void USBInit() {
/*
* Shell manager initialization.
*/
shellInit();
/*
* Initializes a serial-over-USB CDC driver.
*/
sduObjectInit(&SDU1); // Init full duplex driver object. Pointer to SerialUSBDriver Struct
sduStart(&SDU1, &serusbcfg); // Configures and starts the driver. Pointer to SerialUSBDriver
// and serial over usb configuration.
/*
* Activates the USB driver and then the USB bus pull-up on D+.
* Note, a delay is inserted in order to not have to disconnect the cable
* after a reset.
*/
usbDisconnectBus(serusbcfg.usbp);
chThdSleepMilliseconds(1000);
usbStart(serusbcfg.usbp, &usbcfg); // Configures and activates the USB peripheral
usbConnectBus(serusbcfg.usbp); // Connects the USB Device
}
int main(void) {
static Thread *shelltp = NULL;
static const evhandler_t evhndl[] = {
InsertHandler,
RemoveHandler,
packetReceivedHandler
};
struct EventListener el0, el1, el2;
chEvtRegister(&packet_event, &el2, 0);
chEvtInit(&packet_event);
/*
* 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();
/*
* Initializes a serial-over-USB CDC driver.
*/
sduObjectInit(&SDU1);
sduStart(&SDU1, &serusbcfg);
/*
* Activates the USB driver and then the USB bus pull-up on D+.
* Note, a delay is inserted in order to not have to disconnect the cable
* after a reset.
*/
usbDisconnectBus(serusbcfg.usbp);
chThdSleepMilliseconds(1000);
usbStart(serusbcfg.usbp, &usbcfg);
usbConnectBus(serusbcfg.usbp);
/*
* Shell manager initialization.
*/
shellInit();
/*
* Activates the serial driver 6 and SDC driver 1 using default
* configuration.
*/
sdStart(&SD6, NULL);
sdcStart(&SDCD1, NULL);
/*
* Activates the card insertion monitor.
*/
tmr_init(&SDCD1);
/*
* Creates the blinker thread.
*/
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
/*
* Creates the LWIP threads (it changes priority internally).
*/
chThdCreateStatic(wa_lwip_thread, LWIP_THREAD_STACK_SIZE, NORMALPRIO + 2,
lwip_thread, NULL);
/*
* Creates the HTTP thread (it changes priority internally).
*/
/*
chThdCreateStatic(wa_http_server, sizeof(wa_http_server), NORMALPRIO + 1,
http_server, NULL);
*/
WORKING_AREA(wa_udp_receive_server, PWM_REC_STACK_SIZE);
chThdCreateStatic(wa_udp_receive_server, sizeof(wa_udp_receive_server), NORMALPRIO +1,
udp_receive_server_init, NULL);
/*
* Normal main() thread activity, in this demo it does nothing except
* sleeping in a loop and listen for events.
*/
chEvtRegister(&inserted_event, &el0, 0);
chEvtRegister(&removed_event, &el1, 1);
while (TRUE) {
if (!shelltp && (SDU1.config->usbp->state == USB_ACTIVE))
shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO);
else if (chThdTerminated(shelltp)) {
chThdRelease(shelltp); /* Recovers memory of the previous shell. */
shelltp = NULL; /* Triggers spawning of a new shell. */
}
if (palReadPad(GPIOA, GPIOA_BUTTON_WKUP) != 0) {
}
chEvtDispatch(evhndl, chEvtWaitOneTimeout(ALL_EVENTS, MS2ST(500)));
}
}
void UsbCDC_t::Connect() {
usbDisconnectBus(SerUsbCfg.usbp);
chThdSleepMilliseconds(1500);
usbStart(SerUsbCfg.usbp, &UsbCfg);
usbConnectBus(SerUsbCfg.usbp);
}
/*
* Application entry point.
*/
int main(void) {
static const evhandler_t evhndl[] = {
InsertHandler,
RemoveHandler,
ShellHandler
};
event_listener_t el0, el1, el2;
/*
* 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.
* - lwIP subsystem initialization using the default configuration.
*/
halInit();
chSysInit();
/*
* Initialize RNG
*/
rccEnableAHB2(RCC_AHB2ENR_RNGEN, 0);
RNG->CR |= RNG_CR_IE;
RNG->CR |= RNG_CR_RNGEN;
/* lwip */
lwipInit(NULL);
/*
* Target-dependent setup code.
*/
portab_setup();
/*
* Initializes a serial-over-USB CDC driver.
*/
sduObjectInit(&PORTAB_SDU1);
sduStart(&PORTAB_SDU1, &serusbcfg);
/*
* Activates the USB driver and then the USB bus pull-up on D+.
* Note, a delay is inserted in order to not have to disconnect the cable
* after a reset.
*/
usbDisconnectBus(serusbcfg.usbp);
chThdSleepMilliseconds(1500);
usbStart(serusbcfg.usbp, &usbcfg);
usbConnectBus(serusbcfg.usbp);
/*
* Shell manager initialization.
*/
shellInit();
/*
* Activates the SDC driver 1 using default configuration.
*/
sdcStart(&SDCD1, NULL);
/*
* Activates the card insertion monitor.
*/
tmr_init(&SDCD1);
/*
* Creates the blinker thread.
*/
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
/*
* Creates the HTTPS thread (it changes priority internally).
