int main(void) {
char msg[20];
uint16_t rawValues[3];
float temp;
HAL_Init();
Nucleo_BSP_Init();
/* Initialize all configured peripherals */
MX_TIM1_Init();
MX_ADC1_Init();
HAL_ADCEx_Calibration_Start(&hadc1);
HAL_TIM_Base_Start(&htim1);
HAL_ADC_Start_DMA(&hadc1, (uint32_t*)rawValues, 1);
while(1) {
while(!convCompleted);
for(uint8_t i = 0; i < 1; i++) {
temp = ((float)rawValues[i]) / 4095 * 3300;
temp = ((temp - 1430.0) / 4.3) + 25;
sprintf(msg, "rawValue %d: %hu\r\n", i, rawValues[i]);
HAL_UART_Transmit(&huart2, (uint8_t*) msg, strlen(msg), HAL_MAX_DELAY);
sprintf(msg, "Temperature %d: %f\r\n",i, temp);
HAL_UART_Transmit(&huart2, (uint8_t*) msg, strlen(msg), HAL_MAX_DELAY);
}
convCompleted = 0;
}
}
int main(void)
{
HAL_Init();
SystemClock_Config();
MX_GPIO_Init();
MX_CAN_Init();
MX_I2C1_Init();
MX_USART3_UART_Init();
MX_USART2_UART_Init();
MX_USART1_UART_Init();
MX_TIM1_Init();
USBD_Init(&hUsbDeviceFS, &FS_Desc, DEVICE_FS);
USBD_RegisterClass(&hUsbDeviceFS, &USBD_CUSTOM_HID);
USBD_CUSTOM_HID_RegisterInterface(&hUsbDeviceFS, &USBD_CustomHID_fops_FS);
USBD_Start(&hUsbDeviceFS);
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
HAL_GPIO_TogglePin(GPIOB, GPIO_PIN_1);
HAL_Delay(blinkingDelay);
}
/* 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_TIM1_Init();
HAL_TIM_Base_Start_IT(&htim1);
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
// uint32_t ticksPassed = 0;
// if (GPIOA->IDR & 0x01) {
// uint32_t ticksPassed = 0;
// while (GPIOA->IDR & 0x01) {
// ticksPassed++;
// }
// SysTick_Config(ticksPassed);
// }
// if (GPIOA->IDR & 0x01) {
//
// }
/* USER CODE END WHILE */
// GPIOE->ODR ^= 0x0000FF00;
// int i = 0;
// while (i < 1000000) {
// i++;
// }
// HAL_GPIO_TogglePin(GPIOE, 0xFF00);
// HAL_Delay(1000);
/* 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_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_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) {
HAL_Init();
Nucleo_BSP_Init();
MX_TIM1_Init();
MX_TIM21_Init();
HAL_TIM_Base_Start_IT(&htim21);
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_ADC1_Init();
MX_CAN1_Init();
MX_CAN2_Init();
MX_I2C2_Init();
MX_IWDG_Init();
MX_SPI2_Init();
MX_SPI3_Init();
MX_TIM1_Init();
MX_USART1_UART_Init();
MX_USART6_UART_Init();
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
/* Call init function for freertos objects (in freertos.c) */
MX_FREERTOS_Init();
/* Start scheduler */
osKernelStart();
/* We should never get here as control is now taken by the scheduler */
/* 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_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_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)
{
/* 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_I2C1_Init();
MX_TIM1_Init();
MX_TIM3_Init();
MX_ADC1_Init();
MX_TIM2_Init();
/* USER CODE BEGIN 2 */
//Start PWM
HAL_TIM_Base_Start(&htim1);
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_ALL);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
HAL_GPIO_TogglePin(GPIOA, GPIO_PIN_5);
HAL_Delay(100);
/* 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_USART1_UART_Init();
