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_TIM2_Init();
HAL_TIM_Base_Start_IT(&htim2);
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_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 */
}
/**
* @brief The application entry point.
* @retval int
*/
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();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_USART2_UART_Init();
MX_I2C1_Init();
MX_TIM2_Init();
/* USER CODE BEGIN 2 */
Display_Init();
CircularBuff_Init();
DisplayUpdater_Init();
HAL_TIM_Base_Start_IT(&htim2); //start timer2 in interrupt mode.
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
__WFI(); // CPU sleep
}
/* 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) {
uint32_t IV[200];
float angle;
HAL_Init();
Nucleo_BSP_Init();
MX_TIM2_Init();
for (uint8_t i = 0; i < 200; i++) {
angle = ASR*(float)i;
IV[i] = (uint16_t) rint(100 + 99*sinf(angle*(PI/180)));
}
HAL_TIM_PWM_Start_DMA(&htim2, TIM_CHANNEL_1, (uint32_t *)IV, 200);
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_TIM2_Init();
MX_USART2_UART_Init();
MX_USART6_UART_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
HAL_TIM_Base_Start_IT(&htim2);
#ifdef DEBUG_TO_CONSOLE
initialise_monitor_handles();
printf("start\n");
#endif
UARTInit();
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1) {
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
UARTLoopDemo();
}
/* 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_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();
/* 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_ADC1_Init();
MX_DAC_Init();
MX_TIM2_Init();
/* USER CODE BEGIN 2 */
HAL_ADC_Start(&hadc1);
HAL_DAC_Start(&hdac, DAC_CHANNEL_1);
/* USER CODE END 2 */
/* USER CODE BEGIN 3 */
/* Infinite loop */
while (1)
{
}
/* 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_RTC_Init();
//if(!(*(volatile uint32_t *) (BDCR_RTCEN_BB)))__HAL_RCC_RTC_ENABLE();
MX_TIM2_Init();
MX_TIM3_Init();
MX_USART1_UART_Init();
MX_USART2_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 */
HAL_RTC_GetTime(&hrtc, &myTime, FORMAT_BIN);
HAL_RTC_GetDate(&hrtc, &myDate, FORMAT_BIN);
}
/* USER CODE END 3 */
}
/* --- AOS Initialization --- */
void AOS_init(void)
{
/* MCU Configuration */
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Unlock the Flash Program Erase controller */
//HAL_FLASH_Unlock();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_UART_Init();
MX_TIM2_Init();
MX_TIM7_Init();
/* PWM Timers will override P1, P3 & P4 */
MX_TIM3_Init();
MX_TIM15_Init();
#ifndef TX
MX_ADC_Init();
#endif
/* AOS Initialization */
/* Startup indicator sequence */
blink(500);
HAL_Delay(100);
blink(100);
HAL_Delay(100);
blink(100);
/* Initialize random seed for PRNG */
srand(atoi(_firmTime));
}
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)
{
/* 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();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_SPI1_Init();
MX_TIM2_Init();
MX_WWDG_Init();
/* USER CODE BEGIN 2 */
//HAL_TIM_Base_Start_IT(&htim3);
/* 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 */
HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2);
/* start timers, add new ones, ... */
/* USER CODE END RTOS_TIMERS */
/* Create the thread(s) */
/* definition and creation of defaultTask */
osThreadDef(defaultTask, StartDefaultTask, osPriorityNormal, 0, 96);
defaultTaskHandle = osThreadCreate(osThread(defaultTask), NULL);
/* USER CODE BEGIN RTOS_THREADS */
/* add threads, ... */
/* 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_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 */
/* Data initialization */
int_T i;
/* 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_ADC2_Init();
MX_CAN1_Init();
MX_CAN2_Init();
MX_DAC_Init();
MX_I2C1_Init();
MX_SPI2_Init();
MX_SPI3_Init();
MX_SPI4_Init();
MX_TIM2_Init();
MX_TIM3_Init();
MX_TIM5_Init();
MX_TIM8_Init();
