133 lines
3.9 KiB
C
133 lines
3.9 KiB
C
#include <types.h>
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#include "board.h"
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#include "debug.h"
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#include "regs_base.h"
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#include "irq_num.h"
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#include "clock_cfg.h"
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#include "reset_cfg.h"
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#include "pinmux_cfg.h"
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#include "eth_cfg.h"
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#include "lwip/err.h"
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#include "lwip/inet.h"
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#include "lwip/tcp.h"
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#include "lwip/timeouts.h"
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#include <string.h>
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#include "lwip/udp.h"
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#include "flexcan_cfg.h"
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#include "interface_config.h"
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#include "irq.h"
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//app包含
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#include "app/app_config.h"
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#include "app/app_param_manage.h"
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#include "app/app_power.h"
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#include "app/app_brake.h"
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#include "app/app_differential_drive.h"
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#include <app/app_test.h>
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#include <app/app_base.h>
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#include <app/app_turn.h>
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#include <app/app_light.h>
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#include <app/app_request.h>
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void testAppInit(void);
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#define IP_ADDR0 10
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#define IP_ADDR1 18
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#define IP_ADDR2 252
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#define IP_ADDR3 34
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extern int btm_init(void);
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extern struct tcp_pcb *netdemo_connect_server(char *ip, int port);
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extern bool netdemo_tcp_connected(void);
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extern bool netdemo_tcp_send_done(void);
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extern void netdemo_clear_tcp_send_done(void);
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uint8_t mainCnt = 0;
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uint8_t mainCntarr[8] = {0x56,0x88,0x98,0x79,0x23};
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uint8_t desIp[4] = {192,168,17,3};
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uint8_t test_app[26] = {0};
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int main(void)
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{
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initFramework();
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uint8_t BOOT_Arr[2] = {0x01,0x02};//上电发送app帧给上位机用
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// 释放MCU各模块reset信号
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board_reset_init();
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// 配置时钟
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int ret = sdrv_ckgen_init(&g_clock_config);
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ASSERT(ret == 0);
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// VIC初始化
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irq_initialize(VIC1_BASE, IRQ_MAX_INTR_NUM);
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// 配置pinmux
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sdrv_pinctrl_init(NUM_OF_CONFIGURED_PINS, g_pin_init_config);
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// Timer初始化，用于提供LWIP sys_now接口获取当前时间
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btm_init();
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// 使能打印
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board_debug_console_init();
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printf("debug_console_init initial OK %d\n",getCurrentTime());
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//初始化所有can
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initialization_All_Flexcan();
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printf("initialization_All_Flexcan initial OK %d\n",getCurrentTime());
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// ETH初始化
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board_eth_init();
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initSpi();//初始化SPI
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//以太网端口初始化
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UDP_Echo_Init(UDPCB_1, udp_Callback_1, COMMUNICATION_PORT);
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UDP_Echo_Init(UDPCB_2, udp_Callback_2, UPPER_PORT);
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UDP_Echo_Init(UDPCB_3, udp_Callback_3, PARAM_PORT);
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UDP_Echo_Init(UDPCB_4, udp_Callback_4, DOWNLOAR_PORT);
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UDP_Echo_Init(UDPCB_5, udp_Callback_5, WDT_PORT);
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printf("board_eth_init initial OK %d\n",getCurrentTime());
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//读取重启标志
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g_systemDataRecord.canBootloaderUpgrade = rdbyte_24c02(0x00);
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printf("rdbyte_24c02 OK %d\n",getCurrentTime());
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ethernet_parameter.download_ip[0] = rdbyte_24c02(BOOT_DES_IP);//读取下载的IP
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ethernet_parameter.download_ip[1] = rdbyte_24c02(BOOT_DES_IP+1);//读取下载的IP
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ethernet_parameter.download_ip[2] = rdbyte_24c02(BOOT_DES_IP+2);//读取下载的IP
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ethernet_parameter.download_ip[3] = rdbyte_24c02(BOOT_DES_IP+3);//读取下载的IP
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//发送重启后的第一帧给上位机
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CAN_Send_Msg(&can_handle_6,OTA_CANTxID, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, BOOT_Arr,2, TX_MB_INDEX);//app 帧
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printf("CAN_Send_Msg can_handle_6 OK %d\n",getCurrentTime());
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//打印版本号
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printf("version: V1.72 \n");
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// 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。
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canInterfaceInit();
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ethernetInterfaceInit();
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bootInterfaceInit();
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testAppInit();
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paramAppInit();
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diffAppInit();
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brakeAppInit();
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powerAppInit(); //电源管理
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turnAppInit(); //舵机转向
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lightAppInit(); //灯光
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baseAppInit(); //基站
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requestAppInit();
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printf("All init OK ------ %d\n",getCurrentTime());
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for (;;)
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{
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// 处理信号
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processMessages();
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}
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}
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