int main(void)
{
char str_buf[30];
int32_t value =43552;
LED_Init();
ILI9341_Init();
Usart1_Init(9600);
Myprintf_Init(0x00,myputc);
ILI9341_Puts(0,0,"LCD string test",&MY_Font_11x18,ILI9341_COLOR_WHITE,ILI9341_COLOR_BLUE);
while(1)
{
//my_printf("It's usart1 test!\n");
my_sprintf(str_buf,"%d\n",value);
my_printf(str_buf);
LED_GREEN_ON();
LED_RED_OFF();
delay(800000);
LED_GREEN_OFF();
LED_RED_ON();
delay(800000);
}
return 0;
}
void vBlinkerRequest(uint8_t cmd)
{
switch (cmd & CMD_MASK)
{
case CMD_LED_ON:
switch (cmd & LED_MASK)
{
case LED_RED:
LED_RED_ON();
break;
case LED_GREEN:
LED_GREEN_ON();
break;
case LED_BLUE:
LED_BLUE_ON();
break;
case LED_ALL:
LEDS_ON();
break;
}
break;
case CMD_LED_OFF:
switch (cmd & LED_MASK)
{
case LED_RED:
LED_RED_OFF();
break;
case LED_GREEN:
LED_GREEN_OFF();
break;
case LED_BLUE:
LED_BLUE_OFF();
break;
case LED_ALL:
LEDS_OFF();
break;
}
break;
case CMD_LED_TOGGLE:
switch (cmd & LED_MASK)
{
case LED_RED:
LED_RED_TOGGLE();
break;
case LED_GREEN:
LED_GREEN_TOGGLE();
break;
case LED_BLUE:
LED_BLUE_TOGGLE();
break;
case LED_ALL:
LED_RED_TOGGLE();
LED_GREEN_TOGGLE();
LED_BLUE_TOGGLE();
break;
}
break;
}
}
/** Toggles LED
* @param n iIndex of the LED to toggle. Red LED as index 0, green one 1 and blue one 2.
*/
void toggle_led( uint16_t n )
{
led_state ^= (1 << n);
if(led_state & 0x1) LED_RED_ON(); else LED_RED_OFF();
if(led_state & 0x2) LED_GREEN_ON(); else LED_GREEN_OFF();
if(led_state & 0x4) LED_BLUE_ON(); else LED_BLUE_OFF();
}
static uint16_t beacon_sent(void) {
beacon_eop_time = timerB_time();
LED_RED_OFF();
beacon_msg.seq++;
cc1101_gdo0_register_callback(slot_data);
LED_GREEN_ON();
return 0;
}
int main(void) {
halInit();
chSysInit();
chThdSleepMilliseconds(1000);
hw_init_gpio();
LED_RED_OFF();
LED_GREEN_OFF();
conf_general_init();
ledpwm_init();
mc_configuration mcconf;
conf_general_read_mc_configuration(&mcconf);
mc_interface_init(&mcconf);
commands_init();
comm_usb_init();
app_configuration appconf;
conf_general_read_app_configuration(&appconf);
app_init(&appconf);
timeout_init();
timeout_configure(appconf.timeout_msec, appconf.timeout_brake_current);
#if CAN_ENABLE
comm_can_init();
#endif
#if WS2811_ENABLE
ws2811_init();
led_external_init();
#endif
#if ENCODER_ENABLE
encoder_init();
#endif
#if SERVO_OUT_ENABLE
#if SERVO_OUT_SIMPLE
servo_simple_init();
#else
servo_init();
#endif
#endif
// Threads
chThdCreateStatic(periodic_thread_wa, sizeof(periodic_thread_wa), NORMALPRIO, periodic_thread, NULL);
chThdCreateStatic(sample_send_thread_wa, sizeof(sample_send_thread_wa), NORMALPRIO - 1, sample_send_thread, NULL);
