// init one call
void light_init(void)
{
dbg_printf("Initializing LIGHT...");
pin_on(OPIN_TR_EN );//включить выходные регистры
LIGHT_STA=LIGHT_WORK;// machine stat
light_machine.work = FALSE; // stop machine
//
setStatusRestart(true);// перезагрузка
//
BOOL is_init;
dk_num=0;
//
GREEN_PORT_CONF = 0;
RED_PORT_CONF = 0;
YEL_PORT_CONF = 0;
//
for (int i_dk=0; i_dk<DK_N; i_dk++)
{
CUR_DK = i_dk;
for (int i_try=0; i_try<3; i_try++)
{
is_init = ligh_load_init(2-i_try);
if (is_init)
{
dk_num++;
break;
}
}
//
if (!is_init)
break;
}
if (dk_num)
light_machine.work = TRUE; // start machine
/*create event*/
if (tn_event_create(&g_light_evt, TN_EVENT_ATTR_SINGLE | TN_EVENT_ATTR_CLR, 0) != TERR_NO_ERR){
dbg_puts("tn_event_create(&g_light_evt) error");
dbg_trace();
tn_halt();
}
/*create task_light_func*/
if (tn_task_create(&task_light_tcb, &task_light_func, TASK_LIGHT_PRI,
&task_light_stk[TASK_LIGHT_STK_SZ - 1], TASK_LIGHT_STK_SZ, 0,
TN_TASK_START_ON_CREATION) != TERR_NO_ERR){
dbg_puts("tn_task_create(&task_light_tcb) error");
dbg_trace();
tn_halt();
}
dbg_puts("[done]");
}
void hw_timer0a_init(TN_EVENT* evt, unsigned evt_pattern)
{
if (evt == NULL || evt_pattern == 0)
{
dbg_puts("evt == NULL || evt_pattern == 0");
dbg_trace();
tn_halt();
}
g_timer0a_evt = evt;
g_timer0a_evt_pattern = evt_pattern;
// TIMER_0_A32
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0);
MAP_SysCtlPeripheralReset(SYSCTL_PERIPH_TIMER0);
MAP_TimerDisable(TIMER0_BASE, TIMER_A);
MAP_TimerConfigure(TIMER0_BASE, TIMER_CFG_32_BIT_PER); // periodic mode
MAP_TimerIntEnable(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
//MAP_IntPrioritySet(INT_TIMER0A, 0); // 0 - max pri 7 - min pri
MAP_IntEnable(INT_TIMER0A);
/*
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER3);
MAP_TimerDisable(TIMER3_BASE, TIMER_A);
MAP_TimerConfigure(TIMER3_BASE, TIMER_CFG_32_BIT_OS);
MAP_TimerEnable(TIMER3_BASE, TIMER_A);
*/
}
/*-----------------------Start system-----------------------------------------*/
void tn_app_init()
{
tn_cpu_int_disable(); // прерывания включаются обратно после выхода из tn_app_init();
// start
startup();
// for static IP
struct ip_addr ipaddr = { pref_get_long(PREF_L_NET_IP) };
struct ip_addr netmask = { pref_get_long(PREF_L_NET_MSK) };
struct ip_addr gw = { pref_get_long(PREF_L_NET_GW) };
//ip_addr_debug_print(buf, ipaddr);
ethernet_init((enum net_mode)pref_get_long(PREF_L_NET_MODE), &ipaddr, &netmask, &gw);
cmd_ch_init(); // init cmd for ethernet
// creat task_leds_func
if (tn_task_create(&task_leds_tcb, &task_leds_func, TASK_LEDS_PRI, &task_leds_stk[TASK_LEDS_STK_SZ - 1],
TASK_LEDS_STK_SZ, 0, TN_TASK_START_ON_CREATION) != TERR_NO_ERR)
{
dbg_puts("tn_task_create(&task_leds_tcb) error");
goto err;
}
//time_init=true;
return;
err:
dbg_trace();
tn_halt();
}
void fault_print(unsigned int * hardfault_args)
{
unsigned int stacked_r0;
unsigned int stacked_r1;
unsigned int stacked_r2;
unsigned int stacked_r3;
unsigned int stacked_r12;
unsigned int stacked_lr;
