void init( int argc, char * argv[] )
{
if(argc > 1)
if(Serial.init_tty(argv[1]) != 0)
return;
if(Serial1.init_tty(LINUX_SERIAL1_TTY) != 0)
return;
if(Serial2.init_tty(LINUX_SERIAL2_TTY) != 0)
return;
sizeof_g_APinDescription = sizeof(g_APinDescription)/sizeof(struct _PinDescription);
sizeof_g_APinState = sizeof(g_APinState)/sizeof(struct _PinState);
pinInit();
/* Initialize fast path to GPIO */
if (fastGpioPciInit())
trace_error("Unable to initialize fast GPIO mode!");
sizeof_g_APwmDescription = sizeof(g_APwmDescription)/sizeof(struct _PwmDescription);
pwmInit();
sizeof_g_AdcDescription = sizeof(g_AdcDescription)/sizeof(struct _AdcDescription);
adcInit();
eepromInit();
}
int main(void)
{
initMyExtIRQ();
eepromInit();
buttonsInit();
ledInit();
timerInit();
loggerInit();
loggerWriteToMarker((LogMesT)" \nStarting program \n*", '*');
initNockMachine_0();
while(1)
{
userCommandMachine_1();
nockMachine_2();
radioSendMachine_3();
}
}
/******************************************************************************
Function Name : main
Description : Main task
Arguments : none
Return value : none
******************************************************************************/
void main(void)
{
lvd_err_t err;
lvd_config_t channel1_cfg;
channel1_cfg.e_action = LVD_ACTION_RESET;
channel1_cfg.e_trigger = LVD_TRIGGER_FALL;
channel1_cfg.e_voltage_level =LVD_VOLTAGE_CH1_2_95;
err = R_LVD_Open(LVD_CHANNEL_1, &channel1_cfg, NULL);
bool ret = false;
/* Reserve the CMT0 for FreeRTOS */
ret = R_BSP_HardwareLock((mcu_lock_t)(BSP_LOCK_CMT0));
while (false == ret) /* can't lock the CMT0 resource */
{
while (1);
}
WDT_FEED
/* Inicialização das variaveis EEPROM */
eepromInit();
eepromConsistencyCheck();
/* Initialize USB */
usb_main();
/* Initialize RTOS */
FreeRTOSConfig();
/* Start tasks - only returns if something bad happened! */
vTaskStartScheduler();
while (1)
{
}
}
EEPROM *eepromOpen(EEPROM_COGDRIVER *eeprom, int scl, int sda, int freq, int address)
{
I2C *dev;
if (!(dev = i2cOpen(&eeprom->dev, scl, sda, freq)))
return NULL;
eepromInit(&eeprom->state, dev, address);
return (EEPROM *)eeprom;
}
EEPROM *eepromBootOpen(EEPROM_BOOT *eeprom, int address)
{
I2C *dev;
if (!(dev = i2cBootOpen()))
return NULL;
eepromInit(&eeprom->state, dev, address);
return (EEPROM *)eeprom;
}
EEPROM *simple_eepromOpen(EEPROM_SIMPLE *eeprom, int scl, int sda, int address)
{
I2C *dev;
if (!(dev = simple_i2cOpen(&eeprom->dev, scl, sda)))
return NULL;
eepromInit(&eeprom->state, dev, address);
return (EEPROM *)eeprom;
}
//-----------------------------------------------------------------
// Main
//-----------------------------------------------------------------
int main(void)
{
uint8_t uiResult;
pllInit();
// Turn off analogue inputs
ANSELB = PORTB_ANSEL;
ANSELC = 0x0000;
ANSELD = PORTD_ANSEL;
ANSELE = 0x0000;
ANSELG = 0x0000;
memset(lastestDmxBuffer, 0, NUM_DIMMER_CHANNELS);
memset(lastOutputBuffer, 0, NUM_DIMMER_CHANNELS);
// Startup
ioMuxInit();
eepromInit();
eepromLoad();
lcdInit();
buttonsInit();
uiInit();