MX_TIM9_Init();
MX_TIM13_Init();
MX_USART1_UART_Init();
MX_USART2_UART_Init();
MX_USART6_UART_Init();
/* USER CODE BEGIN 2 */
/* Systick configuration and enable SysTickHandler interrupt */
if (SysTick_Config((uint32_t)(SystemCoreClock * 0.5))) {
autoReloadTimerLoopVal_S = 1;
do {
autoReloadTimerLoopVal_S++;
} while ((uint32_t)(SystemCoreClock * 0.5)/autoReloadTimerLoopVal_S >
SysTick_LOAD_RELOAD_Msk);
SysTick_Config((uint32_t)(SystemCoreClock * 0.5)/autoReloadTimerLoopVal_S);
}
remainAutoReloadTimerLoopVal_S = autoReloadTimerLoopVal_S;//Set nb of loop to do
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
for (i=0;i<1;i++) {
OverrunFlags[i] = 0;
}
/* Model initialization call */
Test_Stateflow_initialize();
/* Infinite loop */
/* Real time from systickHandler */
while (1) {
/*Process tasks every solver time*/
if (remainAutoReloadTimerLoopVal_S == 0) {
remainAutoReloadTimerLoopVal_S = autoReloadTimerLoopVal_S;
/* Check base rate for overrun */
if (OverrunFlags[0]) {
rtmSetErrorStatus(Test_Stateflow_M, "Overrun");
}
OverrunFlags[0] = true;
/* Step the model for base rate */
Test_Stateflow_step();
/* Get model outputs here */
/* Indicate task for base rate complete */
OverrunFlags[0] = false;
}
}
/* 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)
{
/* 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_CAN2_Init();
MX_DMA2D_Init();
MX_FMC_Init();
// MX_SPI1_Init();
// MX_SPI5_Init();
MX_TIM2_Init();
MX_I2C3_Init();
// SET RESET HIGH ~~ TURN ON
ILI9341Init();
// ili9341_Init();
volatile uint16_t lcd_id = ili9341_ReadID();
MX_LTDC_Init();
// lcd_id++;
/* USER CODE BEGIN 2 */
UserInitCan2();
// HAL_GPIO_WritePin(BMS_ERR_GPIO_Port, BMS_ERR_Pin, GPIO_PIN_RESET);
// HAL_GPIO_WritePin(BMS_ERR_GPIO_Port, BMS_ERR_Pin, GPIO_PIN_SET);
// char recv_string[10] = "";
// HAL_SDRAM_Write_8b(&hsdram1, 0, "hi", 3);
// HAL_SDRAM_Read_8b(&hsdram1, 0, recv_string, 3);
/* 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 */
/* Button polling task. 100Hz. */
osThreadDef(buttonTask, vPollButtonsTask, osPriorityHigh, 1, 1024);
buttonTaskHandle = osThreadCreate(osThread(buttonTask), NULL);
osThreadDef(canTask, vCanTask, osPriorityHigh, 1, 1024);
canTaskHandle = osThreadCreate(osThread(canTask), NULL);
osThreadDef(ledTask, vLedUpdateTask, osPriorityLow, 1, 1024);
ledTaskHandle = osThreadCreate(osThread(ledTask), NULL);
/* USER CODE END RTOS_THREADS */
/* USER CODE BEGIN RTOS_QUEUES */
osMessageQDef(ibutton_queue, 12, ButtonObject); // Declare a message queue
interfaceButtonQueue = osMessageCreate(osMessageQ(ibutton_queue), NULL);
osMessageQDef(sbutton_queue, 12, ButtonObject); // Declare a message queue
stateButtonQueue = osMessageCreate(osMessageQ(sbutton_queue), NULL);
/* 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 */
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 */
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 */
/* 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();
HAL_NVIC_SetPriorityGrouping(NVIC_PRIORITYGROUP_4);
#ifdef DEBUG_MODE
usb_init();
setbuf(stdout, NULL);
#endif
HAL_Delay(200);
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_TIM2_Init();
MX_USART1_UART_Init();
MX_USART3_UART_Init();
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
uint8_t push_button_cmd[] = {NOTF_VOICE_RECORD, 0x00, 0x00};
// enable encoders
// HAL_GPIO_WritePin(GPIOE, GPIO_PIN_6, GPIO_PIN_RESET);
uint16_t c = 0;
uint8_t current_state = 0, old_state = 0;
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
current_state = (HAL_GPIO_ReadPin(GPIOD, GPIO_PIN_2) == GPIO_PIN_SET)? 1 : 0;
if(( current_state == 1) && ( old_state == 0) ){
// LOG("push button ... \r\n");
// HAL_UART_Transmit(&huart1, push_button_cmd, 3, 1000);
}
old_state = current_state;
stateMachine();
controller();
driveMotors(u);
HAL_Delay(20);
}
/* USER CODE END 3 */
}
/**
* @brief Resume callback.
