static msg_t tUsbTx(void *arg) {
(void)arg;
chRegSetThreadName("usbTx");
msg_t msg;
usbPacket *usbBufp;
enum {UsbTxComleteID = 0, UsbResetID = 1, UsbConfiguredID = 2};
EventListener elUsbTxComplete;
EventListener elUsbReset;
EventListener elUsbConfigured;
eventmask_t activeEvents;
chEvtRegister(&esUsbTxComplete, &elUsbTxComplete, UsbTxComleteID);
chEvtRegister(&esUsbReset, &elUsbReset, UsbResetID);
chEvtRegister(&esUsbConfigured, &elUsbConfigured, UsbConfiguredID);
// Wait for the USB system to be configured. and clear all other event flags.
chEvtWaitOne(EVENT_MASK(UsbConfiguredID));
chEvtGetAndClearEvents(EVENT_MASK(UsbTxComleteID) | EVENT_MASK(UsbResetID));
while (TRUE) {
chMBFetch (&usbTXMailbox, &msg, TIME_INFINITE);
// Check if USB has been reconfigured while waiting for message from sysctrl
activeEvents = chEvtGetAndClearEvents(EVENT_MASK(UsbConfiguredID));
if (activeEvents == EVENT_MASK(UsbConfiguredID)) {
// If so, clear the reset event since it is no longer relevant.
activeEvents = chEvtGetAndClearEvents(EVENT_MASK(UsbResetID));
}
// Typecast Mailbox message to command package pointer for readability
usbBufp = (usbPacket*)msg;
// Prepare transmit and start the transmission. This operation will return immediately
usbPrepareTransmit(usbp, EP_IN, usbBufp->packet, (size_t)usbBufp->size);
chSysLock();
usbStartTransmitI(usbp, EP_IN);
chSysUnlock();
//Check for events from the USB system.
activeEvents = chEvtWaitAny(EVENT_MASK(UsbTxComleteID) | EVENT_MASK(UsbResetID));
if (activeEvents == EVENT_MASK(UsbResetID)) {
chEvtWaitOne(EVENT_MASK(UsbConfiguredID));
// Clear any events that has occurred while the usb was not configured.
chEvtGetAndClearEvents(EVENT_MASK(UsbTxComleteID) | EVENT_MASK(UsbResetID));
}
usbFreeMailboxBuffer (usbBufp);
}
return 0;
}
static msg_t tUsbRx(void *arg) {
(void)arg;
chRegSetThreadName("usbRx");
enum {UsbRxComleteID = 0, UsbResetID = 1, UsbConfiguredID = 2};
usbPacket *usbBufp;
EventListener elUsbRxComplete;
EventListener elUsbReset;
EventListener elUsbConfigured;
eventmask_t activeEvents;
chEvtRegister(&esUsbRxComplete, &elUsbRxComplete, UsbRxComleteID);
chEvtRegister(&esUsbReset, &elUsbReset, UsbResetID);
chEvtRegister(&esUsbConfigured, &elUsbConfigured, UsbConfiguredID);
// Wait for the USB system to be configured.
chEvtWaitOne(EVENT_MASK(UsbConfiguredID));
chEvtGetAndClearEvents(EVENT_MASK(UsbRxComleteID) | EVENT_MASK(UsbResetID));
while (TRUE) {
// Allocate buffer space for reception of package in the sysctrl mempool
usbBufp = usbAllocMailboxBuffer();
// Prepare receive operation and initiate the usb system to listen
usbPrepareReceive(usbp, EP_OUT, usbBufp->packet, 64);
chSysLock();
usbStartReceiveI(usbp, EP_OUT);
chSysUnlock();
// Wait for events from the USB system
activeEvents = chEvtWaitAny(EVENT_MASK(UsbRxComleteID) | EVENT_MASK(UsbResetID));
if (activeEvents == EVENT_MASK(UsbResetID)) {
// If the system was reset, clean up and wait for new configure.
usbFreeMailboxBuffer (usbBufp);
chEvtWaitOne(EVENT_MASK(UsbConfiguredID));
chEvtGetAndClearEvents(EVENT_MASK(UsbRxComleteID) | EVENT_MASK(UsbResetID));
}
else {
// Post pagckage to sysctrl if receive was successful
usbBufp->size = ep2outstate.rxcnt;
chMBPost (&usbRXMailbox, (msg_t)usbBufp, TIME_INFINITE);
}
}
return 0;
}
/**
* @brief Thread for the flash save operation.
*
* @param[in] arg Unused.
* @return Unused.
