void main(void)
{
uint8_t payload[GZLL_MAX_PAYLOAD_LENGTH];
uint8_t packet_cnt = 0;
uint8_t rx_packet_cnt = 0;
uint8_t rx_packet_byte0 = 0;
mcu_init();
gzll_init();
// Set P0 as output
P0DIR = 0;
EA = 1;
for(;;)
{
// If gazell link layer idle
if(gzll_get_state() == GZLL_IDLE)
{
if(gzll_rx_fifo_read(payload, NULL, NULL))
{
P0 = ~payload[0];
}
// Put P0 contents in payload[0]
payload[0] = P2;
// Transmits payload[] to pipe 0 address
gzll_tx_data(payload, 1, 0);
}
}
}
/**
Gazell Link Layer Configuration tool main application.
*/
void main(void)
{
bool radio_activity;
uint8_t buttons;
mcu_init();
gzll_init();
app_init();
lcd_init();
EA = 1;
app_execute(0);
while(1)
{
buttons = buttons_read();
radio_activity = com_execute();
if(buttons || radio_activity)
{
app_execute(buttons);
}
}
}
void main()
{
char devid1, devid2;
int16 unique_id;
mcu_init();
//output_high(BUZZER);
output_high(LED);
//lcd_init();
/*
devid1 = read_program_eeprom(DEVID1_ADDR);
devid2 = read_program_eeprom(DEVID2_ADDR);
unique_id = ((devid1 & 0xE0) >> 5) | ((int16)devid2 << 3);*/
//printf(lcd_putc, "\f%Lu", unique_id);
//
while (1)
{
/*printf(lcd_putc, "\f\xc7Hello \nCharles");
delay_ms(1000);
printf(lcd_putc, "\fPGM !!!!");
delay_ms(1000);
printf(lcd_putc, "\f J'aime \n");
delay_ms(1000);
printf(lcd_putc, "\f les \n FRITES");
delay_ms(1000);*/
enable_interrupts(INT_TIMER0);
}
}
static inline void main_init( void ) {
mcu_init();
sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
main_init_hw();
main_enable_hw();
}
static inline void main_init( void ) {
mcu_init();
sys_time_init();
led_init();
usb_serial_init();
mcu_int_enable();
}
static inline void main_init(void)
{
mcu_init();
sys_time_register_timer((1. / PERIODIC_FREQUENCY), NULL);
downlink_init();
ActuatorsPwmInit();
}
STATIC_INLINE void main_init(void)
{
// fbw_init
fbw_mode = FBW_MODE_FAILSAFE;
mcu_init();
actuators_init();
electrical_init();
#if USE_MOTOR_MIXING
motor_mixing_init();
#endif
radio_control_init();
modules_init();
mcu_int_enable();
intermcu_init();
// register the timers for the periodic functions
main_periodic_tid = sys_time_register_timer((1. / PERIODIC_FREQUENCY), NULL);
modules_tid = sys_time_register_timer(1. / MODULES_FREQUENCY, NULL);
radio_control_tid = sys_time_register_timer((1. / 60.), NULL);
electrical_tid = sys_time_register_timer(0.1, NULL);
telemetry_tid = sys_time_register_timer((1. / 20.), NULL);
}
static inline void main_init(void)
{
mcu_init();
sys_time_register_timer((1. / PERIODIC_FREQUENCY), NULL);
uart0_init_tx();
mcu_int_enable();
}
static inline void main_init( void ) {
mcu_init();
sys_time_init();
led_init();
gps_init();
mcu_int_enable();
}
static inline void main_init(void)
{
mcu_init();
sys_time_register_timer((1. / 100), NULL);
downlink_init();
adc_init();
#ifdef ADC_0
adc_buf_channel(ADC_0, &buf_adc[0], ADC_NB_SAMPLES);
#endif
#ifdef ADC_1
adc_buf_channel(ADC_1, &buf_adc[1], ADC_NB_SAMPLES);
#endif
#ifdef ADC_2
adc_buf_channel(ADC_2, &buf_adc[2], ADC_NB_SAMPLES);
#endif
#ifdef ADC_3
adc_buf_channel(ADC_3, &buf_adc[3], ADC_NB_SAMPLES);
#endif
#ifdef ADC_4
adc_buf_channel(ADC_4, &buf_adc[4], ADC_NB_SAMPLES);
#endif
#ifdef ADC_5
adc_buf_channel(ADC_5, &buf_adc[5], ADC_NB_SAMPLES);
#endif
#ifdef ADC_6
adc_buf_channel(ADC_6, &buf_adc[6], ADC_NB_SAMPLES);
#endif
#ifdef ADC_7
adc_buf_channel(ADC_7, &buf_adc[7], ADC_NB_SAMPLES);
#endif
mcu_int_enable();
}
/**
* @fn halBoardInit
* @brief
* Initialize the hardware target board. After this initialization, you can run your
* application or startup the operating system(OS).