* When Low power mode is enabled the debug cannot be used (IAR, Keil doesn't support it)
* @param hpcd: PCD handle
* @retval None
*/
void HAL_PCD_ResumeCallback(PCD_HandleTypeDef *hpcd)
{
U8 i,y;
uint32_t wInterrupt_Mask = 0;
// USBD_HID_HandleTypeDef *ptr;
// ptr = (USBD_HID_HandleTypeDef *)(hUsbDeviceFS.pClassData);
GPIO_InitTypeDef GPIO_InitStruct;
//__GPIOC_CLK_ENABLE();
//__GPIOA_CLK_ENABLE();
//__GPIOB_CLK_ENABLE();
if (hpcd->Init.low_power_enable) {
// SCB->SCR &= (uint32_t)~((uint32_t)(SCB_SCR_SLEEPDEEP_Msk | SCB_SCR_SLEEPONEXIT_Msk));
// SystemClockConfig_Resume();
if (remotewakeupon == 0)
// if ((hpcd->Init.low_power_enable)&&(remotewakeupon == 0))
{
/* Reset SLEEPDEEP bit of Cortex System Control Register */
SCB->SCR &= (uint32_t)~((uint32_t)(SCB_SCR_SLEEPDEEP_Msk | SCB_SCR_SLEEPONEXIT_Msk));
SystemClockConfig_Resume();
USBD_LL_Resume(hpcd->pData);
HAL_Delay(10);
for (i=0;i<3;i++) {
((USBD_HID_HandleTypeDef *)&hUsbDeviceFS.pClassData)->state[i] = HID_IDLE;
// ptr->state[i] = HID_IDLE;
}
for (y = 0; y < COLS; y++) {
gpio_setDirvalue(matrix[y].port, matrix[y].pin, 0, 1);
// for (i = 0; i < 10; i++);
}
/* Handle Resume state machine */
HAL_GPIO_WritePin(LED_RESET_GPIO_Port, LED_RESET_Pin, GPIO_PIN_SET); // Low to shut down led controller
// EXTI->FTSR = 0;
//// for (i = 0; i < 10; i++);
// __HAL_GPIO_EXTI_CLEAR_IT(GPIO_PIN_All);
HAL_NVIC_DisableIRQ(EXTI0_1_IRQn);
HAL_NVIC_DisableIRQ(EXTI2_3_IRQn);
HAL_NVIC_DisableIRQ(EXTI4_15_IRQn);
// __HAL_GPIO_EXTI_CLEAR_IT(GPIO_PIN_0);
// __HAL_GPIO_EXTI_CLEAR_IT(GPIO_PIN_1);
// __HAL_GPIO_EXTI_CLEAR_IT(GPIO_PIN_2);
// __HAL_GPIO_EXTI_CLEAR_IT(GPIO_PIN_3);
// __HAL_GPIO_EXTI_CLEAR_IT(GPIO_PIN_4);
// __HAL_GPIO_EXTI_CLEAR_IT(GPIO_PIN_5);
// __HAL_GPIO_EXTI_CLEAR_IT(GPIO_PIN_6);
// __HAL_GPIO_EXTI_CLEAR_IT(GPIO_PIN_7);
// __HAL_GPIO_EXTI_CLEAR_IT(GPIO_PIN_15);
//// __HAL_GPIO_EXTI_CLEAR_IT(GPIO_PIN_All);
//
// HAL_NVIC_EnableIRQ(I2C2_IRQn);
GPIO_InitStruct.Pin = R0_Pin|R1_Pin|R2_Pin|R3_Pin
|R4_Pin|R5_Pin|R6_Pin|R7_Pin
|LED_INT_Pin|SCROLL_UP_Pin|SCROLL_DOWN_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
// MX_GPIO_Init();
// MX_CRC_Init();
//// MX_IWDG_Init();
//// MX_TIM6_Init();
//// MX_TIM7_Init();
//// MX_WWDG_Init();
//// MX_USB_DEVICE_Init();
MX_I2C2_Init();
MX_TIM2_Init();
// initLedModule(0); // initialize LED
} else {
HAL_PCD_ActivateRemoteWakeup((&hpcd_USB_FS));
/* remote wakeup delay */
HAL_Delay(10);
/* Disable Remote wakeup */
HAL_PCD_DeActivateRemoteWakeup((&hpcd_USB_FS));
USBD_LL_Resume(hpcd->pData);
HAL_Delay(10);
// }
/* change remote_wakeup feature to 0*/
// hUsbDeviceFS.dev_remote_wakeup = 0;
