static int setupHardware( void )
{
// When using the JTAG debugger the hardware is not always initialised to
// the correct default state. This line just ensures that this does not
// cause all interrupts to be masked at the start.
AT91C_BASE_AIC->AIC_EOICR = 0;
// Enable the peripheral clock.
AT91F_PMC_EnablePeriphClock( AT91C_BASE_PMC, (1 << AT91C_ID_PIOA) | //Enable Clock for PIO
(1 << AT91C_ID_IRQ0) | //Enable Clock for IRQ0
(1 << AT91C_ID_PWMC) | //Enable Clock for the PWM controller
(1 << AT91C_ID_US0) | //USART0
(1 << AT91C_ID_US1) //USART1
);
// Enable reset-button
AT91F_RSTSetMode( AT91C_BASE_RSTC , AT91C_RSTC_URSTEN );
if (!initUsart()) return 0;
if (!vInitUSBInterface()) return 0;
init_serial();
rtc_init();
InitLoggerHardware();
return 1;
}
int main (void)
{
initUsart ();
initUsb ();
initExti ();
while (1) {
}
}
/** Entry point. This is the first thing which is called after startup code.
* This never returns. */
int main(void)
{
initUsart();
initAdc();
initLcdAndInput();
do
{
processPacket();
} while (true);
}
int main (void)
{
initUsart ();
logf ("Init\r\n");
/*!< At this stage the microcontroller clock setting is already configured,
this is done through SystemInit() function which is called from startup
files (startup_stm32f40_41xxx.s/startup_stm32f427_437xx.s)
before to branch to application main. To reconfigure the default setting
of SystemInit() function, refer to system_stm32f4xx.c file
*/
/* NVIC Configuration */
NVIC_Configuration ();
logf ("NVIC_Configuration\r\n");
/*------------------------------ SD Init ---------------------------------- */
if ((Status = SD_Init ()) != SD_OK) {
logf ("SD_Init failed\r\n");
}
else {
logf ("SD_Init OK\r\n");
}
while ((Status == SD_OK) && (uwSDCardOperation != SD_OPERATION_END) && (SD_Detect () == SD_PRESENT)) {
switch (uwSDCardOperation) {
/*-------------------------- SD Single Block Test --------------------- */
case (SD_OPERATION_BLOCK):
{
SD_SingleBlockTest ();
uwSDCardOperation = SD_OPERATION_ERASE;
break;
}
/*-------------------------- SD Erase Test ---------------------------- */
case (SD_OPERATION_ERASE):
{
SD_EraseTest ();
uwSDCardOperation = SD_OPERATION_MULTI_BLOCK;
break;
}
/*-------------------------- SD Multi Blocks Test --------------------- */
case (SD_OPERATION_MULTI_BLOCK):
{
SD_MultiBlockTest ();
uwSDCardOperation = SD_OPERATION_END;
break;
}
}
}
/* Infinite loop */
while (1) {
}
}
int main()
{
RCC_Config(); // to read and write to AFIO_remap AFIO_clock must first be eanble
NVIC_Config();
TIM_Config();
GPIO_Config();
EXTI_Configuration();
initUsart();
//initBT();
// Only for debug the clock tree ***********************************************
// Put the clock configuration into RCC_APB2PeriphClockCmd
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
/* Output clock on MCO pin ---------------------------------------------*/
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
// RCC_MCOConfig(RCC_MCO_HSE); // Put on MCO pin the: freq. of external crystal
RCC_MCOConfig(RCC_MCO_SYSCLK); // Put on MCO pin the: System clock selected
//
//RTCInit();
RCC_GetClocksFreq(&RCC_Clocks);
writeStringUSART2("\033[2J"); //clear usart 2 screen
writeStringUSART1("\033[2J"); //clear usart 1 screen
writeStringUSART1(" <<<<- Welcome To Hinkens Cobra Bluetooth ->>>>\n\n\r");
while(1)
{
if(GPIO_ReadInputDataBit(GPIOB, COBRA_BOARDSWITCH)== false) writeStringUSART1("On Hook\n\r");
else //Luren är lyft
{
writeStringUSART1("Phone is off hook!\n\r Dial: \n\r");
acceptCall(); //accept incoming call
Delay(Delay_10ms);
//for(counter = 0 ; counter < 10 ; counter++)
while(TIM_GetITStatus(TIM2, TIM_IT_Update) == RESET) //
{
dialed_number = 0;
while(GPIO_ReadInputDataBit(GPIOB, COBRA_DIALING)== true && GPIO_ReadInputDataBit(GPIOB, COBRA_BOARDSWITCH)== true)//Wait for user to start dialing
{
//writeStringUSART1("Timer Counter: %d\r\n",TIM_GetCounter(TIM2));
if(state == 1 && dialingFlag == true) //check if timer has run out and user has started a call
{
writeStringUSART1("time is up dialing number: ");
for (int x = 0; x < counter; x++)
{
//printf("%d", number[x] );
}
sendPhoneNumber(number, counter);
writeStringUSART1("\r\n");
dialingFlag = false;
state = 0;
counter = 0;
}
}
Delay(Delay_100ms); //Wait for switch to debounce
while(GPIO_ReadInputDataBit(GPIOB, COBRA_DIALING) == false)
{
dialingFlag = true;
state = 0;
TIM_SetCounter(TIM2, 0);
TIM_Cmd(TIM2, ENABLE); //Start timer
//RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
Delay(Delay_10ms);
Delay(Delay_10ms);
//Now count how many times the mechnical switch toggles
if(GPIO_ReadInputDataBit(GPIOB, COBRA_PULSE)== false && pulseFlag == 1)
{
pulseFlag = 0;
dialed_number ++;
}
else if(GPIO_ReadInputDataBit(GPIOB, COBRA_PULSE) == true && pulseFlag == 0)
{
pulseFlag = 1;
//Do notthing just idle..
