void range_finder_init()
{
/* MCU Configuration----------------------------------------------------------*/
/* Initialize all configured peripherals */
MX_I2C1_Init();
tca9545_init();
tca9545_set(Channel_0);
/* these almost just redo what already done just above by CubeMx Init */
XNUCLEO6180XA1_GPIO_Init();
XNUCLEO6180XA1_I2C1_Init(&hi2c1);
tca9545Channel_e channel;
for(channel = Channel_0; channel <= Channel_3; channel++)
{
tca9545_set(channel);
MyDev_Init(myDev); // your code init device variable
MyDev_SetChipEnable(myDev); // your code assert chip enable
MyDev_uSleep(1000); // your code sleep at least 1 msec
VL6180x_InitData(myDev);
VL6180x_Prepare(myDev);
}
}
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_I2C1_Init();
MX_TIM16_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
SET_BIT(USART1->CR1, USART_CR1_RXNEIE);
sensact::cOneWireApplication testApp;
sensact::cOneWire::Start(&testApp);
testApp.Run(&hi2c1);
return 0;
}
int main(void)
{
HAL_Init();
SystemClock_Config();
MX_GPIO_Init();
MX_CAN_Init();
MX_I2C1_Init();
MX_USART3_UART_Init();
MX_USART2_UART_Init();
MX_USART1_UART_Init();
MX_TIM1_Init();
USBD_Init(&hUsbDeviceFS, &FS_Desc, DEVICE_FS);
USBD_RegisterClass(&hUsbDeviceFS, &USBD_CUSTOM_HID);
USBD_CUSTOM_HID_RegisterInterface(&hUsbDeviceFS, &USBD_CustomHID_fops_FS);
USBD_Start(&hUsbDeviceFS);
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
HAL_GPIO_TogglePin(GPIOB, GPIO_PIN_1);
HAL_Delay(blinkingDelay);
}
/* USER CODE END 3 */
}
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_ADC1_Init();
MX_I2C1_Init();
MX_RTC_Init();
MX_SPI2_Init();
MX_TIM1_Init();
MX_TIM2_Init();
MX_TIM3_Init();
MX_TIM4_Init();
MX_USART3_UART_Init();
/* USER CODE BEGIN 2 */
encoderInit();
pwmInit();
// adcInit();
uartInit();
timInterruptInit();
gyroInit(GYROHIGH);
calibrateGyro();
// rotaryRight(800);
// HAL_Delay(500);
// rotaryLeft(800);
drive(VEL);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
int main(void)
{
/* USER CODE BEGIN 1 */
SCB->VTOR = FLASH_START_SECTOR_ADDR;
SEGGER_RTT_Init();
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_ADC1_Init();
MX_I2C1_Init();
MX_I2C2_Init();
MX_SPI1_Init();
MX_TIM3_Init();
MX_USART2_UART_Init();
MX_RTC_Init();
/* USER CODE BEGIN 2 */
//as7000_init();
/* USER CODE END 2 */
/* Call init function for freertos objects (in freertos.c) */
MX_FREERTOS_Init();
/* Start scheduler */
osKernelStart();
/* We should never get here as control is now taken by the scheduler */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_COMP1_Init();
MX_COMP2_Init();
MX_I2C1_Init();
MX_TIM3_Init();
MX_USART1_UART_Init();
MX_ADC_Init();
MX_DMA_Init();
/* USER CODE BEGIN 2 */
init_all();
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
period_time_check_flags();
// if (HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_4) != GPIO_PIN_RESET)
// {
// HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_10);
// buzzer(beeps,1);
// buzzer_speed(100);
// }
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
speed_counter++;
}
/* USER CODE END 3 */
}
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_USART2_UART_Init();
MX_I2C1_Init();
MX_TIM2_Init();
/* USER CODE BEGIN 2 */
Display_Init();
CircularBuff_Init();
DisplayUpdater_Init();
HAL_TIM_Base_Start_IT(&htim2); //start timer2 in interrupt mode.
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
__WFI(); // CPU sleep
}
/* USER CODE END 3 */
}
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_ADC1_Init();
MX_I2C1_Init();
MX_IWDG_Init();
MX_SDADC1_Init();
MX_SDADC2_Init();
MX_TSC_Init();
MX_TIM2_Init();
MX_TIM3_Init();
MX_SDADC3_Init();
MX_USB_DEVICE_Init();
MX_RTC_Init();
MX_TIM6_Init();
MX_TIM7_Init();
/* USER CODE BEGIN 2 */
Setup();
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
loop();
}
/* USER CODE END 3 */
}
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_ADC1_Init();
MX_I2C1_Init();
MX_SPI1_Init();
MX_TIM1_Init();
MX_TIM4_Init();
MX_TIM6_Init();
MX_USART1_UART_Init();
MX_USART2_UART_Init();
MX_USART3_UART_Init();
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
FlyMain();
}
/* USER CODE END 3 */
}
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_I2C1_Init();
MX_TIM1_Init();
MX_TIM3_Init();
MX_ADC1_Init();
MX_TIM2_Init();
/* USER CODE BEGIN 2 */
//Start PWM
HAL_TIM_Base_Start(&htim1);
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_ALL);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
HAL_GPIO_TogglePin(GPIOA, GPIO_PIN_5);
