void stm32_soc_init(void)
{
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/**Configure the Systick interrupt time
*/
HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/RHINO_CONFIG_TICKS_PER_SECOND);
/*default uart init*/
stduart_init();
brd_peri_init();
MX_DMA_Init();
MX_SAI1_Init();
MX_SPI1_Init();
MX_CRC_Init();
#ifdef STARTERKIT_AUDIO
drv_codec_nau8810_init();
audio_init();
#endif
}
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_I2C2_Init();
MX_RTC_Init();
MX_SPI1_Init();
MX_SPI3_Init();
MX_USB_OTG_FS_PCD_Init();
//HAL_SPI_MspInit(&hspi3);
/* USER CODE BEGIN 2 */
//begin();
//setWrap(false);
//fillRect(0,0,128,20,ColorHSV(1200,255,255));
// USART_TypeDef USB_UART;
// HAL_UART_MspInit(&USB_UART);
// HAL_UART_Init(&USB_UART);
/* USER CODE END 2 */
/* Infinite loop */
char test[5]= "test";
/* USER CODE BEGIN WHILE */
while (1)
{
// fillRect(0,0,128,128,ColorHSV(1200,255,255));
HAL_GPIO_WritePin(RED_GPIO_Port, RED_Pin, GPIO_PIN_SET);
HAL_Delay(500);
HAL_GPIO_WritePin(RED_GPIO_Port, RED_Pin, GPIO_PIN_RESET);
HAL_Delay(500);
}
/* USER CODE END 3 */
}
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_I2C3_Init();
MX_TIM1_Init();
MX_TIM2_Init();
MX_TIM3_Init();
MX_TIM4_Init();
MX_TIM5_Init();
MX_USART1_UART_Init();
MX_USART2_UART_Init();
MX_TIM11_Init();
/* USER CODE BEGIN 2 */
HAL_TIM_Base_Start_IT(&htim11); // 100 msec timer
initSonar( MAX_SONAR);
initSerOutput();
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
// >>>>> Sonar reading
triggerSonar( COUPLE_0_2);
HAL_Delay(49);
triggerSonar( COUPLE_1_3);
HAL_Delay(49);
// <<<<< Sonar reading
// >>>>> Serial Output
convertMeasures();
sendMeasures();
// <<<<< Serial Output
}
/* USER CODE END 3 */
}
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_I2S2_Init();
MX_SDIO_SD_Init();
MX_FATFS_Init();
/* USER CODE BEGIN 2 */
printf("Init complete");
//WavePlayerStartSample();
while((res=f_mount (&fatfs, SD_Path, 1))!=FR_OK)
{
printf("QQ");
}
WavePlayerStart_DMA("0:/akuno.wav");
//playindex=rand()%6;
/*switch(playindex)
{
case :
WavePlayerStart_DMA("0:/test.wav");
break;
case 1:
WavePlayerStart_DMA("0:/akuno.wav");
break;
default:
WavePlayerStart_DMA("0:/akuno.wav");
break;
}*/
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
//WavePlayerStart_DMA("0:/test.wav");
}
/* USER CODE END 3 */
}
void Nucleo_BSP_Init() {
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_USART2_UART_Init();
}
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_ADC1_Init();
MX_I2C1_Init();
MX_RTC_Init();
MX_SPI2_Init();
MX_TIM1_Init();
MX_TIM2_Init();
MX_TIM3_Init();
MX_TIM4_Init();
MX_USART3_UART_Init();
/* USER CODE BEGIN 2 */
encoderInit();
pwmInit();
// adcInit();
uartInit();
timInterruptInit();
gyroInit(GYROHIGH);
calibrateGyro();
// rotaryRight(800);
// HAL_Delay(500);
// rotaryLeft(800);
drive(VEL);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
int main(void)
{
RCC->AHB1ENR |= 0xFFFFFFFF;
RCC->AHB2ENR |= 0xFFFFFFFF;
RCC->AHB3ENR |= 0xFFFFFFFF;
RCC->APB1ENR |= 0xFFFFFFFF;
RCC->APB2ENR |= 0xFFFFFFFF;
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
initIGVCCallbackTimer();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_ADC2_Init();
i2cInit();
commsUsartInit();
MX_USB_OTG_FS_USB_Init();
adc_init();
initSteeringMotor();
initSteering();
initSpeedDAC();