*/
chThdCreateStatic(wa_https_server, sizeof(wa_https_server), NORMALPRIO + 1,
https_server, NULL);
/*
* Normal main() thread activity, handling SD card events and shell
* start/exit.
*/
chEvtRegister(&inserted_event, &el0, 0);
chEvtRegister(&removed_event, &el1, 1);
chEvtRegister(&shell_terminated, &el2, 2);
while (true) {
if (!shelltp && (PORTAB_SDU1.config->usbp->state == USB_ACTIVE)) {
shelltp = chThdCreateFromHeap(NULL, SHELL_WA_SIZE,
"shell", NORMALPRIO + 1,
shellThread, (void *)&shell_cfg1);
}
chEvtDispatch(evhndl, chEvtWaitOneTimeout(ALL_EVENTS, TIME_MS2I(500)));
}
}
/*
* Application entry point.
*/
int main(void) {
static thread_t *shelltp = NULL;
// static const evhandler_t evhndl[] = {
// InsertHandler,
// RemoveHandler
// };
// event_listener_t el0, el1;
/*
* 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.
* - lwIP subsystem initialization using the default configuration.
*/
halInit();
chSysInit();
lwipInit(NULL);
/*
* Initializes a serial-over-USB CDC driver.
*/
sduObjectInit(&SDU2);
sduStart(&SDU2, &serusbcfg);
/*
* Activates the USB driver and then the USB bus pull-up on D+.
* Note, a delay is inserted in order to not have to disconnect the cable
* after a reset.
*/
usbDisconnectBus(serusbcfg.usbp);
chThdSleepMilliseconds(1500);
usbStart(serusbcfg.usbp, &usbcfg);
usbConnectBus(serusbcfg.usbp);
/*
* Shell manager initialization.
*/
shellInit();
/*
* Activates the serial driver 1 and SDC driver 1 using default
* configuration.
*/
sdStart(&SD1, NULL);
sdcStart(&SDCD1, NULL);
/*
* Activates the card insertion monitor.
*/
// tmr_init(&SDCD1);
/*
* Creates the blinker thread.
*/
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
/*
* Creates the HTTP thread (it changes priority internally).
*/
chThdCreateStatic(wa_http_server, sizeof(wa_http_server), NORMALPRIO + 1,
http_server, NULL);
/*
* Normal main() thread activity, in this demo it does nothing except
* sleeping in a loop and listen for events.
*/
// chEvtRegister(&inserted_event, &el0, 0);
// chEvtRegister(&removed_event, &el1, 1);
while (true) {
if (!shelltp && (SDU2.config->usbp->state == USB_ACTIVE))
shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO);
else if (chThdTerminatedX(shelltp)) {
chThdRelease(shelltp); /* Recovers memory of the previous shell. */
shelltp = NULL; /* Triggers spawning of a new shell. */
}
if (palReadPad(GPIOI, GPIOI_BUTTON_USER) != 0) {
}
// chEvtDispatch(evhndl, chEvtWaitOneTimeout(ALL_EVENTS, MS2ST(500)));
chThdSleepMilliseconds(500);
}
}
/**
* @brief Init function executed in first lines of tests. Started properly Chibios and ARM
*/
void init(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();
/* Timer configuration.*/
rccEnableTIM3(FALSE);
rccResetTIM3();
rccEnableTIM4(FALSE);
rccResetTIM4();
TIM3->CR1 = 0; /* Initially stopped. */
TIM4->CR1 = 0; /* Initially stopped. */
TIM3->CR2 = TIM_CR2_MMS_1;
TIM3->PSC = ((STM32_TIMCLK2 / 1000000) - 1); /* Prescaler value. */
TIM3->SR = 0; /* Clear pending IRQs. */
TIM3->DIER = 0;
TIM3->SMCR = TIM_SMCR_MSM;
TIM4->CR2 = 0;
TIM4->PSC = 0; /* Prescaler value. */
TIM4->SR = 0; /* Clear pending IRQs. */
TIM4->DIER = 0;
TIM4->SMCR = TIM_SMCR_TS_1 | TIM_SMCR_MSM | TIM_SMCR_SMS_2 | TIM_SMCR_SMS_1 | TIM_SMCR_SMS_0;
TIM4->CR1 = TIM_CR1_CEN;
TIM3->CNT = 0; /* Initially stopped. */
TIM4->CNT = 0; /* Initially stopped. */
start_count_time();
chThdSleepMilliseconds(1000);
stop_count_time();
/*
* Initializes a serial-over-USB CDC driver.
*/
sduObjectInit(&SDU1);
sduStart(&SDU1, &serusbcfg);
/*
* Activates the USB driver and then the USB bus pull-up on D+.
* Note, a delay is inserted in order to not have to disconnect the cable
* after a reset.
*/
usbDisconnectBus(serusbcfg.usbp);
chThdSleepMilliseconds(250);
usbStart(serusbcfg.usbp, &usbcfg);
usbConnectBus(serusbcfg.usbp);
/*
* Stopping and restarting the USB in order to test the stop procedure. The
* following lines are not usually required.
*/
chThdSleepMilliseconds(3000);
info("---------------ECDSA ECDH Test Suite---------------");
info("CPU frequency %f MHz", STM32_SYSCLK/1000000.0);
info("---------------------------------------------------");
info("-----------------Timer second test-----------------");
info("Start timer and wait 1 sec");
start_count_time();
chThdSleepMilliseconds(1000);
stop_count_time();
info("Timer result 1sec = %u us", get_us());
info("---------------------------------------------------");
}
/*
* Application entry point.