HAL_Delay(100);
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* System interrupt init*/
/* Sets the priority grouping field */
HAL_NVIC_SetPriorityGrouping(NVIC_PRIORITYGROUP_0);
HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_I2C1_Init();
MX_I2S2_Init();
MX_I2S3_Init();
MX_SPI1_Init();
MX_SPI4_Init();
MX_TIM3_Init();
MX_USART2_UART_Init();
MX_USB_DEVICE_Init();
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
/*## FatFS: Link the USER disk I/O driver ###############################*/
USER_DriverNum = FATFS_LinkDriver(&USER_Driver, USER_Path);
/* USER CODE BEGIN 3 */
dabstick_loop(); // endless
return 0;
/* USER CODE END 3 */
}
int main(void)
{
/* USER CODE BEGIN 1 */
uint32_t i;
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_I2C1_Init();
MX_RTC_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
for(i=0; i<ARRAY_SIZE; i++){
write_data[i] = i;
}
// Write some data to the selected address
FRAM_MultiByte_Write(&hi2c1, 0x10000, &write_data[0], ARRAY_SIZE);
// Read the data from the selected address
FRAM_MultiByte_Selective_Read(&hi2c1, 0x10000, &read_data[0], ARRAY_SIZE);
/* USER CODE END 2 */
/* USER CODE BEGIN 3 */
/* Infinite loop */
while (1)
{
}
/* USER CODE END 3 */
}
void board_init() {
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
MX_GPIO_Init();
#if ENABLE_UART
MX_USART1_UART_Init();
uart_printf("\r\n\r\nUART online!\r\n");
#endif
MX_ADC_Init();
MX_I2C1_Init();
uart_printf("board_init done\r\n");
}
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_I2C1_Init();
MX_USART2_UART_Init();
/* USER CODE BEGIN 2 */
HAL_DBGMCU_EnableDBGSleepMode();
HAL_SuspendTick(); // we don't want systick to wake us up every 1ms
main_app();
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
HAL_PWR_EnterSTOPMode(PWR_MAINREGULATOR_ON, PWR_STOPENTRY_WFI);
}
/* USER CODE END 3 */
}
int main(void)
{
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_ADC1_Init();
MX_I2C1_Init();
MX_TIM10_Init();
MX_TIM11_Init();
MX_USART1_UART_Init();
xTaskCreate(task_safety, "Safety", 350, NULL, 1, NULL);
xTaskCreate(task_master, "Master", 350, NULL, 1, NULL);
xTaskCreate(task_control, "Control", 1000, NULL, 3, NULL);
xTaskCreate(task_test, "Test", 500, NULL, 4, NULL);
update_coefficients_QUEUE = xQueueCreate(3, sizeof(uint8_t));
control_sig_QUEUE = xQueueCreate(3, sizeof(int16_t));;
vSemaphoreCreateBinary(testing_SEMAPHORE);
vSemaphoreCreateBinary(data_SEMAPHORE);
osKernelStart();
/* We should never get here as control is now taken by the scheduler */
/* Infinite loop */
while (1)
{
}
}
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_ADC_Init();
MX_I2C1_Init();
MX_RTC_Init();
MX_USART1_UART_Init();
MX_SPI2_Init();
/* Initialize interrupts */
MX_NVIC_Init();
/* USER CODE BEGIN 2 */
HAL_ADCEx_Calibration_Start(&hadc, ADC_SINGLE_ENDED);
/* Enable Ultra low power mode */
HAL_PWREx_EnableUltraLowPower();
__HAL_RCC_WAKEUPSTOP_CLK_CONFIG(RCC_STOP_WAKEUPCLOCK_HSI);
/* Buffer used for transmission on USART1 */
char tx1_buffer[120];
RFM95_init(&hspi2);
uint8_t payload_buff[14];
PAYLOAD_Garden payload_garden;
payload_garden.MessageType = 50;
payload_garden.MessageId = 0;
// Start in sensing mode.
state = MAIN_STATE_SENSE;
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1) {
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
/* Do some work */
if (state == MAIN_STATE_SENSE) {
HAL_ADC_Start(&hadc);
// junk readings
payload_garden.Temperature = TEMPERATURE_external();
payload_garden.CpuTemperature = TEMPERATURE_cpu();
HAL_GPIO_WritePin(GPIOA, LED_Pin, GPIO_PIN_SET);
payload_garden.MessageId++;
payload_garden.VCC = BATTERY_vcc();
payload_garden.ChargeMv = BATTERY_ChargeMv();
payload_garden.ChargeMa = BATTERY_ChargeMa();
/* Get the light reading while the adc gets ready */
payload_garden.Light = LIGHT_lux();
payload_garden.Temperature = TEMPERATURE_external();
payload_garden.CpuTemperature = TEMPERATURE_cpu();
HAL_ADC_Stop(&hadc);
sprintf(tx1_buffer, "id:%d, vcc:%d, mv:%d, ma:%d, C:%d, cpuC:%d, lux:%d\n",
payload_garden.MessageId,
payload_garden.VCC,
payload_garden.ChargeMv,
payload_garden.ChargeMa,
payload_garden.Temperature,
payload_garden.CpuTemperature,
payload_garden.Light);
HAL_UART_Transmit(&huart1, (uint8_t*) tx1_buffer, strlen(tx1_buffer), 1000);
PAYLOAD_Garden_serialize(payload_garden, payload_buff);
RFM95_send(&hspi2, payload_buff, 14);
state = MAIN_STATE_TX;
}
/* Do nothing while the transmission is in progress */
else if (state == MAIN_STATE_TX) {