initEncoderInputCapture();
initAutomanInt();
addCallbackTimer(1000, led6Toggle, NULL);
printf("Hello.\r\n");
while(1)
{
serviceTxDma();
serviceCallbackTimer();
serviceUSBWrite();
serviceI2C();
serviceAutoman();
consoleProcessBytes();
uint8_t dataIn;
while (doubleBuffer_read(&usbReceiveBuffer, &dataIn, 1))
{
runCommsFSM((char)dataIn);
}
}
}
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
Task_Info_t TaskState=TASK_INFO_INIT;
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* System interrupt init*/
/* Sets the priority grouping field */
HAL_NVIC_SetPriorityGrouping(NVIC_PRIORITYGROUP_0);
HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_USART6_UART_Init();
MX_USART1_UART_Init();
MX_USART2_UART_Init();
MX_USART3_UART_Init();
MX_TimerDynamixel_Init(&TimHandle2 , TIM2);
MX_TimerDynamixel_Init(&TimHandle3 , TIM3);
MX_TimerDynamixel_Init(&TimHandle4 , TIM4);
Trace_Init();
HAL_Delay(1000);
Trace_Raw("Medula control board start...\n\r");
Dynamixel_Init();
IO_Data_init();
while (0)
{
Dynamixel_test(&TaskState);
Trace_Task();
}
while (1)
{
HAL_Delay(10);
IO_Data_Scan_In();
Appli(&TaskState);
Trace_Task();
HAL_Delay(5);
IO_Data_Scan_Out();
}
/* USER CODE END 3 */
}
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_COMP1_Init();
MX_COMP2_Init();
MX_I2C1_Init();
MX_TIM3_Init();
MX_USART1_UART_Init();
MX_ADC_Init();
MX_DMA_Init();
/* USER CODE BEGIN 2 */
init_all();
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
period_time_check_flags();
// if (HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_4) != GPIO_PIN_RESET)
// {
// HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_10);
// buzzer(beeps,1);
// buzzer_speed(100);
// }
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
speed_counter++;
}
/* USER CODE END 3 */
}
int main(void) {
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_USART3_UART_Init();
MX_TIM2_Init();
/* USER CODE BEGIN 2 */
nec.timerHandle = &htim2;
nec.timerChannel = TIM_CHANNEL_1;
nec.timerChannelActive = HAL_TIM_ACTIVE_CHANNEL_1;
nec.timingBitBoundary = 1680;
nec.timingAgcBoundary = 12500;
nec.type = NEC_NOT_EXTENDED;
nec.NEC_DecodedCallback = myNecDecodedCallback;
nec.NEC_ErrorCallback = myNecErrorCallback;
nec.NEC_RepeatCallback = myNecRepeatCallback;
NEC_Read(&nec);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1) {
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
HAL_GPIO_TogglePin(GPIOD, GPIO_PIN_12);
HAL_Delay(100);
HAL_GPIO_TogglePin(GPIOD, GPIO_PIN_13);
HAL_Delay(100);
}
/* USER CODE END 3 */
}
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_SPI1_Init();
MX_TIM2_Init();
MX_TIM3_Init();
MX_TIM7_Init();
MX_TIM10_Init();
MX_TIM11_Init();
MX_TIM13_Init();
MX_TIM14_Init();
MX_USART1_UART_Init();
MX_USART2_UART_Init();
/* USER CODE BEGIN 2 */
HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1); //Motor1
HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4); //Motor2
HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1); //Motor3
HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_4); //Motor4
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_ADC1_Init();
MX_I2C1_Init();
MX_IWDG_Init();
MX_SDADC1_Init();
MX_SDADC2_Init();
MX_TSC_Init();
MX_TIM2_Init();
MX_TIM3_Init();
MX_SDADC3_Init();
MX_USB_DEVICE_Init();
MX_RTC_Init();
MX_TIM6_Init();
MX_TIM7_Init();