for (y = 0; y < COLS; y++) {
gpio_setDirvalue(matrix[y].port, matrix[y].pin, 0, 1);
// for (i = 0; i < 10; i++);
}
HAL_GPIO_WritePin(LED_RESET_GPIO_Port, LED_RESET_Pin, GPIO_PIN_SET); // Low to shut down led controller
// EXTI->FTSR = 0;
// // __HAL_GPIO_EXTI_CLEAR_IT(GPIO_PIN_All);
HAL_NVIC_DisableIRQ(EXTI0_1_IRQn);
HAL_NVIC_DisableIRQ(EXTI2_3_IRQn);
HAL_NVIC_DisableIRQ(EXTI4_15_IRQn);
// __HAL_GPIO_EXTI_CLEAR_IT(GPIO_PIN_0);
// __HAL_GPIO_EXTI_CLEAR_IT(GPIO_PIN_1);
// __HAL_GPIO_EXTI_CLEAR_IT(GPIO_PIN_2);
// __HAL_GPIO_EXTI_CLEAR_IT(GPIO_PIN_3);
// __HAL_GPIO_EXTI_CLEAR_IT(GPIO_PIN_4);
// __HAL_GPIO_EXTI_CLEAR_IT(GPIO_PIN_5);
// __HAL_GPIO_EXTI_CLEAR_IT(GPIO_PIN_6);
// __HAL_GPIO_EXTI_CLEAR_IT(GPIO_PIN_7);
// __HAL_GPIO_EXTI_CLEAR_IT(GPIO_PIN_15);
//// __HAL_GPIO_EXTI_CLEAR_IT(GPIO_PIN_All);
// HAL_NVIC_EnableIRQ(I2C2_IRQn);
GPIO_InitStruct.Pin = R0_Pin|R1_Pin|R2_Pin|R3_Pin
|R4_Pin|R5_Pin|R6_Pin|R7_Pin
|LED_INT_Pin|SCROLL_UP_Pin|SCROLL_DOWN_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
MX_I2C2_Init();
MX_TIM2_Init();
for (i=0;i<3;i++) {
((USBD_HID_HandleTypeDef *)&hUsbDeviceFS.pClassData)->state[i] = HID_IDLE;
// ptr->state[i] = HID_IDLE;
}
wInterrupt_Mask = USB_CNTR_CTRM | USB_CNTR_WKUPM | USB_CNTR_SUSPM | USB_CNTR_ERRM \
| USB_CNTR_ESOFM | USB_CNTR_RESETM;
/*Set interrupt mask*/
hpcd_USB_FS.Instance->CNTR = wInterrupt_Mask;
switchModeDetect();
}
}
// MX_GPIO_Init();
// MX_I2C2_Init();
// MX_TIM2_Init();
// initLedModule(0);
/* USER CODE END 3 */
// USBD_LL_Resume(hpcd->pData);
remotewakeupon=0;
}
int main(void) {
HAL_Init();
Nucleo_BSP_Init();
MX_TIM1_Init();
MX_TIM2_Init();
HAL_TIM_Encoder_Start(&hTIM2, TIM_CHANNEL_ALL);
HAL_TIM_OC_Start(&htim1, TIM_CHANNEL_1);
HAL_TIM_OC_Start(&htim1, TIM_CHANNEL_2);
cnt1 = __HAL_TIM_GET_COUNTER(&hTIM2);
tick = HAL_GetTick();
while (1) {
if (HAL_GetTick() - tick > 1000L) {
cnt2 = __HAL_TIM_GET_COUNTER(&hTIM2);
if (__HAL_TIM_IS_TIM_COUNTING_DOWN(&hTIM2)) {
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 ((TIM2->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(&hTIM2);
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(&hTIM2);
}
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 */
osKernelInitialize();
/* 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_TIM2_Init();
MX_USART2_UART_Init();
MX_TIM4_Init();
MX_TIM3_Init();
MX_ADC1_Init();
/* USER CODE BEGIN 2 */
//#ifdef USE_FULL_ASSERT
#ifndef MAC_COORDINATOR
// Board - Serial identification
sprintf(Buf, "\x0cNUCLEO-F446 Debug Terminal\r\nVisible Light Communication "
"Project\r\n---\r\nDEV_CONFIG=%d\r\n\r\n", DEV_CONFIG);