*/
static THD_FUNCTION(ThreadSysInfoFlashSave, arg)
{
(void)arg;
/* Event registration for new estimation */
event_listener_t el;
/* Set thread name */
chRegSetThreadName("SysInfo FlashSave");
/* Register to new estimation */
chEvtRegisterMask(ptrGetFlashSaveEventSource(), &el,
FLASHSAVE_SAVE_EVENTMASK);
while (1)
{
/* Wait for new estimation */
chEvtWaitOne(FLASHSAVE_SAVE_EVENTMASK);
/* Save settings to flash */
FlashSave_Write(FlashSave_STR2ID("SIVN"), true,
(uint8_t *)system_strings.vehicle_name, VEHICLE_NAME_SIZE);
FlashSave_Write(FlashSave_STR2ID("SIVT"), true,
(uint8_t *)system_strings.vehicle_type, VEHICLE_TYPE_SIZE);
}
}
void log_saver_thread(void *p)
{
chRegSetThreadName("logsaver");
char filename[16];
g_fileindex = next_free_filename();
chsnprintf(filename, sizeof(filename), "%04d.txt", g_fileindex);
unsigned bytes_written;
FIL file;
f_open(&file, filename, FA_WRITE | FA_CREATE_NEW);
static const char header[] = "# SysTime BattU BattI Tmotor Tmosfet RPM "
"AccX AccY AccZ GyrX TotAcc MotorTgt IAccum Brake MaxDuty\r\n"
"# ms mV mA mC mC "
" mg mg mg dps mg mA mA \r\n";
f_write(&file, header, sizeof(header) - 1, &bytes_written);
for (;;)
{
eventmask_t event = chEvtWaitOne(EVENT_BUF1 | EVENT_BUF2);
if (event & EVENT_BUF1)
{
f_write(&file, g_logbuffer1, sizeof(g_logbuffer1), &bytes_written);
}
if (event & EVENT_BUF2)
{
f_write(&file, g_logbuffer2, sizeof(g_logbuffer2), &bytes_written);
}
f_sync(&file);
}
}
static THD_FUNCTION(ThreadTestEvents, arg)
{
(void)arg;
event_listener_t el;
eventmask_t events;
int i = 0;
chEvtRegisterMask( &hmc5983cfg.data_holder->es,
&el,
HMC5983_DATA_AVAILABLE_EVENTMASK);
while(1)
{
events = chEvtWaitOne(HMC5983_DATA_AVAILABLE_EVENTMASK);
if (events == HMC5983_DATA_AVAILABLE_EVENTMASK)
{
if (i++ > 10)
{
palTogglePad(GPIOC, GPIOC_LED_USR);
i = 0;
}
}
}
return MSG_OK;
}
/*
* Application entry point.
*/
int main(void) {
static const evhandler_t evhndl[] = {
InsertHandler,
RemoveHandler
};
Thread *shelltp = NULL;
struct EventListener el0, el1;
/*
* System initializations.
* - HAL initialization, this also initializes the configured device drivers
* and performs the board-specific initializations.
* - Kernel initialization, the main() function becomes a thread and the
* RTOS is active.
*/
halInit();
chSysInit();
/*
* Activates the serial driver 2 using the driver default configuration.
*/
sdStart(&SD2, NULL);
/*
* Shell manager initialization.
*/
shellInit();
/*
* Initializes the MMC driver to work with SPI2.
*/
palSetPadMode(IOPORT2, GPIOB_SPI2NSS, PAL_MODE_OUTPUT_PUSHPULL);
palSetPad(IOPORT2, GPIOB_SPI2NSS);
mmcObjectInit(&MMCD1, &SPID2,
&ls_spicfg, &hs_spicfg,
mmc_is_protected, mmc_is_inserted);
mmcStart(&MMCD1, NULL);
/*
* Creates the blinker thread.
*/
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
/*
* Normal main() thread activity, in this demo it does nothing except
* sleeping in a loop and listen for events.
*/
chEvtRegister(&MMCD1.inserted_event, &el0, 0);
chEvtRegister(&MMCD1.removed_event, &el1, 1);
while (TRUE) {
if (!shelltp)
shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO);
else if (chThdTerminated(shelltp)) {
chThdRelease(shelltp); /* Recovers memory of the previous shell. */
shelltp = NULL; /* Triggers spawning of a new shell. */
}
chEvtDispatch(evhndl, chEvtWaitOne(ALL_EVENTS));
}
return 0;
}
static void cmdIr(BaseSequentialStream *chp, int argc, char *argv[])
{
(void)argv;
(void)argc;
chEvtRegisterMask(&esSensorEvents , &el, SENSOR_EVENT_IR_END);
chprintf(chp, "Pinging with IR...\r\n");
chEvtBroadcastFlags(&esSensorEvents, SENSOR_EVENT_IR_START);
chEvtWaitOne(SENSOR_EVENT_IR_END);
chThdSleepMilliseconds(50);
ir_index_t i;
ir_angle_t angle;
chSysLock();
for (i = 0; i < IR_RX_COUNT; i++) {
angle = irDetections[i];
chprintf(chp, "IR Angle: %D\r\n", angle);
}
chSysUnlock();
chEvtUnregister(&esSensorEvents, &el);
}
/*
* Application entry point.