MX_SPI1_Init();
MX_TIM1_Init();
MX_TIM3_Init();
HAL_TIM_Base_Start(&htim1);
static char buf[50];
NRF24L01_Reset();
NRF24L01_Initialize();
HAL_Delay(150);
CX10_init();
HAL_Delay(50);
CX10_bind();
while (1) {
process_CX10();
HAL_Delay(6);
}
}
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_TIM1_Init();
MX_USB_DEVICE_Init();
/* USER CODE BEGIN 2 */
HAL_TIM_IC_Start_IT(&htim1, TIM_CHANNEL_1);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
//DBGMCU->CR |= DBGMCU_CR_DBG_TIM1_STOP; //this is for timer debugging
while (1) {
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
if (data_ready) {
USBD_HID_SendReport(&hUsbDeviceFS, (uint8_t*) rc_data, 10);
data_ready = 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_TIM1_Init();
/* USER CODE BEGIN 2 */
HAL_TIM_Encoder_Start(&htim1, TIM_CHANNEL_1 | TIM_CHANNEL_2);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
c = __HAL_TIM_GET_COUNTER(&htim1);
printf("%d\n", c);
HAL_Delay(250);
}
/* USER CODE END 3 */
}
void board_Init(void)
{
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Init Timer */
timer_init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
LED_Init();
MX_GPIO_Init();
//MX_I2C1_Init(); /* TODO: Init */
MX_I2C2_Init();
MX_SPI2_Init();
MX_SPI3_Init();
MX_TIM1_Init();
MX_TIM3_Init();
eUARTInit(&xUARTHandle, uartUARTx);
}
int main(void) {
HAL_Init();
Nucleo_BSP_Init();
MX_TIM1_Init();
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
/* Connect a LED to PA8 pin to see the fading effect */
uint16_t dutyCycle = HAL_TIM_ReadCapturedValue(&htim1, TIM_CHANNEL_1);
while(1) {
while(dutyCycle < __HAL_TIM_GET_AUTORELOAD(&htim1)) {
__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, ++dutyCycle);
HAL_Delay(1);
}
while(dutyCycle > 0) {
__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, --dutyCycle);
HAL_Delay(1);
}
}
}
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) {
HAL_Init();
Nucleo_BSP_Init();
MX_TIM1_Init();
MX_TIM3_Init();
HAL_TIM_Encoder_Start(&htim3, TIM_CHANNEL_ALL);
HAL_TIM_OC_Start(&htim1, TIM_CHANNEL_1);
HAL_TIM_OC_Start(&htim1, TIM_CHANNEL_2);
cnt1 = __HAL_TIM_GET_COUNTER(&htim3);
tick = HAL_GetTick();
while (1) {
if (HAL_GetTick() - tick > 1000L) {
cnt2 = __HAL_TIM_GET_COUNTER(&htim3);
if (__HAL_TIM_IS_TIM_COUNTING_DOWN(&htim3)) {
if (cnt2 < cnt1) /* Check for counter underflow */
diff = cnt1 - cnt2;
else
diff = (65535 - cnt2) + cnt1;
} else {
if (cnt2 > cnt1) /* Check for counter overflow */
diff = cnt2 - cnt1;
else
diff = (65535 - cnt1) + cnt2;
}
sprintf(msg, "Difference: %d\r\n", diff);
HAL_UART_Transmit(&huart2, (uint8_t*) msg, strlen(msg), HAL_MAX_DELAY);
speed = ((diff / PULSES_PER_REVOLUTION) / 60);
/* If the first three bits of SMCR register are set to 0x3
* then the timer is set in X4 mode (TIM_ENCODERMODE_TI12)
* and we need to divide the pulses counter by two, because
* they include the pulses for both the channels */
if ((TIM3->SMCR & 0x3) == 0x3)
speed /= 2;
sprintf(msg, "Speed: %d RPM\r\n", speed);
HAL_UART_Transmit(&huart2, (uint8_t*) msg, strlen(msg), HAL_MAX_DELAY);
dir = __HAL_TIM_IS_TIM_COUNTING_DOWN(&htim3);