if (dio0_action == 1) {
RFM95_setMode(&hspi2, RFM95_MODE_SLEEP);
state = MAIN_STATE_SLEEP;
}
//TMP while interrupts are investigated
//HAL_Delay(30);
//state = MAIN_STATE_SLEEP;
}
/* Now that all the work is done, sleep until its time to do it all again */
else if (state == MAIN_STATE_SLEEP) {
HAL_GPIO_WritePin(GPIOA, LED_Pin, GPIO_PIN_RESET);
//TMP while RFM is diabled
//HAL_Delay(1000);
/* Turn off the pin interrupts */
HAL_NVIC_DisableIRQ(EXTI4_15_IRQn);
HAL_SuspendTick();
/* Enter Stop Mode */
HAL_RTCEx_SetWakeUpTimer_IT(&hrtc, 60,
RTC_WAKEUPCLOCK_CK_SPRE_16BITS);
HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
HAL_RTCEx_DeactivateWakeUpTimer(&hrtc);
HAL_ResumeTick();
/* Turn on the pin interrupts */
HAL_NVIC_EnableIRQ(EXTI4_15_IRQn);
state = MAIN_STATE_SENSE;
}
}
/* USER CODE END 3 */
}
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_ADC_Init();
MX_DAC_Init();
MX_I2C1_Init();
MX_RTC_Init();
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
//int loopCnt = 0;
while (1)
{
Button_Function buttonFunction = checkButtonFunction();
if (buttonFunction == BTNFUNC_STATECHN)
{
wakeupSleepState = (wakeupSleepState == STATE_WAKEUP) ? STATE_SLEEP : STATE_WAKEUP;
}
if (buttonFunction == BTNFUNC_CAL)
{
setSensorDevPwr(DEV_PWR_ON);
getSnrDrvDacVal();
setSensorDevPwr(DEV_PWR_OFF);
wakeupSleepState = STATE_WAKEUP;
}
if (wakeupSleepState == STATE_WAKEUP)
{
uint16_t snrAdcVal = 0;
setBlueToothDevPwr(DEV_PWR_ON);
setSensorDevPwr(DEV_PWR_ON);
setSysWakeUpLed(LED_ON);
setSysStsLed(LED_OFF);
int snrDrvDacVal = readEEPROM32(EEPROM_ADDR_SNRDRVVAL);
if ((snrDrvDacVal < 1) || (snrDrvDacVal > 0xFFF))
{
getSnrDrvDacVal();
}
snrAdcVal = (uint16_t)dacOutAdcIn(snrDrvDacVal, ADC_CHANNEL_8);
if (snrAdcVal > SNR_PASS_THRESHOLD)
{
setTestPassLed(LED_ON);
setTestFailLed(LED_OFF);
}
else
{
setTestFailLed(LED_ON);
setTestPassLed(LED_OFF);
}
if (hi2c1.State == HAL_I2C_STATE_READY)
{
setBleSig(BLESIG_HI);
if (HAL_I2C_Slave_Transmit(&hi2c1, (uint8_t *)&snrAdcVal, 2, 3000) == HAL_OK)
{
setSysStsLed(LED_ON);
HAL_Delay(100);
setSysStsLed(LED_OFF);
HAL_Delay(100);
setSysStsLed(LED_ON);
HAL_Delay(100);
setSysStsLed(LED_OFF);
}
else
{
setSysStsLed(LED_ON);
HAL_Delay(300);
setSysStsLed(LED_OFF);
}
}
else
{
setSysWakeUpLed(LED_OFF);
HAL_Delay(100);
setSysWakeUpLed(LED_ON);
HAL_Delay(100);
setSysWakeUpLed(LED_OFF);
HAL_Delay(100);
setSysWakeUpLed(LED_ON);
HAL_Delay(100);
}
setTestFailLed(LED_OFF);
setTestPassLed(LED_OFF);
HAL_Delay(1000);
setBleSig(BLESIG_LO);
HAL_Delay(1000);
}
else
{
goSleep();
}
/*
loopCnt++;
if (loopCnt >= 2)
{
loopCnt = 0;
}
*/
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
int main(void)
{
/* USER CODE BEGIN 1 */
CMDLINE_CONTEXT cmd_context;
const char *zhonx_info = (char *)CONFIG_ZHONX_INFO_ADDR;
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_ADC1_Init();
MX_ADC2_Init();
MX_ADC3_Init();
MX_I2C1_Init();
MX_RNG_Init();
MX_TIM1_Init();
MX_TIM2_Init();
MX_TIM3_Init();
MX_TIM4_Init();
MX_TIM5_Init();
MX_TIM6_Init();
MX_TIM7_Init();
MX_TIM8_Init();
MX_TIM11_Init();
MX_USART3_UART_Init();
/* USER CODE BEGIN 2 */
expanderInit();
HAL_Delay(100);
mainControlInit();
ssd1306Init(0);
timesBaseInit();
ledPowerBlink(990, 10);
settingsInit();
mulimeterInit();
bluetoothInit();
toneInit();
spyPostInit();
positionControlSetPositionType(GYRO);
mainControlSetFollowType(NO_FOLLOW);
toneSetVolulme(100);
tone(F4, 50);
toneItMode(A4, 50);
// Register Output callback
cmd_context.out = blockingPrintf;
// Initialize Command Line module
cmdline_init(&cmd_context);
// Check if robot name is populated in Flash
memset(zhonxName, 0, sizeof(zhonxName));
// Retrieve ZHONX information from flash if any
if (zhonx_info[0] == 'Z')
{
strcpy(zhonxName, zhonx_info);
}
while (zhonxName[0] == 0)
{
menu(zhonxNameMenu);
}
while (1)
{
menu(mainMenu);
powerOffConfirmation();
}
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
;
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
/* USER CODE END 3 */
}
static void main_task(void *pvParameters) {
int i;
char ch;
bool selftestPasses = true;
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_I2C1_Init();
MX_USART1_UART_Init();
MX_SPI1_Init();
MX_USB_DEVICE_Init();
// Light up all LEDs to test
ledOn(ledRanging);
ledOn(ledSync);
ledOn(ledMode);
printf("\r\n\r\n====================\r\n");
printf("SYSTEM\t: CPU-ID: ");
for (i=0; i<12; i++) {
printf("%02x", uid[i]);
}
printf("\r\n");
// Initializing pressure sensor (if present ...)