*/
int main(void) {
static const evhandler_t evhndl[] = {
TimerHandler,
InsertHandler,
RemoveHandler
};
static EvTimer evt;
struct EventListener el0, el1, el2;
/*
* System initializations.
* - HAL initialization, this also initializes the configured device drivers
* and performs the board-specific initializations.
* - Kernel initialization, the main() function becomes a thread and the
* RTOS is active.
*/
halInit();
chSysInit();
/*
* Activates the serial driver 1 using the driver default configuration.
*/
sdStart(&SD1, NULL);
/*
* Buzzer driver initialization.
*/
buzzInit();
/*
* Initializes the MMC driver to work with SPI2.
*/
mmcObjectInit(&MMCD1);
mmcStart(&MMCD1, &mmccfg);
/*
* Activates the card insertion monitor.
*/
tmr_init(&MMCD1);
/*
* Creates the blinker threads.
*/
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
chThdCreateStatic(waThread2, sizeof(waThread2), NORMALPRIO, Thread2, NULL);
/*
* Normal main() thread activity, in this demo it does nothing except
* sleeping in a loop and listen for events.
*/
evtInit(&evt, MS2ST(500)); /* Initializes an event timer object. */
evtStart(&evt); /* Starts the event timer. */
chEvtRegister(&evt.et_es, &el0, 0); /* Registers on the timer event source. */
chEvtRegister(&inserted_event, &el1, 1);
chEvtRegister(&removed_event, &el2, 2);
while (TRUE)
chEvtDispatch(evhndl, chEvtWaitOne(ALL_EVENTS));
return 0;
}
int main(void) {
halInit();
chSysInit();
uint8_t i;
event_listener_t tel;
// Serial Port Setup
sdStart(&SD1, NULL);
palSetPadMode(GPIOC, 4, PAL_MODE_ALTERNATE(7));
palSetPadMode(GPIOC, 5, PAL_MODE_ALTERNATE(7));
chprintf((BaseSequentialStream*)&SD1, "Up and Running\n\r");
palSetPadMode(GPIOB, 3, PAL_MODE_ALTERNATE(6)); /* SCK. */
palSetPadMode(GPIOB, 4, PAL_MODE_ALTERNATE(6)); /* MISO.*/
palSetPadMode(GPIOB, 5, PAL_MODE_ALTERNATE(6)); /* MOSI.*/
palSetPadMode(GPIOC, GPIOC_PIN1, PAL_MODE_OUTPUT_PUSHPULL);
palSetPad(GPIOC, GPIOC_PIN1);
palSetPadMode(GPIOC, GPIOC_PIN2, PAL_MODE_OUTPUT_PUSHPULL);
palClearPad(GPIOC, GPIOC_PIN2);
palSetPadMode(GPIOC, GPIOC_PIN3, PAL_MODE_INPUT_PULLUP);
spiStart(&SPID3, &nrf24l01SPI);
chMtxObjectInit(&nrfMutex);
//FROM RX---
extStart(&EXTD1, &extcfg);
//---
nrf24l01ObjectInit(&nrf24l01);
nrf24l01Start(&nrf24l01, &nrf24l01Config);
//FROM RX ---
extChannelEnable(&EXTD1, 3);
//-----
initNRF24L01(&nrf24l01);
chprintf((BaseSequentialStream*)&SD1, "\n\rUp and Running\n\r");
shellInit();
chEvtRegister(&shell_terminated, &tel, 0);
shelltp1 = shellCreate(&shell_cfg1, sizeof(waShell), NORMALPRIO);
//FROM RX---
chThdCreateStatic(recieverWorkingArea, sizeof(recieverWorkingArea), NORMALPRIO, receiverThread, NULL);
//FROM RX^^^^
/*
for (i=0;i<32;i++) {
serialOutBuf[i] = 3;
}
*/
for (;;) {
chEvtDispatch(fhandlers, chEvtWaitOne(ALL_EVENTS));
}
}
/*
* Application entry point.
*/
int main(void) {
static const evhandler_t evhndl[] = {
InsertHandler,
RemoveHandler
};
Thread *shelltp = NULL;
struct EventListener el0, el1;
/*
* System initializations.
* - HAL initialization, this also initializes the configured device drivers
* and performs the board-specific initializations.
* - Kernel initialization, the main() function becomes a thread and the
* RTOS is active.
*/
halInit();
chSysInit();
/*
* Activates the serial driver 1 and SDC driver 1 using default
* configuration.
*/
sdStart(&SD1, NULL);
sdcStart(&SDCD1, NULL);
/*
* Shell manager initialization.
*/
shellInit();
/*
* Activates the card insertion monitor.
*/
tmr_init(&SDCD1);
/*
* Creates the blinker thread.
