/*
* Application entry point.
*/
int main(void)
{
/*
* System initializations.
* - HAL initialization, this also initializes the configured device drivers
* and performs the board-specific initializations.
* - Kernel initialization, the main() function becomes a thread and the
* RTOS is active.
*/
halInit();
chSysInit();
/*
* Activates the serial driver 2 using the driver default configuration.
* PA2(TX) and PA3(RX) are routed to USART2.
*/
sdStart(&SD2, NULL);
palSetPadMode(GPIOD, 5, PAL_MODE_ALTERNATE(7));
palSetPadMode(GPIOD, 6, PAL_MODE_ALTERNATE(7));
setup_IMU();
setup_ExternalInterrupt();
setup_Fernsteuerung();
setup_Motoren();
setup_Regelung();
setup_Datalogger();
/*
* Normal main() thread activity, in this demo it does nothing except
* sleeping in a loop and check the button state, when the button is
* pressed the test procedure is launched with output on the serial
* driver 2.
*/
while (TRUE)
{
update_IMU();
//datalog();
//chThdSleepMilliseconds(10);
}
}
/*
* Application entry point.
*/
int main(void)
{
float nick, roll, yaw;
static const evhandler_t evhndl[] = {InsertHandler, RemoveHandler};
struct EventListener el0, el1;
FRESULT err;
/*
* System initializations.
* - HAL initialization, this also initializes the configured device drivers
* and performs the board-specific initializations.
* - Kernel initialization, the main() function becomes a thread and the
* RTOS is active.
*/
halInit();
chSysInit();
/*
* Activates the serial driver 2 using the driver default configuration.
* PA2(TX) and PA3(RX) are routed to USART2.
*/
sdStart(&SD2, NULL);
palSetPadMode(GPIOD, 5, PAL_MODE_ALTERNATE(7));
palSetPadMode(GPIOD, 6, PAL_MODE_ALTERNATE(7));
setup_IMU();
setup_Fernsteuerung();
setup_Motoren();
setup_Regelung();
// initialize MMC driver
// setup pads to SPI1 function (connect these pads to your SD card accordingly)
palSetPadMode(GPIOC, 4, PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST); // NSS
palSetPadMode(GPIOA, 5, PAL_MODE_ALTERNATE(5) | PAL_STM32_OSPEED_HIGHEST); // SCK
palSetPadMode(GPIOA, 6, PAL_MODE_ALTERNATE(5)); // MISO
palSetPadMode(GPIOA, 7, PAL_MODE_ALTERNATE(5) | PAL_STM32_OSPEED_HIGHEST); // MOSI
palSetPad(GPIOC, 4); // set NSS high
// initialize MMC driver
mmcObjectInit(&MMCD1, &SPID1, &ls_spicfg, &hs_spicfg, mmc_is_protected, mmc_is_inserted);
mmcStart(&MMCD1, NULL);
chEvtRegister(&MMCD1.inserted_event, &el0, 0);
chEvtRegister(&MMCD1.removed_event, &el1, 1);
chThdSleepMilliseconds(7000);
if(mmcConnect(&MMCD1))
{
chprintf((BaseChannel *) &SD2, "SD: Failed to connect to card\r\n");
return;
}
else
{
chprintf((BaseChannel *) &SD2, "SD: Connected to card\r\n");
}
err = f_mount(0, &MMC_FS);
if(err != FR_OK)
{
chprintf((BaseChannel *) &SD2, "SD: f_mount() failed %d\r\n", err);
mmcDisconnect(&MMCD1);
return;
}
else
{
chprintf((BaseChannel *) &SD2, "SD: File system mounted\r\n");
}
fs_ready = TRUE;
rc = f_open(&Fil, "Quad.TXT", FA_WRITE | FA_CREATE_ALWAYS);
/*
* Normal main() thread activity, in this demo it does nothing except
* sleeping in a loop and check the button state, when the button is
* pressed the test procedure is launched with output on the serial
* driver 2.
*/
while (TRUE)
{
update_IMU(); //Ersetzen durch Interrupt Handler!!!!!!
nick = getEuler_nick();
roll = getEuler_roll();
yaw = getEuler_yaw();
f_printf(&Fil, "%d;%d;%d\r\n",(int)(nick*100),(int)(roll*100),(int)(yaw*100));
rc = f_sync(&Fil);
chThdSleepMilliseconds(10);
}
}