chThdCreateStatic(timer_thread_wa, sizeof(timer_thread_wa), NORMALPRIO, timer_thread, NULL);
for(;;) {
chThdSleepMilliseconds(5000);
}
}
void main(void) {
//leds:
LED_INIT();
//init clock source XOSC:
clocksource_init();
//init uart
uart_init();
//init wdt timer
wdt_init();
apa102_init();
//init storage
storage_init();
//enable timeout routines
timeout_init();
//apa102_init();
//init frsky core
frsky_init();
//init adc
adc_init();
//init output
#if SBUS_ENABLED
sbus_init();
#else
ppm_init();
#endif
//init failsafe
failsafe_init();
debug("main: init done\n");
//run main
//frsky_frame_sniffer();
frsky_main();
LED_RED_ON();
while (1) {
LED_RED_ON();
delay_ms(200);
LED_RED_OFF();
delay_ms(200);
}
}
void do_Led_Flicker_Control(void)
{
static U8 u8LedStatus = 0;
if(u8LedStatus != 0)
{
LED_RED_ON();
}
else
{
LED_RED_OFF();
}
u8LedStatus = ~u8LedStatus;
}
void Led_Config(void)
{
GPIO_InitTypeDef gpio;
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC,ENABLE);
gpio.GPIO_Pin = GPIO_Pin_1 | GPIO_Pin_2 ;
gpio.GPIO_Mode = GPIO_Mode_OUT;
gpio.GPIO_OType = GPIO_OType_PP;
gpio.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_Init(GPIOC,&gpio);
LED_GREEN_OFF();
LED_RED_OFF();
}
int main(void)
{
LED_Init();
while(1)
{
LED_GREEN_ON();
LED_RED_ON();
delay(800000);
LED_GREEN_OFF();
LED_RED_OFF();
delay(800000);
}
return 0;
}
void Led_Configuration(void)
{
GPIO_InitTypeDef gpio;
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
gpio.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
gpio.GPIO_Mode = GPIO_Mode_OUT;
gpio.GPIO_OType = GPIO_OType_PP;
gpio.GPIO_Speed = GPIO_Speed_100MHz;
gpio.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOA, &gpio);
LED_GREEN_OFF();
LED_RED_OFF();
}
int main(void)
{
float tempf;
InitRCC();
InitGPIO();
InitADC();
I2CInit();
InitIT();
Delay_Init(24);
// reset pot value
PotWrite(0x00);
while(1) {
if (mode == MODE_CAL) {
LED_GREEN_ON();
LED_RED_OFF();
uint16_t av = ADC_GetConversionValue(AN_ADCx);
if (av > trig_level) {
trig_level = av;
tempf = GetADCVolt(trig_level)*VOLT_DIV; // get voltage from piezo
tempf = GetTargetK(tempf); // get target amp coefficient
tempf = GetTargetR(tempf); // get R2 for opamp feedback
tempf = GetPotR(tempf); // get target resistance for pot as part of R2
PotWrite(GetWStep(tempf)); // write step to pot
}
} else {
// turn on red for working mode indication, turn green if mcu gets opamp output high
LED_RED_ON();
if (GPIO_ReadInputDataBit(OP_PORT, OP_PIN) == SET) {
LED_GREEN_ON();
delay_ms(500);
} else {
LED_GREEN_OFF();
}
}
}
}
/*
* Call this function as fast as possible, with a deterministic rate.
