int main(void)
{
leds.initHW();
NVIC_SetPriorityGrouping( NVIC_PriorityGroup_4 );
leds.write( 0x0F ); delay_bad_ms( 200 );
leds.write( 0x0A ); delay_bad_ms( 200 );
leds.reset( 0x0F ); delay_bad_ms( 200 );
xTaskCreate( task_leds, "leds", 2*def_stksz, 0, 1, 0 );
xTaskCreate( task_usart2_send, "send", 2*def_stksz, 0, 1, 0 );
xTaskCreate( task_usart2_recv, "recv", 2*def_stksz, 0, 1, 0 );
xTaskCreate( task_string_send, "ss", def_stksz, 0, 1, 0 );
us2.initIRQ( configKERNEL_INTERRUPT_PRIORITY, 0 );
us2.initHW();
us2.init();
us2.itConfig( USART_IT_RXNE, ENABLE );
us2.setOnRecv( on_received_char );
us2.enable();
vTaskStartScheduler();
die4led( 0xFF );
return 0;
}
int main(void)
{
NVIC_SetPriorityGrouping(3);
// enable all GPIO clocks
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
RCC->AHB1ENR |= RCC_AHB1ENR_GPIODEN;
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOEEN;
top_r_led::mode(GPIO_OUTPUT);
top_g_led::mode(GPIO_OUTPUT);
top_b_led::mode(GPIO_OUTPUT);
bot_r_led::mode(GPIO_OUTPUT);
bot_g_led::mode(GPIO_OUTPUT);
bot_b_led::mode(GPIO_OUTPUT);
top_r_led::high();
top_g_led::high();
top_b_led::low();
bot_r_led::low();
bot_g_led::high();
bot_b_led::high();
// setup encoders
RCC->APB1ENR |= RCC_APB1ENR_TIM3EN | RCC_APB1ENR_TIM5EN;
left_enc_a::mode(GPIO_ALTERNATE | GPIO_AF_TIM5);
left_enc_b::mode(GPIO_ALTERNATE | GPIO_AF_TIM5);
right_enc_a::mode(GPIO_ALTERNATE | GPIO_AF_TIM3);
right_enc_b::mode(GPIO_ALTERNATE | GPIO_AF_TIM3);
left_enc.init();
right_enc.init();
// setup motors
RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
RCC->APB1ENR |= RCC_APB1ENR_SPI2EN;
tim1_ch1::mode(GPIO_ALTERNATE | GPIO_AF_TIM1);
tim1_ch1n::mode(GPIO_ALTERNATE | GPIO_AF_TIM1);
tim1_ch2::mode(GPIO_ALTERNATE | GPIO_AF_TIM1);
tim1_ch2n::mode(GPIO_ALTERNATE | GPIO_AF_TIM1);
sck::mode(GPIO_ALTERNATE | GPIO_AF_SPI2);
miso::mode(GPIO_ALTERNATE | GPIO_AF_SPI2);
mosi::mode(GPIO_ALTERNATE | GPIO_AF_SPI2);
left_motor.init();
right_motor.init();
// setup usart
RCC->APB2ENR |= RCC_APB2ENR_USART1EN;
usart1.init(115200);
NVIC_SetPriority(USART1_IRQn, 1);
NVIC_EnableIRQ(USART1_IRQn);
// setup imu
imu.init(100000);
// setup systick
SysTick_Config(SystemCoreClock/1000);
system_clock = 0;
__enable_irq();
while(1)
{
imu.update(system_clock);
}
}