*
* @param none
* @return none
*/
void target_init(void)
{
/* @todo I think you should place disable interrupts here. */
hal_init( NULL, NULL );
mcu_init();
hal_disable_interrupts();
rtl_init( (void*)dbio_open(9600), (TiFunDebugIoPutChar)dbio_putchar, (TiFunDebugIoGetChar)dbio_getchar,
hal_assert_report );
/*
MCU_IO_OUTPUT(HAL_BOARD_IO_LED_1_PORT, HAL_BOARD_IO_LED_1_PIN, 0);
MCU_IO_OUTPUT(HAL_BOARD_IO_LED_2_PORT, HAL_BOARD_IO_LED_2_PIN, 0);
MCU_IO_OUTPUT(HAL_BOARD_IO_LED_3_PORT, HAL_BOARD_IO_LED_3_PIN, 0);
MCU_IO_OUTPUT(HAL_BOARD_IO_LED_4_PORT, HAL_BOARD_IO_LED_4_PIN, 0);
MCU_IO_INPUT(HAL_BOARD_IO_BTN_1_PORT, HAL_BOARD_IO_BTN_1_PIN, MCU_IO_TRISTATE);
MCU_IO_INPUT(HAL_BOARD_IO_BTN_2_PORT, HAL_BOARD_IO_BTN_2_PIN, MCU_IO_TRISTATE);
halLcdSpiInit();
halLcdInit();
halAssyInit();
*/
}
int main(void)
{
mcu_init();
sys_time_register_timer((1. / PERIODIC_FREQUENCY), NULL);
/* Init GPIO for rx pins */
gpio_setup_input_pullup(A_RX_PORT, A_RX_PIN);
gpio_setup_input_pullup(B_RX_PORT, B_RX_PIN);
/* Init GPIO for tx pins */
gpio_setup_output(A_TX_PORT, A_TX_PIN);
gpio_setup_output(B_TX_PORT, B_TX_PIN);
gpio_clear(A_TX_PORT, A_TX_PIN);
/* */
while (1) {
if (sys_time_check_and_ack_timer(0)) {
main_periodic();
}
main_event();
}
return 0;
}
/**
* Blink test main function
*
* @return Nothing really...
*/
int main(void)
{
int i, j, dp_id;
mcu_init();
led_init();
debug_pins_init();
dp_id = 0;
while (true) {
for (j = 0; j < 20; j++) {
for (i = 0; i < 125; i++) {
dp_on(dp_id);
my_delay((unsigned long)(50 * j));
dp_off(dp_id);
my_delay((unsigned long)(1200 - 50 * j));
}
}
for (j = 0; j < 20; j++) {
for (i = 0; i < 125; i++) {
dp_off(dp_id);
my_delay((unsigned long)(200 + 50 * j));
dp_on(dp_id);
my_delay((unsigned long)(1000 - 50 * j));
}
}
dp_off(dp_id);
dp_id++;
dp_id %= 4;
}
}
static inline void main_init(void)
{
mcu_init();
sys_time_register_timer((0.5 / PERIODIC_FREQUENCY), NULL);
downlink_init();
ppz_can_init(main_on_can_msg);
}
static inline void main_init(void)
{
mcu_init();
sys_time_register_timer((1. / PERIODIC_FREQUENCY), NULL);
stateInit();
actuators_init();
imu_init();
#if USE_AHRS_ALIGNER
ahrs_aligner_init();
#endif
ahrs_init();
settings_init();
mcu_int_enable();
downlink_init();
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_AUTOPILOT_VERSION, send_autopilot_version);
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ALIVE, send_alive);
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_COMMANDS, send_commands);
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ACTUATORS, send_actuators);
// send body_to_imu from here for now
AbiSendMsgBODY_TO_IMU_QUAT(1, orientationGetQuat_f(&imu.body_to_imu));
}
int main(void)
{
struct nand_chip nand_info;
struct nand_chip *nand = &nand_info;
unsigned char *oob_buf = (unsigned char *)TCSM_BANK4;
struct nand_pipe_buf pipe_buf[2];
struct pdma_msg *msg;
pipe_buf[0].pipe_data = (unsigned char *)TCSM_BANK5;
pipe_buf[1].pipe_data = (unsigned char *)TCSM_BANK6;
msg = (struct pdma_msg *)TCSM_BANK7; /* TCSM last bank start */
mcu_init();
channel_irq = 0;
nand->ctrl = 0;
__pdma_irq_enable();
while (1) {
__pdma_irq_disable();
if (!channel_irq)
__pdma_mwait();
__pdma_irq_enable();
pdma_msg_irq_handle(nand, pipe_buf, msg, oob_buf);