*/
void ledpwm_update_pwm(void) {
static int cnt = 0;
cnt++;
if (cnt == LEDPWM_CNT_TOP) {
cnt = 0;
}
if (cnt >= led_values[0]) {
LED_GREEN_OFF();
} else {
LED_GREEN_ON();
}
if (cnt >= led_values[1]) {
LED_RED_OFF();
} else {
LED_RED_ON();
}
}
int main(void)
{
LED_Init();
ILI9341_Init();
ILI9341_Fill(ILI9341_COLOR_BLUE);
ILI9341_Puts(0,0,"LCD string test",&MY_Font_11x18,ILI9341_COLOR_WHITE,ILI9341_COLOR_BLUE);
while(1)
{
LED_GREEN_ON();
LED_RED_OFF();
delay(800000);
LED_GREEN_OFF();
LED_RED_ON();
delay(800000);
}
return 0;
}
uint16_t packet_received(uint8_t packet[], uint16_t length,
uint16_t src_addr, int16_t rssi)
{
spt_beacon_t *pkt=(spt_beacon_t *)packet;
#ifdef DEBUG
LED_RED_ON();
#endif
//notice_packet_received_mac();
PRINTF("#> Packet from %x:\n", src_addr);
if ( pkt->type == SPT_BEACON && my_seqnum != pkt->seqnum)
{
my_state = STATE_ACTIVE;
cpt_last_beacon = 0;
num_slot = 1;
my_seqnum = pkt->seqnum;
beacon_received = 1;
}
#ifdef DEBUG
LED_RED_OFF();
#endif
return 0;
}
int main(void) {
volatile int16_t* samples;
unsigned int i;
DISABLE_GLOBAL_INT();
/* stop watchdog timer */
WDTCTL = WDTPW +WDTHOLD;
/* SET CPU to 5MHz */
/* max DCO
MCLK = DCOCLK
SMCLK = DCOCLK
ACLK = 8KHz
*/
DCOCTL = DCO0 + DCO1 + DCO2;
BCSCTL1 = RSEL0 + RSEL1 + RSEL2 + XT2OFF;
BCSCTL2 = 0x00;
delay_us(10000);
/* activate Active Mode */
__bic_SR_register(LPM4_bits);
/* set LEDs when loaded */
P5SEL = 0x00;
P5DIR = 0x70;
LED_RED_ON();
LED_GREEN_OFF();
LED_BLUE_OFF();
check_for_clock();
init_usb_serial();
#ifdef USE_DMA
init_dma(&g_sample_flag);
#endif
#ifdef TX
init_adc(&g_sample_flag);
#else
init_dac();
#endif
init_rf(RF_CHANNEL, PAN_ID, NODE_ADDR, &g_sample_flag);
debug_print("Successfully booted.\n");
/* set LEDS to signalize finished initilizing */
LED_RED_OFF();
ENABLE_GLOBAL_INT();
#ifdef TX
/* TX */
while(1) {
if(g_sample_flag == 1) {
g_sample_flag = 0;
#ifdef USE_DMA
/* get samples */
samples = get_samples_dma();
#else
/* get samples */
samples = get_samples();
#endif
/* send oder radio, 2*num_words */
send_rf_data(RF_RX_ADDR, (uint8_t*) samples, NUM_SAMPLES*2);
}
/* reset WDT */
WDTCTL = WDTPW + WDTCNTCL;
}
#else
/* RX */
while(1) {
if(g_sample_flag == 1) {
g_sample_flag = 0;
samples = get_samples_rf();
#if 0
uint8_t err = 0;
for(i = 0; i < NUM_SAMPLES; ++i) {
//samples[i] = 4095-7*i;
usb_printf("%d\n", samples[i]);
//if( ((uint16_t) samples[i]) > 4095) {
// usb_printf("i=%u\n", i);
// ++err;
//}
}
usb_printf("#error: %u\n", err);
usb_printf("\n\n");
#endif
set_dma_data(samples, NUM_SAMPLES);
}
/* reset WDT */
WDTCTL = WDTPW + WDTCNTCL;
}
#endif
return 0;
}
/* Main function */
int main(void)
{
int value_mg_x, value_mg_y, value_mg_z;
/* setup all GPIOs */
gpio_setup();
/* initialise LIS3DSH */
lis3dsh_init();
/* infinite loop */
while (1) {
/* get X, Y, Z values */
value_mg_x = ((lis3dsh_read_reg(ADD_REG_OUT_X_H) << 8) |
lis3dsh_read_reg(ADD_REG_OUT_X_L));
value_mg_y = ((lis3dsh_read_reg(ADD_REG_OUT_Y_H) << 8) |
lis3dsh_read_reg(ADD_REG_OUT_Y_L));
value_mg_z = ((lis3dsh_read_reg(ADD_REG_OUT_Z_H) << 8) |
lis3dsh_read_reg(ADD_REG_OUT_Z_L));
/* transform X value from two's complement to 16-bit int */
value_mg_x = two_compl_to_int16(value_mg_x);
/* convert X absolute value to mg value */
value_mg_x = value_mg_x * SENS_2G_RANGE_MG_PER_DIGIT;
/* transform Y value from two's complement to 16-bit int */