*/
int main(void) {
thread_t *shelltp1 = NULL;
thread_t *shelltp2 = NULL;
event_listener_t shell_el;
/*
* 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();
/*
* Initializes two serial-over-USB CDC drivers.
*/
sduObjectInit(&SDU1);
sduStart(&SDU1, &serusbcfg1);
sduObjectInit(&SDU2);
sduStart(&SDU2, &serusbcfg2);
/*
* Activates the USB driver and then the USB bus pull-up on D+.
* Note, a delay is inserted in order to not have to disconnect the cable
* after a reset.
*/
usbDisconnectBus(serusbcfg1.usbp);
chThdSleepMilliseconds(1500);
usbStart(serusbcfg1.usbp, &usbcfg);
usbConnectBus(serusbcfg1.usbp);
/*
* Shell manager initialization.
* Event zero is shell exit.
*/
shellInit();
chEvtRegister(&shell_terminated, &shell_el, 0);
/*
* Creates the blinker thread.
*/
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
/*
* Normal main() thread activity, managing two shells.
*/
while (true) {
if (SDU1.config->usbp->state == USB_ACTIVE) {
/* Starting shells.*/
if (shelltp1 == NULL) {
shelltp1 = chThdCreateFromHeap(NULL, SHELL_WA_SIZE,
"shell1", NORMALPRIO + 1,
shellThread, (void *)&shell_cfg1);
}
if (shelltp2 == NULL) {
shelltp2 = chThdCreateFromHeap(NULL, SHELL_WA_SIZE,
"shell2", NORMALPRIO + 1,
shellThread, (void *)&shell_cfg2);
}
/* Waiting for an exit event then freeing terminated shells.*/
chEvtWaitAny(EVENT_MASK(0));
if (chThdTerminatedX(shelltp1)) {
chThdFreeToHeap(shelltp1);
shelltp1 = NULL;
}
if (chThdTerminatedX(shelltp2)) {
chThdFreeToHeap(shelltp2);
shelltp2 = NULL;
}
}
else {
chThdSleepMilliseconds(1000);
}
}
}
/**
* @brief Application entry point.
* @details
*/
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();
/* Initializes a serial-over-USB CDC driver. */
sduObjectInit(&SDU1);
sduStart(&SDU1, &serusbcfg);
/* Activates the USB driver and then the USB bus pull-up on D+.
* Note, a delay is inserted in order to not have to disconnect the cable
* after a reset.
*/
usbStop(serusbcfg.usbp);
usbDisconnectBus(serusbcfg.usbp);
chThdSleepMilliseconds(500);
usbConnectBus(serusbcfg.usbp);
usbStart(serusbcfg.usbp, &usbcfg);
/* Activates the serial driver 4 using the driver's default configuration. */
sdStart(&SD4, NULL);
/* Activates the I2C driver 2. */
i2cInit();
i2cStart(&I2CD2, &i2cfg_d2);
/* Enables the CRC peripheral clock. */
rccEnableCRC(FALSE);
/* Loads settings from external EEPROM chip. */
if (eepromLoadSettings()) {
g_boardStatus |= EEPROM_24C02_DETECTED;
}
/* Initializes the MPU6050 sensor. */
if (mpu6050Init()) {
g_boardStatus |= MPU6050_LOW_DETECTED;
/* Creates a taken binary semaphore. */
chBSemInit(&bsemNewDataReady, TRUE);
/* Creates the MPU6050 polling thread and attitude calculation thread. */
chThdCreateStatic(waPollMPU6050Thread, sizeof(waPollMPU6050Thread),
NORMALPRIO + 1, PollMPU6050Thread, NULL);
chThdCreateStatic(waAttitudeThread, sizeof(waAttitudeThread),
HIGHPRIO, AttitudeThread, NULL);
/* Starts motor drivers. */
pwmOutputStart();
/* Starts ADC and ICU input drivers. */
mixedInputStart();
}
/* Creates the blinker thread. */
chThdCreateStatic(waBlinkerThread, sizeof(waBlinkerThread),
LOWPRIO, BlinkerThread, NULL);
/* Normal main() thread activity. */
while (TRUE) {
g_chnp = serusbcfg.usbp->state == USB_ACTIVE ? (BaseChannel *)&SDU1 : (BaseChannel *)&SD4;
telemetryReadSerialData();
if (eepromIsDataLeft()) {
eepromContinueSaving();
}
chThdSleepMilliseconds(TELEMETRY_SLEEP_MS);
}
/* This point should never be reached. */
return 0;
}
int main(void) {
Thread * pub_tp = NULL;
Thread * sub_tp = NULL;
halInit();
chSysInit();
/*
* Initializes a serial-over-USB CDC driver.
*/
#if USE_USB_SERIAL
sduObjectInit(&SDU1);
sduStart(&SDU1, &serusbcfg);
#endif
/*
* Activates the USB driver and then the USB bus pull-up on D+.
* Note, a delay is inserted in order to not have to disconnect the cable
* after a reset.