*/
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
/*
* Normal main() thread activity, in this demo it does nothing except
* sleeping in a loop and listen for events.
*/
chEvtRegister(&inserted_event, &el0, 0);
chEvtRegister(&removed_event, &el1, 1);
while (TRUE) {
if (!shelltp)
shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO);
else if (chThdTerminated(shelltp)) {
chThdRelease(shelltp); /* Recovers memory of the previous shell. */
shelltp = NULL; /* Triggers spawning of a new shell. */
}
chEvtDispatch(evhndl, chEvtWaitOne(ALL_EVENTS));
}
}
/*------------------------------------------------------------------------*
* Simulator main. *
*------------------------------------------------------------------------*/
int main(void) {
EventListener sd1fel, sd2fel, tel;
/*
* HAL initialization.
*/
halInit();
/*
* ChibiOS/RT initialization.
*/
chSysInit();
/*
* Serial ports (simulated) initialization.
*/
sdStart(&SD1, NULL);
sdStart(&SD2, NULL);
/*
* Shell manager initialization.
*/
shellInit();
chEvtRegister(&shell_terminated, &tel, 0);
/*
* Console thread started.
*/
cdtp = chThdCreateFromHeap(NULL, CONSOLE_WA_SIZE, NORMALPRIO + 1,
console_thread, NULL);
/*
* Initializing connection/disconnection events.
*/
cputs("Shell service started on SD1, SD2");
cputs(" - Listening for connections on SD1");
(void) sdGetAndClearFlags(&SD1);
chEvtRegister(&SD1.sevent, &sd1fel, 1);
cputs(" - Listening for connections on SD2");
(void) sdGetAndClearFlags(&SD2);
chEvtRegister(&SD2.sevent, &sd2fel, 2);
/*
* Events servicing loop.
*/
while (!chThdShouldTerminate())
chEvtDispatch(fhandlers, chEvtWaitOne(ALL_EVENTS));
/*
* Clean simulator exit.
*/
chEvtUnregister(&SD1.sevent, &sd1fel);
chEvtUnregister(&SD2.sevent, &sd2fel);
return 0;
}
/*------------------------------------------------------------------------*
* Simulator main. *
*------------------------------------------------------------------------*/
int main(void) {
EventListener sd1fel, sd2fel, tel;
/*
* System initializations.
* - HAL initialization, this also initializes the configured device drivers
* and performs the board-specific initializations.
* - Kernel initialization, the main() function becomes a thread and the
* RTOS is active.
*/
halInit();
chSysInit();
/*
* Serial ports (simulated) initialization.
*/
sdStart(&SD1, NULL);
sdStart(&SD2, NULL);
/*
* Shell manager initialization.
*/
shellInit();
chEvtRegister(&shell_terminated, &tel, 0);
/*
* Console thread started.
*/
cdtp = chThdCreateFromHeap(NULL, CONSOLE_WA_SIZE, NORMALPRIO + 1,
console_thread, NULL);
/*
* Initializing connection/disconnection events.
*/
cputs("Shell service started on SD1, SD2");
cputs(" - Listening for connections on SD1");
(void) chIOGetAndClearFlags(&SD1);
chEvtRegister(chIOGetEventSource(&SD1), &sd1fel, 1);
cputs(" - Listening for connections on SD2");
(void) chIOGetAndClearFlags(&SD2);
chEvtRegister(chIOGetEventSource(&SD2), &sd2fel, 2);
/*
* Events servicing loop.
*/
while (!chThdShouldTerminate())
chEvtDispatch(fhandlers, chEvtWaitOne(ALL_EVENTS));
/*
* Clean simulator exit.
*/
chEvtUnregister(chIOGetEventSource(&SD1), &sd1fel);
chEvtUnregister(chIOGetEventSource(&SD2), &sd2fel);
return 0;
}
// Wait for a push on one or several buttons specified by event mask.
// Return the mask of the activated button(s).
int wait_button(int bt_evt_msk)
{
int rslt_msk = check_button(bt_evt_msk);
while (! rslt_msk) {
chEvtWaitOne(bt_evt_msk);
rslt_msk = check_button(bt_evt_msk);
}
return rslt_msk;
}
/*------------------------------------------------------------------------*
* Simulator main. *
*------------------------------------------------------------------------*/
int main(void) {
initTestStream(&testStream);
/*
* System initializations.
* - HAL initialization, this also initializes the configured device drivers
* and performs the board-specific initializations.
* - Kernel initialization, the main() function becomes a thread and the
* RTOS is active.
*/
halInit();
chSysInit();
/*
* Serial ports (simulated) initialization.
*/
sdStart(&SD1, NULL);
sdStart(&SD2, NULL);
/*
* Console thread started.
*/
cdtp = chThdCreateFromHeap(NULL, CONSOLE_WA_SIZE, NORMALPRIO + 1, console_thread, NULL);
/*
* Initializing connection/disconnection events.
