int main(int argc, char **argv) {
// Not useful
(void) argc;
(void) argv;
init_malloc_lock();
led_driver_init();
button_driver_init();
// Setup I2C
i2c1_init();
// Setup SmartSensors
smartsensor_init();
// Setup radio
radio_driver_init();
#ifdef TEST_STATIC_LUA
xTaskCreate(angelicTask, "Angelic", 2048, NULL,
tskIDLE_PRIORITY, NULL);
#endif
xTaskCreate(radioTask, "Radio", 2048, NULL, tskIDLE_PRIORITY, NULL);
vTaskStartScheduler();
}
/**
* drivers_init:
* @flags : Bitmask of drivers to initialize.
*
* Initializes drivers.
* @flags determines which drivers get initialized.
**/
void drivers_init(int flags)
{
bool video_is_threaded = false;
if (flags & DRIVER_VIDEO_MASK)
video_driver_unset_own_driver();
if (flags & DRIVER_AUDIO_MASK)
audio_driver_unset_own_driver();
if (flags & DRIVER_INPUT_MASK)
input_driver_unset_own_driver();
if (flags & DRIVER_CAMERA_MASK)
camera_driver_ctl(RARCH_CAMERA_CTL_UNSET_OWN_DRIVER, NULL);
if (flags & DRIVER_LOCATION_MASK)
location_driver_ctl(RARCH_LOCATION_CTL_UNSET_OWN_DRIVER, NULL);
if (flags & DRIVER_WIFI_MASK)
wifi_driver_ctl(RARCH_WIFI_CTL_UNSET_OWN_DRIVER, NULL);
#ifdef HAVE_MENU
/* By default, we want the menu to persist through driver reinits. */
menu_driver_ctl(RARCH_MENU_CTL_SET_OWN_DRIVER, NULL);
#endif
if (flags & (DRIVER_VIDEO_MASK | DRIVER_AUDIO_MASK))
driver_adjust_system_rates();
if (flags & DRIVER_VIDEO_MASK)
{
struct retro_hw_render_callback *hwr =
video_driver_get_hw_context();
video_driver_monitor_reset();
video_driver_init(&video_is_threaded);
if (!video_driver_is_video_cache_context_ack()
&& hwr->context_reset)
hwr->context_reset();
video_driver_unset_video_cache_context_ack();
rarch_ctl(RARCH_CTL_SET_FRAME_TIME_LAST, NULL);
}
if (flags & DRIVER_AUDIO_MASK)
{
audio_driver_init();
audio_driver_new_devices_list();
}
/* Only initialize camera driver if we're ever going to use it. */
if ((flags & DRIVER_CAMERA_MASK) && camera_driver_ctl(RARCH_CAMERA_CTL_IS_ACTIVE, NULL))
camera_driver_ctl(RARCH_CAMERA_CTL_INIT, NULL);
/* Only initialize location driver if we're ever going to use it. */
if ((flags & DRIVER_LOCATION_MASK) && location_driver_ctl(RARCH_LOCATION_CTL_IS_ACTIVE, NULL))
init_location();
core_info_init_current_core();
#ifdef HAVE_MENU
if (flags & DRIVER_VIDEO_MASK)
{
if (flags & DRIVER_MENU_MASK)
menu_driver_init(video_is_threaded);
}
#endif
if (flags & (DRIVER_VIDEO_MASK | DRIVER_AUDIO_MASK))
{
/* Keep non-throttled state as good as possible. */
if (input_driver_is_nonblock_state())
driver_set_nonblock_state();
}
if (flags & DRIVER_LED_MASK)
{
led_driver_init();
}
if (flags & DRIVER_MIDI_MASK)
midi_driver_init();
}
int main()
{
seed_rand();
setup_mcu();
led_driver_init();
pwm_timer_init();
pir_init();
// the PIR sensor takes a few seconds
_delay_ms(5000);
sei();
uint8_t lower_pwm= 1;
uint8_t upper_pwm= 70;
uint8_t base_delay_interval= 10;