*/
#if USE_USB_SERIAL
usbDisconnectBus(serusbcfg.usbp);
chThdSleepMilliseconds(500);
usbStart(serusbcfg.usbp, &usbcfg);
usbConnectBus(serusbcfg.usbp);
#endif
/* Start the serial driver. */
#if !USE_USB_SERIAL
sdStart(&SD3, NULL);
#endif
for (;;) {
#if USE_USB_SERIAL
if (!pub_tp && (SDU1.config->usbp->state == USB_ACTIVE)) {
#else
if (!pub_tp) {
#endif
pub_tp = chThdCreateFromHeap(NULL, THD_WA_SIZE(2048), NORMALPRIO, rosserial_pub_thread, NULL);
} else if (chThdTerminated(pub_tp)) {
chThdRelease(pub_tp);
pub_tp = NULL;
}
chThdSleepMilliseconds(123);
#if USE_USB_SERIAL
if (!sub_tp && (SDU1.config->usbp->state == USB_ACTIVE)) {
#else
if (!sub_tp) {
#endif
sub_tp = chThdCreateFromHeap(NULL, THD_WA_SIZE(2048), NORMALPRIO, rosserial_sub_thread, NULL);
} else if (chThdTerminated(sub_tp)) {
chThdRelease(sub_tp);
sub_tp = NULL;
}
chThdSleepMilliseconds(500);
}
return CH_SUCCESS;
}
}
/*
* 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();
#if defined(F042)
/* This is needed to remap the USB pins PA11,PA12 onto the default PA9,PA10
* so that the USB works. After halInit (which changes that register).
* This also means that USART1 can't be used, as it is on PA9,PA10.
*/
SYSCFG->CFGR1 |= SYSCFG_CFGR1_PA11_PA12_RMP;
#endif /* F042 */
chSysInit();
/*
* Setup button pad
*/
palSetPadMode(BUTTON_GPIO, BUTTON_PIN, BUTTON_MODE);
/*
* Create the blinker thread.
*/
chThdCreateStatic(waBlinkThr, sizeof(waBlinkThr), NORMALPRIO, BlinkThr, NULL);
/*
* Setup things for wiegand
*/
wieg_init();
/*
* Initializes a serial-over-USB CDC driver.
*/
sduObjectInit(&OUTPUT_CHANNEL);
sduStart(&OUTPUT_CHANNEL, &serusbcfg);
/*
* Activates the USB driver and then the USB bus pull-up on D+.
* Note, a delay is inserted in order to not have to disconnect the cable
* after a reset.
*/
usbDisconnectBus(serusbcfg.usbp);
chThdSleepMilliseconds(1000);
usbStart(serusbcfg.usbp, &usbcfg);
usbConnectBus(serusbcfg.usbp);
led_blink = 1;
/*
* Shell manager initialization.
*/
shellInit();
/*
* The main loop.
*/
/*
while(true) {
if((palReadPad(BUTTON_GPIO, BUTTON_PIN) == BUTTON_ACTIVE) && (OUTPUT_CHANNEL.config->usbp->state == USB_ACTIVE)) {
// sdWrite(&OUTPUT_CHANNEL, (uint8_t *)"hello world\r\n", 13);
// chprintf((BaseSequentialStream *)&OUTPUT_CHANNEL, "Hello world\r\n");
chnPutTimeout(&OUTPUT_CHANNEL, 'W', TIME_IMMEDIATE);
// wieg_send(wieg_test_buf, 26);
led_blink = 1;
chThdSleepMilliseconds(200);
// chnWrite((BaseChannel *)&OUTPUT_CHANNEL, (uint8_t *)"Hello, world\r\n", 14);
}
msg_t charbuf;
charbuf = chnGetTimeout(&OUTPUT_CHANNEL, TIME_IMMEDIATE);
if(charbuf != Q_TIMEOUT) {
switch(charbuf) {
default:
chprintf((BaseSequentialStream *)&OUTPUT_CHANNEL, "Haloooo\r\n");
break;
}
// chnPutTimeout(&OUTPUT_CHANNEL, (uint8_t)charbuf, TIME_IMMEDIATE);
// if(charbuf == '\r') {
// chnPutTimeout(&OUTPUT_CHANNEL, '\n', TIME_IMMEDIATE);
// }
}
chThdSleepMilliseconds(50);
}
*/
/*
* Normal main() thread activity, spawning shells.
*/
while (true) {
msg_t c;
if(serusbcfg.usbp->state == USB_ACTIVE) {
c = chnGetTimeout(&OUTPUT_CHANNEL, TIME_IMMEDIATE);
if(c != Q_TIMEOUT) {
switch(c) {
case 'k':
if(unlock_pw_recved==0) {
unlock_pw_recved++;
led_blink = 1;
}
break;
case 'o':
if(unlock_pw_recved==1) {
unlock_pw_recved++;
led_blink = 1;
}
break;
case 'j':
if(unlock_pw_recved==2) {
unlock_pw_recved++;
led_blink = 1;
}
break;
case 'a':
if(unlock_pw_recved==3) {
unlock_pw_recved++;
led_blink = 1;
}
break;
}
}
if(unlock_pw_recved == 4) {
unlock_pw_recved = 0;
thread_t *shelltp = chThdCreateFromHeap(NULL, SHELL_WA_SIZE,
"shell", NORMALPRIO + 1,
shellThread, (void *)&shell_cfg1);
chThdWait(shelltp); /* Waiting termination. */
}
}
chThdSleepMilliseconds(50);
}
}
/*
* Application entry point.
*/
int main(void) {
Thread *shelltp0 = NULL;
Thread *shelltp2 = NULL;
unsigned int i = 0;
/*
* 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();
/*
* Initializes a serial-over-USB CDC driver.