lps25hInit(&hi2c1);
testSupportPrintStart("Initializing pressure sensor");
if (lps25hTestConnection()) {
printf("[OK]\r\n");
lps25hSetEnabled(true);
} else {
printf("[FAIL] (%u)\r\n", (unsigned int)hi2c1.ErrorCode);
selftestPasses = false;
}
testSupportPrintStart("Pressure sensor self-test");
testSupportReport(&selftestPasses, lps25hSelfTest());
// Initializing i2c eeprom
eepromInit(&hi2c1);
testSupportPrintStart("EEPROM self-test");
testSupportReport(&selftestPasses, eepromTest());
cfgInit();
// Initialising radio
testSupportPrintStart("Initialize UWB ");
uwbInit();
if (uwbTest()) {
printf("[OK]\r\n");
} else {
printf("[ERROR]: %s\r\n", uwbStrError());
selftestPasses = false;
}
if (!selftestPasses) {
printf("TEST\t: One or more self-tests failed, blocking startup!\r\n");
usbcommSetSystemStarted(true);
}
// Printing UWB configuration
struct uwbConfig_s * uwbConfig = uwbGetConfig();
printf("CONFIG\t: Address is 0x%X\r\n", uwbConfig->address[0]);
printf("CONFIG\t: Mode is %s\r\n", uwbAlgorithmName(uwbConfig->mode));
printf("CONFIG\t: Tag mode anchor list (%i): ", uwbConfig->anchorListSize);
for (i = 0; i < uwbConfig->anchorListSize; i++) {
printf("0x%02X ", uwbConfig->anchors[i]);
}
printf("\r\n");
HAL_Delay(500);
ledOff(ledRanging);
ledOff(ledSync);
ledOff(ledMode);
printf("SYSTEM\t: Node started ...\r\n");
printf("SYSTEM\t: Press 'h' for help.\r\n");
usbcommSetSystemStarted(true);
// Starts UWB protocol
uwbStart();
// Main loop ...
while(1) {
usbcommPrintWelcomeMessage();
ledTick();
// // Measure pressure
// if (uwbConfig.mode != modeSniffer) {
// if(lps25hGetData(&pressure, &temperature, &asl)) {
// pressure_ok = true;
// } else {
// printf("Fail reading pressure\r\n");
// printf("pressure not ok\r\n");
// }
// }
// Accepts serial commands
#ifdef USE_FTDI_UART
if (HAL_UART_Receive(&huart1, (uint8_t*)&ch, 1, 0) == HAL_OK) {
#else
if(usbcommRead(&ch, 1)) {
#endif
handleInput(ch);
}
}
}
/* Function required to use "printf" to print on serial console */
int _write (int fd, const void *buf, size_t count)
{
// stdout
if (fd == 1) {
#ifdef USE_FTDI_UART
HAL_UART_Transmit(&huart1, (uint8_t *)buf, count, HAL_MAX_DELAY);
#else
usbcommWrite(buf, count);
#endif
}
// stderr
if (fd == 2) {
HAL_UART_Transmit(&huart1, (uint8_t *)buf, count, HAL_MAX_DELAY);
}
return count;
}
static void handleInput(char ch) {
bool configChanged = true;
static enum menu_e {mainMenu, modeMenu} currentMenu = mainMenu;
switch (currentMenu) {
case mainMenu:
switch (ch) {
case '0':
case '1':
case '2':
case '3':
case '4':
case '5':
case '6':
case '7':
case '8':
case '9':
changeAddress(ch - '0');
break;
case 'a': changeMode(MODE_ANCHOR); break;
case 't': changeMode(MODE_TAG); break;
case 's': changeMode(MODE_SNIFFER); break;
case 'm':
printModeList();
printf("Type 0-9 to choose new mode...\r\n");
currentMenu = modeMenu;
configChanged = false;
break;
case 'd': restConfig(); break;
case 'h':
help();
configChanged = false;
break;
case '#':
productionTestsRun();
printf("System halted, reset to continue\r\n");
while(true){}
break;
default:
configChanged = false;
break;
}
break;
case modeMenu:
switch(ch) {
case '0':
case '1':
case '2':
case '3':
case '4':
case '5':
case '6':
case '7':
case '8':
case '9':
changeMode(ch - '0');
currentMenu = mainMenu;
break;
default:
printf("Incorrect mode '%c'\r\n", ch);
currentMenu = mainMenu;
configChanged = false;
break;
}
break;
}
if (configChanged) {
printf("EEPROM configuration changed, restart for it to take effect!\r\n");
}
}
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_CAN_Init();
MX_I2C1_Init();
MX_SPI1_Init();
MX_USART1_UART_Init();
MX_USART3_UART_Init();
/* USER CODE BEGIN 2 */
/* these calls are from arduino main */
init();
initVariant();
HAL_Delay(3000); /* Wait 3 seconds to enable a serial coms channel */
/*
Usart6 is linked to printf for diagnostic use It is also mapped to
alternate function pins 12 and 14. This code is adapted from
the prinf demo in the STM32F401 Nucleo examples folder
*/
//printf("Serial backchannel enabled.\r\n");
/* Arduino optionally sets up USB callback stream here
#if defined(USBCON)
USBDevice.attach();
#endif
*/
setup();
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
loop();
/* Arduino callback if (serialEventRun) serialEventRun(); */
}
/* USER CODE END 3 */
}