value_mg_y = two_compl_to_int16(value_mg_y);
/* convert Y absolute value to mg value */
value_mg_y = value_mg_y * SENS_2G_RANGE_MG_PER_DIGIT;
/* transform Z value from two's complement to 16-bit int */
value_mg_z = two_compl_to_int16(value_mg_z);
/* convert Z absolute value to mg value */
value_mg_z = value_mg_z * SENS_2G_RANGE_MG_PER_DIGIT;
/* set X related LEDs according to specified threshold */
if (value_mg_x >= LED_TH_MG) {
LED_BLUE_OFF();
LED_ORANGE_OFF();
LED_GREEN_OFF();
LED_RED_ON();
} else if (value_mg_x <= -LED_TH_MG) {
LED_BLUE_OFF();
LED_ORANGE_OFF();
LED_RED_OFF();
LED_GREEN_ON();
}
/* set Y related LEDs according to specified threshold */
if (value_mg_y >= LED_TH_MG) {
LED_BLUE_OFF();
LED_RED_OFF();
LED_GREEN_OFF();
LED_ORANGE_ON();
} else if (value_mg_y <= -LED_TH_MG) {
LED_RED_OFF();
LED_GREEN_OFF();
LED_ORANGE_OFF();
LED_BLUE_ON();
}
/* set Z related LEDs according to specified threshold */
if (value_mg_z >= LED_TH_MG) {
LED_BLUE_ON();
LED_ORANGE_ON();
LED_RED_ON();
LED_GREEN_ON();
} else if (value_mg_z <= -LED_TH_MG) {
LED_BLUE_OFF();
LED_ORANGE_OFF();
LED_RED_OFF();
LED_GREEN_OFF();
}
}
return 0;
}
/**
* The main function.
*/
int main( void )
{
/* Stop the watchdog timer. */
WDTCTL = WDTPW + WDTHOLD;
/* Setup MCLK 8MHz and SMCLK 1MHz */
set_mcu_speed_xt2_mclk_8MHz_smclk_1MHz();
/* Enable Interrupts */
eint();
uart0_init(UART0_CONFIG_1MHZ_115200);
uart0_register_callback(char_cb);
printf("CC1100 RXTX test program\r\n");
LEDS_INIT();
LEDS_OFF();
cc1100_init();
cc1100_cfg_append_status(CC1100_APPEND_STATUS_ENABLE);
cc1100_cfg_crc_autoflush(CC1100_CRC_AUTOFLUSH_DISABLE);
cc1100_cfg_white_data(CC1100_DATA_WHITENING_ENABLE);
cc1100_cfg_crc_en(CC1100_CRC_CALCULATION_ENABLE);
cc1100_cfg_freq_if(0x0C);
cc1100_cfg_fs_autocal(CC1100_AUTOCAL_NEVER);
cc1100_cfg_mod_format(CC1100_MODULATION_MSK);
cc1100_cfg_sync_mode(CC1100_SYNCMODE_30_32);
cc1100_cfg_manchester_en(CC1100_MANCHESTER_DISABLE);
printf("CC1100 initialized\r\nType 's' to send a message\r\n");
while(1)
{
// Enter RX
LED_RED_ON();
cc1100_cmd_idle();
cc1100_cmd_flush_rx();
cc1100_cmd_calibrate();
cc1100_cmd_rx();
cc1100_cfg_gdo0(CC1100_GDOx_SYNC_WORD);
cc1100_gdo0_int_set_falling_edge();
cc1100_gdo0_int_clear();
cc1100_gdo0_int_enable();
cc1100_gdo0_register_callback(rx_ok);
// Low Power Mode
LPM0;
// Check for send flag
if (send == 1) {
send = 0;
LED_RED_OFF();
cc1100_cmd_idle();
cc1100_cmd_flush_tx();
cc1100_cmd_calibrate();
cc1100_gdo0_int_disable();
frameseq ++;
length = sprintf((char *)frame, "Hello World #%i", frameseq);
printf("Sent : %s \r\n", frame);
cc1100_fifo_put(&length, 1);
cc1100_fifo_put(frame, length);
cc1100_cmd_tx();
// Wait for SYNC word sent
while (cc1100_gdo0_read() == 0);
// Wait for end of packet
while (cc1100_gdo0_read() != 0);
}
// Check for receive flag
if (receive == 1) {
receive = 0;
uint8_t i;
// verify CRC result
if ( !(cc1100_status_crc_lqi() & 0x80) ) {
continue;
}
cc1100_fifo_get(&length, 1);
if (length > 60) {
continue;
}
cc1100_fifo_get(frame, length+2);
uint16_t rssi = (uint16_t)frame[length];
int16_t rssi_d;
if (rssi >= 128)
rssi_d = (rssi-256)-140;
else
rssi_d = rssi-140;
printf("Frame received with RSSI=%d.%d dBm: ", rssi_d, 5*(rssi_d&0x1));
for (i=0; i<length; i++) {
printf("%c",frame[i]);
}
printf("\r\n");
LED_GREEN_TOGGLE();
}
}
return 0;
}
/**
* Monitor the motor and control it's speed.