}
Delay(Delay_10ms);
}
Delay(Delay_100ms);
if(dialed_number != 0) // to handle the error of a extra loop after dialed number
{
dialed_number--; //Rotary always has one extra closure that must be taken off
number[counter] = dialed_number;
counter ++;
}
if(GPIO_ReadInputDataBit(GPIOB, COBRA_BOARDSWITCH)== false) //Hunng upp
{
hangUp(); //hang-up command to bluettooh
writeStringUSART1("Hung up!\n\r");
counter = 0;
break;
}
//printf("%d\n\r", dialed_number);
}//end for loop
}
Delay(Delay_100ms);
}//end while(1)
}//end main()
int main (void)
{
initI2C1 ();
initUsart ();
#if 0
/*
* +----------------+
* | Initialization |
* +----------------+
*/
accelgyro.initialize();
setClockSource(MPU6050_CLOCK_PLL_XGYRO/*0x01*/);
/*
* Excerpt from domcumentation : Upon power up, the MPU-60X0 clock source defaults to the internal oscillator.
* However, it is highly recommended that the device be configured to use one of the gyroscopes. Below is the code
* which does it:
*/
I2Cdev::writeBits(devAddr, MPU6050_RA_PWR_MGMT_1/*0x6B*/, MPU6050_PWR1_CLKSEL_BIT/*2*/, MPU6050_PWR1_CLKSEL_LENGTH/*3*/, source/*MPU6050_CLOCK_PLL_XGYRO 0x01*/);
setFullScaleGyroRange(MPU6050_GYRO_FS_250/*0x00*/);
/*
* 0x1b register is used to trigger gyroscope self-test and configure the gyroscopes’ full scale range. Below
* we set ful scale to be +/- 250 units (seconds?)
*/
I2Cdev::writeBits(devAddr, MPU6050_RA_GYRO_CONFIG/*0x1B*/, MPU6050_GCONFIG_FS_SEL_BIT/*4*/, MPU6050_GCONFIG_FS_SEL_LENGTH/*2*/, range/*0x00*/);
setFullScaleAccelRange(MPU6050_ACCEL_FS_2/*0x00*/);
/*
* Set accelerometer full scale to be +/- 2g.
*/
I2Cdev::writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG/*0x1C*/, MPU6050_ACONFIG_AFS_SEL_BIT/*4*/, MPU6050_ACONFIG_AFS_SEL_LENGTH/*2*/, range/*0*/);
setSleepEnabled(false); // thanks to Jack Elston for pointing this one out!
/*
* By default MPU6050 is in sleep mode after powering up. Below we are waking it back on. This
* is done using the same register as in first line,
*/
I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1/*0x6B*/, MPU6050_PWR1_SLEEP_BIT/*6*/, enabled/*false*/);
accelgyro.testConnection()
getDeviceID() == 0x34;
/*
* This register is used to verify the identity of the device. The contents of WHO_AM_I are
* the upper 6 bits of the MPU-60X0’s 7-bit I C address. The Power-On-Reset value of Bit6:Bit1 is 0b110100 == 0x34.