HAL_UART_Transmit(&huart2, (uint8_t *) Buf, strlen(Buf), 0xffff);
#endif
//#endif
// Initialize Optical Driver
DRV_Init();
// Initialize PHY layer
PHY_Init();
// Initialize MAC APP layer
MAC_AppInit();
// Create threads
#ifdef MAC_COORDINATOR
tid_blinkLED = osThreadCreate (osThread(blinkLED), NULL);
#endif
//tid_sendSerial = osThreadCreate (osThread(sendSerial), NULL);
//tid_checkButton = osThreadCreate (osThread(checkButton), NULL);
// Start thread execution
osKernelStart();
// Run codes
DRV_RX_Start();
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1) {
osDelay(1000);
#ifdef MAC_COORDINATOR
osSignalSet(tid_blinkLED, 0x0001);
#endif
}
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
/* USER CODE END 3 */
}
int main(void)
{
/* 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_ADC_Init();
MX_TIM2_Init();
MX_TIM21_Init();
batpins battery3;
batpins battery4;
pwm_timers b3_tims;
pwm_timers b4_tims;
batprops props_bat3;
batprops props_bat4;
/* Battery 3 */
b3_tims.conv_timer = htim2;
b3_tims.dchg_timer = htim21;
battery3.v_adc_chan = ADC_CHANNEL_4;
battery3.i_adc_chan = ADC_CHANNEL_8;
battery3.chg_port = chg_onoff_3_GPIO_Port;
battery3.chg_pin = chg_onoff_3_Pin;
battery3.dchg_pin = TIM_CHANNEL_1;
battery3.conv_chg_pin = TIM_CHANNEL_1;
battery3.conv_dchg_pin = TIM_CHANNEL_2;
battery3.pwm_tims = b3_tims;
props_bat3.i_adc_val = 0;
props_bat3.v_adc_val = 0;
props_bat3.adc_val_old = adc_read(battery3.i_adc_chan);
props_bat3.id_adc_stpt = 400 + props_bat3.adc_val_old;
props_bat3.ic_adc_stpt = props_bat3.adc_val_old - 600;
props_bat3.conv_bst_stpt = 200; // Need to calibrate this to boost to desired voltage
props_bat3.pwm_chg_stpt = 0; // Initialized to 0. Program will change as needed.
props_bat3.pwm_dchg_stpt = 720; // Initialize near where discharge FET turns on
props_bat3.pi = 0;
/* Battery 4 */
b4_tims.conv_timer = htim2;
b4_tims.dchg_timer = htim21;
battery4.v_adc_chan = ADC_CHANNEL_11;
battery4.i_adc_chan = ADC_CHANNEL_10;
battery4.chg_port = chg_onoff_4_GPIO_Port;
battery4.chg_pin = chg_onoff_4_Pin;
battery4.dchg_pin = TIM_CHANNEL_2;
battery4.conv_chg_pin = B4_CHG_CHAN; // Change in h file (used in multiple locations, dma_offset func)
battery4.conv_dchg_pin = TIM_CHANNEL_4;
battery4.pwm_tims = b4_tims;
props_bat4.i_adc_val = 0;
props_bat4.v_adc_val = 0;
props_bat4.adc_val_old = adc_read(battery4.i_adc_chan);
props_bat4.id_adc_stpt = 500 + props_bat4.adc_val_old;
props_bat4.ic_adc_stpt = props_bat4.adc_val_old - 200;
props_bat4.conv_bst_stpt = 200; // Need to calibrate this to boost to desired voltage
props_bat4.pwm_chg_stpt = 0; // Initialized to 0. Program will change as needed.