*/
cputs("Shell service started on SD1, SD2");
cputs(" - Listening for connections on SD1");
chEvtRegister(chnGetEventSource(&SD1), &sd1fel, 1);
cputs(" - Listening for connections on SD2");
chEvtRegister(chnGetEventSource(&SD2), &sd2fel, 2);
rusEfiFunctionalTest();
/*
* Events servicing loop.
*/
while (!chThdShouldTerminate()) {
chEvtDispatch(fhandlers, chEvtWaitOne(ALL_EVENTS));
printPendingMessages();
chThdSleepMilliseconds(100);
}
/*
* Clean simulator exit.
*/
chEvtUnregister(chnGetEventSource(&SD1), &sd1fel);
chEvtUnregister(chnGetEventSource(&SD2), &sd2fel);
return 0;
}
int main(void)
{
static const evhandler_t evhndl[] = {InsertHandler, RemoveHandler};
struct EventListener el0, el1;
// os init
halInit();
chSysInit();
// setup LED pads
palSetPadMode(GPIOD, 12, PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST);
palClearPad(GPIOD, 12); // green LED
palSetPadMode(GPIOD, 15, PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST);
palClearPad(GPIOD, 15); // blue LED
// setup pads to USART2 function (connect these pads through RS232 transceiver with PC, terminal emu needs 38400 baud)
sdStart(&SD2, NULL);
palSetPadMode(GPIOA, 2, PAL_MODE_ALTERNATE(7) | PAL_STM32_OSPEED_HIGHEST); // TX
palSetPadMode(GPIOA, 3, PAL_MODE_ALTERNATE(7)); // RX
// setup pads to SPI1 function (connect these pads to your SD card accordingly)
palSetPadMode(GPIOC, 4, PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST); // NSS
palSetPadMode(GPIOA, 5, PAL_MODE_ALTERNATE(5) | PAL_STM32_OSPEED_HIGHEST); // SCK
palSetPadMode(GPIOA, 6, PAL_MODE_ALTERNATE(5)); // MISO
palSetPadMode(GPIOA, 7, PAL_MODE_ALTERNATE(5) | PAL_STM32_OSPEED_HIGHEST); // MOSI
palSetPad(GPIOC, 4); // set NSS high
// initialize MMC driver
mmcObjectInit(&MMCD1, &SPID1, &ls_spicfg, &hs_spicfg, mmc_is_protected, mmc_is_inserted);
mmcStart(&MMCD1, NULL);
// ChibiOS has no I2S support yet;
// codec.c initializes everything necessary
// except the I2S TX DMA interrupt vector (because it would
// conflict with the ChibiOS kernel)
// we can make ChibiOS call our own handler by letting
// it create the DMA stream for SPI3
dmaStreamAllocate(SPID3.dmatx,
STM32_SPI_SPI3_IRQ_PRIORITY,
(stm32_dmaisr_t)I2SDmaTxInterrupt,
&SPID3);
// blink thread; also checks the user button
chThdCreateStatic(waBlinkThread, sizeof(waBlinkThread), NORMALPRIO, BlinkThread, NULL);
chEvtRegister(&MMCD1.inserted_event, &el0, 0);
chEvtRegister(&MMCD1.removed_event, &el1, 1);
while(TRUE)
{
chEvtDispatch(evhndl, chEvtWaitOne(ALL_EVENTS));
}
}
static msg_t wavePlayerThread(void *arg) {
(void)arg;
chRegSetThreadName("blinker");
UINT temp, bufSwitch=1;
codec_pwrCtl(1);
codec_muteCtl(0);
f_read(&f1, buf, PLAYBACK_BUFFER_SIZE, &temp);
bytesToPlay-=temp;
chEvtAddFlags(1);
while(bytesToPlay)
{
chEvtWaitOne(1);
if (bufSwitch)
{
codec_audio_send(buf, temp/2);
spiAcquireBus(&SPID1);
f_read(&f1, buf2, PLAYBACK_BUFFER_SIZE, &temp);
spiReleaseBus(&SPID1);
bufSwitch=0;
}
else
{
codec_audio_send(buf2, temp/2);
spiAcquireBus(&SPID1);
f_read(&f1, buf, PLAYBACK_BUFFER_SIZE, &temp);
spiReleaseBus(&SPID1);
bufSwitch=1;
}
bytesToPlay-=temp;
if (chThdShouldTerminate()) break;
}
codec_muteCtl(1);
codec_pwrCtl(0);
playerThread=NULL;
f_close(&f1);
return 0;
}
static msg_t batterySurveyThd(void *arg)
{
(void)arg;
chRegSetThreadName ("battery survey");
chEvtRegister(&powerOutageSource, &powerOutageListener, 1);
chThdSleepMilliseconds (2000);
register_adc_watchdog((uint32_t) ADC1, 4,
V_ALERT, 0xfff, &powerOutageIsr);
chEvtWaitOne(EVENT_MASK(1));
chibios_logFinish ();
chThdExit(0);
return 0;
}
static void logic_scanThread(void * data)
{
(void) data;
chRegSetThreadName("logic scan");
EventListener el;
chEvtRegister(&event_i2c_buttons, &el,
BUTTON_EVENT_ID | BUTTON_NOW_EVENT_ID);
eventmask_t mask;
static uint32_t recevie = 0;
while (TRUE)
{
mask = chEvtWaitOne(BUTTON_NOW_EVENT_ID | BUTTON_EVENT_ID);
recevie++;
logic_button(active.bank, &foot_switch, mask);
}
}
msg_t WebThread(void *p) {
EvTimer evt1, evt2;
EventListener el0, el1, el2;
uip_ipaddr_t ipaddr;
(void)p;
/*
* Event sources setup.
