/**
* @brief Application entry point.
* @details
*/
int main(void) {
/* 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();
/* Initializes a serial-over-USB CDC driver. */
sduObjectInit(&SDU1);
sduStart(&SDU1, &serusbcfg);
/* Activates the USB driver and then the USB bus pull-up on D+.
* Note, a delay is inserted in order to not have to disconnect the cable
* after a reset.
*/
usbStop(serusbcfg.usbp);
usbDisconnectBus(serusbcfg.usbp);
chThdSleepMilliseconds(500);
usbConnectBus(serusbcfg.usbp);
usbStart(serusbcfg.usbp, &usbcfg);
/* Activates the serial driver 4 using the driver's default configuration. */
sdStart(&SD4, NULL);
/* Activates the I2C driver 2. */
i2cInit();
i2cStart(&I2CD2, &i2cfg_d2);
/* Enables the CRC peripheral clock. */
rccEnableCRC(FALSE);
/* Loads settings from external EEPROM chip. */
if (eepromLoadSettings()) {
g_boardStatus |= EEPROM_24C02_DETECTED;
}
/* Initializes the MPU6050 sensor. */
if (mpu6050Init()) {
g_boardStatus |= MPU6050_LOW_DETECTED;
/* Creates a taken binary semaphore. */
chBSemInit(&bsemNewDataReady, TRUE);
/* Creates the MPU6050 polling thread and attitude calculation thread. */
chThdCreateStatic(waPollMPU6050Thread, sizeof(waPollMPU6050Thread),
NORMALPRIO + 1, PollMPU6050Thread, NULL);
chThdCreateStatic(waAttitudeThread, sizeof(waAttitudeThread),
HIGHPRIO, AttitudeThread, NULL);
/* Starts motor drivers. */
pwmOutputStart();
/* Starts ADC and ICU input drivers. */
mixedInputStart();
}
/* Creates the blinker thread. */
chThdCreateStatic(waBlinkerThread, sizeof(waBlinkerThread),
LOWPRIO, BlinkerThread, NULL);
/* Normal main() thread activity. */
while (TRUE) {
g_chnp = serusbcfg.usbp->state == USB_ACTIVE ? (BaseChannel *)&SDU1 : (BaseChannel *)&SD4;
telemetryReadSerialData();
if (eepromIsDataLeft()) {
eepromContinueSaving();
}
chThdSleepMilliseconds(TELEMETRY_SLEEP_MS);
}
/* This point should never be reached. */
return 0;
}
/**
* @brief Configures and activates the CRC peripheral.
*
* @param[in] crcp pointer to the @p CRCDriver object
*
* @notapi
*/
void crc_lld_start(CRCDriver *crcp) {
if (crcp->config == NULL)
crcp->config = &default_config;
rccEnableCRC(FALSE);
#if STM32_CRC_PROGRAMMABLE == TRUE
crcp->crc->INIT = crcp->config->initial_val;
crcp->crc->POL = crcp->config->poly;
crcp->crc->CR = 0;
switch(crcp->config->poly_size) {
case 32:
break;
case 16:
crcp->crc->CR |= CRC_CR_POLYSIZE_0;
break;
case 8:
crcp->crc->CR |= CRC_CR_POLYSIZE_1;
break;
case 7:
crcp->crc->CR |= CRC_CR_POLYSIZE_1 | CRC_CR_POLYSIZE_0;
break;
default:
osalDbgAssert(false, "hardware doesn't support polynomial size");
break;
};
if (crcp->config->reflect_data) {
crcp->crc->CR |= CRC_CR_REV_IN_1 | CRC_CR_REV_IN_0;
}
if (crcp->config->reflect_remainder) {
crcp->crc->CR |= CRC_CR_REV_OUT;
}
#else
osalDbgAssert(crcp->config->initial_val == default_config.initial_val,
"hardware doesn't support programmable initial value");
osalDbgAssert(crcp->config->poly_size == default_config.poly_size,
"hardware doesn't support programmable polynomial size");
osalDbgAssert(crcp->config->poly == default_config.poly,
"hardware doesn't support programmable polynomial");
osalDbgAssert(crcp->config->reflect_data == default_config.reflect_data,
"hardware doesn't support reflect of input data");
osalDbgAssert(crcp->config->reflect_remainder == default_config.reflect_remainder,
"hardware doesn't support reflect of output remainder");
#endif
#if CRC_USE_DMA == TRUE
#if STM32_CRC_PROGRAMMABLE == TRUE
crcp->dmamode = STM32_DMA_CR_DIR_M2M | STM32_DMA_CR_PINC |
STM32_DMA_CR_MSIZE_BYTE | STM32_DMA_CR_PSIZE_BYTE |
STM32_DMA_CR_TEIE | STM32_DMA_CR_TCIE |
STM32_DMA_CR_PL(STM32_CRC_CRC1_DMA_PRIORITY);
#else
crcp->dmamode = STM32_DMA_CR_DIR_M2M | STM32_DMA_CR_PINC |
STM32_DMA_CR_MSIZE_WORD | STM32_DMA_CR_PSIZE_WORD |
STM32_DMA_CR_TEIE | STM32_DMA_CR_TCIE |
STM32_DMA_CR_PL(STM32_CRC_CRC1_DMA_PRIORITY);
#endif
{
bool b;
b = dmaStreamAllocate(crcp->dma,
STM32_CRC_CRC1_DMA_IRQ_PRIORITY,
(stm32_dmaisr_t)crc_lld_serve_interrupt,
(void *)crcp);
osalDbgAssert(!b, "stream already allocated");
}
#endif
}