ledsInit();
phaseAngleInit();
dmxInit(eepromGetDmxAddress());
// Timer 1 setup - overflow at 100Hz
TMR1 = 0;
PR1 = 25000;
T1CON = 0x8010; // 1:8 prescale (2.5MHz)
_T1IF = 0;
while(1)
{
if(_T1IF)
{ // 100 Hz Timer stuff
_T1IF = 0;
buttonsCheck();
ledsCheck();
uiResult = uiCheck();
}
else
{
uiResult = 0;
}
if(uiResult || dmxCheck())
{
updateDimmers();
}
lcdCheck();
}
}
bool init()
{
rom = (u8 *)malloc(0x2000000);
if (!rom)
{
systemMessage("Failed to allocate memory for %s", "ROM");
return false;
}
flashInit();
sramInit();
eepromInit();
return true;
}
// Get the Leonardo ready for USB communication
void setupHardware(void)
{
// Disable the watch-dog timer if enabled by boot-loader or fuses
MCUSR &= ~(1 << WDRF);
wdt_disable();
// Disable clock division
clock_prescale_set(clock_div_1);
// Initialise the hardware USART module
#ifdef USART_DEBUG
Serial_Init(115200, true);
Serial_CreateStream(NULL);
printf("USART Debug enabled\r\n");
#endif
// Initialise the EEPROM settings
eepromInit();
// Initialise the LUFA board driver and USB library
LEDs_Init();
USB_Init();
}
static void main_task(void *pvParameters) {
int i;
char ch;
bool selftestPasses = true;
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_I2C1_Init();
MX_USART1_UART_Init();
MX_SPI1_Init();
MX_USB_DEVICE_Init();
// Light up all LEDs to test
ledOn(ledRanging);
ledOn(ledSync);
ledOn(ledMode);
printf("\r\n\r\n====================\r\n");
printf("SYSTEM\t: CPU-ID: ");
for (i=0; i<12; i++) {
printf("%02x", uid[i]);
}
printf("\r\n");
// Initializing pressure sensor (if present ...)
lps25hInit(&hi2c1);
testSupportPrintStart("Initializing pressure sensor");
if (lps25hTestConnection()) {
printf("[OK]\r\n");
lps25hSetEnabled(true);
} else {
printf("[FAIL] (%u)\r\n", (unsigned int)hi2c1.ErrorCode);
selftestPasses = false;
}
testSupportPrintStart("Pressure sensor self-test");
testSupportReport(&selftestPasses, lps25hSelfTest());
// Initializing i2c eeprom
eepromInit(&hi2c1);
testSupportPrintStart("EEPROM self-test");
testSupportReport(&selftestPasses, eepromTest());
cfgInit();
// Initialising radio
testSupportPrintStart("Initialize UWB ");
uwbInit();
if (uwbTest()) {
printf("[OK]\r\n");
} else {
printf("[ERROR]: %s\r\n", uwbStrError());
selftestPasses = false;
}
if (!selftestPasses) {
printf("TEST\t: One or more self-tests failed, blocking startup!\r\n");
usbcommSetSystemStarted(true);
}
// Printing UWB configuration
struct uwbConfig_s * uwbConfig = uwbGetConfig();
printf("CONFIG\t: Address is 0x%X\r\n", uwbConfig->address[0]);
printf("CONFIG\t: Mode is %s\r\n", uwbAlgorithmName(uwbConfig->mode));
printf("CONFIG\t: Tag mode anchor list (%i): ", uwbConfig->anchorListSize);
for (i = 0; i < uwbConfig->anchorListSize; i++) {
printf("0x%02X ", uwbConfig->anchors[i]);
}
printf("\r\n");
HAL_Delay(500);
ledOff(ledRanging);
ledOff(ledSync);
ledOff(ledMode);
printf("SYSTEM\t: Node started ...\r\n");
printf("SYSTEM\t: Press 'h' for help.\r\n");
usbcommSetSystemStarted(true);
// Starts UWB protocol
uwbStart();
// Main loop ...