sprintf(msg, "Direction: %d\r\n", dir);
HAL_UART_Transmit(&huart2, (uint8_t*) msg, strlen(msg), HAL_MAX_DELAY);
tick = HAL_GetTick();
cnt1 = __HAL_TIM_GET_COUNTER(&htim3);
}
if (HAL_GPIO_ReadPin(GPIOC, GPIO_PIN_13) == GPIO_PIN_RESET) {
/* Invert rotation by swapping CH1 and CH2 CCR value */
tim1_ch1_pulse = __HAL_TIM_GET_COMPARE(&htim1, TIM_CHANNEL_1);
tim1_ch2_pulse = __HAL_TIM_GET_COMPARE(&htim1, TIM_CHANNEL_2);
__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, tim1_ch2_pulse);
__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_2, tim1_ch1_pulse);
}
}
}
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_ADC3_Init();
MX_I2C1_Init();
MX_SPI1_Init();
MX_SPI2_Init();
MX_TIM1_Init();
MX_TIM2_Init();
MX_USB_OTG_FS_PCD_Init();
/* USER CODE BEGIN 2 */
TIM1->CCR1 = 0x300;
TIM1->CCR2 = 0x300;
TIM2->CCR2 = 0x60;
// Настройка deathTime
pwm.init();
/* bugfix */ pwmDeathTime.setValue(10);
htim1.Instance->BDTR &= ~TIM_BDTR_DTG;
htim1.Instance->BDTR |= pwm.computeDeathTime(pwmDeathTime.getValueFlt());
HAL_TIM_Base_Start(&htim1);
// Выходной сигнал для ацп
HAL_TIM_OC_Start(&htim2, TIM_CHANNEL_2);
// Выходной сигнал для ацп
HAL_TIM_OC_Start(&htim1, TIM_CHANNEL_3);
// HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_1);
// HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_2);
// pwm.start();
// HAL_TIMEx_PWMN_Start(&htim1,TIM_CHANNEL_1);
// HAL_TIMEx_PWMN_Start(&htim1,TIM_CHANNEL_2);
__HAL_RCC_DMA2_CLK_ENABLE();
HAL_ADC_Start_DMA(&hadc1, (uint32_t*)adc1.getBufer(), adc1.getBuferSize());
HAL_ADC_Start_DMA(&hadc3, (uint32_t*)adc3.getBufer(), adc3.getBuferSize());
//------------------------------------------------------------------------------
// Низкоуровневая инициализация
//------------------------------------------------------------------------------
// Разрешение выходов буферов
GPIOC->BSRR = BIT_14;
// Инициализация SPI портов
//------------------------------------------------------------------------------
// Агрегация объектов
// Определяется только при инициализации программы
//------------------------------------------------------------------------------
mainMenu.addObserver( &menuEngine ); // Объект menuEngine подписался на рассылку событий, объявленных в IControlCommands
//------------------------------------------------------------------------------
// Начальные условия
//------------------------------------------------------------------------------
menuEngine.setMenuValue("");
// Затычка на время отсутствия FRAM. Инициализация float данных
vICalibrating.setValue(vICalibrating.getValue());
vUDcBusCodeUCal.setValue(vUDcBusCodeUCal.getValue());
vUDcBusCodeZero.setValue(vUDcBusCodeZero.getValue());
vIChargeCodeICal.setValue(vIChargeCodeICal.getValue());
vUChargeCodeUCal.setValue(vUChargeCodeUCal.getValue());
vIChargeCodeZero.setValue(vIChargeCodeZero.getValue());
vUChargeCodeZero.setValue(vUChargeCodeZero.getValue());
vDcBusLoadVoltageDifferent.setValue(vDcBusLoadVoltageDifferent.getValue());
/* USER CODE END 2 */
/* Call init function for freertos objects (in freertos.c) */
MX_FREERTOS_Init();
/* Start scheduler */
osKernelStart();