*/
sduObjectInit(&SDU1);
sduStart(&SDU1, &serusbcfg);
// Activate all serial drivers.
sdStart(&SD1, NULL);
sdStart(&SD2, NULL);
sdStart(&SD3, NULL);
sdStart(&SD4, NULL);
sdStart(&SD5, NULL);
sdStart(&SD6, NULL);
// Activates the UART driver 1, PA9(TX) and PA10(RX) are routed to USART1.
palSetPadMode(GPIOB, 6, PAL_MODE_ALTERNATE(7));
palSetPadMode(GPIOB, 7, PAL_MODE_ALTERNATE(7));
// Activates the UART driver 2, PA2(TX) and PA3(RX) are routed to USART2.
palSetPadMode(GPIOA, 2, PAL_MODE_ALTERNATE(7));
palSetPadMode(GPIOA, 3, PAL_MODE_ALTERNATE(7));
// Activates the UART driver 3, PB10(TX) and PB11(RX) are routed to USART3.
palSetPadMode(GPIOB, 10, PAL_MODE_ALTERNATE(7));
palSetPadMode(GPIOB, 11, PAL_MODE_ALTERNATE(7));
// Activates the UART driver 4, PC10(TX) and PC11(RX) are routed to UART4.
palSetPadMode(GPIOC, 10, PAL_MODE_ALTERNATE(8));
palSetPadMode(GPIOC, 11, PAL_MODE_ALTERNATE(8));
// Activates the UART driver 5, PC12(TX) and PD2(RX) are routed to UART5.
palSetPadMode(GPIOC, 12, PAL_MODE_ALTERNATE(8));
palSetPadMode(GPIOD, 2, PAL_MODE_ALTERNATE(8));
// Activates the UART driver 6, PC6(TX) and PC7(RX) are routed to USART6.
palSetPadMode(GPIOC, 6, PAL_MODE_ALTERNATE(8));
palSetPadMode(GPIOC, 7, PAL_MODE_ALTERNATE(8));
/*
* Activates the USB driver and then the USB bus pull-up on D+.
* Note, a delay is inserted in order to not have to disconnect the cable
* after a reset.
*/
usbDisconnectBus(serusbcfg.usbp);
chThdSleepMilliseconds(250);
usbStart(serusbcfg.usbp, &usbcfg);
usbConnectBus(serusbcfg.usbp);
shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO);
shellCreate(&shell_cfg2, SHELL_WA_SIZE, NORMALPRIO);
shellCreate(&shell_cfg3, SHELL_WA_SIZE, NORMALPRIO);
shellCreate(&shell_cfg4, SHELL_WA_SIZE, NORMALPRIO);
shellCreate(&shell_cfg5, SHELL_WA_SIZE, NORMALPRIO);
shellCreate(&shell_cfg6, SHELL_WA_SIZE, NORMALPRIO);
/*
* Normal main() thread activity, in this demo it just performs
* a shell respawn upon its termination.
*/
while (true) {
if (!shelltp0) {
if (SDU1.config->usbp->state == USB_ACTIVE) {
/* Spawns a new shell.*/
shelltp0 = shellCreate(&shell_cfg0, SHELL_WA_SIZE, NORMALPRIO);
}
} else {
/* If the previous shell exited.*/
if (chThdTerminated(shelltp0)) {
/* Recovers memory of the previous shell.*/
chThdRelease(shelltp0);
shelltp0 = NULL;
}
}
chThdSleepMilliseconds(1000);
}
}
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();
/*
*
* Initializes a serial-over-USB CDC driver.
*
*/
sduObjectInit(&SDU1);
sduStart(&SDU1, &serusbcfg);
/*
*
* Activates the USB driver and then the USB bus pull-up on D+.
*
*/
usbDisconnectBus(serusbcfg.usbp);
chThdSleepMilliseconds(500);
usbStart(serusbcfg.usbp, &usbcfg);
usbConnectBus(serusbcfg.usbp);
/*
*
* Start I2C and set up sensors
*
*/
i2cStart(&I2CD2, &i2cfg2);
/* Initialize Accelerometer and Gyroscope */
if (MPU6050Init(&mpu6050cfg) != MSG_OK)
panic("MPU6050 init failed"); /* Initialization failed */
/* Initialize Magnetometer */
if (HMC5983Init(&hmc5983cfg) != MSG_OK)
panic("HMC5983 init failed"); /* Initialization failed */
/* Initialize Barometer */
/* TODO: Add barometer code */
/* Initialize sensor readout */
if (SensorReadInit(&mpu6050cfg, &hmc5983cfg,
&mpu6050cal, &hmc5983cal) != MSG_OK)
panic("Sensor Read init failed"); /* Initialization failed */
/*
*
* Start the external interrupts
*
*/
extStart(&EXTD1, &extcfg);
/*
*
* Initialize the RC Outputs
*
*/
if (RCOutputInit(&rcoutputcfg) != MSG_OK)
panic("RC output init failed"); /* Initialization failed */
/*
*
* Start RC Inputs