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_CRC_Init();
MX_I2C1_Init();
MX_SPI2_Init();
MX_TIM2_Init();
MX_TIM3_Init();
MX_TIM4_Init();
MX_USART2_UART_Init();
/* USER CODE BEGIN 2 */
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8, GPIO_PIN_RESET);
// reinitialize uart with speed from config
huart2.Init.BaudRate = USART_DEBUG_SPEED;
HAL_UART_Init(&huart2);
DEBUG_PRINTF("Hello, Lepton!\n\r");
fflush(stdout);
lepton_init();
HAL_Delay(1000);
init_lepton_command_interface();
#ifdef ENABLE_LEPTON_AGC
enable_lepton_agc();
#endif
#ifdef Y16
enable_telemetry();
#else
enable_rgb888(PSUEDOCOLOR_LUT);
#endif
DEBUG_PRINTF("reading_tmp007_regs...\n\r");
read_tmp007_regs();
DEBUG_PRINTF("Initialized...\n\r");
HAL_Delay(250);
MX_USB_DEVICE_Init();
PT_INIT(&lepton_task_pt);
PT_INIT(&usb_task_pt);
PT_INIT(&uart_task_pt);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
PT_SCHEDULE(lepton_task(&lepton_task_pt));
PT_SCHEDULE(usb_task(&usb_task_pt));
PT_SCHEDULE(uart_task(&uart_task_pt));
PT_SCHEDULE(button_task(&button_task_pt));
}
/* USER CODE END 3 */
}
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_I2C1_Init();
MX_USART1_UART_Init();
MX_TIM16_Init();
MX_TIM17_Init();
/* USER CODE BEGIN 2 */
g_config = g_config_default;
#ifdef USE_I2C
g_i2c = I2cMaster_Init(&hi2c1);
InitializeDisplay(g_i2c);
I2cEEPROM_Init(&g_eeprom, g_i2c, EEPROMADDR, 1, 8);
#endif
#ifdef USE_SERIAL
UsartInit(&huart1);
#endif
#if defined(USE_I2C) && defined(USE_LCD)
I2cLcd_Clear(&g_lcd);
I2cLcd_PrintStr(&g_lcd, "Hello");
#endif
#if defined(USE_SERIAL) && defined(USE_EEPROM)
#define TESTSIZE 2048/8
HAL_StatusTypeDef st;
uint8_t i2cBuffer[16] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
/*
for(uint16_t i = 0; i < TESTSIZE; i += sizeof(i2cBuffer)) {
if(!(i & (sizeof(i2cBuffer)-1))) {
st = I2cEEPROM_Write(&g_eeprom, i, i2cBuffer, sizeof(i2cBuffer));
}
}
for (uint16_t i = 0; i < TESTSIZE; ++i) {
if(!(i & (sizeof(i2cBuffer)-1))) {
st = I2cEEPROM_Read(&g_eeprom, i, i2cBuffer, sizeof(i2cBuffer));
UsartSendStr("\r\n", 1);
UsartPrintUint(i, 4, 1);
UsartSendStr(" ", 1);
}
UsartPrintByte(i2cBuffer[i&(sizeof(i2cBuffer)-1)], 2, 1);
UsartSendStr(" ", 1);
}
UsartSendStr("\r\n", 1);
for(uint16_t i = 0; i < TESTSIZE; i += sizeof(i2cBuffer)) {
if(!(i & (sizeof(i2cBuffer)-1))) {
for(uint16_t j = 0; j<sizeof(i2cBuffer); ++j)
i2cBuffer[j] = i+j;
st = I2cEEPROM_Write(&g_eeprom, i, i2cBuffer, sizeof(i2cBuffer));
}
}
for (uint16_t i = 0; i < TESTSIZE; ++i) {
if(!(i & (sizeof(i2cBuffer)-1))) {
st = I2cEEPROM_Read(&g_eeprom, i, i2cBuffer, sizeof(i2cBuffer));
UsartSendStr("\r\n", 1);
UsartPrintUint(i, 4, 1);
UsartSendStr(" ", 1);
}
UsartPrintByte(i2cBuffer[i&(sizeof(i2cBuffer)-1)], 2, 1);
UsartSendStr(" ", 1);
}
UsartSendStr("\r\n", 1);
*/
{
LIVECONFIG config;
if (I2cEEPROM_Read(&g_eeprom, EESTART, &config, sizeof(config)) == HAL_OK) {
I2cMaster_WaitCallback(g_i2c);
if (config.magic == 0xA5)
g_config = config;
}
}
for (uint16_t i = 0; i < TESTSIZE; ++i) {
if(!(i & (sizeof(i2cBuffer)-1))) {
st = I2cEEPROM_Read(&g_eeprom, i, i2cBuffer, sizeof(i2cBuffer));
UsartSendStr("\r\n", 1);
UsartPrintUint(i, 4, 1);
UsartSendStr(" ", 1);
}
UsartPrintByte(i2cBuffer[i&(sizeof(i2cBuffer)-1)], 2, 1);
UsartSendStr(" ", 1);
}
UsartSendStr("\r\n", 1);
#endif
HAL_TIM_IC_Start_IT(&htim16, TIM_CHANNEL_1);
HAL_TIM_IC_Start_IT(&htim17, TIM_CHANNEL_1);
HAL_UART_Receive_IT(&huart1, g_lineBuffer, sizeof(g_lineBuffer));
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1) {
if (g_lineReceived) {
ProcessInput(&g_config, (char*) g_lineBuffer);
//DisplayInput(&i2clcd);
g_lineReceived = 0;
HAL_UART_Receive_IT(&huart1, g_lineBuffer, sizeof(g_lineBuffer));
}
if(g_statuses[0].trigger) {
DisplayResults(0);
g_statuses[0].trigger = 0;
}
if(g_statuses[1].trigger) {
DisplayResults(1);
g_statuses[1].trigger = 0;
}
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
/* This sample code shows how to use GPIO HAL API to toggle LED2 IOs
in an infinite loop. */
/* STM32F0xx HAL library initialization:
- Configure the Flash prefetch
- Systick timer is configured by default as source of time base, but user
can eventually implement his proper time base source (a general purpose
timer for example or other time source), keeping in mind that Time base
duration should be kept 1ms since PPP_TIMEOUT_VALUEs are defined and
handled in milliseconds basis.