/* We should never get here as control is now taken by the scheduler */
/* 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 */
int32_t tara=0;
uint32_t temp=0;
uint8_t kacHane=2, *ptrDisplayBuffer;
uint32_t *ptrToRegGenel, *pR, *ptr;
uint8_t *ptrChar, rakamBcd, temp8;
uint32_t step[21]={1,1,2,2,3,3,4,4,5,5,6,6,7,7,8,8,9,9,10,10,10};
uint32_t numberOfSteps=1;
uint32_t centerFr = PERIOD_VALUE;/*Tarama merkez frekansý. 1200 için 40kHz*/
uint32_t nextFr = centerFr; /* Tedbiren ilk deðer veriliyor*/
int delta = DELTA_FRQ;
uint32_t dutyCycleSet = PULSE1_VALUE; /* DC için baþlangýç deðeri*/
/* 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_TIM1_Init();
MX_SPI2_Init();
/* USER CODE BEGIN 2 */
ZG_INT_PRI_Set(); /* Interrupt seviyelerini ayarla*/
/* Disable interrupts for channel 2,3,4 and DMA*/
ptr = &TIM1_DIER;
*ptr &= (0x000000C3);
numberOfSteps = SWEEP_RANGE;/* Taramanýn kaç adýmda yapýlacaðý*/
if ((numberOfSteps) < 0 | (numberOfSteps > 20)) {
Error_Handler(); /* Adým sayýsý sýnýrlarýn dýþýnda ise hata ver*/
}
/* Configure LED4-6: izleme amaçlý kullanýlabilir */
BSP_LED_Init(LED3);
BSP_LED_Init(LED4);
BSP_LED_Init(LED5);
BSP_LED_Init(LED6);
/** deneme alaný ??????????????????????????????????????????????????????????*/
sysTickBasla = HAL_GetTick();
SysTick_Handler(); /*bakalým nasýl çalýþýyor*/
temp = HAL_GetTick() - sysTickBasla;
/* Hex sayýlarýn Ondalýk karþýlýðýný Hex2Decimal() fonksiyonu */
/* sonucRakam[] dizisinin 0 ve 1. hücresine yazar. */
/* Bu sayýlarýn 7-segment karþýlýðý ise ledSegment[] dizisinden alýnarak */
/* opData[][] dizisinin 10. sütundan sonrasýna bu fonksiyon yazar. */
convertHexToSegment();
/*testingen*/
generatePwm (1199, 500);
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
kacHane=2;
ptrDisplayBuffer = &opData [0][10];
seriPortaYaz (ptrDisplayBuffer, kacHane); /*kacHane: gösterilecek 7-seg sayýsý*/
delay(1000);
kacHane=2;
ptrDisplayBuffer = &opData [0][12];
seriPortaYaz (ptrDisplayBuffer, kacHane);
delay(1000);
kacHane=2;
ptrDisplayBuffer = &opData [0][14];
seriPortaYaz (ptrDisplayBuffer, kacHane);
delay(1000);
/** deneme alaný ??????????????????????????????????????????????????????????*/
}
/* USER CODE END 2 */
}
int main(void)
{
/* USER CODE BEGIN 1 */
my_usb_init();
/* 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_TIM1_Init();
MX_USB_DEVICE_Init();
MX_USART3_UART_Init();
MX_TIM2_Init();
/* USER CODE BEGIN 2 */
HAL_TIM_Base_Start(&htim2);
delay_us_init(&htim2);
softserial_init(SOFTSERIAL_TX_GPIO_Port, SOFTSERIAL_TX_Pin);
hmi_lcd_init(&huart3);
cpu_ctrl_init(&htim1);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
HAL_Delay(100);
hsc_stop();
cpu_reset();
lcd_clear();
addr_input();
data_input();
build_ui();
HAL_Delay(100);
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
if(is_running == 0)
addr_data_display_update();
// z80 reset button
if(is_button_1_pressed)
{
hsc_stop();
cpu_reset();
lcd_print_width(130, 110, 180, 45, "CYAN", "RESET");
is_button_1_pressed = 0;
HAL_Delay(500);
build_ui();
}
// clk step button
if(is_button_3_pressed)
{
hsc_stop();
cycle_clock(1);