*/
chEvtRegister(macGetReceiveEventSource(ÐD1), &el0, FRAME_RECEIVED_ID);
chEvtAddFlags(EVENT_MASK(FRAME_RECEIVED_ID)); /* In case some frames are already buffered */
evtInit(&evt1, MS2ST(500));
evtStart(&evt1);
chEvtRegister(&evt1.et_es, &el1, PERIODIC_TIMER_ID);
evtInit(&evt2, S2ST(10));
evtStart(&evt2);
chEvtRegister(&evt2.et_es, &el2, ARP_TIMER_ID);
/*
* EMAC driver start.
*/
macStart(ÐD1, &mac_config);
(void)macPollLinkStatus(ÐD1);
/*
* uIP initialization.
*/
uip_init();
uip_setethaddr(macaddr);
uip_ipaddr(ipaddr, IPADDR0, IPADDR1, IPADDR2, IPADDR3);
uip_sethostaddr(ipaddr);
httpd_init();
while (TRUE) {
chEvtDispatch(evhndl, chEvtWaitOne(ALL_EVENTS));
}
return 0;
}
static void evt2_execute(void) {
eventmask_t m;
event_listener_t el1, el2;
systime_t target_time;
/*
* Test on chEvtWaitOne() without wait.
*/
chEvtAddEvents(5);
m = chEvtWaitOne(ALL_EVENTS);
test_assert(1, m == 1, "single event error");
m = chEvtWaitOne(ALL_EVENTS);
test_assert(2, m == 4, "single event error");
m = chEvtGetAndClearEvents(ALL_EVENTS);
test_assert(3, m == 0, "stuck event");
/*
* Test on chEvtWaitOne() with wait.
*/
test_wait_tick();
target_time = chVTGetSystemTime() + MS2ST(50);
threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX() - 1,
thread1, chThdGetSelfX());
m = chEvtWaitOne(ALL_EVENTS);
test_assert_time_window(4, target_time, target_time + ALLOWED_DELAY);
test_assert(5, m == 1, "single event error");
m = chEvtGetAndClearEvents(ALL_EVENTS);
test_assert(6, m == 0, "stuck event");
test_wait_threads();
/*
* Test on chEvtWaitAny() without wait.
*/
chEvtAddEvents(5);
m = chEvtWaitAny(ALL_EVENTS);
test_assert(7, m == 5, "unexpected pending bit");
m = chEvtGetAndClearEvents(ALL_EVENTS);
test_assert(8, m == 0, "stuck event");
/*
* Test on chEvtWaitAny() with wait.
*/
test_wait_tick();
target_time = chVTGetSystemTime() + MS2ST(50);
threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX() - 1,
thread1, chThdGetSelfX());
m = chEvtWaitAny(ALL_EVENTS);
test_assert_time_window(9, target_time, target_time + ALLOWED_DELAY);
test_assert(10, m == 1, "single event error");
m = chEvtGetAndClearEvents(ALL_EVENTS);
test_assert(11, m == 0, "stuck event");
test_wait_threads();
/*
* Test on chEvtWaitAll().
*/
chEvtObjectInit(&es1);
chEvtObjectInit(&es2);
chEvtRegisterMask(&es1, &el1, 1);
chEvtRegisterMask(&es2, &el2, 4);
test_wait_tick();
target_time = chVTGetSystemTime() + MS2ST(50);
threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX() - 1,
thread2, "A");
m = chEvtWaitAll(5);
test_assert_time_window(12, target_time, target_time + ALLOWED_DELAY);
m = chEvtGetAndClearEvents(ALL_EVENTS);
test_assert(13, m == 0, "stuck event");
test_wait_threads();
chEvtUnregister(&es1, &el1);
chEvtUnregister(&es2, &el2);
test_assert(14, !chEvtIsListeningI(&es1), "stuck listener");
test_assert(15, !chEvtIsListeningI(&es2), "stuck listener");
}
int main(void) {
uint32_t i;
FRDMSlave * slave;
FRDMSlave::data_t * data_iter;
FRDMSlave::data_t * buffer_end;
halInit();
chSysInit();
main_thread = chThdSelf();
Platform::early_init();
for(slave = slaves; slave < slaves + num_slaves; slave++){
slave->init();
}
timer_config();
button.set_press_handler((button_t::button_handler)button_cb, nullptr);
term.launch();
while(true){
// Wait for a button press
chEvtGetAndClearEvents(ALL_EVENTS);
chEvtWaitOne(MAIN_SIG_BUTTON);
/*
for(slave = slaves; slave < slaves + num_slaves; slave++){
if(!slave->ping())
break;
} if(slave != slaves + num_slaves){
// One of the slaves didn't respond...