- Low Level Initialization
*/
HAL_Init();
/* Configure the system clock to 48 MHz */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_I2C1_Init();
MX_USART2_UART_Init();
printf("\n\r\n\rDuvitech 2015\n\r");
printf("George Vigelette\n\r");
printf("[email protected]\n\r\n\r");
printf("initializing temperature sensor...\n\r");
if(BSP_HUM_TEMP_Init() != HUM_TEMP_OK ||
BSP_HUM_TEMP_CheckID() != HUM_TEMP_OK)
{
printf("problem with temperature sensor\n\r");
}
printf("initializing pressure sensor...\n\r");
if(BSP_PRESSURE_Init() != PRESSURE_OK ||
BSP_PRESSURE_CheckID() != PRESSURE_OK)
{
printf("problem with pressure sensor\n\r");
}
printf("initializing magnetometer sensor...\n\r");
if(BSP_MAGNETO_Init() != MAGNETO_OK ||
BSP_MAGNETO_Check_M_ID() != MAGNETO_OK)
{
printf("problem with magnetometer sensor\n\r");
}
printf("initializing imu sensor...\n\r");
if(BSP_IMU_6AXES_Init() != IMU_6AXES_OK ||
BSP_IMU_6AXES_Check_XG_ID() != IMU_6AXES_OK)
{
printf("problem with imu sensor\n\r");
}
printf("Running...\n\r");
while (1)
{
HAL_GPIO_TogglePin(LED2_GPIO_PORT, LED2_PIN);
/* Insert delay 100 ms */
HAL_Delay(100);
}
}
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_ADC1_Init();
MX_ADC3_Init();
MX_I2C1_Init();
MX_SPI1_Init();
MX_SPI2_Init();
MX_TIM1_Init();
MX_TIM2_Init();
MX_USB_OTG_FS_PCD_Init();
/* USER CODE BEGIN 2 */
TIM1->CCR1 = 0x300;
TIM1->CCR2 = 0x300;
TIM2->CCR2 = 0x60;
// Настройка deathTime
pwm.init();
/* bugfix */ pwmDeathTime.setValue(10);
htim1.Instance->BDTR &= ~TIM_BDTR_DTG;
htim1.Instance->BDTR |= pwm.computeDeathTime(pwmDeathTime.getValueFlt());
HAL_TIM_Base_Start(&htim1);
// Выходной сигнал для ацп
HAL_TIM_OC_Start(&htim2, TIM_CHANNEL_2);
// Выходной сигнал для ацп
HAL_TIM_OC_Start(&htim1, TIM_CHANNEL_3);
// HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_1);
// HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_2);
// pwm.start();
// HAL_TIMEx_PWMN_Start(&htim1,TIM_CHANNEL_1);
// HAL_TIMEx_PWMN_Start(&htim1,TIM_CHANNEL_2);
__HAL_RCC_DMA2_CLK_ENABLE();
HAL_ADC_Start_DMA(&hadc1, (uint32_t*)adc1.getBufer(), adc1.getBuferSize());
HAL_ADC_Start_DMA(&hadc3, (uint32_t*)adc3.getBufer(), adc3.getBuferSize());
//------------------------------------------------------------------------------
// Низкоуровневая инициализация
//------------------------------------------------------------------------------
// Разрешение выходов буферов
GPIOC->BSRR = BIT_14;
// Инициализация SPI портов
//------------------------------------------------------------------------------
// Агрегация объектов
// Определяется только при инициализации программы
//------------------------------------------------------------------------------
mainMenu.addObserver( &menuEngine ); // Объект menuEngine подписался на рассылку событий, объявленных в IControlCommands
//------------------------------------------------------------------------------
// Начальные условия
//------------------------------------------------------------------------------
menuEngine.setMenuValue("");
// Затычка на время отсутствия FRAM. Инициализация float данных
vICalibrating.setValue(vICalibrating.getValue());
vUDcBusCodeUCal.setValue(vUDcBusCodeUCal.getValue());
vUDcBusCodeZero.setValue(vUDcBusCodeZero.getValue());
vIChargeCodeICal.setValue(vIChargeCodeICal.getValue());
vUChargeCodeUCal.setValue(vUChargeCodeUCal.getValue());
vIChargeCodeZero.setValue(vIChargeCodeZero.getValue());
vUChargeCodeZero.setValue(vUChargeCodeZero.getValue());
vDcBusLoadVoltageDifferent.setValue(vDcBusLoadVoltageDifferent.getValue());
/* USER CODE END 2 */
/* Call init function for freertos objects (in freertos.c) */
MX_FREERTOS_Init();
/* Start scheduler */
osKernelStart();
/* We should never get here as control is now taken by the scheduler */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
int _not_using_this_main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DCMI_Init();
MX_DMA2D_Init();
MX_ETH_Init();
MX_FMC_Init();
MX_I2C1_Init();
MX_LTDC_Init();
MX_QUADSPI_Init();
MX_SDMMC1_SD_Init();
MX_SPDIFRX_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
/* USER CODE BEGIN RTOS_MUTEX */
/* add mutexes, ... */
/* USER CODE END RTOS_MUTEX */
/* USER CODE BEGIN RTOS_SEMAPHORES */
/* add semaphores, ... */
/* USER CODE END RTOS_SEMAPHORES */
/* USER CODE BEGIN RTOS_TIMERS */
/* start timers, add new ones, ... */
/* USER CODE END RTOS_TIMERS */
/* Create the thread(s) */
/* definition and creation of defaultTask */
osThreadDef(defaultTask, StartDefaultTask, osPriorityNormal, 0, 128);
defaultTaskHandle = osThreadCreate(osThread(defaultTask), NULL);
/* USER CODE BEGIN RTOS_THREADS */
/* add threads, ... */
/* USER CODE END RTOS_THREADS */
/* USER CODE BEGIN RTOS_QUEUES */
/* add queues, ... */
/* USER CODE END RTOS_QUEUES */
/* Start scheduler */