*/
void bldc_run() {
//wdt_enable(WDTO_2S);
uint16_t bldc_stop_detect_timer = timer_new_sw_ms(64);
uint16_t speed_report = timer_new_sw_ms(50);
while (1) {
wdt_reset();
static uint8_t uart_cmd = 0;
uint8_t ch = 0;
if (getch((char*) &ch) == UART_SUCCESS) {
if (ch <= '9' && ch >= '1') {
ch = ch - '0';
ch = ((uint16_t) ch) * 255 / 9;
bldc_set_pwm(uart_cmd = ch);
print_str("cmd:");
print_number(ch, 10);
print('\n');
} else if (ch == ',') {
print_str("=");
bldc_phase = 0;
bldc_old_phase = bldc_phase;
DISABLE_BEMF_INT();
bldc_set_pwm(5);
bldc_pwm = 0;
bldc_running = 0;
bldc_set_comm();
bldc_cnt_comm = 0;
} else if (ch == '.') {
do {
bldc_phase++;
bldc_phase %= 6;
bldc_set_comm();
bldc_cnt_comm++;
if (BEMF) {
LED_GREEN_TOGGLE();
}
for (int ee = 0; ee < 20 * 10; ee++)
timer_wait(100);
} while (bldc_phase != 0);
bldc_running = 0;
bldc_old_phase = bldc_phase;
print_str("stop.\n");
print_number(bldc_cnt_comm, 10);
} else {
// echo
while (!(UCSRA & (1 << UDRE)))
;
UDR = ch;
print_str("stop.\n");
bldc_set_pwm(0);
LED_RED_ON();
DISABLE_BEMF_INT();
bldc_running = 0;
SET_ALL_OFF();
uart_cmd = 0;
}
}
if (bldc_old_phase != bldc_phase) {
bldc_stop_detect_timer = timer_new_sw_ms(125);
bldc_running = 1;
bldc_old_phase = bldc_phase;
}
if (bldc_running && timer_sw_check(bldc_stop_detect_timer)) {
print_str("stalled\n");
LED_RED_ON();
DISABLE_BEMF_INT();
bldc_running = 0;
SET_ALL_OFF();
}
if (!bldc_running) {
LED_GREEN_OFF();
bldc_do_start = (bldc_pwm != 0);
}
if (bldc_running && timer_sw_check(speed_report)) {
const uint16_t dt = 20; //ms
speed_report = timer_new_sw_ms(dt);
static uint16_t previous_cnt = 0;
uint32_t rotations = (bldc_cnt_comm - previous_cnt);
uint32_t rps = rotations * (1000L / dt) / 66;
bldc_set_pwm(uart_cmd);
print_number(rps, 10);
print('\n');
previous_cnt = bldc_cnt_comm;
}
if (bldc_do_start) {
LED_RED_OFF();
bldc_do_start = 0;
print_str("starting...");
if (bldc_start()) {
print_str("done.\n");
LED_GREEN_ON();
bldc_running = 1;
BEMF_TOGGLE_INT();
ENABLE_BEMF_INT();
bldc_set_pwm(PWM_MIN);
bldc_stop_detect_timer = timer_new_sw_ms(75);
while (!timer_sw_check(bldc_stop_detect_timer)) {
asm("nop");
}
bldc_old_phase = 7;
} else
bldc_do_start = 1;
}
}
}