/* USER CODE BEGIN 2 */
Setup();
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
loop();
}
/* USER CODE END 3 */
}
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_ADC1_Init();
MX_ADC2_Init();
MX_TIM1_Init();
MX_TIM2_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
HAL_TIM_Base_Start_IT(&htim1);
HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_1);
HAL_TIMEx_PWMN_Start(&htim1,TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_2);
HAL_TIMEx_PWMN_Start(&htim1,TIM_CHANNEL_2);
HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_3);
HAL_TIMEx_PWMN_Start(&htim1,TIM_CHANNEL_3);
HAL_TIM_Base_Start_IT(&htim2);
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_CRC_Init();
MX_USART1_UART_Init();
// MX_RTC_Init(); /**< 重新用cube生成工程时 注释掉此函数 再下载 */
/* USER CODE BEGIN 2 */
rtc_init(); /**< 使用改造后的初始化函数实现备份掉电时的数据 */
GUI_Init();
GUI_UC_SetEncodeUTF8();
GUI_SetFont(&GUI_Font24B_1);
GUI_SetBkColor(GUI_BLACK);
GUI_SetColor(GUI_GREEN);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
RTC_display_current_time(20, 170);
RTC_display_current_date(120, 170);
}
/* USER CODE END 3 */
}
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_USART2_UART_Init();
MX_USART3_UART_Init();
MX_TIM3_Init();
/* USER CODE BEGIN 2 */
HAL_TIM_Base_Start_IT(&htim3);
HAL_UART_Transmit_DMA(&huart3,g_cUart3_Buff,BUFFSIZE);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
HAL_UART_Receive_DMA(&huart3,g_cUart3_Buff,BUFFSIZE);
//HAL_UART_Transmit_IT(&huart3,g_cUart3_Buff,5);
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_ADC1_Init();
MX_I2C1_Init();
MX_SPI1_Init();
MX_TIM1_Init();
MX_TIM4_Init();
MX_TIM6_Init();
MX_USART1_UART_Init();
MX_USART2_UART_Init();
MX_USART3_UART_Init();
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
FlyMain();
}
/* USER CODE END 3 */
}
int main(void) {
HAL_Init();
SystemClock_Config();
led2__init();
MX_DMA_Init();
MX_TIM4_Init();
if (HAL_TIM_Base_Start_DMA(&htim4, (uint32_t *) data, 2) != HAL_OK)
{
/* Starting Error */
Error_Handler();
}
while (1)
{
}
}
int main(void)
{
/* USER CODE BEGIN 1 */
int spi_slave_enabled = 0;
int uart_slave_enabled = 0;
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
MX_GPIO_Init();
USB_Soft_Disconnect();
MX_DMA_Init();
MX_I2C2_Init();
HAL_DIP_Switches_Init();
spi_slave_enabled = HAL_SPI_Slave_Enabled();
uart_slave_enabled = HAL_UART_Slave_Enabled();
MX_I2C3_Init();
if (spi_slave_enabled) {
MX_SPI1_Init();
}
if (uart_slave_enabled) {
MX_USART6_UART_Init();
}
MX_USB_DEVICE_Init();
/* USER CODE BEGIN 2 */
nav10_init();
/* USER CODE END 2 */
nav10_main();
return 0; /* Note: Control will never reach this point. */
}
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* System interrupt init*/
/* Sets the priority grouping field */
HAL_NVIC_SetPriorityGrouping(NVIC_PRIORITYGROUP_0);
HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_I2C1_Init();
MX_I2S2_Init();
MX_I2S3_Init();
MX_SPI1_Init();
MX_SPI4_Init();
MX_TIM3_Init();
MX_USART2_UART_Init();
MX_USB_DEVICE_Init();
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
/*## FatFS: Link the USER disk I/O driver ###############################*/
USER_DriverNum = FATFS_LinkDriver(&USER_Driver, USER_Path);
/* USER CODE BEGIN 3 */
dabstick_loop(); // endless
return 0;
/* USER CODE END 3 */
}