osKernelStart();
/* We should never get here as control is now taken by the scheduler */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_ADC_Init();
MX_I2C1_Init();
MX_RTC_Init();
MX_USART1_UART_Init();
MX_SPI2_Init();
/* USER CODE BEGIN 2 */
/* Buffer used for transmission on USART1 */
char tx1_buffer[80];
uint8_t count = 0;
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
sprintf(tx1_buffer, "Count is %d\n", count);
HAL_UART_Transmit(&huart1, (uint8_t*) tx1_buffer, strlen(tx1_buffer), 5000);
count++;
uint16_t adc_val = ADS1015_SingleEnded(&hi2c1, ADS1015_ADDRESS, 3, ADS1015_GAIN_ONE);
sprintf(tx1_buffer, "adc_val: %d\n", adc_val);
HAL_UART_Transmit(&huart1, (uint8_t*) tx1_buffer, strlen(tx1_buffer), 5000);
//ADS1015_writeRegister(&hi2c1, ADS1015_ADDRESS, ADS1015_REG_POINTER_CONFIG, ADS1015_REG_CONFIG_MUX_SINGLE_3);
//HAL_Delay(ADS1015_CONVERSIONDELAY);
// uint16_t adc_val = ADS1015_readRegister(&hi2c1, ADS1015_ADDRESS, ADS1015_REG_POINTER_CONVERT);
//sprintf(tx1_buffer, "adc_val: %04X\n", adc_val);
// HAL_UART_Transmit(&huart1, (uint8_t*) tx1_buffer, strlen(tx1_buffer), 5000);
HAL_GPIO_TogglePin(GPIOA, LED_Pin);
HAL_Delay(1000);
}
/* USER CODE END 3 */
}
int main(void)
{
/* USER CODE BEGIN 1 */
/* Data initialization */
int_T i;
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_ADC1_Init();
MX_ADC2_Init();
MX_CAN1_Init();
MX_CAN2_Init();
MX_DAC_Init();
MX_I2C1_Init();
MX_SPI2_Init();
MX_SPI3_Init();
MX_SPI4_Init();
MX_TIM2_Init();
MX_TIM3_Init();
MX_TIM5_Init();
MX_TIM8_Init();
MX_TIM9_Init();
MX_TIM13_Init();
MX_USART1_UART_Init();
MX_USART2_UART_Init();
MX_USART6_UART_Init();
/* USER CODE BEGIN 2 */
/* Systick configuration and enable SysTickHandler interrupt */
if (SysTick_Config((uint32_t)(SystemCoreClock * 0.5))) {
autoReloadTimerLoopVal_S = 1;
do {
autoReloadTimerLoopVal_S++;
} while ((uint32_t)(SystemCoreClock * 0.5)/autoReloadTimerLoopVal_S >
SysTick_LOAD_RELOAD_Msk);
SysTick_Config((uint32_t)(SystemCoreClock * 0.5)/autoReloadTimerLoopVal_S);
}
remainAutoReloadTimerLoopVal_S = autoReloadTimerLoopVal_S;//Set nb of loop to do
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
for (i=0;i<1;i++) {
OverrunFlags[i] = 0;
}
/* Model initialization call */
Test_Stateflow_initialize();
/* Infinite loop */
/* Real time from systickHandler */
while (1) {
/*Process tasks every solver time*/
if (remainAutoReloadTimerLoopVal_S == 0) {
remainAutoReloadTimerLoopVal_S = autoReloadTimerLoopVal_S;
/* Check base rate for overrun */
if (OverrunFlags[0]) {
rtmSetErrorStatus(Test_Stateflow_M, "Overrun");
}
OverrunFlags[0] = true;
/* Step the model for base rate */
Test_Stateflow_step();
/* Get model outputs here */
/* Indicate task for base rate complete */
OverrunFlags[0] = false;
}
}
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
/* USER CODE END 3 */
}
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_I2C1_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
uint8_t res = SSD1306_Init();
printf("OLED init: %d\n", res);
SSD1306_GotoXY(10,27);
SSD1306_Puts("OLED inited", &Font_7x10, 1);
SSD1306_GotoXY(10,52);
SSD1306_Puts("Lutsai Alexander", &Font_7x10, 1);
SSD1306_UpdateScreen(); //display
HAL_Delay(1000);
SSD1306_Fill(0); //clear oled
int y1 = 64, y2 = 0;
while(y1 > 0)
{
SSD1306_DrawLine(0, y1, 128, y2, 1);
SSD1306_UpdateScreen();
y1 -= 2;
y2 += 2;
}
HAL_Delay(1000);
SSD1306_Fill(1); //clear oled
SSD1306_UpdateScreen();
SSD1306_DrawCircle(64, 32, 25, 0);
SSD1306_UpdateScreen();
SSD1306_DrawCircle(128, 32, 25, 0);
SSD1306_UpdateScreen();
SSD1306_DrawCircle(0, 32, 25, 0);
SSD1306_UpdateScreen();
SSD1306_DrawCircle(32, 32, 25, 0);
SSD1306_UpdateScreen();
SSD1306_DrawCircle(96, 32, 25, 0);
SSD1306_UpdateScreen();
HAL_Delay(1000);
SSD1306_Fill(0); //clear oled
SSD1306_UpdateScreen();
int32_t i = -100;
char buf[10];
while(i<=100)
{
memset(&buf[0], 0, sizeof(buf));
sprintf(buf, "%d", i);
SSD1306_GotoXY(50,27);
SSD1306_Puts(buf, &Font_7x10, 1);
SSD1306_DrawLine(64, 10, (i+100)*128/200, (i+100)*64/200, 1);
SSD1306_UpdateScreen();
SSD1306_Fill(0); //clear oled
i++;
}
SSD1306_GotoXY(50,27);
sprintf(buf, "END");
SSD1306_Puts(buf, &Font_7x10, 1);
SSD1306_GotoXY(10,52);
SSD1306_Puts("Lutsai Alexander", &Font_7x10, 1);
SSD1306_UpdateScreen();
SSD1306_Fill(0); //clear oled
HAL_Delay(1000);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
uint32_t lst = 0, cu;
while (1)
{
/* USER CODE END WHILE */
cu = HAL_GetTick();
SSD1306_GotoXY(30,27);
sprintf(buf, "fps: %f", 1000.0 / (double)(cu - lst));
SSD1306_Puts(buf, &Font_7x10, 1);
SSD1306_GotoXY(7,52);
SSD1306_Puts("Lutsai Alexander", &Font_7x10, 1);
SSD1306_UpdateScreen();
SSD1306_Fill(0); //clear oled
lst = cu;
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
/**
* @brief The application entry point.