pdma_nand_irq_handle(nand, pipe_buf, oob_buf);
}
}
static inline void main_init(void)
{
mcu_init();
sys_time_register_timer((1. / PERIODIC_FREQUENCY), NULL);
downlink_init();
pprz_dl_init();
}
/********** INIT *************************************************************/
void init_fbw( void ) {
mcu_init();
electrical_init();
#ifdef ACTUATORS
actuators_init();
/* Load the failsafe defaults */
SetCommands(commands_failsafe);
fbw_new_actuators = 1;
#endif
#ifdef RADIO_CONTROL
radio_control_init();
#endif
#ifdef INTER_MCU
inter_mcu_init();
#endif
#ifdef MCU_SPI_LINK
link_mcu_restart();
#endif
fbw_mode = FBW_MODE_FAILSAFE;
/**** start timers for periodic functions *****/
fbw_periodic_tid = sys_time_register_timer((1./60.), NULL);
electrical_tid = sys_time_register_timer(0.1, NULL);
#ifndef SINGLE_MCU
mcu_int_enable();
#endif
}
int main(void)
{
mcu_init();
/*
* Init threads
*/
chThdCreateStatic(wa_thd_main_periodic_05, sizeof(wa_thd_main_periodic_05), NORMALPRIO, thd_main_periodic_05, NULL);
while (1) {
/* sleep for 1s */
sys_time_ssleep(1);
main_periodic_1();
/* sleep for 0.42s */
/*
* sys_time_usleep(uint32_t us)
* Use only for up to 2^32/CH_CFG_ST_FREQUENCY-1 usec
* e.g. if CH_CFG_ST_FREQUENCY=10000 use max for 420000 us
* or 420ms, otherwise overflow happens
*/
sys_time_usleep(420000);
main_periodic_15();
}
return 0;
}
int main(void) {
mcu_init();
sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
/* init RCC */
rcc_peripheral_enable_clock(&RCC_APB2ENR, A_PERIPH);
// rccp_perihperal_enable_clock(&RCC_APB2ENR, B_PERIPH);
/* Init GPIO for rx pins */
gpio_set(A_RX_PORT, A_RX_PIN);
gpio_set_mode(A_RX_PORT, GPIO_MODE_INPUT,
GPIO_CNF_INPUT_PULL_UPDOWN, A_RX_PIN);
gpio_set(B_RX_PORT, B_RX_PIN);
gpio_set_mode(B_RX_PORT, GPIO_MODE_INPUT,
GPIO_CNF_INPUT_PULL_UPDOWN, B_RX_PIN);
/* Init GPIO for tx pins */
gpio_set_mode(A_RX_PORT, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_PUSHPULL, A_TX_PIN);
gpio_set_mode(B_RX_PORT, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_PUSHPULL, B_TX_PIN);
gpio_clear(A_TX_PORT, A_TX_PIN);
/* */
while (1) {
if (sys_time_check_and_ack_timer(0))
main_periodic();
main_event();
}
return 0;
}
static inline void main_init( void ) {
mcu_init();
sys_time_init();
led_init();
uart1_init_tx();
mcu_int_enable();
}
void main(void)
{
uint8_t payload[GZLL_MAX_PAYLOAD_LENGTH];
mcu_init();
gzll_init();
// Set P0 as output
P0DIR = 0;
EA = 1;
// Enter host mode (start monitoring for data)
gzll_rx_start();
for(;;)
{
// If data received
if(gzll_rx_fifo_read(payload, NULL, NULL))
{
// Write received payload[0] to port 0
P0 = payload[0];
}
}
}
/********** INIT *************************************************************/
void init_fbw( void ) {
mcu_init();
sys_time_init();
electrical_init();
#ifdef ACTUATORS
actuators_init();
/* Load the failsafe defaults */
SetCommands(commands_failsafe);
fbw_new_actuators = 1;
#endif
#ifdef RADIO_CONTROL
radio_control_init();
#endif
#ifdef INTER_MCU
inter_mcu_init();
#endif
#ifdef MCU_SPI_LINK
link_mcu_restart();
#endif
fbw_mode = FBW_MODE_FAILSAFE;
#ifndef SINGLE_MCU
mcu_int_enable();
#endif
}
/**
* CAN test main function
*
* @return Nothing really...