for(i = 0; i < 10; i++){
chThdSleep(MS2ST(100));
leds[0].toggle();
leds[1].toggle();
leds[2].toggle();
leds[3].toggle();
}
}
*/
// Flash lights 3 times
for(i = 0; i < 5; i++){
chThdSleep(MS2ST(500));
leds[0].toggle();
leds[1].toggle();
leds[2].toggle();
leds[3].toggle();
}
// Let the last one go for a whole second
chThdSleep(MS2ST(500));
leds[0].clear();
leds[1].clear();
leds[2].clear();
leds[3].clear();
// Trigger first sample
sync_pin.toggle();
timer_start();
chEvtGetAndClearEvents(MAIN_SIG_BUTTON);
sample_count = 0;
data_iter = acc_buffer1;
buffer_end = acc_buffer1 + sizeof(acc_buffer1)/sizeof(*acc_buffer1);
while(!chEvtWaitOneTimeout(MAIN_SIG_BUTTON, TIME_IMMEDIATE)){
chEvtWaitOne(MAIN_SIG_TICK);
for(slave = slaves; slave < slaves + num_slaves; slave++){
slave->start_read();
}
for(slave = slaves; slave < slaves + num_slaves; slave++){
slave->finish_read(data_iter);
data_iter += FRDMSlave::samples_per_transfer;
sample_count += FRDMSlave::samples_per_transfer;
if(data_iter == acc_buffer1 + (sizeof(acc_buffer1)/sizeof(*acc_buffer1))){
data_iter = acc_buffer2;
} else if(data_iter == acc_buffer2 + (sizeof(acc_buffer2)/sizeof(*acc_buffer2))){
break;
}
} if(slave != slaves + num_slaves){
break;
}
// Trigger next sample
sync_pin.toggle();
#if 0
for(slave = slaves; slave < slaves + num_slaves; slave++){
slave->finish_read(data_iter);
data_iter += FRDMSlave::samples_per_transfer;
if((uint32_t)(buffer_end - data_iter) < FRDMSlave::samples_per_transfer * sizeof(FRDMSlave::data_t)){
if(data_iter < acc_buffer1){
// Buffer is full!
break;
}
data_iter = acc_buffer2;
buffer_end = acc_buffer2 + sizeof(acc_buffer2)/sizeof(*acc_buffer2);
}
} if(slave != slaves + num_slaves){
for(i = 0; i < 10; i++){
chThdSleep(MS2ST(100));
leds[0].toggle();
leds[1].toggle();
leds[2].toggle();
leds[3].toggle();
}
break;
}
#endif
leds[0].toggle();
}
timer_stop();
for(slave = slaves; slave < slaves + num_slaves; slave++){
slave->stop();
}
leds[0].clear();
leds[1].clear();
leds[2].clear();
leds[3].clear();
chThdSleep(MS2ST(250));
}
}
eventmask_t BaseThread::waitOneEvent(eventmask_t ewmask) {
return chEvtWaitOne(ewmask);
}
int main(void)
{
// copy vector table
memcpy((char *)0x20000000, (const char *)&_vectors, 0x200);
// remap SRAM1 to 0x00000000
SYSCFG->MEMRMP |= 0x03;
/* system & hardware initialization */
halInit();
// float usb inputs, hope the host notices detach...
