第一次提交

2025-10-04 16:06:55 +08:00
commit 2acba0caf0
58 changed files with 11679 additions and 0 deletions
--- a/main.c
+++ b/main.c
@@ -0,0 +1,141 @@
+#include <types.h>
+#include "board.h"
+#include "debug.h"
+#include "regs_base.h"
+#include "irq_num.h"
+
+#include "clock_cfg.h"
+#include "reset_cfg.h"
+#include "pinmux_cfg.h"
+#include "eth_cfg.h"
+#include "lwip/err.h"
+#include "lwip/inet.h"
+#include "lwip/tcp.h"
+#include "lwip/timeouts.h"
+#include <string.h>
+
+#include "lwip/udp.h"
+#include "flexcan_cfg.h"
+
+#include "interface_config.h"
+#include "irq.h"
+
+//app包含
+#include "app/app_config.h"
+#include "app/app_param_manage.h"
+#include "app/app_power.h"
+#include "app/app_brake.h"
+#include "app/app_differential_drive.h"
+#include <app/app_test.h>
+#include <app/app_temp.h>
+#include <app/app_light.h>
+#include "app/app_request.h"
+#include "app/app_ultrasonic.h"
+
+void testAppInit(void);
+
+#define IP_ADDR0                    10
+#define IP_ADDR1                    18
+#define IP_ADDR2                   252
+#define IP_ADDR3                    34
+
+
+extern int btm_init(void);
+extern struct tcp_pcb *netdemo_connect_server(char *ip, int port);
+extern bool netdemo_tcp_connected(void);
+extern bool netdemo_tcp_send_done(void);
+extern void netdemo_clear_tcp_send_done(void);
+
+
+
+
+
+uint8_t mainCnt = 0;
+uint8_t mainCntarr[8] = {0x56,0x88,0x98,0x79,0x23};
+
+
+uint8_t test_app[26] = {0};
+
+int main(void)
+{
+    initFramework();
+      
+    uint8_t BOOT_Arr[2] = {0x01,0x02};//上电发送app帧给上位机用
+    
+    // 释放MCU各模块reset信号
+    board_reset_init();
+
+    // 配置时钟
+    int ret = sdrv_ckgen_init(&g_clock_config);
+    ASSERT(ret == 0);
+
+    // VIC初始化
+    irq_initialize(VIC1_BASE, IRQ_MAX_INTR_NUM);
+
+    // 配置pinmux
+    sdrv_pinctrl_init(NUM_OF_CONFIGURED_PINS, g_pin_init_config);
+        
+    // Timer初始化，用于提供LWIP sys_now接口获取当前时间
+    btm_init();
+    
+    // 使能打印
+    board_debug_console_init();
+    
+    printf("debug_console_init initial OK %d\n",getCurrentTime());
+     //初始化所有can
+    initialization_All_Flexcan();
+    
+    printf("initialization_All_Flexcan initial OK %d\n",getCurrentTime());
+    // ETH初始化
+    board_eth_init();
+    
+    initSpi();//初始化SPI
+    
+    //以太网端口初始化
+    UDP_Echo_Init(UDPCB_1, udp_Callback_1, COMMUNICATION_PORT);
+    UDP_Echo_Init(UDPCB_2, udp_Callback_2, UPPER_PORT); 
+    UDP_Echo_Init(UDPCB_3, udp_Callback_3, PARAM_PORT);
+    UDP_Echo_Init(UDPCB_4, udp_Callback_4, DOWNLOAR_PORT);
+    UDP_Echo_Init(UDPCB_5, udp_Callback_5, WDT_PORT);     
+    
+    printf("board_eth_init initial OK %d\n",getCurrentTime());
+    //读取重启标志
+    g_systemDataRecord.canBootloaderUpgrade = rdbyte_24c02(0x00);      
+    printf("rdbyte_24c02 OK %d\n",getCurrentTime());
+    
+    ethernet_parameter.download_ip[0] = rdbyte_24c02(BOOT_DES_IP);//读取下载的IP    
+    ethernet_parameter.download_ip[1] = rdbyte_24c02(BOOT_DES_IP+1);//读取下载的IP       
+    ethernet_parameter.download_ip[2] = rdbyte_24c02(BOOT_DES_IP+2);//读取下载的IP     
+    ethernet_parameter.download_ip[3] = rdbyte_24c02(BOOT_DES_IP+3);//读取下载的IP 
+    
+    //发送重启后的第一帧给上位机
+    CAN_Send_Msg(&can_handle_6,OTA_CANTxID, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, BOOT_Arr,2, TX_MB_INDEX);//app 帧  
+    
+    printf("CAN_Send_Msg can_handle_6 OK %d\n",getCurrentTime());
+    
+    
+    //打印版本号
+    printf("version: V1.75 \n");
+    // 初始化框架 放在最前面，解决电机can发送信号累积不处理的问题。   
+
+    testAppInit();
+    paramAppInit();
+    diffAppInit();
+    brakeAppInit();
+    powerAppInit(); //电源管理
+    tempAppInit();  //温度
+    lightAppInit(); //灯光
+    ethernetInterfaceInit(); //以太网先初始化
+    requestAppInit();
+    canInterfaceInit();
+    bootInterfaceInit();
+//    ultrasonicAppInit();
+    
+    printf("All init OK ------ %d\n",getCurrentTime());
+    
+    for (;;) 
+    {
+      // 处理信号
+        processMessages();        
+    }
+}