while(1) {
usbcommPrintWelcomeMessage();
ledTick();
// // Measure pressure
// if (uwbConfig.mode != modeSniffer) {
// if(lps25hGetData(&pressure, &temperature, &asl)) {
// pressure_ok = true;
// } else {
// printf("Fail reading pressure\r\n");
// printf("pressure not ok\r\n");
// }
// }
// Accepts serial commands
#ifdef USE_FTDI_UART
if (HAL_UART_Receive(&huart1, (uint8_t*)&ch, 1, 0) == HAL_OK) {
#else
if(usbcommRead(&ch, 1)) {
#endif
handleInput(ch);
}
}
}
/* Function required to use "printf" to print on serial console */
int _write (int fd, const void *buf, size_t count)
{
// stdout
if (fd == 1) {
#ifdef USE_FTDI_UART
HAL_UART_Transmit(&huart1, (uint8_t *)buf, count, HAL_MAX_DELAY);
#else
usbcommWrite(buf, count);
#endif
}
// stderr
if (fd == 2) {
HAL_UART_Transmit(&huart1, (uint8_t *)buf, count, HAL_MAX_DELAY);
}
return count;
}
static void handleInput(char ch) {
bool configChanged = true;
static enum menu_e {mainMenu, modeMenu} currentMenu = mainMenu;
switch (currentMenu) {
case mainMenu:
switch (ch) {
case '0':
case '1':
case '2':
case '3':
case '4':
case '5':
case '6':
case '7':
case '8':
case '9':
changeAddress(ch - '0');
break;
case 'a': changeMode(MODE_ANCHOR); break;
case 't': changeMode(MODE_TAG); break;
case 's': changeMode(MODE_SNIFFER); break;
case 'm':
printModeList();
printf("Type 0-9 to choose new mode...\r\n");
currentMenu = modeMenu;
configChanged = false;
break;
case 'd': restConfig(); break;
case 'h':
help();
configChanged = false;
break;
case '#':
productionTestsRun();
printf("System halted, reset to continue\r\n");
while(true){}
break;
default:
configChanged = false;
break;
}
break;
case modeMenu:
switch(ch) {
case '0':
case '1':
case '2':
case '3':
case '4':
case '5':
case '6':
case '7':
case '8':
case '9':
changeMode(ch - '0');
currentMenu = mainMenu;
break;
default:
printf("Incorrect mode '%c'\r\n", ch);
currentMenu = mainMenu;
configChanged = false;
break;
}
break;
}
if (configChanged) {
printf("EEPROM configuration changed, restart for it to take effect!\r\n");
}
}
void dIMUInit(void) {
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
#ifdef DIMU_HAVE_MPU6000
mpu6000PreInit();
#endif
#ifdef DIMU_HAVE_MAX21100
max21100PreInit();
#endif
#ifdef DIMU_HAVE_EEPROM
eepromPreInit();
#endif
#ifdef DIMU_HAVE_HMC5983
hmc5983PreInit();
#endif
#ifdef DIMU_HAVE_MS5611
ms5611PreInit();
#endif
#ifdef DIMU_HAVE_MPU6000
mpu6000Init();
#endif
#ifdef DIMU_HAVE_MAX21100
max21100Init();
#endif
#ifdef DIMU_HAVE_EEPROM
eepromInit();
// dIMUWriteCalib();
dIMUReadCalib();
#endif
#ifdef DIMU_HAVE_HMC5983
if (hmc5983Init() == 0)
AQ_NOTICE("DIMU: MAG sensor init failed!\n");
#endif
#ifdef DIMU_HAVE_MS5611
if (ms5611Init() == 0)
AQ_NOTICE("DIMU: PRES sensor init failed!\n");
#endif
dIMUTaskStack = aqStackInit(DIMU_STACK_SIZE, "DIMU");
dImuData.flag = CoCreateFlag(1, 0);
dImuData.task = CoCreateTask(dIMUTaskCode, (void *)0, DIMU_PRIORITY, &dIMUTaskStack[DIMU_STACK_SIZE-1], DIMU_STACK_SIZE);
// setup digital IMU timer
DIMU_EN;
// Time base configuration for 1MHz (us)
TIM_TimeBaseStructure.TIM_Period = 0xffff;
TIM_TimeBaseStructure.TIM_Prescaler = (DIMU_CLOCK / 1000000) - 1;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(DIMU_TIM, &TIM_TimeBaseStructure);
// reset
TIM_SetCounter(DIMU_TIM, 0);
// Output Compare for alarms
TIM_OCStructInit(&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Inactive;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init(DIMU_TIM, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(DIMU_TIM, TIM_OCPreload_Disable);
TIM_OC2Init(DIMU_TIM, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(DIMU_TIM, TIM_OCPreload_Disable);
// Enable the global Interrupt
NVIC_InitStructure.NVIC_IRQChannel = DIMU_IRQ_CH;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
// reset
TIM_SetCounter(DIMU_TIM, 0);
dIMUCancelAlarm1();
// go...
TIM_Cmd(DIMU_TIM, ENABLE);
#ifdef DIMU_HAVE_MPU6000
mpu6000Enable();
#endif
#ifdef DIMU_HAVE_MAX21100
max21100Enable();
#endif
#ifdef DIMU_HAVE_HMC5983
hmc5983Enable();
#endif
#ifdef DIMU_HAVE_MS5611
ms5611Enable();
#endif
// setup IMU timestep alarm
dImuData.nextPeriod = DIMU_TIM->CCR2 + DIMU_INNER_PERIOD;
DIMU_TIM->CCR2 = dImuData.nextPeriod;
DIMU_TIM->DIER |= TIM_IT_CC2;
#ifdef DIMU_HAVE_MPU6000
mpu6600InitialBias();
#endif
#ifdef DIMU_HAVE_MAX21100
max21100InitialBias();
#endif
#ifdef DIMU_HAVE_MS5611
ms5611InitialBias();
#endif
}
//----------------------------------------------------------
// System initialization
//----------------------------------------------------------
static inline void initSystem(void)
{
bool success;
(void)success;
// disable interrupts: disabled on msp430 by default, but other systems might need this
DISABLE_INTS();
// stop the watchdog: GCC disables it by default, but other compilers might not be so helpful
watchdogStop();
// TODO: init dynamic memory
// platformMemInit();
// basic, platform-specific initialization: timers, platform-specific drivers (?)