lcd_print_width(130, 110, 180, 45, "RED", "CLK STEP");
is_button_3_pressed = 0;
HAL_Delay(100);
build_ui();
}
// ins step button
if(is_button_4_pressed)
{
hsc_stop();
lcd_print_width(130, 110, 180, 45, "GREEN", "INS STEP");
// cycle clock until we're at next M1 cycle
while(HAL_GPIO_ReadPin(CPU_CTRL_PORT, M1_Pin) == LOW)
cycle_clock(1);
while(HAL_GPIO_ReadPin(CPU_CTRL_PORT, M1_Pin) == HIGH)
cycle_clock(1);
is_button_4_pressed = 0;
HAL_Delay(100);
build_ui();
}
// run/stop button
if(is_button_5_pressed)
{
is_running = (is_running + 1) % 2;
if(is_running)
{
lcd_print_width(130, 110, 180, 45, "GREEN", "RUNNING");
hsc_start();
}
else
{
hsc_stop();
build_ui();
}
is_button_5_pressed = 0;
}
usb_data = my_usb_readline();
if(usb_data != NULL && strstr(usb_data, "epm") != NULL)
{
hsc_stop();
program_mode();
build_ui();
}
}
/* 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_SPI2_Init();
MX_TIM1_Init();
MX_TIM2_Init();
/* USER CODE BEGIN 2 */
InitMotor();
HAL_TIM_Encoder_Start(&htim1,TIM_CHANNEL_ALL);
/* USER CODE END 2 */
/* USER CODE BEGIN RTOS_MUTEX */
/* add mutexes, ... */
/* USER CODE END RTOS_MUTEX */
/* Create the semaphores(s) */
/* definition and creation of stopMoveByTime */
osSemaphoreDef(stopMoveByTime);
stopMoveByTimeHandle = osSemaphoreCreate(osSemaphore(stopMoveByTime), 1);
/* definition and creation of suspendMoveByTime */
osSemaphoreDef(suspendMoveByTime);
suspendMoveByTimeHandle = osSemaphoreCreate(osSemaphore(suspendMoveByTime), 1);
/* USER CODE BEGIN RTOS_SEMAPHORES */
xSemaphoreTake(stopMoveByTimeHandle, 0);
xSemaphoreTake(suspendMoveByTimeHandle, 0);
/* add semaphores, ... */
/* USER CODE END RTOS_SEMAPHORES */
/* Create the timer(s) */
/* definition and creation of elapsedTimer */
osTimerDef(elapsedTimer, elapsedTimerCallback);
elapsedTimerHandle = osTimerCreate(osTimer(elapsedTimer), osTimerPeriodic, NULL);
/* definition and creation of moveTimer */
osTimerDef(moveTimer, moveTimerCallback);
moveTimerHandle = osTimerCreate(osTimer(moveTimer), osTimerPeriodic, NULL);
/* USER CODE BEGIN RTOS_TIMERS */
/* start timers, add new ones, ... */
/* USER CODE END RTOS_TIMERS */
/* Create the thread(s) */
/* definition and creation of defaultTask */
osThreadDef(defaultTask, StartDefaultTask, osPriorityNormal, 0, 64);
defaultTaskHandle = osThreadCreate(osThread(defaultTask), NULL);
/* definition and creation of buttonScanTask */
osThreadDef(buttonScanTask, buttonScanFunc, osPriorityLow, 0, 128);
buttonScanTaskHandle = osThreadCreate(osThread(buttonScanTask), NULL);
/* definition and creation of guiTask */
osThreadDef(guiTask, guiFunc, osPriorityNormal, 0, 128);
guiTaskHandle = osThreadCreate(osThread(guiTask), NULL);
/* definition and creation of motorTask */
osThreadDef(motorTask, motorFunc, osPriorityAboveNormal, 0, 64);
motorTaskHandle = osThreadCreate(osThread(motorTask), NULL);
/* USER CODE BEGIN RTOS_THREADS */
/* add threads, ... */
/* USER CODE END RTOS_THREADS */
/* Create the queue(s) */
/* definition and creation of buttonEvents */
osMessageQDef(buttonEvents, 16, uint16_t);
buttonEventsHandle = osMessageCreate(osMessageQ(buttonEvents), NULL);