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_ADC1_Init();
MX_ADC2_Init();
MX_DAC_Init();
MX_TIM2_Init();
MX_TIM3_Init();
/* USER CODE BEGIN 2 */
configure_modem();
acquisition_init();
acquisition_start();
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_USART2_UART_Init();
/* USER CODE BEGIN 2 */
char *msg = "Nucleo-64 ISR-UART-DMA Fun!\n\r";
HAL_UART_Transmit(&huart2, (uint8_t*)msg, strlen(msg), 0xFFFF);
HAL_UART_Receive_DMA(&huart2, &rxBuffer, 1);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
int main(void)
{
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_ADC1_Init();
MX_I2C1_Init();
MX_TIM10_Init();
MX_TIM11_Init();
MX_USART1_UART_Init();
xTaskCreate(task_safety, "Safety", 350, NULL, 1, NULL);
xTaskCreate(task_master, "Master", 350, NULL, 1, NULL);
xTaskCreate(task_control, "Control", 1000, NULL, 3, NULL);
xTaskCreate(task_test, "Test", 500, NULL, 4, NULL);
update_coefficients_QUEUE = xQueueCreate(3, sizeof(uint8_t));
control_sig_QUEUE = xQueueCreate(3, sizeof(int16_t));;
vSemaphoreCreateBinary(testing_SEMAPHORE);
vSemaphoreCreateBinary(data_SEMAPHORE);
osKernelStart();
/* We should never get here as control is now taken by the scheduler */
/* Infinite loop */
while (1)
{
}
}
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_FMC_Init();
MX_DMA2D_Init();
MX_LTDC_Init();
MX_SPI5_Init();
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
HAL_GPIO_TogglePin(green_led_GPIO_Port,green_led_Pin);
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
HAL_GPIO_TogglePin(red_led_GPIO_Port,red_led_Pin);
HAL_GPIO_TogglePin(green_led_GPIO_Port,green_led_Pin);
HAL_Delay(1000);
p = (uint32_t*)sdram_start_address;
//r(i=0;i<8*1024*1024;i+=4){
//HAL_SDRAM_Write_32b(&hsdram1,(uint32_t*)(sdram_start_address+i),&pattern,1);
//(__IO uint32_t *)(p++) = pattern;
//}
//L_DMA_XFER_CPLT_CB_ID
pattern = rand();
HAL_DMA_RegisterCallback(&hdma_memtomem_dma2_stream0,HAL_DMA_XFER_CPLT_CB_ID,myDMA_Callback);
for(i=0;i<2;i++){
HAL_DMA_Start_IT(&hdma_memtomem_dma2_stream0,
(uint32_t)&pattern,
(uint32_t)p,38400);
p+=38400;
while(!done);
done = 0;
}
HAL_Delay(1000);
start = HAL_GetTick();
//todo add mandelbrot here
{
float sx,ex,sy,ey;
float zof = 0.00001;
float zfi = 0.00001;
sx = -1.4481471; ex = -1.4472926; sy = -0.0012840417; ey = -0.00030747990;
while(zof<0.00163999794){
drawset2(sx, ex, sy, ey);
zof+=zfi;
sx -= zof;
ex += zof;
sy -= zof;
ey += zof;
HAL_Delay(16);
}
}
//HAL_Delay(1000);
//drawset2(-1.4494717,-1.4477627,-0.0017153568,0.00023776683);
stop = HAL_GetTick();
delta = stop- start;
#if 0
p = (uint32_t*)sdram_start_address;
for(i=0;i<128*65532;i+=4){
//HAL_SDRAM_Read_32b(&hsdram1,(uint32_t*)(sdram_start_address+i),&read_pattern,1);
read_pattern = *(__IO uint32_t *)(p++);
if(read_pattern!=0xaa55aa55)
{
while(1){
HAL_GPIO_TogglePin(red_led_GPIO_Port,red_led_Pin);
HAL_GPIO_TogglePin(green_led_GPIO_Port,green_led_Pin);
HAL_Delay(50);
}
}
}
stop = HAL_GetTick();
delta = stop- start;
#endif
}
/* USER CODE END 3 */
}
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
if(charComplete){ //veri gelmesi bekleniyor
printf("%c\n\r",inputChar);
uint16_t charToIdx=0;
while(1){
//gelen karakterin karakter dizinin kacinci elemani
//olduguna bakiliyor
if(inputChar==flipChars[charToIdx]){
flipToIdx=charLookup[charToIdx];
break;
}
charToIdx++;
}
