef USE_GYRO
gyro_init();
#endif
#ifdef USE_GPS
gps_init();
#endif
#ifdef USE_UART0
Uart0Init();
#endif
#ifdef USE_UART1
Uart1Init();
#endif
#ifdef USE_UART2
Uart2Init();
#endif
#ifdef USE_UART3
Uart3Init();
#endif
#ifdef USE_USB_SERIAL
VCOM_init();
#endif
#ifdef USE_GPIO
GpioInit();
#endif
#ifdef USE_I2C0
i2c0_init();
#endif
#ifdef USE_I2C1
i2c1_init();
#endif
#ifdef USE_I2C2
i2c2_init();
#endif
/************* Links initialization ***************/
#if defined USE_SPI
spi_init();
#endif
#if defined MCU_SPI_LINK
link_mcu_init();
#endif
#ifdef MODEM
modem_init();
#endif
/************ Internal status ***************/
h_ctl_init();
v_ctl_init();
estimator_init();
#ifdef ALT_KALMAN
alt_kalman_init();
#endif
nav_init();
modules_init();
/** - start interrupt task */
int_enable();
/** wait 0.5s (historical :-) */
sys_time_usleep(500000);
#if defined GPS_CONFIGURE
gps_configure_uart();
#endif
#if defined DATALINK
#if DATALINK == XBEE
xbee_init();
#endif
#endif /* DATALINK */
#if defined AEROCOMM_DATA_PIN
IO0DIR |= _BV(AEROCOMM_DATA_PIN);
IO0SET = _BV(AEROCOMM_DATA_PIN);
#endif
power_switch = FALSE;
/************ Multi-uavs status ***************/
#ifdef TRAFFIC_INFO
traffic_info_init();
#endif
}
void ImuNodeInit(uint32_t f_osc)
{
// And configure the Peripheral Pin Select pins:
PPSUnLock;
PPSUnLock;
#ifdef __dsPIC33FJ128MC802__
// To enable ECAN1 pins: TX on 7, RX on 4
PPSOutput(OUT_FN_PPS_C1TX, OUT_PIN_PPS_RP7);
PPSInput(IN_FN_PPS_C1RX, IN_PIN_PPS_RP4);
// To enable UART1 pins: TX on 9, RX on 8
PPSOutput(OUT_FN_PPS_U1TX, OUT_PIN_PPS_RP9);
PPSInput(IN_FN_PPS_U1RX, IN_PIN_PPS_RP8);
#elif __dsPIC33EP256MC502__
// To enable ECAN1 pins: TX on 39, RX on 36
PPSOutput(OUT_FN_PPS_C1TX, OUT_PIN_PPS_RP39);
PPSInput(IN_FN_PPS_C1RX, IN_PIN_PPS_RP36);
// To enable UART1 pins: TX on 41, RX on 40
PPSOutput(OUT_FN_PPS_U1TX, OUT_PIN_PPS_RP41);
PPSInput(IN_FN_PPS_U1RX, IN_PIN_PPS_RP40);
#endif
PPSLock;
// Also disable analog functionality on B8 so we can use it for UART1 RX.
// This only applies to the dsPIC33E family.
#ifdef __dsPIC33EP256MC502__
ANSELBbits.ANSB8 = 0;
#endif
// Initialize status LEDs for use.
// A3 (output): Red LED, off by default, and is solid when the system hit a fatal error.
_TRISA3 = 0;
_LATA3 = 0;
// A4 (output): Amber LED, blinks at 1Hz when disconnected from the IMU, 2Hz otherwise.
_TRISA4 = 0;
_LATA4 = 0;
_TRISB7 = 0; // Set ECAN1_TX pin to an output
_TRISB4 = 1; // Set ECAN1_RX pin to an input;
// Set up UART1 for 115200 baud. There's no round() on the dsPICs, so we implement our own.
double brg = (double)f_osc / 2.0 / 16.0 / 115200.0 - 1.0;
if (brg - floor(brg) >= 0.5) {
brg = ceil(brg);
} else {
brg = floor(brg);
}
Uart1Init((uint16_t)brg);
// Initialize ECAN1 for input and output using DMA buffers 0 & 2
Ecan1Init(f_osc, NODE_CAN_BAUD);
// Set the node ID
nodeId = CAN_NODE_IMU_SENSOR;
// Set up all of our tasks.
// Blink at 1Hz
if (!AddMessageRepeating(&taskSchedule, TASK_BLINK, RATE_TRANSMIT_BLINK_DEFAULT)) {
FATAL_ERROR();
}
// Transmit node status at 2Hz
if (!AddMessageRepeating(&taskSchedule, TASK_TRANSMIT_STATUS, RATE_TRANSMIT_NODE_STATUS)) {
FATAL_ERROR();
}
// Transmit IMU data at 25Hz
if (!AddMessageRepeating(&taskSchedule, TASK_TRANSMIT_IMU, RATE_TRANSMIT_IMU_DATA)) {
FATAL_ERROR();
}
}