*/
int main(void)
{
int timer;
uint8_t data[1];
mcu_init();
led_init();
sys_tick_init();
can_setup();
timer = sys_tick_get_timer();
data[0] = 10;
while (true) {
if (sys_tick_check_timer(timer, 10000)) {
data[0]++;
timer = sys_tick_get_timer();
#ifdef CAN__SEND
#ifdef CAN_ADDR
can_trans(CAN_ADDR, data, 1);
#else
can_trans(CAN__DEFAULT_ADDR, data, 1);
#endif
#endif
}
}
}
STATIC_INLINE void main_init( void ) {
mcu_init();
electrical_init();
stateInit();
actuators_init();
#if USE_MOTOR_MIXING
motor_mixing_init();
#endif
radio_control_init();
air_data_init();
#if USE_BARO_BOARD
baro_init();
#endif
imu_init();
#if USE_IMU_FLOAT
imu_float_init();
#endif
ahrs_aligner_init();
ahrs_init();
ins_init();
#if USE_GPS
gps_init();
#endif
autopilot_init();
modules_init();
settings_init();
mcu_int_enable();
#if DATALINK == XBEE
xbee_init();
#endif
#if DATALINK == UDP
udp_init();
#endif
// register the timers for the periodic functions
main_periodic_tid = sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
modules_tid = sys_time_register_timer(1./MODULES_FREQUENCY, NULL);
radio_control_tid = sys_time_register_timer((1./60.), NULL);
failsafe_tid = sys_time_register_timer(0.05, NULL);
electrical_tid = sys_time_register_timer(0.1, NULL);
telemetry_tid = sys_time_register_timer((1./TELEMETRY_FREQUENCY), NULL);
#if USE_BARO_BOARD
baro_tid = sys_time_register_timer(1./BARO_PERIODIC_FREQUENCY, NULL);
#endif
}
DRIVER_INIT_MEMBER(gstriker_state,vgoalsoc)
{
m_gametype = 3;
mcu_init( machine() );
machine().device("maincpu")->memory().space(AS_PROGRAM).install_write_handler(0x200090, 0x200091, write16_delegate(FUNC(gstriker_state::vbl_toggle_w),this)); // vblank toggle
machine().device("maincpu")->memory().space(AS_PROGRAM).install_read_handler(0x200090, 0x200091, read16_delegate(FUNC(gstriker_state::vbl_toggle_r),this));
}
static DRIVER_INIT( vgoalsoc )
{
gametype = 3;
mcu_init( machine );
memory_install_write16_handler(cputag_get_address_space(machine, "maincpu", ADDRESS_SPACE_PROGRAM), 0x200090, 0x200091, 0, 0, vbl_toggle_w); // vblank toggle
memory_install_read16_handler(cputag_get_address_space(machine, "maincpu", ADDRESS_SPACE_PROGRAM), 0x200090, 0x200091, 0, 0, vbl_toggle_r);
}
static inline void main_init( void ) {
mcu_init();
sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
main_init_hw();
gyro_ready_for_read = FALSE;
}
void gstriker_state::init_vgoalsoc()
{
m_gametype = VGOAL_SOCCER_MCU;
mcu_init();
m_maincpu->space(AS_PROGRAM).install_write_handler(0x200090, 0x200091, write16_delegate(FUNC(gstriker_state::vbl_toggle_w),this)); // vblank toggle
m_maincpu->space(AS_PROGRAM).install_read_handler(0x200090, 0x200091, read16_delegate(FUNC(gstriker_state::vbl_toggle_r),this));
}
static inline void main_init( void ) {
mcu_init();
sys_time_init();
main_init_hw();
gyro_ready_for_read = FALSE;
}
