int main(void) {
/* GPIOD Periph clock enable */
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);
/* Configures the leds and the read/write pin on D1 */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_13| GPIO_Pin_14| GPIO_Pin_15 | USART6_ENABLE_PIN | USART6_DISABLE_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOD, &GPIO_InitStructure);
init_USART6(BOTTOM_MOTOR_BAUD); // initialize USART6 baud rate
init_USART2(TOP_BOTTOM_BAUD); // initialize USART2 baud rate
GPIO_SetBits(USART6_ENABLE_PORT, USART6_ENABLE_PIN); //Turns the read/write pin for rs485 to write mode
Delay(0xFFF); //Delays to give the read/write pin time to initialize
while (1){
//Reads the top packet, converts the top packet to motor packets, and then sends the motor packets to the motor controllers
if(handleTopPacket()) //If the read top packet function was successful, go within the if statement
{
GPIO_ResetBits(GPIOD, GPIO_Pin_15);
//Increments how many times the motor packets have been sent
pollCounter++;
//Waits for twenty packets to be sent to the motors before polling a motor.
if(pollCounter > 20)
{
GPIO_SetBits(GPIOD, GPIO_Pin_14);
//Sends a packet to poll the motor at pollAddress
pollMotor(pollAddress);
if(!readSlavePacket()) //If we cannot read the packet
{
//TODO
}
//Add the fault data information to the packet we are sending back to the battle station
//Increments through the addresses and goes back to address one after eight time
pollAddress++; //Changes which motor will be polled next
if(pollAddress == 9)
pollAddress = 1;
pollCounter = 0; //Resets the poll counter
}
}
GPIO_ResetBits(GPIOD, GPIO_Pin_12); //Turns off the led
GPIO_ResetBits(GPIOD, GPIO_Pin_14);
}
}
int main(void) {
init_pins(); //Initializes the leds and the read write enabler pins as outputs
init_USART1(BOTTOM_MOTOR_BAUD); // initialize USART1 baud rate
init_USART2(TOP_BOTTOM_BAUD); // initialize USART2 baud rate
GPIO_SetBits(GPIOD, READ_WRITE_ENABLER); //Turns the read/write pin for rs485 to write mode
Delay(0xFFF); //Delays to give the read/write pin time to initialize
while (1){
//Reads the top packet, converts the top packet to motor packets, and then sends the motor packets to the motor controllers
if(handleTopPacket()) //If the read top packet function was successful, go within the if statement
{
GPIO_ResetBits(GPIOD, BLUE_LED);
//Increments how many times the motor packets have been sent
pollCounter++;
//Waits for twenty packets to be sent to the motors before polling a motor.
if(pollCounter > PACKETS_SENT_BEFORE_POLLED)
{
GPIO_SetBits(GPIOD, RED_LED);
//Sends a packet to poll the motor at pollAddress
pollMotor(pollAddress);
if(!readSlavePacket()) //If we cannot read the packet
{
//TODO
}
//Add the fault data information to the packet we are sending back to the battle station
//Increments through the addresses and goes back to address one after eight time
pollAddress++; //Changes which motor will be polled next
if(pollAddress == 9)
pollAddress = 1;
pollCounter = 0; //Resets the poll counter
}
}
GPIO_ResetBits(GPIOD, GREED_LED); //Turns off the led
GPIO_ResetBits(GPIOD, RED_LED);
}
}
void Dbg_init (void)
{
init_USART2 (230400); // initialize USART2 @ 230400 baud
}