/* definition and creation of encoderEvents */
osMessageQDef(encoderEvents, 16, uint16_t);
encoderEventsHandle = osMessageCreate(osMessageQ(encoderEvents), NULL);
/* USER CODE BEGIN RTOS_QUEUES */
/* add queues, ... */
xInputEvents = xQueueCreate( 8, sizeof( struct Event ) );
xMotorEvents = xQueueCreate( 4, sizeof( struct MotorEvent ) );
/* USER CODE END RTOS_QUEUES */
/* Start scheduler */
osKernelStart();
/* We should never get here as control is now taken by the scheduler */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
int main(void)
{
GPIO_InitTypeDef GPIO_InitStruct;
uint32_t treg;
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
DBGMCU->CR = 0xFFFFFFFF;
/* Initialize all configured peripherals */
MX_GPIO_Init();
ADC_Init_my();
I2C1_Init_my();
RTC_my_Init();
MX_SPI1_Init();
MX_TIM1_Init();
NVIC_EnableIRQ (EXTI0_IRQn);
//
// HAL_PWR_EnterSLEEPMode(treg, PWR_SLEEPENTRY_WFE);
// /* USER CODE BEGIN 2 */
// if(TM_STMPE811_Init() == TM_STMPE811_State_Ok)
// {
// if (TM_I2C_Read(STMPE811_I2C, LM75_ADDRESS, 0x00) == 0)
// {
// TM_ILI9341_Puts(60, 40, "Error init LM75", &TM_Font_11x18, ILI9341_COLOR_BLACK, ILI9341_COLOR_RED);
// }
//
// TM_I2C_Write(STMPE811_I2C, STMPE811_ADDRESS, STMPE811_INT_CTRL, 0x03);
// TM_I2C_Write(STMPE811_I2C, STMPE811_ADDRESS, STMPE811_INT_STA, 0x01);
// TM_I2C_Write(STMPE811_I2C, STMPE811_ADDRESS, STMPE811_INT_EN, 0x01);
//
// };
//
// if (f_mount(&FatFs, "0:", 1) == FR_OK)
// {
// //Get time
// TM_RTC_GetDateTime(&datatime, TM_RTC_Format_BIN);
// // sprintf(buffer, "0:F%02d_%02d_%04d.txt", datatime.date, datatime.month, datatime.year);
// sprintf(file_name_data, "0:%04d_%02d_%02d_Watt.txt", datatime.year+2000, datatime.month, datatime.date);
// temp_sd_res = f_open(&fil, (TCHAR*) file_name_data, FA_OPEN_EXISTING | FA_READ | FA_WRITE);
// if (temp_sd_res != FR_OK)
// {
// if (f_open(&fil, file_name_data, FA_CREATE_NEW | FA_READ | FA_WRITE) == FR_OK)
// {//write redline
// sprintf(buffer, "Data\t\tTime\t\tVoltage\tCurrent\tWatt\n");
// if(f_lseek(&fil, f_size(&fil)) == FR_OK){};
//
// /* If we put more than 0 characters (everything OK) */
// if (f_puts(buffer, &fil) > 0) {
// if (TM_FATFS_DriveSize(&total, &free_fat) == FR_OK) {
// /* Data for drive size are valid */
// /* Close file, don't forget this! */
// f_close(&fil);
// }
// }
// }
// }
// else f_close(&fil);//file exists, was openned and must be closed
//
// sprintf(file_name_tempr, "0:%04d_%02d_%02d_Tempr_Pr.txt", datatime.year+2000, datatime.month, datatime.date);
// temp_sd_res = f_open(&fil, (TCHAR*) file_name_tempr, FA_OPEN_EXISTING | FA_READ | FA_WRITE);
// if (temp_sd_res != FR_OK)
// {
// if (f_open(&fil, file_name_tempr, FA_CREATE_NEW | FA_READ | FA_WRITE) == FR_OK)
// {//write redline
// sprintf(buffer, "Data\t\tTime\t\tTempr\tPresure\n");
// if(f_lseek(&fil, f_size(&fil)) == FR_OK){};
//
// /* If we put more than 0 characters (everything OK) */
// if (f_puts(buffer, &fil) > 0) {
// if (TM_FATFS_DriveSize(&total, &free_fat) == FR_OK) {
// /* Data for drive size are valid */
// /* Close file, don't forget this! */
// f_close(&fil);