//eger baslangic konumundan gecilmesi gerekiyorsa önce
//baslangic konumuna gidiliyor
if(flipToIdx<flipAtIdx){
home();
flipFlaps(flipToIdx);
}
else //gerekmiyorsa aradaki adim farki kadar
//hareket ettiriliyor
flipFlaps(flipToIdx-flipAtIdx);
//konum ve veri bilgileri guncelleniyor
flipAtIdx=flipToIdx;
charComplete=RESET;
}
}
/* USER CODE END 3 */
}
int main(void)
{
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_ADC_Init();
MX_SPI1_Init();
MX_USB_DEVICE_Init();
MX_TIM14_Init();
HAL_FLASH_Unlock();
EE_Init();
EE_ReadVariable(VirtAddVarTab[0], &x_low_th);
EE_ReadVariable(VirtAddVarTab[1], &x_high_th);
EE_ReadVariable(VirtAddVarTab[2], &y_low_th);
EE_ReadVariable(VirtAddVarTab[3], &y_high_th);
HAL_FLASH_Lock();
HAL_ADC_Start_DMA(&hadc, (uint32_t*)axis, 5);
while (1)
{
HAL_GPIO_WritePin(SPI1_nCS_GPIO_Port, SPI1_nCS_Pin, GPIO_PIN_SET);
HAL_TIM_Base_Start_IT(&htim14);
while (!u100ticks) /* do nothing for 100 us */;
HAL_TIM_Base_Stop_IT(&htim14);
u100ticks = 0;
HAL_StatusTypeDef status =
HAL_SPI_Receive(&hspi1, rx_buffer, sizeof(rx_buffer), 3000);
switch(status)
{
case HAL_OK:
report.buttons[0] = 0x00;
// report.buttons[1] = 0x00;
report.buttons[2] = 0x00;
if ((rx_buffer[0] & 0xff) != 0xff) // if all bits of rx_buffer[0] is 1 assume shifter is disconnected
{
if (rx_buffer[0] & 4) report.buttons[0] |= 1; else report.buttons[0] &= ~1;
if (rx_buffer[0] & 1) report.buttons[0] |= (1 << 1); else report.buttons[0] &= ~(1 << 1);
if (rx_buffer[0] & 2) report.buttons[0] |= (1 << 2); else report.buttons[0] &= ~(1 << 2);
if (rx_buffer[0] & 8) report.buttons[0] |= (1 << 3); else report.buttons[0] &= ~(1 << 3);
if (rx_buffer[1] & 1) report.buttons[2] |= 1; else report.buttons[2] &= ~1;
if (rx_buffer[1] & 2) report.buttons[2] |= (1 << 1); else report.buttons[2] &= ~(1 << 1);
if (rx_buffer[1] & 4) report.buttons[2] |= (1 << 2); else report.buttons[2] &= ~(1 << 2);
if (rx_buffer[1] & 8) report.buttons[2] |= (1 << 3); else report.buttons[2] &= ~(1 << 3);
if (rx_buffer[1] & 32) report.buttons[0] |= (1 << 4); else report.buttons[0] &= ~(1 << 4);
if (rx_buffer[1] & 128) report.buttons[0] |= (1 << 5); else report.buttons[0] &= ~(1 << 5);
if (rx_buffer[1] & 64) report.buttons[0] |= (1 << 6); else report.buttons[0] &= ~(1 << 6);
if (rx_buffer[1] & 16) report.buttons[0] |= (1 << 7); else report.buttons[0] &= ~(1 << 7);
}
break;
case HAL_TIMEOUT:
case HAL_BUSY:
case HAL_ERROR:
Error_Handler();
default:
report.buttons[0] = 0xff;
break;
}
HAL_GPIO_WritePin(SPI1_nCS_GPIO_Port, SPI1_nCS_Pin, GPIO_PIN_RESET);
report.id = 0x01;
x_axis = ((X_AXIS << 2) + x_axis * 96) / 100;
y_axis = ((Y_AXIS << 2) + y_axis * 96) / 100;
if (rx_buffer[0] & 16)
{
if (y_axis < y_low_th) // stick towards player
{
report.buttons[1] = 128;
report.buttons[2] &= ~(1 << 4);
}
else if (y_axis > y_high_th) // stick opposite to player
{
report.buttons[1] = 0; // neutral
report.buttons[2] |= (1 << 4);
}
else
{
report.buttons[1] = 0; // neutral
report.buttons[2] &= ~(1 << 4);
}
}
else
{
report.buttons[1] &= ~(1 << 7);
report.buttons[2] &= ~(1 << 4);
if (y_axis < y_low_th) // stick towards player
{
if (x_axis < x_low_th)
{
if (!report.buttons[1]) report.buttons[1] = 2; // 2nd gear
}
else if (!report.buttons[1])
{
report.buttons[1] = (x_axis > x_high_th) ? ((rx_buffer[0] & 64) ? 64 : 32) : 8;
}
}
else
{