*
* @retval None
*/
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_I2C1_Init();
MX_TIM3_Init();
//MX_IWDG_Init();
MX_TIM14_Init();
MX_TIM16_Init();
MX_TIM17_Init();
/* USER CODE BEGIN 2 */
HAL_TIM_Encoder_Start(&htim3, TIM_CHANNEL_ALL);
HAL_NVIC_SetPriority(TIM3_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM3_IRQn);
HAL_TIM_Base_Start_IT(&htim3);
// Seconds Counter startup duty
HAL_TIM_Base_Start_IT(&htim14);
HAL_TIM_Base_Stop_IT(&htim14);
HAL_TIM_Base_Start_IT(&htim16);
HAL_TIM_Base_Start_IT(&htim17);
HAL_GPIO_WritePin(GPIOA, LED_RED_PIN, GPIO_PIN_RESET);
ssd1306_Init();
current_cursor = exposition;
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
//HAL_IWDG_Refresh(&hiwdg);
if(__HAL_RCC_GET_SYSCLK_SOURCE() == RCC_SYSCLKSOURCE_STATUS_HSE) HAL_GPIO_WritePin(GPIOA, LED_GREEN_PIN, GPIO_PIN_SET);
else HAL_GPIO_WritePin(GPIOA, LED_GREEN_PIN, GPIO_PIN_RESET);
if (update_screen_flag)
{
ssd1306_Fill(Black);
ssd1306_UpdateScreen();
update_screen_flag = 0;
}
if (seconds_counter > STOP_TIME_SEC) //if more than 10 s need to stop
{
// Entering STOP Mode Procedure
seconds_counter = 0;
GPIO_InitTypeDef GPIO_InitStruct;
ssd1306_WriteCommand(0xAE); // OLED Off
GPIO_InitStruct.Pin = ENC_BUTTON_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_EVT_RISING_FALLING;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
HAL_NVIC_SetPriority(EXTI4_15_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI4_15_IRQn);
HAL_GPIO_WritePin(GPIOA, LED_GREEN_PIN|LED_RED_PIN|GATE_PIN|FOCUS_PIN, GPIO_PIN_RESET);
HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFE);
// Exit from STOP Mode procedure
SystemClock_Config();
ssd1306_WriteCommand(0xAF); // OLED On
GPIO_InitStruct.Pin = ENC_BUTTON_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
current_state = menu_navigation;
}
Menu();
if (current_state == running_timer || current_state == running_interval)
{
if(gate_flag)
{
// Reset Gate & Focus
HAL_GPIO_WritePin(GPIOA, FOCUS_PIN, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOA, GATE_PIN, GPIO_PIN_RESET);
HAL_TIM_Base_Stop_IT(&htim14);
HAL_Delay(500);
__HAL_TIM_SET_COUNTER(&htim14, 0);
HAL_TIM_Base_Start_IT(&htim14);
gate_flag = 0;
// If not last shot, go to Interval state
if(tmp_num_shots != 0)
{
tmp_int_minutes = set_int_minutes;
tmp_int_sec = set_int_sec;
tmp_exp_minutes = set_exp_minutes;
tmp_exp_sec = set_exp_sec;
current_state = running_interval;
HAL_GPIO_WritePin(GPIOA, LED_RED_PIN,GPIO_PIN_RESET); // 1s LED Off
}
else
{
HAL_TIM_Base_Stop_IT(&htim14);
__HAL_TIM_SET_COUNTER(&htim14, 0);
HAL_GPIO_WritePin(GPIOA, LED_RED_PIN,GPIO_PIN_RESET); // 1s LED Off
tmp_exp_minutes = set_exp_minutes;
tmp_exp_sec = set_exp_sec;
current_state = menu_navigation;
update_screen_flag = 1;
}
}
}
if (exiting_run)
{
HAL_TIM_Base_Stop_IT(&htim16);
HAL_Delay(1000);
exiting_run = 0;
HAL_TIM_Base_Start_IT(&htim16);
HAL_GPIO_WritePin(GPIOA, FOCUS_PIN, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOA, GATE_PIN, GPIO_PIN_RESET);
}
}
/* USER CODE END 3 */
}
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* System interrupt init*/
/* Sets the priority grouping field */
HAL_NVIC_SetPriorityGrouping(NVIC_PRIORITYGROUP_1);
HAL_NVIC_SetPriority(SysTick_IRQn, 0, 1);
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_ADC1_Init();
MX_I2C1_Init();
MX_TIM1_Init();
MX_TIM3_Init();
MX_TIM4_Init();
MX_TIM6_Init();
MX_TIM7_Init();
MX_TIM8_Init();
MX_TIM10_Init();
MX_USART3_UART_Init();
/* USER CODE BEGIN 2 */
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, SET);
/* USER CODE END 2 */
/* USER CODE BEGIN 3 */
// test_Expander();
ssd1306Init(0);
test_Telemeters();
ADXRS620_Init();
TimesBase_Init();
test_Encoders();
Straight_Control_Start(GYRO);
test_Beeper();
Led_Power_Blink(990, 10, 0);
//test_Gyro();
Debug_ADXRS620();
//Debug_Straight_Control();
while(1);
// test_Encoders();
// test_Vbat();
// test_EasterEgg();
//test_Gyro();
// test_Motor_Move();
// test_Motors();
// test_Telemeters();
// HAL_Delay(1000);
// test_LineSensors();
// test_Oled();
// test_IR_Sensors();
/* USER CODE END 3 */
}