palSetPadMode(GPIOA, 11, PAL_MODE_INPUT);
palSetPadMode(GPIOA, 12, PAL_MODE_INPUT);
// setup LEDs
palSetPadMode(LED1_PORT,LED1_PIN,PAL_MODE_OUTPUT_PUSHPULL);
palSetPadMode(LED2_PORT, LED2_PIN, PAL_MODE_OUTPUT_PUSHPULL);
palClearPad(LED1_PORT,LED1_PIN);
palSetPad(LED2_PORT,LED2_PIN);
chSysInit();
palSetPadMode(GPIOA, 11, PAL_MODE_ALTERNATE(10));
palSetPadMode(GPIOA, 12, PAL_MODE_ALTERNATE(10));
palSetPadMode(GPIOC, 8, PAL_MODE_ALTERNATE(12) | PAL_STM32_OSPEED_HIGHEST);
palSetPadMode(GPIOC, 9, PAL_MODE_ALTERNATE(12) | PAL_STM32_OSPEED_HIGHEST);
palSetPadMode(GPIOC, 10, PAL_MODE_ALTERNATE(12) | PAL_STM32_OSPEED_HIGHEST);
palSetPadMode(GPIOC, 11, PAL_MODE_ALTERNATE(12) | PAL_STM32_OSPEED_HIGHEST);
palSetPadMode(GPIOC, 12, PAL_MODE_ALTERNATE(12) | PAL_STM32_OSPEED_HIGHEST);
palSetPadMode(GPIOD, 2, PAL_MODE_ALTERNATE(12) | PAL_STM32_OSPEED_HIGHEST);
chThdSleepMilliseconds(50);
/* initialize the SD card */
sdcStart(&SDCD1, NULL);
sdcConnect(&SDCD1);
/* initialize the USB mass storage driver */
msdInit(&UMSD1);
/* turn off green LED, turn on red LED */
palSetPadMode(LED1_PORT, LED1_PIN, PAL_MODE_OUTPUT_PUSHPULL);
palClearPad(LED1_PORT, LED1_PIN);
palSetPadMode(LED2_PORT, LED2_PIN, PAL_MODE_OUTPUT_PUSHPULL);
palSetPad(LED2_PORT, LED2_PIN);
/* start the USB mass storage service */
int ret = msdStart(&UMSD1, &msdConfig);
if (ret != 0) {
/* no media found : bye bye !*/
usbDisconnectBus(&USBD1);
chThdSleepMilliseconds(1000);
NVIC_SystemReset();
}
/* watch the mass storage events */
EventListener connected;
EventListener ejected;
chEvtRegisterMask(&UMSD1.evt_connected, &connected, EVENT_MASK(1));
chEvtRegisterMask(&UMSD1.evt_ejected, &ejected, EVENT_MASK(2));
/* start the USB driver */
usbDisconnectBus(&USBD1);
chThdSleepMilliseconds(1000);
usbStart(&USBD1, &usbConfig);
usbConnectBus(&USBD1);
while (TRUE)
{
eventmask_t event = chEvtWaitOne(EVENT_MASK(1) | EVENT_MASK(2));
if (event == EVENT_MASK(1))
{
/* media connected */
}
else if (event == EVENT_MASK(2))
{
/* media ejected : bye bye !*/
usbDisconnectBus(&USBD1);
chThdSleepMilliseconds(1000);
NVIC_SystemReset();
}
}
return 0;
}
static msg_t thdUsbStorage(void *arg)
{
(void) arg; // unused
chRegSetThreadName("UsbStorage:polling");
uint antiBounce=5;
EventListener connected;
// Should use EXTI interrupt instead of active polling,
// but in the chibios_opencm3 implementation, since EXTI is
// used via libopencm3, ISR are routed on pprz/opencm3 and cannot
// be used concurrently by chibios api
// Should be fixed when using chibios-rt branch
while (!chThdShouldTerminate() && antiBounce) {
const bool_t usbConnected = palReadPad (GPIOA, GPIOA_OTG_FS_VBUS);
if (usbConnected)
antiBounce--;
else
antiBounce=5;
chThdSleepMilliseconds(20);
}
isRunning = true;
chRegSetThreadName("UsbStorage:connected");
/* Stop the logs*/
chibios_logFinish (true);
/* connect sdcard sdc interface sdio */
if (sdioConnect () == false)
chThdExit (RDY_TIMEOUT);
/* initialize the USB mass storage driver */
msdInit(&UMSD1);
/* start the USB mass storage service */
msdStart(&UMSD1, &msdConfig);
/* start the USB driver */
usbDisconnectBus(&USBD1);
chThdSleepMilliseconds(1000);
usbStart(&USBD1, &usbConfig);
usbConnectBus(&USBD1);
/* wait for a real usb storage connexion before shutting down autopilot */
chEvtRegisterMask(&UMSD1.evt_connected, &connected, EVENT_MASK(1));
chEvtWaitOne(EVENT_MASK(1));
/* stop autopilot */
if (pprzThdPtr != NULL) {
chThdTerminate (pprzThdPtr);
chThdWait (pprzThdPtr);
pprzThdPtr = NULL;
}
/* wait until usb-storage is unmount and usb cable is unplugged*/
while (!chThdShouldTerminate() && palReadPad (GPIOA, GPIOA_OTG_FS_VBUS)) {
chThdSleepMilliseconds(10);
}
/* then close open descriptors and reboot autopilot */
usbDisconnectBus(&USBD1);
chThdSleepMilliseconds(500);
msdStop(&UMSD1);
sdioDisconnect ();
MCU_RESTART();
return RDY_OK;
}
eventmask_t Event::WaitOne(eventmask_t ewmask) {
return chEvtWaitOne(ewmask);
}