props_bat4.pwm_dchg_stpt = 720; // Initialize near where discharge FET turns on
props_bat4.pi = 0;
/* Initialize global variables */
#ifdef BAT1
TimeCounter3 = 0;
TimeCounter4 = 0;
uint32_t restStartms3 = 0;
uint32_t i3 = 0;
uint32_t voltage3 = 0;
uint32_t current3 = 720;
status bat_stat3 = OK;
i3_origin = props_bat3.adc_val_old;
#endif
#ifdef BAT2
uint32_t restStartms4 = 0;
uint32_t i4 = 0;
uint32_t voltage4 = 0;
uint32_t current4 = 720;
status bat_stat4 = OK;
i4_origin = props_bat4.adc_val_old;
#endif
//uint32_t dc_pwm[1] = {800};//, 500, 200, 300, 400, 500, 600, 700, 250, 750};
//uint32_t test2[2] = {100, 900};
//uint32_t sine = 0;
/* Initialize converter and charge / discharge pins */
conv_init(battery3);
conv_init(battery4);
//HAL_TIM_PWM_Start_DMA(&htim2, TIM_CHANNEL_3, &dc_pwm, (uint16_t)1);
//HAL_Delay(10);
//HAL_TIM_PWM_Start_DMA(&htim2, TIM_CHANNEL_4, &dc_pwm[8], (uint16_t)2);
//HAL_TIM_PWM_Start_DMA(&htim2, TIM_CHANNEL_1, 200, (uint16_t)SINE_RES_500HZ);
//HAL_TIM_PWM_Start_DMA(&htim2, TIM_CHANNEL_4, 800, (uint16_t)SINE_RES_500HZ); //Bat2 conv dchg
//pwm_sine_Start(battery3.pwm_tims.conv_timer, battery3.conv_dchg_pin, dc_pwm, sine); // Boost (discharge)
//pwm_sine_Start(battery3.pwm_tims.conv_timer, battery3.conv_chg_pin, dc_pwm, sine); // Buck (charge)
//pwm_sine_Start(battery4.pwm_tims.conv_timer, battery4.conv_dchg_pin, test2, sine); // Boost (discharge)
//pwm_sine_Start(battery4.pwm_tims.conv_timer, battery4.conv_chg_pin, 400, sine); // Buck (charge)
//pwm_Set(battery3.pwm_tims.dchg_timer, battery3.dchg_pin, 750);
// pwm_Set(battery4.pwm_tims.dchg_timer, battery4.dchg_pin, 760);
//pwm_sine_Start(battery3.pwm_tims.conv_timer, battery3.conv_chg_pin, dc_pwm, sine); // Buck (charge)
//HAL_GPIO_WritePin(battery3.chg_port, battery3.chg_pin, GPIO_PIN_SET); // Charging On
//HAL_GPIO_WritePin(battery4.chg_port, battery4.chg_pin, GPIO_PIN_SET); // Charging On
//pwm_sine_Start(battery4.pwm_tims.conv_timer, battery4.conv_chg_pin, dc_pwm, sine); // Buck (charge)
//HAL_TIM_PWM_Start(battery4.pwm_tims.conv_timer, battery4.conv_dchg_pin);
//HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2); // Bat1 conv dchg
uint8_t u8_oc3 = 0;
uint8_t u8_oc4 = 0;
// Wait for batteries to be connected
//while(adc_read(battery3.v_adc_chan) < 500 || adc_read(battery4.v_adc_chan) < 500) {}
/* Infinite loop */
while (1)
{
#ifdef BAT1
/* First battery */
if(TimeCounter3>=5) // 4ms, ie 2 periods of 500Hz sine wave
{
switch(bat_stat3) {
case DISCHARGE:
bat_stat3 = discharge_main(battery3, &props_bat3, &restStartms3, i3, bat_stat3);
break;
case CC:
bat_stat3 = chg_ctrl(battery3, &props_bat3, i3, i3_origin);
//HAL_Delay(1);
break;
case CV:
