1 | #include "stm32f10x.h"
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2 | #include "FreeRTOSSource/FreeRTOS.h"
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3 | #include "FreeRTOSSource/task.h"
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4 | #include "lib/can.h"
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5 | #include "lib/outpin.h"
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6 | #include "lib/canids.h"
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7 | #include "lib/i2c.h"
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8 | #include "Std_lib/misc.h"
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9 | #include "Std_lib/stm32f10x_it.h"
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10 | #include "Std_lib/stm32f10x_rcc.h"
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11 | #include "Std_lib/stm32f10x_dma.h"
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12 | #include "lib/SPI.H"
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13 |
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14 | #include "lib/enc28j60.h"
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15 |
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16 |
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17 | const unsigned char enc28j60_MAC[6] = {0x01, 0x02, 0x03, 0x04, 0x05, 0x06};
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18 | /**
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19 | * FreeRTOS task prototypes.
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20 | */
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21 |
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22 | portTASK_FUNCTION(goEther, param);
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23 |
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24 |
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25 | portTASK_FUNCTION(vQueryCAN, param);
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26 |
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27 | portTASK_FUNCTION(vBlinkLEDs, param);
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28 |
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29 | /* Private define ------------------------------------------------------------*/
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30 |
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31 |
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32 | /* Private macro -------------------------------------------------------------*/
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33 | /* Private variables ---------------------------------------------------------*/
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34 |
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35 | DMA_InitTypeDef DMA_InitStructure;
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36 |
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37 |
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38 | volatile portTickType lastErrorTimeStamp;
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39 | outpin_t led_ready, led_error, led_3,led_4, ready,sck;
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40 |
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41 |
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42 | /**
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43 | * @brief Configures NVIC and Vector Table base location.
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44 | * @param None
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45 | * @retval : None
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46 | */
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47 | void NVIC_Configuration(void)
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48 | {
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49 |
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50 | /* 1 bit for pre-emption priority, 3 bits for subpriority */
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51 | // NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);
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52 |
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53 | NVIC_SetPriority(I2C1_EV_IRQn, 0x00);
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54 | NVIC_EnableIRQ(I2C1_EV_IRQn);
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55 |
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56 | NVIC_SetPriority(I2C1_ER_IRQn, 0x01);
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57 | NVIC_EnableIRQ(I2C1_ER_IRQn);
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58 |
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59 |
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60 | NVIC_SetPriority(I2C2_EV_IRQn, 0x00);
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61 | NVIC_EnableIRQ(I2C2_EV_IRQn);
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62 |
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63 | NVIC_SetPriority(I2C2_ER_IRQn, 0x01);
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64 | NVIC_EnableIRQ(I2C2_ER_IRQn);
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65 |
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66 | }
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67 |
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68 |
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69 |
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70 |
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71 | ///////////////////////////////////////////////////////////////////////////////
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72 | // MAIN
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73 | ///////////////////////////////////////////////////////////////////////////////
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74 | int main(void) {
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75 |
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76 | outpin_init(&led_ready, 'C', 0);
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77 | outpin_init(&ready, 'C', 14);
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78 | outpin_init(&led_3, 'C', 2);
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79 | outpin_init(&led_4, 'C', 3);
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80 | outpin_init(&led_error, 'C', 1);
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81 |
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82 |
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83 | // this sets up the oscilator
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84 | SystemInit();
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85 | // Initialization
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86 | NVIC_Configuration();
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87 | CAN_inits();
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88 | SPI2_Init();
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89 | I2C_config();
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90 |
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91 |
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92 | //zu testzwecken
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93 | outpin_enable(&led_3);
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94 | outpin_enable(&led_4);
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95 | outpin_enable(&led_error);
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96 |
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97 |
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98 | enc28j60Init((unsigned char *)enc28j60_MAC);
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99 |
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100 |
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101 |
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102 | enc_powerdown();
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103 |
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104 | //initialization terminated
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105 | outpin_enable(&ready);
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106 |
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107 | // launch CAN query task one priority level below
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108 | xTaskCreate(vQueryCAN, (const int8_t*)"QCAN", 100, NULL, tskIDLE_PRIORITY, NULL);
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109 | // launch blink
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110 | xTaskCreate(vBlinkLEDs, (const int8_t*)"BLINK", 100, NULL, tskIDLE_PRIORITY, NULL);
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111 |
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112 |
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113 | xTaskCreate(goEther, (const int8_t*)"Ether", 200, NULL, tskIDLE_PRIORITY, NULL);
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114 |
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115 | vTaskStartScheduler();
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116 | return 0;
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117 | }
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118 |
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119 |
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120 | portTASK_FUNCTION(goEther, param) {
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121 | outpin_t CS_Ether, MOSI, SCK;
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122 | outpin_init(&CS_Ether, 'B', 12); // SS Ethernetmodul
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123 |
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124 | uint8_t buffer[16] = {0x00,0x01,0x02,0x03,0x04,0x05,0x06,0x07,0x08,0x09,0x0A,0x0B,0x0C,0x0D,0x0E,0x0F};
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125 |
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126 | int i;
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127 |
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128 | for (i = 0;i<=15;i++)
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129 | {
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130 | int a = 1000;
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131 | while(--a);
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132 | I2C_Master_Transmit_Byte(I2C1,0x00,buffer[i]);
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133 | }
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134 |
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135 | while (1) {
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136 |
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137 |
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138 | }
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139 |
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140 | }
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141 |
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142 |
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143 | /**
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144 | * This task grabs actor messages from the CAN bus and forwards their
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145 | * content.
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146 | * ERROR messages are also evaluated.
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147 | */portTASK_FUNCTION(vQueryCAN, param) {
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148 | // Register all CAN ids that could contain interesting
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149 | // messages.
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150 |
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151 | CAN_subscribeId(CANID_ERROR);
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152 |
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153 | uint32_t message;
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154 | static float norm;
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155 | static uint8_t brake;
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156 | static portTickType timeStamp;
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157 |
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158 | while (1) {
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159 | timeStamp = xTaskGetTickCount();
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160 |
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161 | if (CAN_receive(CANID_ERROR, &message)) {
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162 | if (message == ERRORID_PWM_FREQUENCY || message
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163 | == ERRORID_PWM_OUTOFBOUNDS || message
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164 | == ERRORID_RECEIVER_NOSIGNAL)
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165 | lastErrorTimeStamp = timeStamp;
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166 | }
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167 | // and sleep for 10ms before trying to fetch new messages again
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168 | vTaskDelay(10 / portTICK_RATE_MS);
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169 | }
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170 | }
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171 | /**
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172 | * Task to blink the "RUNS" LED
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173 | * Slow blinking for normal operation, fast for indicating some error.
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174 | */portTASK_FUNCTION(vBlinkLEDs, param) {
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175 |
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176 |
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177 | //outpin_init(&led_ready, 'C', 0);
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178 | while (1) {
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179 | outpin_toggle(&led_ready);
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180 | if (xTaskGetTickCount() - lastErrorTimeStamp > 1000 / portTICK_RATE_MS) {
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181 | // blink slow if ok
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182 | vTaskDelay(250 / portTICK_RATE_MS);
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183 | //for(int i=0;i<0xffff;i++){
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184 |
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185 |
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186 | } else {
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187 | // hectic blink if error present now or in the last second
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188 | //for(int i=0;i<0xffff;i++);
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189 | vTaskDelay(75 / portTICK_RATE_MS);
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190 |
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191 | }
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192 | }
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193 | }
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