*
*/
eicuInit();
eicuStart(&EICUD9, &rcinputcfg);
eicuEnable(&EICUD9);
/*
*
* Start test thread
*
*/
chThdCreateStatic( waThreadTestEvents,
sizeof(waThreadTestEvents),
HIGHPRIO,
ThreadTestEvents,
NULL);
while(1)
{
chThdSleepMilliseconds(100);
if (isUSBActive() == true)
chprintf((BaseSequentialStream *)&SDU1, "Input width: %u\r\n", ic_test);
}
}
void InitHardware()
{
// Pin configuration for motors/ESCs
palSetPadMode(GPIOA, 4, PAL_MODE_ALTERNATE(2)); // motor 1 -> PA4 : TIM3 CH2
palSetPadMode(GPIOA, 6, PAL_MODE_ALTERNATE(2)); // motor 2 -> PA6 : TIM3 CH1
palSetPadMode(GPIOB, 0, PAL_MODE_ALTERNATE(2)); // motor 3 -> PB0 : TIM3 CH3
palSetPadMode(GPIOB, 1, PAL_MODE_ALTERNATE(2)); // motor 4 -> PB1 : TIM3 CH4
// Timer 3 used for all motors
pwmStart(&PWMD3, &pwmcfg);
PWMD3.tim->CR1=0; // Disable counter
PWMD3.tim->CNT=0; // Reset timer counter
// Enable timer 1 Channel 0
pwmEnableChannel(&PWMD3, 1, THROTTLE_MIN);
pwmEnableChannel(&PWMD3, 0, THROTTLE_MIN);
pwmEnableChannel(&PWMD3, 2, THROTTLE_MIN);
pwmEnableChannel(&PWMD3, 3, THROTTLE_MIN);
PWMD3.tim->CCMR2|=(7<<4)|(7<<12); // PWM mode 2
PWMD3.tim->CCMR2&=~((1<<3)|(1<<11)); // Clear OC1PE
PWMD3.tim->CCMR1|=(7<<4)|(7<<12); // PWM mode 2
PWMD3.tim->CCMR1&=~((1<<3)|(1<<11)); // Clear OC1PE
/*
* I2C I/O pins setup.
*/
palSetPadMode(GPIOA, 9, PAL_MODE_ALTERNATE(4));
palSetPadMode(GPIOA, 10, PAL_MODE_ALTERNATE(4));
i2cStart(&I2CD2, &i2cconfig);
#if LOG
/*
* SPI2 I/O pins setup.
*/
palSetPadMode(GPIOB, 13, PAL_MODE_ALTERNATE(5) |PAL_STM32_OSPEED_HIGHEST); /* New SCK. */
palSetPadMode(GPIOB, 14, PAL_MODE_ALTERNATE(5) |PAL_STM32_OSPEED_HIGHEST); /* New MISO. */
palSetPadMode(GPIOB, 15, PAL_MODE_ALTERNATE(5) | PAL_STM32_OSPEED_HIGHEST); /* New MOSI. */
palSetPadMode(GPIOB, 12, PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST); /* New CS. */
palSetPad(GPIOB, 12);
#endif
/*
* LEDs settings
*/
palSetPadMode(GPIOB, 5, PAL_MODE_OUTPUT_PUSHPULL); /* SCK. */
TURN_LED_OFF();
#if BUZZER
/*
* UART Inverter settings
*/
palSetPadMode(GPIOA, 0, PAL_MODE_OUTPUT_PUSHPULL); /* SCK. */
palClearPad(GPIOA, 0);
#endif
/*
* UART Receiver pin
*/
palSetPadMode(GPIOB, 4, PAL_MODE_ALTERNATE(7)); /* UART 6 RX. */
/*
* Activates the USB driver and then the USB bus pull-up on D+.
* Note, a delay is inserted in order to not have to disconnect the cable
* after a reset.
*/
#if (DEBUG_MODE || LOG)
sduObjectInit(&SDU1);
sduStart(&SDU1, &serusbcfg);
usbDisconnectBus(serusbcfg.usbp);
chThdSleepMilliseconds(1500);
usbStart(serusbcfg.usbp, &usbcfg);
usbConnectBus(serusbcfg.usbp);
#endif
}
int main(void)
{
/*
* Start OS and HAL
*/
halInit();
chSysInit();
setupIPC();
DEBUGEN(printf("App Mode\n"));
usbDisconnectBus(&USBD1);
/*
* Initialize extra driver objects.
*/
sduObjectInit(&SDU1);
sduObjectInit(&SDU2);
/*
* Start peripherals
*/
sdStart(&SD1, &uart1Cfg);
sdStart(&SD2, &uart2Cfg);
sdStart(&SD3, &uart3Cfg);
usbStart(&USBD1, &usbcfg);
sduStart(&SDU1, &serusbcfg1);
sduStart(&SDU2, &serusbcfg2);
canStart(&CAND1, &cancfg);
dacStart(&DACD1, &dac1cfg1);
adcStart(&ADCD1, NULL);
adcStart(&ADCD3, NULL);
timcapStart(&TIMCAPD3, &tc_conf);
pwmStart(&PWMD_LED2, &pwmcfg);
eeInit();
// Compare and update versions in EEprom if needed.
version_t v;
if (readVersionFromEE(VERSION_IDX_APP, &v) == 0 && memcmp(&versions, &v, sizeof(version_t)) != 0) {
writeVersionToEE(VERSION_IDX_APP, &versions[VERSION_IDX_APP]);
}
if (readVersionFromEE(VERSION_IDX_BL, &v) == 0 ) {
memcpy(&versions[VERSION_IDX_BL], &v, sizeof(version_t));
}
/*
* Creates the threads.