initPlatform();
// start energy accounting (as soon as timers are initialized)
energyConsumerOn(ENERGY_CONSUMER_MCU);
#ifdef USE_PRINT
// init printing to serial (makes sense only after clock has been calibrated)
if (printInit != NULL) printInit();
#endif
INIT_PRINTF("starting MansOS...\n");
#ifdef USE_LEDS
INIT_PRINTF("init LED(s)...\n");
ledsInit();
#endif
#ifdef USE_BEEPER
beeperInit();
#endif
#ifdef RAMTEXT_START
if ((MemoryAddress_t)&_end > RAMTEXT_START) {
// Panic right aways on RAM overflow.
// In case this happens, you might want to increase the address
// specified by CONST_RAMTEXT_START in config file
assertionFailed("Overflow between .data and .ramtext sections", __FILE__, __LINE__);
}
#endif
#ifdef USE_ADC
if (adcInit != NULL) {
INIT_PRINTF("init ADC...\n");
adcInit();
}
#endif
#ifdef USE_RANDOM
INIT_PRINTF("init RNG...\n");
randomInit();
#endif
#if USE_ALARMS
INIT_PRINTF("init alarms...\n");
initAlarms();
#endif
#ifdef USE_RADIO
INIT_PRINTF("init radio...\n");
radioInit();
#endif
#ifdef USE_ADDRESSING
INIT_PRINTF("init communication stack...\n");
networkingInit();
#endif
#ifdef USE_EXT_FLASH
INIT_PRINTF("init external flash...\n");
extFlashInit();
#endif
#ifdef USE_SDCARD
INIT_PRINTF("init SD card...\n");
sdcardInit();
#endif
#ifdef USE_EEPROM
INIT_PRINTF("init EEPROM...\n");
eepromInit();
#endif
#ifdef USE_ISL29003
INIT_PRINTF("init ISL light sensor...\n");
success = islInit();
if (!success) {
INIT_PRINTF("ISL init failed!\n");
}
#endif
#ifdef USE_ADS1115
INIT_PRINTF("init ADS111x ADC converter chip...\n");
adsInit();
#endif
#if USE_ADS8638
INIT_PRINTF("init ADS8638 ADC converter chip...\n");
ads8638Init();
#endif
#if USE_ADS8328
INIT_PRINTF("init ADS8328 ADC converter chip...\n");
ads8328Init();
#endif
#if USE_AD5258
INIT_PRINTF("init AD5258 digital potentiometer...\n");
ad5258Init();
#endif
#if USE_DAC7718
INIT_PRINTF("init DAC7718 DAC converter chip...\n");
dac7718Init();
#endif
#if USE_ISL1219
INIT_PRINTF("init ISL1219 real-time clock chip...\n");
isl1219Init();
#endif
#ifdef USE_HUMIDITY
INIT_PRINTF("init humidity sensor...\n");
humidityInit();
#endif
#ifdef USE_ACCEL
INIT_PRINTF("init accelerometer...\n");
accelInit();
#endif
#ifdef USE_TIMESYNC
INIT_PRINTF("init base station time sync...\n");
timesyncInit();
#endif
#ifdef USE_SMP
INIT_PRINTF("init SSMP...\n");
smpInit();
#endif
#ifdef USE_REPROGRAMMING
INIT_PRINTF("init reprogramming...\n");
bootParamsInit();
#endif
#ifdef USE_DCO_RECALIBRATION
extern void dcoRecalibrationInit(void);
INIT_PRINTF("init DCO recalibration...\n");
dcoRecalibrationInit();
#endif
#ifdef USE_FS
INIT_PRINTF("init file system...\n");
fsInit();
#endif
#ifdef USE_FATFS
INIT_PRINTF("init FAT file system...\n");
fatFsInit();
INIT_PRINTF("init POSIX-like file routines...\n");
posixStdioInit();
#endif
#ifdef USE_WMP
INIT_PRINTF("init WMP...\n");
wmpInit();
#endif
#ifdef USE_SEAL_NET
INIT_PRINTF("init SEAL networking...\n");
sealNetInit();
#endif
INIT_PRINTF("starting the application...\n");
}
