void setup()
{
setupSystemClock();
setup_system_tick(SYSTEM_TICK_FREQ);
setupUART();
#ifdef GPS
setupGPS();
#endif
I2C_Init();
FlashInit();
UpdateBoardVersion(false);
#ifdef OPTION_RC
RC_Init();
if(IsSSVConnected())
Battery_Init();
LED_Init();
TIMER_Init();
stabilizerInit();
#endif
#ifdef ABROBOT
ABRobotMotorInit();
#endif
nvtAHRSInit();
SensorsInit();
ChronographSet(ChronMain);
}
void main(void)
{
// Initialize all tasks
Speech_Init();
UART_Init(BAUD9600);
Timer0_Init(500);
Elecmotor_Init();
Button_Init();
Battery_Init();
Sensor_Init();
Alarm_Init();
Function_init();
Function_S_init();
// Add Tasks
hSCH_Add_Task(Elecmotor_update, 1000, 1, 1); // 1ms/ticket
hSCH_Add_Task(Button_update, 1500, 200, 1); // 100ms/ticket
hSCH_Add_Task(Speech_update, 1500, 1000, 1); // 0.5s/ticket
hSCH_Add_Task(Sensor_update, 2000, 1, 1); // 1ms/ticket
hSCH_Add_Task(Alarm_update, 3000, 2000, 1); // 1s/ticket
hSCH_Add_Task(Function_update, 1500, 4000, 1); // 2s/ticket
hSCH_Add_Task(Function_s_update, 2000, 1, 1); // 1ms/ticket
// Start the program.
hSCH_Start();
while(1)
{
// Excute the program.
hSCH_Dispatch_Tasks();
}
}
void api_init(void) {
CILCR_LVL = 0;
interrupts_init();
// button
PIER07_IE0 = 1;
PIER07_IE1 = 1;
PIER07 |= 0x0c;
PUCR07 |= 0x0c;
Sema = 0;
vSemaphoreCreateBinary(Sema);
//Seg_Init();
Drive_Init();
//FRAM_Init();
Us_Init();
//CarId_Init();
ADC_Init();
Battery_Init();
Linesensor_Init();
//wirelessInit();
Serial_Init();
__EI();
}
/*******************************************************************************
**函 数： KeyInit
**功 能： 初始化
**参 数： unitID --单元号
**返 回： void
*******************************************************************************/
void KeyInit(u8 unitID)
{
u8 i;
Battery_Init();
Init_OLED();
_74HC595_Init();
ShowLED_OpenAll();
if(1 == Battery_GetPercent(&gPowerPercent))
{
if(gPowerPercent <= 8) //电量小于8%时自动提示用户充电，3s以后休眠
{
OLED_ShowPicAt(36,2,56,32,PicPower);
Thread_Login(ONCEDELAY, 0,3000,&Standby_Mode);
for(;;);
}
}
EEPROM_Read(ADDR_PASSWORD, 4, &gPassword[0]);
if((gPassword[0]>6)||(gPassword[1]>6)||(gPassword[2]>6)||(gPassword[3]>6))
{
gPassword[0] = 0;
gPassword[1] = 0;
gPassword[2] = 0;
gPassword[3] = 0;
}
if((gPassword[0]==0)||(gPassword[1]==0)||(gPassword[2]==0)||(gPassword[3]==0))
{
gPswFlag = 0; //无密码
}
else gPswFlag = 1; //有密码
Thread_Login(FOREVER, 0, 5 , &Key_Handle); //5ms 按键
Thread_Login(FOREVER, 0, 100, &LowPower_CheckTime); //100ms*100 = 10s 睡眠
Thread_Login(FOREVER, 0, 200 ,&Battery_Show);
Get_CurrentKeyState(&gKeyPrevState);
if((gKeyPrevState.KeyValue > MAX_TOUCH_KEY)||(!gKeyPrevState.KeyValue))
{
gKeyPrevState.KeyValue = first_key;
}
if((gKeyPrevState.KeyType > KEY_LONG)||(KEY_NONE == gKeyPrevState.KeyType))
{
gKeyPrevState.KeyType = KEY_SHORT;
}
gKeyCh[gKeyPrevState.KeyValue].Status = gKeyPrevState.KeyType;
for(i = 1;i < MAX_TOUCH_KEY;i++)
{
if(gKeyPrevState.KeyStatusVal[i] > 1)
{
gKeyPrevState.KeyStatusVal[i] = SW_OFF;
}
gKeyStatus[i].Status = gKeyPrevState.KeyStatusVal[i];
}
switch(gKeyPrevState.KeyType)
{
case KEY_SHORT:
{
if(SW_ON == gKeyStatus[gKeyPrevState.KeyValue].Status)
{
OLED_ShowHalfPicAt(4,PicTab[gKeyPrevState.KeyValue]);
}
else
{
OLED_ShowHalfPicAt(4,PicTab[gKeyPrevState.KeyValue + 32]);
}
}break;
case KEY_LONG:
{
OLED_ShowHalfPicAt(4,PicTab[gKeyPrevState.KeyValue + 16]);
}break;
default:break;
}
Battery_Show_State();
Upload(1);
}