*/
chThdCreateStatic(waThreadBDU, sizeof(waThreadBDU), NORMALPRIO+5, ThreadBDU, NULL);
chThdCreateStatic(waThreadSDU, sizeof(waThreadSDU), NORMALPRIO+2, ThreadSDU, NULL);
chThdCreateStatic(waThreadADC, sizeof(waThreadADC), NORMALPRIO, ThreadADC, NULL);
chThdCreateStatic(waThreadKnock, sizeof(waThreadKnock), NORMALPRIO, ThreadKnock, NULL);
chThdCreateStatic(waThreadCAN, sizeof(waThreadCAN), NORMALPRIO, ThreadCAN, NULL);
chThdCreateStatic(waThreadSER1, sizeof(waThreadSER1), NORMALPRIO, ThreadSER1, NULL);
chThdCreateStatic(waThreadRecord, sizeof(waThreadRecord), NORMALPRIO+1, ThreadRecord, NULL);
chThdCreateStatic(waThreadWdg, sizeof(waThreadWdg), HIGHPRIO, ThreadWdg, NULL);
/* Create last as it uses pointers from above */
chThdCreateStatic(waThreadMonitor, sizeof(waThreadMonitor), NORMALPRIO+10, ThreadMonitor, NULL);
while (TRUE)
{
while(USBD1.state != USB_READY) chThdSleepMilliseconds(10);
chThdSleepMilliseconds(100);
if (usbConnected())
{
usbConnectBus(&USBD1);
}
else
{
usbDisconnectBus(&USBD1);
}
}
}
/*
* Application entry point.
*/
int main(void) {
Thread *shelltp = NULL;
/*
* 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();
/*
* Shell manager initialization.
*/
shellInit();
/*
* Initializes a serial-over-USB CDC driver.
*/
sduObjectInit(&SDU1);
sduStart(&SDU1, &serusbcfg);
/*
* Activates the USB driver and then the USB bus pull-up on D+.
* Note, a delay is inserted in order to not have to disconnect the cable
* after a reset.
*/
usbDisconnectBus(serusbcfg.usbp);
chThdSleepMilliseconds(1000);
usbStart(serusbcfg.usbp, &usbcfg);
usbConnectBus(serusbcfg.usbp);
/*
* Initialise SDRAM, board.h has already configured GPIO correctly (except that ST example uses 50MHz not 100MHz?)
*/
SDRAM_Init();
sdram_bulk_erase();
/*
* Activates the LCD-related drivers.
*/
spiStart(&SPID5, &spi_cfg5);
ili9341Start(&ILI9341D1, &ili9341_cfg);
initialize_lcd();
ltdcStart(<DCD1, <dc_cfg);
/*
* Activates the DMA2D-related drivers.
*/
dma2dStart(&DMA2DD1, &dma2d_cfg);
dma2d_test();
/*
* Creating the blinker threads.
*/
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO + 10,
Thread1, NULL);
chThdCreateStatic(waThread2, sizeof(waThread2), NORMALPRIO + 10,
Thread2, NULL);
/*
* Normal main() thread activity, in this demo it just performs
* a shell respawn upon its termination.
*/
while (TRUE) {
if (!shelltp) {
if (SDU1.config->usbp->state == USB_ACTIVE) {
/* Spawns a new shell.*/
shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO);
}
}
else {
/* If the previous shell exited.*/
if (chThdTerminated(shelltp)) {
/* Recovers memory of the previous shell.*/
chThdRelease(shelltp);
shelltp = NULL;
}
}
chThdSleepMilliseconds(500);
}
}
/*
* 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 and SDC driver 1 using default
* configuration.
*/
sdStart(&SD6, NULL);
BaseSequentialStream *chp = (BaseSequentialStream *)&SD6;
chprintf(chp, "running main()\r\n");
chThdSleepMilliseconds(50);
#if STM32_USB_USE_OTG2
USBDriver *usb_driver = &USBD2;
#else
USBDriver *usb_driver = &USBD1;
#endif
/*
* Activates the card insertion monitor.
*/
init_sd();
chprintf(chp, "done starting SDC\r\n");
const bool_t sdcConnectStatus = sdcConnect(&SDCD1);
if( sdcConnectStatus != CH_SUCCESS ) {
chprintf(chp, "failed to connect to SD Card, sdcConnectStatus = %u\r\n", sdcConnectStatus);
for(;;) {
chThdSleepMilliseconds(3000);
}
}
chprintf(chp, "setting up MSD\r\n");
const usb_msd_driver_state_t msd_driver_state = msdInit(usb_driver, (BaseBlockDevice*)&SDCD1, &UMSD1, USB_MS_DATA_EP, USB_MSD_INTERFACE_NUMBER);
if( msd_driver_state != USB_MSD_DRIVER_OK ) {
chprintf(chp, "Error initing USB MSD, %d %s\r\n", msd_driver_state, usb_msd_driver_state_t_to_str(msd_driver_state));
}
UMSD1.chp = chp;
chprintf(chp, "Initializing SDU1...\r\n");
serusbcfg.usbp = usb_driver;
sduObjectInit(&SDU1);
/*Disconnect the USB Bus*/
usbDisconnectBus(usb_driver);
chThdSleepMilliseconds(200);
/*Start the useful functions*/
sduStart(&SDU1, &serusbcfg);
msdStart(&UMSD1);
usbStart(usb_driver, &msd_usb_config);
/*Connect the USB Bus*/
usbConnectBus(usb_driver);
/*
* Creates the blinker thread.