if (y_axis > y_high_th) // stick opposite to player
{
if (x_axis < x_low_th)
{
if (!report.buttons[1]) report.buttons[1] = 1; // 1st gear
}
else if (!report.buttons[1])
{
report.buttons[1] = (x_axis > x_high_th) ? 16 : 4;
}
}
else
{
report.buttons[1] = 0; // neutral
}
}
}
report.axis[0] = x_axis;
report.axis[1] = y_axis;
if (report2send == 2)
{
HAL_FLASH_Unlock();
EE_WriteVariable(VirtAddVarTab[0], x_low_th);
EE_WriteVariable(VirtAddVarTab[1], x_high_th);
EE_WriteVariable(VirtAddVarTab[2], y_low_th);
EE_WriteVariable(VirtAddVarTab[3], y_high_th);
HAL_FLASH_Lock();
report2send = 0;
}
if (hUsbDeviceFS.pClassData
&& ((USBD_HID_HandleTypeDef *)hUsbDeviceFS.pClassData)->state == HID_IDLE)
{
USBD_HID_SendReport(&hUsbDeviceFS, (uint8_t *)&report, sizeof(report));
}
}
}
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* System interrupt init*/
/* Sets the priority grouping field */
HAL_NVIC_SetPriorityGrouping(NVIC_PRIORITYGROUP_1);
HAL_NVIC_SetPriority(SysTick_IRQn, 0, 1);
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_ADC1_Init();
MX_I2C1_Init();
MX_TIM1_Init();
MX_TIM3_Init();
MX_TIM4_Init();
MX_TIM6_Init();
MX_TIM7_Init();
MX_TIM8_Init();
MX_TIM10_Init();
MX_USART3_UART_Init();
/* USER CODE BEGIN 2 */
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, SET);
/* USER CODE END 2 */
/* USER CODE BEGIN 3 */
// test_Expander();
ssd1306Init(0);
test_Telemeters();
ADXRS620_Init();
TimesBase_Init();
test_Encoders();
Straight_Control_Start(GYRO);
test_Beeper();
Led_Power_Blink(990, 10, 0);
//test_Gyro();
Debug_ADXRS620();
//Debug_Straight_Control();
while(1);
// test_Encoders();
// test_Vbat();
// test_EasterEgg();
//test_Gyro();
// test_Motor_Move();
// test_Motors();
// test_Telemeters();
// HAL_Delay(1000);
// test_LineSensors();
// test_Oled();
// test_IR_Sensors();
/* USER CODE END 3 */
}
int main(void)
{
/* USER CODE BEGIN 1 */
CMDLINE_CONTEXT cmd_context;
const char *zhonx_info = (char *)CONFIG_ZHONX_INFO_ADDR;
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_ADC1_Init();
MX_ADC2_Init();
MX_ADC3_Init();
MX_I2C1_Init();
MX_RNG_Init();
MX_TIM1_Init();
MX_TIM2_Init();
MX_TIM3_Init();
MX_TIM4_Init();
MX_TIM5_Init();
MX_TIM6_Init();
MX_TIM7_Init();
MX_TIM8_Init();
MX_TIM11_Init();
MX_USART3_UART_Init();
/* USER CODE BEGIN 2 */
expanderInit();
HAL_Delay(100);
mainControlInit();
ssd1306Init(0);
timesBaseInit();
ledPowerBlink(990, 10);
settingsInit();
mulimeterInit();
bluetoothInit();
toneInit();
spyPostInit();
positionControlSetPositionType(GYRO);
mainControlSetFollowType(NO_FOLLOW);
toneSetVolulme(100);
tone(F4, 50);
toneItMode(A4, 50);
// Register Output callback
cmd_context.out = blockingPrintf;
// Initialize Command Line module
cmdline_init(&cmd_context);
// Check if robot name is populated in Flash
memset(zhonxName, 0, sizeof(zhonxName));
// Retrieve ZHONX information from flash if any
if (zhonx_info[0] == 'Z')
{
strcpy(zhonxName, zhonx_info);
}
while (zhonxName[0] == 0)
{
menu(zhonxNameMenu);
}
while (1)
{
menu(mainMenu);
powerOffConfirmation();
}
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
;
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
/* USER CODE END 3 */
}
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_CRC_Init();
MX_I2C1_Init();
MX_SPI2_Init();
MX_TIM2_Init();
MX_TIM3_Init();
MX_TIM4_Init();