while(1)
{
while( !(PIND && PD2) );
uint8_t pins[4]= { PB1, PB2, PB3, PB4 };
uint8_t pin_starts[4];
uint8_t pin_pwm[4];
uint16_t delay_count= 0;
uint8_t still_fading= 1;
for( uint8_t i= 0; i < 4; ++i )
{
// number of base_delay_interval intervals to wait before lighting them up
pin_starts[i]= range_rand(50);
pin_pwm[i]= lower_pwm;
}
// fade them up
delay_count= 0;
still_fading= 1;
while( still_fading )
{
still_fading= 0;
for( uint8_t i= 0; i < 4; ++i )
{
if( delay_count >= pin_starts[i] && pin_pwm[i] < upper_pwm )
{
pin_pwm[i]++;
start_pwm( pins[i], pin_pwm[i] );
}
if( pin_pwm[i] < upper_pwm )
still_fading= 1;
}
_delay_ms( base_delay_interval );
delay_count++;
}
// wait for no more motion for 5 seconds
delay_count= 0;
while( delay_count < (5000/base_delay_interval) )
{
if( PIND && PD2 )
{
delay_count= 0;
continue;
}
_delay_ms( base_delay_interval );
delay_count++;
}
// fade them off
for( uint8_t i= 0; i < 4; ++i )
{
// number of base_delay_interval intervals to wait before shutting them down
pin_starts[i]= range_rand(60);
pin_pwm[i]= upper_pwm;
}
delay_count= 0;
still_fading= 1;
while( still_fading )
{
still_fading= 0;
for( uint8_t i= 0; i < 4; ++i )
{
if( delay_count >= pin_starts[i] )
{
if( pin_pwm[i] > lower_pwm )
{
pin_pwm[i]--;
start_pwm( pins[i], pin_pwm[i] );
}
if( pin_pwm[i] <= lower_pwm )
stop_pwm( pins[i] );
}
if( pin_pwm[i] > lower_pwm )
still_fading= 1;
}
_delay_ms( base_delay_interval );
delay_count++;
}
_delay_ms(2000);
}
return 0;
}
int main(void)
{
SystemInit();
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE); //
STM32F4_Discovery_LEDInit(LED3); //Orange
STM32F4_Discovery_LEDInit(LED4); //Green
STM32F4_Discovery_LEDInit(LED5); //Red
STM32F4_Discovery_LEDInit(LED6); //Blue
STM32F4_Discovery_PBInit(BUTTON_USER, BUTTON_MODE_GPIO);
USBD_Init(&USB_OTG_dev,USB_OTG_FS_CORE_ID,&USR_desc,&USBD_CDC_cb,&USR_cb);
led_driver_init();
motor_driver_init();
SysTick_Config(2100000); //10 times a second: 168 MHz / 8 = 21 MHz
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK_Div8);
//while(1)
//{
//led_driver_write_data(50, 10);
//}
while (1)
{
if( usb_cdc_kbhit() )
{
character = usb_cdc_getc();
usb_rx_buffer[usb_rx_ptr] = character;
usb_rx_ptr++;
if( usb_rx_ptr == 10 ) //upon receiving 10 bytes
{
if( ( usb_rx_buffer[0] == 0xAA ) && ( usb_rx_buffer[9] == 0xCC ) ) //check head and tail for correctness
{
usb_rx_ptr = 0; //reset data pointer if correct
flag_new_command_received = 1; //set the flag if packet correct
}
else
{
usb_rx_ptr = 0; // if packet incorrect, reset data pointer
}
}
}
if(flag_new_command_received)
{
flag_new_command_received = 0;
}
if(flag_send_sensor_data)
{
motor_set_speed(0x55, 0x55);
flag_send_sensor_data = 0;
}
// here's how to send data through USB VCP
/*
sprintf(buffer_out,"LED%c = %u\r\n",c,GPIO_ReadInputDataBit(GPIOD,LED6_PIN));
usb_cdc_printf(buffer_out);
*/
}
}