// }
// }
// }
// }
// else f_close(&fil);//file exists, was openned and must be closed
// temp_sd_res = f_open(&fil, "0:Tempr.txt", FA_OPEN_EXISTING | FA_READ | FA_WRITE);
// if (temp_sd_res != FR_OK)
// {
// if (f_open(&fil, "0:Tempr.txt", FA_CREATE_NEW | FA_READ | FA_WRITE) == FR_OK)
// {//write redline
// sprintf(buffer, "Data\t\tTime\t\tVoltage\tTempr\tPresure\n");
// if(f_lseek(&fil, f_size(&fil)) == FR_OK){};
//
// /* If we put more than 0 characters (everything OK) */
// if (f_puts(buffer, &fil) > 0) {
// if (TM_FATFS_DriveSize(&total, &free_fat) == FR_OK) {
// /* Data for drive size are valid */
// /* Close file, don't forget this! */
// f_close(&fil);
// }
// }
// }
// }
// else f_close(&fil);//file exists, was openned and must be closed
//
// /* Unmount drive, don't forget this! */
// f_mount(0, "0:", 1);
//
// }//end mount SD
/* USER CODE END 2 */
/* USER CODE BEGIN RTOS_MUTEX */
/* add mutexes, ... */
/* USER CODE END RTOS_MUTEX */
/* USER CODE BEGIN RTOS_SEMAPHORES */
/* add semaphores, ... */
/* USER CODE END RTOS_SEMAPHORES */
/* USER CODE BEGIN RTOS_TIMERS */
/* start timers, add new ones, ... */
/* USER CODE END RTOS_TIMERS */
/* Create the thread(s) */
/* definition and creation of defaultTask */
osThreadDef(defaultTask, StartDefaultTask, osPriorityNormal, 0, 256);
defaultTaskHandle = osThreadCreate(osThread(defaultTask), NULL);
/* USER CODE BEGIN RTOS_THREADS */
osThreadDef(UserTask, UserDefaultTask, osPriorityNormal, 0, 256);
UserTaskHandle = osThreadCreate(osThread(UserTask), NULL);
/* USER CODE END RTOS_THREADS */
/* USER CODE BEGIN RTOS_QUEUES */
/* add queues, ... */
/* USER CODE END RTOS_QUEUES */
/* Start scheduler */
osKernelStart();
/* We should never get here as control is now taken by the scheduler */
/* 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_I2C3_Init();
MX_SPI3_Init();
MX_TIM1_Init();
MX_TIM2_Init();
MX_TIM3_Init();
MX_TIM4_Init();
MX_TIM5_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
/* USER CODE BEGIN RTOS_MUTEX */
/* add mutexes, ... */
/* USER CODE END RTOS_MUTEX */
/* USER CODE BEGIN RTOS_SEMAPHORES */
/* add semaphores, ... */
/* USER CODE END RTOS_SEMAPHORES */
/* USER CODE BEGIN RTOS_TIMERS */
/* start timers, add new ones, ... */
/* USER CODE END RTOS_TIMERS */
/* Create the thread(s) */
/* definition and creation of defaultTask */
osThreadDef(defaultTask, StartDefaultTask, osPriorityNormal, 0, 128);
defaultTaskHandle = osThreadCreate(osThread(defaultTask), NULL);
/* USER CODE BEGIN RTOS_THREADS */
/* add threads, ... */
/* USER CODE END RTOS_THREADS */
/* Create the queue(s) */
/* definition and creation of xQueueUARTReceive */
osMessageQDef(xQueueUARTReceive, 3, char);
xQueueUARTReceiveHandle = osMessageCreate(osMessageQ(xQueueUARTReceive), NULL);
/* USER CODE BEGIN RTOS_QUEUES */
/* add queues, ... */
/* USER CODE END RTOS_QUEUES */
/* Start scheduler */
osKernelStart();
/* We should never get here as control is now taken by the scheduler */
/* 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();
/* 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 */
}