bat_stat3 = cv_main(battery3, &props_bat3, &restStartms3, i3, i3_origin, bat_stat3);
break;
case FULL:
if(HAL_GetTick() - restStartms3 >= REST)
{
props_bat3.i_adc_val = 0;
props_bat3.v_adc_val = 0;
props_bat3.adc_val_old = adc_read(battery3.i_adc_chan);
bat_stat3 = DISCHARGE;
}
break;
case LVDC:
if(HAL_GetTick() - restStartms3 >= REST)
{
props_bat3.i_adc_val = 0;
props_bat3.v_adc_val = 0;
props_bat3.adc_val_old = adc_read(battery3.i_adc_chan);
bat_stat3 = CC;
}
break;
case OK:
props_bat3.i_adc_val = 0; // normally reset in d/chg func, but not used so reset here
props_bat3.v_adc_val = 0; // normally reset in d/chg func, but not used so reset here
bat_stat3 = CC;
break;
case OVERCURRENT:
bat_stat3 = OVERCURRENT;
break;
default:
bat_stat3 = OK;
break;
}
TimeCounter3 = 0;
i3 = 0;
}
/* Update ADC readings */
current3 = adc_read(battery3.i_adc_chan);
voltage3 = adc_read(battery3.v_adc_chan);
props_bat3.i_adc_val = props_bat3.i_adc_val + current3;
props_bat3.v_adc_val = props_bat3.v_adc_val + voltage3;
/* Over-current protection */
if(current3>3950 || current3<100)
{
u8_oc3++;
if(u8_oc3 > 15)
{
conv_init(battery3);
bat_stat3 = OVERCURRENT;
}
}
else
{
u8_oc3 = 0;
}
i3++;
#endif
#ifdef BAT2
/* Second battery */
if(TimeCounter4>=5) // 4ms, ie 2 periods of 500Hz sine wave
{
switch(bat_stat4) {
case DISCHARGE:
bat_stat4 = discharge_main(battery4, &props_bat4, &restStartms4, i4, bat_stat4);
break;
case CC:
bat_stat4 = chg_ctrl(battery4, &props_bat4, i4, i4_origin);
break;
case CV:
bat_stat4 = cv_main(battery4, &props_bat4, &restStartms4, i4, i4_origin, bat_stat4);
break;
case FULL:
if(HAL_GetTick() - restStartms4 >= REST)
{
props_bat4.i_adc_val = 0;
props_bat4.v_adc_val = 0;
props_bat4.adc_val_old = adc_read(battery4.i_adc_chan);
bat_stat4 = DISCHARGE;
}
break;
case LVDC:
if(HAL_GetTick() - restStartms4 >= REST)
{
props_bat4.i_adc_val = 0;
props_bat4.v_adc_val = 0;
props_bat4.adc_val_old = adc_read(battery4.i_adc_chan);
bat_stat4 = CC;
}
break;
case OK:
props_bat4.i_adc_val = 0; // normally reset in d/chg func, but not used so reset here
props_bat4.v_adc_val = 0; // normally reset in d/chg func, but not used so reset here
bat_stat4 = CC;
break;
case OVERCURRENT:
bat_stat4 = OVERCURRENT;
break;
default:
bat_stat4 = OK;
break;
}
TimeCounter4 = 0;
i4 = 0;
}
/* Update ADC readings */
current4 = adc_read(battery4.i_adc_chan);
voltage4 = adc_read(battery4.v_adc_chan);
props_bat4.i_adc_val = props_bat4.i_adc_val + current4;
props_bat4.v_adc_val = props_bat4.v_adc_val + voltage4;
/* Over-current protection */
if(current4>3950 || current4<100)
{
u8_oc4++;
if(u8_oc4 > 15)
{
conv_init(battery4);
bat_stat4 = OVERCURRENT;
}
}
else
{
u8_oc4 = 0;
}
i4++;
#endif
HAL_SYSTICK_IRQHandler();
}
}