*/
I2Cdev::readBits(devAddr, MPU6050_RA_WHO_AM_I/*0x75*/, MPU6050_WHO_AM_I_BIT/*6*/, MPU6050_WHO_AM_I_LENGTH/*6*/, buffer);
return buffer[0];
/*
* +----------------+
* | Main loop |
* +----------------+
*/
int16_t ax, ay, az;
int16_t gx, gy, gz;
accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
/*
* In MPU-6000 and MPU-6050 Product Specification Rev 3.3 on pages 36 and 37 we read, that I²C reads and writes
* can be performed with single byte or multiple bytes. In single byte mode, we issue (after sending slave
* address ofcourse) a register address, and send or receive one byte of data. Multiple byte reads and writes, at the
* other hand consist of slave address, regiser address and multiple consecutive bytes od data. Slave puts or gets
* first byte from the register with the address we've just sent, and increases this addres by 1 after each byte.
*
* This is very useful in case of accelerometer and gyroscope because manufacturer has set up the apropriate registers
* cnsecutively, so one can read accel, internal temp and gyro data in one read command. Below is the code which does
* exactly this:
*/
I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H/*0x3B*/, 14, buffer);
*ax = (((int16_t)buffer[0]) << 8) | buffer[1];
*ay = (((int16_t)buffer[2]) << 8) | buffer[3];
*az = (((int16_t)buffer[4]) << 8) | buffer[5];
*gx = (((int16_t)buffer[8]) << 8) | buffer[9];
*gy = (((int16_t)buffer[10]) << 8) | buffer[11];
*gz = (((int16_t)buffer[12]) << 8) | buffer[13];
#endif
// Configuration:
I2C_start (I2C1, MPU6050_ADDRESS_AD0_LOW, I2C_Direction_Transmitter); // start a transmission in Master transmitter mode
I2C_write_slow (I2C1, MPU6050_RA_PWR_MGMT_1); // Register address
I2C_write (I2C1, MPU6050_CLOCK_PLL_XGYRO); // Register value = 0x01. Which means, that DEVICE_RESET, SLEEP, CYCLE and TEMP_DIS are all 0.
I2C_stop (I2C1);
I2C_start (I2C1, MPU6050_ADDRESS_AD0_LOW, I2C_Direction_Transmitter);
I2C_write (I2C1, MPU6050_RA_GYRO_CONFIG);
I2C_write (I2C1, MPU6050_GYRO_FS_250); // All bits set to zero.
I2C_stop (I2C1);
I2C_start (I2C1, MPU6050_ADDRESS_AD0_LOW, I2C_Direction_Transmitter);
I2C_write (I2C1, MPU6050_RA_ACCEL_CONFIG);
I2C_write (I2C1, MPU6050_ACCEL_FS_2); // All bits set to zero.
I2C_stop (I2C1);
// Simple test if communication is working
I2C_start (I2C1, MPU6050_ADDRESS_AD0_LOW, I2C_Direction_Transmitter);
I2C_write (I2C1, MPU6050_RA_WHO_AM_I);
I2C_stop (I2C1);
I2C_start (I2C1, MPU6050_ADDRESS_AD0_LOW, I2C_Direction_Receiver);
uint8_t whoAmI = I2C_read_nack (I2C1); // read one byte and don't request another byte
I2C_stop (I2C1);
if (whoAmI == 0x34) {
usartSendString (USART1, "Accelerometer has been found!\r\n");
}
else {
usartSendString (USART1, "*NO* Accelerometer has been found!\r\n");
}
while (1) {
I2C_start (I2C1, MPU6050_ADDRESS_AD0_LOW, I2C_Direction_Transmitter);
I2C_write (I2C1, MPU6050_RA_ACCEL_XOUT_H);
I2C_stop (I2C1);
I2C_start (I2C1, MPU6050_ADDRESS_AD0_LOW, I2C_Direction_Receiver);
uint16_t ax = ((uint16_t)I2C_read_ack (I2C1) << 8) | I2C_read_ack (I2C1);
uint16_t ay = ((uint16_t)I2C_read_ack (I2C1) << 8) | I2C_read_ack (I2C1);
uint16_t az = ((uint16_t)I2C_read_ack (I2C1) << 8) | I2C_read_ack (I2C1);
uint16_t temp = ((uint16_t)I2C_read_ack (I2C1) << 8) | I2C_read_ack (I2C1);
uint16_t gx = ((uint16_t)I2C_read_ack (I2C1) << 8) | I2C_read_ack (I2C1);
uint16_t gy = ((uint16_t)I2C_read_ack (I2C1) << 8) | I2C_read_ack (I2C1);
uint16_t gz = ((uint16_t)I2C_read_ack (I2C1) << 8) | I2C_read_nack (I2C1);
I2C_stop (I2C1);
printf ("Accel : (%d, %d, %d), temperature : %d, gyro : (%d, %d, %d)\r\n", ax, ay, az, temp, gx, gy, gz);
}
}