MX_USART2_UART_Init();
/* USER CODE BEGIN 2 */
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8, GPIO_PIN_RESET);
// reinitialize uart with speed from config
huart2.Init.BaudRate = USART_DEBUG_SPEED;
HAL_UART_Init(&huart2);
DEBUG_PRINTF("Hello, Lepton!\n\r");
fflush(stdout);
lepton_init();
HAL_Delay(1000);
init_lepton_command_interface();
#ifdef ENABLE_LEPTON_AGC
enable_lepton_agc();
#endif
#ifdef Y16
enable_telemetry();
#else
enable_rgb888(PSUEDOCOLOR_LUT);
#endif
DEBUG_PRINTF("reading_tmp007_regs...\n\r");
read_tmp007_regs();
DEBUG_PRINTF("Initialized...\n\r");
HAL_Delay(250);
MX_USB_DEVICE_Init();
PT_INIT(&lepton_task_pt);
PT_INIT(&usb_task_pt);
PT_INIT(&uart_task_pt);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
PT_SCHEDULE(lepton_task(&lepton_task_pt));
PT_SCHEDULE(usb_task(&usb_task_pt));
PT_SCHEDULE(uart_task(&uart_task_pt));
PT_SCHEDULE(button_task(&button_task_pt));
}
/* USER CODE END 3 */
}
int main(void){
//uint8_t mpuWhoAmI[1];
//char outString[MAX_UART_STRING_LENGTH];
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
//MX_RTC_Init();
MX_DMA_Init();
MX_GPIO_Init();
MX_UART2_Init();
MX_SPI3_Init();
//MX_I2C1_Init();
MX_TIM1_Init();
//decaPeripheralInit();
SetRGBLed(RED, 50);
/* Test UART Transmit without semaphores */
uartWriteLineNoOS("SatisFactory MPU9250 no OS Test\n");
/* Create the threads and semaphore */
//osThreadDef(defaultTask, StartDefaultTask, osPriorityNormal, 0, 512);
//defaultTaskHandle = osThreadCreate(osThread(defaultTask), NULL);
osThreadDef(permanentBlinkTask, PermanentBlinkTask, osPriorityNormal, 0, 128);
permanentBlinkTaskHandle = osThreadCreate(osThread(permanentBlinkTask), NULL);
//osThreadDef(permanentBlinkTask2, PermanentBlinkTask, osPriorityNormal, 0, 128);
//permanentBlinkTaskHandle2 = osThreadCreate(osThread(permanentBlinkTask2), 200);
osThreadDef(uwbInitTask, UwbInitTask, osPriorityNormal, 0, 512); //128
uwbInitTaskHandle = osThreadCreate(osThread(uwbInitTask), NULL);
//osThreadDef(readI2CTask, ReadI2CTask, osPriorityNormal, 0, 512); //128
//readI2CTaskHandle = osThreadCreate(osThread(readI2CTask), NULL);
/* Start scheduler */
osKernelStart();
//StartDefaultTask(NULL);
//StartUWBTask(NULL);
//StartMPUTask(NULL);
//ReadI2CTask(NULL);
/* We should never get here as control is now taken by the scheduler */
/* Infinite loop */
while (1){
//RGBLedFade(1);
}
}
int main(void)
{
/* USER CODE BEGIN 1 */
char ADC_Tx_Data[70];
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_ADC1_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
HAL_UART_Receive_IT(&huart1, (uint8_t *)Rx_Data, 1);
HAL_ADC_Start_DMA(&hadc1, (uint32_t*)&ADC_Value, 6);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
HAL_Delay(15);
HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_4);
HAL_Delay(15);
HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_0);
HAL_Delay(15);
HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_1);
HAL_Delay(15);
HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_2);
HAL_Delay(15);
sprintf(ADC_Tx_Data,"ADC1:%4d\tADC2:%4d\tADC3:%4d\tADC4:%4d\tADC5:%4d\tADC6:%4d\n\r", ADC_Value[0], ADC_Value[1], ADC_Value[2], ADC_Value[3], ADC_Value[4], ADC_Value[5]);
HAL_UART_Transmit_IT(&huart1, (uint8_t *)ADC_Tx_Data, 70);
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