unsigned int stacked_pc;
unsigned int stacked_psr;
stacked_r0 = ((unsigned long) hardfault_args[0]);
stacked_r1 = ((unsigned long) hardfault_args[1]);
stacked_r2 = ((unsigned long) hardfault_args[2]);
stacked_r3 = ((unsigned long) hardfault_args[3]);
stacked_r12 = ((unsigned long) hardfault_args[4]);
stacked_lr = ((unsigned long) hardfault_args[5]);
stacked_pc = ((unsigned long) hardfault_args[6]);
stacked_psr = ((unsigned long) hardfault_args[7]);
dbg_puts ("\n\n[Hard fault handler]\n");
dbg_printf ("R0 = %x\n", stacked_r0);
dbg_printf ("R1 = %x\n", stacked_r1);
dbg_printf ("R2 = %x\n", stacked_r2);
dbg_printf ("R3 = %x\n", stacked_r3);
dbg_printf ("R12 = %x\n", stacked_r12);
dbg_printf ("LR [R14] = %x subroutine call return address\n", stacked_lr);
dbg_printf ("PC [R15] = %x program counter\n", stacked_pc);
dbg_printf ("PSR = %x\n", stacked_psr);
tn_halt();
}
void hw_timer0a_set_timeout(unsigned long uS)
{
#ifdef DEBUG
if (uS > 1000000)
{
dbg_puts("uS > 1000000");
dbg_trace();
tn_halt();
}
#endif // DEBUG
MAP_TimerLoadSet(TIMER0_BASE, TIMER_A, MAP_SysCtlClockGet() / 1000000 * uS);
}
void hw_timer1a_start_once(unsigned long uS)
{
#ifdef DEBUG
if (uS > 1000000)
{
dbg_puts("uS > 1000000");
dbg_trace();
tn_halt();
}
#endif // DEBUG
MAP_TimerLoadSet(TIMER1_BASE, TIMER_A, MAP_SysCtlClockGet() / 1000000 * uS);
MAP_TimerEnable(TIMER1_BASE, TIMER_A);
}
void GPS_init()
{
dbg_printf("Initializing GPS module...");
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_UART);
MAP_GPIOPinConfigure(GPIO_PA0_U0RX);
MAP_GPIOPinConfigure(GPIO_PA1_U0TX);
MAP_GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);
MAP_UARTConfigSetExpClk(UART_BASE, MAP_SysCtlClockGet(), UART_SPEED, UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE | UART_CONFIG_PAR_NONE);
MAP_UARTDisable(UART_BASE);
MAP_UARTTxIntModeSet(UART_BASE, UART_TXINT_MODE_EOT);
MAP_UARTIntEnable(UART_BASE, UART_INT_RX | UART_INT_TX);
MAP_IntEnable(INT_UART);
MAP_UARTEnable(UART_BASE);
MAP_UARTFIFODisable(UART_BASE);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOG);
//
MAP_IntEnable(INT_GPIOG);
// Настроить прерывания на PPS
MAP_GPIOIntTypeSet(GPIO_PORTG_BASE, GPIO_PIN_7, GPIO_FALLING_EDGE);
MAP_GPIOPinIntEnable(GPIO_PORTG_BASE, GPIO_PIN_7);
//
if (tn_task_create(&task_GPS_tcb, &task_GPS_func, TASK_GPS_PRI,
&task_GPS_stk[TASK_GPS_STK_SZ - 1], TASK_GPS_STK_SZ, 0,
TN_TASK_START_ON_CREATION) != TERR_NO_ERR)
{
dbg_puts("tn_task_create(&task_GPS_tcb) error");
goto err;
}
// Настроить прерывания на PPS
//MAP_IntEnable(INT_GPIOG);
//MAP_GPIOIntTypeSet(GPIO_PORTG_BASE, GPIO_PIN_7, GPIO_FALLING_EDGE);
//MAP_GPIOPinIntEnable(GPIO_PORTG_BASE, GPIO_PIN_7);
dbg_puts("[done]");
return;
err:
dbg_trace();
tn_halt();
}
void __error__(char *pcFilename, unsigned long ulLine)
{
dbg_printf("__error__(\"%s\", ln=%u);\n", pcFilename, ulLine);
tn_halt();
}
void tn_default_int_handler()
{
dbg_puts("default interrupt");
tn_halt();
}
void tn_nmi_int_handler()
{
dbg_puts("NMI interrupt");
tn_halt();
}