void BSP_Init(void)
{
RCC_Configuration();
GPIO_Config();
//液晶屏初始化
LCD_Init();
//CAN总线
CanBus_Init();
ELV_Port_Init();
Uart4_Init(38400);
//驱动硬件初始化
Hard_Ware_Init();
//全局变量初始化
G_Var_Init();
//电机参数CAN
M_PID_Init();
NVIC_Configuration();
}
int32_t main(void)
{
uint32_t u32Index;
uint8_t mac_def[6];
uip_ipaddr_t ipaddr;
struct timer periodic_timer, arp_timer;
volatile int32_t ax88796c_isr;
Board_Init();
Uart4_Init();
_delay_init();
// Setup scheduler and tasks
Scheduler_Init();
Scheduler_AddTask(Task_SetLEDs, 0, 100);
Scheduler_AddTask(Task_ProcessSwitches, 0, 50);
Scheduler_AddTask(Task_Adconverter, 500, 100);
Scheduler_AddTask(Task_SerialTerminalOutput, 0, 1000);
Scheduler_Start();
// Configure uIP
timer_set(&periodic_timer, CLOCK_SECOND / 2);
timer_set(&arp_timer, CLOCK_SECOND * 10);
mac_def[0] = UIP_ETHADDR0;
mac_def[1] = UIP_ETHADDR1;
mac_def[2] = UIP_ETHADDR2;
mac_def[3] = UIP_ETHADDR3;
mac_def[4] = UIP_ETHADDR4;
mac_def[5] = UIP_ETHADDR5;
ax88796c_init(mac_def);
uip_init();
init_uip_clock_time();
uip_ipaddr(ipaddr, UIP_IPADDR0,UIP_IPADDR1,UIP_IPADDR2,UIP_IPADDR3);
uip_sethostaddr(ipaddr);
uip_ipaddr(ipaddr, UIP_DRIPADDR0,UIP_DRIPADDR1,UIP_DRIPADDR2,UIP_DRIPADDR3);
uip_setdraddr(ipaddr);
uip_ipaddr(ipaddr, UIP_NETMASK0,UIP_NETMASK1,UIP_NETMASK2,UIP_NETMASK3);
uip_setnetmask(ipaddr);
httpd_init();
/* hello_world_init(); */
/* telnetd_init(); */
/*{
dhcpc_init(&mac_def, 6);
}*/
/*
uip_ipaddr(ipaddr, 127,0,0,1);
smtp_configure("localhost", ipaddr);
SMTP_SEND("*****@*****.**", "", "*****@*****.**",
"Testing SMTP from uIP",
"Test message sent by uIP\r\n");
*/
/*
webclient_init();
resolv_init();
uip_ipaddr(ipaddr, 168,95,1,1);
resolv_conf(ipaddr);
resolv_query("www.sics.se");
*/
while(1){
Scheduler_DispatchTasks();
ax88796c_isr = ax88796c_check_int();
if(ax88796c_isr & ISR_LINK){
if(!ax88796c_check_media()){
printf ("Link down.\n");
}else{
uint16_t bmcr;
bmcr = ax88796c_mdio_read(PHY_ID, MII_BMCR);
printf("Link up, %sMbps, %s-duplex\n",(bmcr & BMCR_SPEED100) ? "100" : "10", \
(bmcr & BMCR_FULLDPLX) ? "full" : "half");
}
}
if(ax88796c_isr & ISR_RXPCT){
uip_len = ax88796c_packet_receive(uip_buf);
}else{
uip_len = 0;
}
ax88796c_clear_int(ax88796c_isr);
if(uip_len > 0) {
if(UipBuf->type == htons(UIP_ETHTYPE_IP)) {
uip_arp_ipin();
uip_input();
/* If the above function invocation resulted in data that
should be sent out on the network, the global variable
uip_len is set to a value > 0. */
if(uip_len > 0) {
uip_arp_out();
ax88796c_packet_send(uip_buf,uip_len);
}
} else if(UipBuf->type == htons(UIP_ETHTYPE_ARP)) {
uip_arp_arpin();
/* If the above function invocation resulted in data that
should be sent out on the network, the global variable
uip_len is set to a value > 0. */
if(uip_len > 0) {
ax88796c_packet_send(uip_buf,uip_len);
}
}
} else if(timer_expired(&periodic_timer)) {
timer_reset(&periodic_timer);
for(u32Index = 0; u32Index < UIP_CONNS; u32Index++) {
uip_periodic(u32Index);
/* If the above function invocation resulted in data that
should be sent out on the network, the global variable
uip_len is set to a value > 0. */
if(uip_len > 0) {
uip_arp_out();
ax88796c_packet_send(uip_buf,uip_len);
}
}
#if UIP_UDP
for(u32Index = 0; u32Index < UIP_UDP_CONNS; u32Index++) {
uip_udp_periodic(u32Index);
/* If the above function invocation resulted in data that
should be sent out on the network, the global variable
uip_len is set to a value > 0. */
if(uip_len > 0) {
uip_arp_out();
ax88796c_packet_send(uip_buf,uip_len);
}
}
#endif /* UIP_UDP */
/* Call the ARP timer function every 10 seconds. */
if(timer_expired(&arp_timer)) {
timer_reset(&arp_timer);
uip_arp_timer();
}
}
}
}