*/
chprintf(chp, "starting blinker thread\r\n");
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
while (TRUE) {
palTogglePad(GPIOC, GPIOC_LED);
chThdSleepMilliseconds(500);
}
}
/* Callback for SETUP request on the endpoint 0 (control) */
static bool usb_request_hook_cb(USBDriver *usbp) {
const USBDescriptor *dp;
/* usbp->setup fields:
* 0: bmRequestType (bitmask)
* 1: bRequest
* 2,3: (LSB,MSB) wValue
* 4,5: (LSB,MSB) wIndex
* 6,7: (LSB,MSB) wLength (number of bytes to transfer if there is a data phase) */
/* Handle HID class specific requests */
if(((usbp->setup[0] & USB_RTYPE_TYPE_MASK) == USB_RTYPE_TYPE_CLASS) &&
((usbp->setup[0] & USB_RTYPE_RECIPIENT_MASK) == USB_RTYPE_RECIPIENT_INTERFACE)) {
switch(usbp->setup[0] & USB_RTYPE_DIR_MASK) {
case USB_RTYPE_DIR_DEV2HOST:
switch(usbp->setup[1]) { /* bRequest */
case HID_GET_REPORT:
switch(usbp->setup[4]) { /* LSB(wIndex) (check MSB==0?) */
case KEYBOARD_INTERFACE:
#ifdef NKRO_ENABLE
case NKRO_INTERFACE:
#endif /* NKRO_ENABLE */
usbSetupTransfer(usbp, (uint8_t *)&keyboard_report_sent, sizeof(keyboard_report_sent), NULL);
return TRUE;
break;
#ifdef MOUSE_ENABLE
case MOUSE_INTERFACE:
usbSetupTransfer(usbp, (uint8_t *)&mouse_report_blank, sizeof(mouse_report_blank), NULL);
return TRUE;
break;
#endif /* MOUSE_ENABLE */
#ifdef EXTRAKEY_ENABLE
case EXTRAKEY_INTERFACE:
if(usbp->setup[3] == 1) { /* MSB(wValue) [Report Type] == 1 [Input Report] */
switch(usbp->setup[2]) { /* LSB(wValue) [Report ID] */
case REPORT_ID_SYSTEM:
extra_report_blank[0] = REPORT_ID_SYSTEM;
usbSetupTransfer(usbp, (uint8_t *)extra_report_blank, sizeof(extra_report_blank), NULL);
return TRUE;
break;
case REPORT_ID_CONSUMER:
extra_report_blank[0] = REPORT_ID_CONSUMER;
usbSetupTransfer(usbp, (uint8_t *)extra_report_blank, sizeof(extra_report_blank), NULL);
return TRUE;
break;
default:
return FALSE;
}
} else {
return FALSE;
}
break;
#endif /* EXTRAKEY_ENABLE */
default:
usbSetupTransfer(usbp, NULL, 0, NULL);
return TRUE;
break;
}
break;
case HID_GET_PROTOCOL:
if((usbp->setup[4] == KEYBOARD_INTERFACE) && (usbp->setup[5] == 0)) { /* wIndex */
usbSetupTransfer(usbp, &keyboard_protocol, 1, NULL);
return TRUE;
}
break;
case HID_GET_IDLE:
usbSetupTransfer(usbp, &keyboard_idle, 1, NULL);
return TRUE;
break;
}
break;
case USB_RTYPE_DIR_HOST2DEV:
switch(usbp->setup[1]) { /* bRequest */
case HID_SET_REPORT:
switch(usbp->setup[4]) { /* LSB(wIndex) (check MSB==0 and wLength==1?) */
case KEYBOARD_INTERFACE:
#ifdef NKRO_ENABLE
case NKRO_INTERFACE:
#endif /* NKRO_ENABLE */
/* keyboard_led_stats = <read byte from next OUT report>
* keyboard_led_stats needs be word (or dword), otherwise we get an exception on F0 */
usbSetupTransfer(usbp, (uint8_t *)&keyboard_led_stats, 1, NULL);
return TRUE;
break;
}
break;
case HID_SET_PROTOCOL:
if((usbp->setup[4] == KEYBOARD_INTERFACE) && (usbp->setup[5] == 0)) { /* wIndex */
keyboard_protocol = ((usbp->setup[2]) != 0x00); /* LSB(wValue) */
#ifdef NKRO_ENABLE
keymap_config.nkro = !!keyboard_protocol;
if(!keymap_config.nkro && keyboard_idle) {
#else /* NKRO_ENABLE */
if(keyboard_idle) {
#endif /* NKRO_ENABLE */
/* arm the idle timer if boot protocol & idle */
osalSysLockFromISR();
chVTSetI(&keyboard_idle_timer, 4*MS2ST(keyboard_idle), keyboard_idle_timer_cb, (void *)usbp);
osalSysUnlockFromISR();
}
}
usbSetupTransfer(usbp, NULL, 0, NULL);
return TRUE;
break;
case HID_SET_IDLE:
keyboard_idle = usbp->setup[3]; /* MSB(wValue) */
/* arm the timer */
#ifdef NKRO_ENABLE
if(!keymap_config.nkro && keyboard_idle) {
#else /* NKRO_ENABLE */
if(keyboard_idle) {
#endif /* NKRO_ENABLE */
osalSysLockFromISR();
chVTSetI(&keyboard_idle_timer, 4*MS2ST(keyboard_idle), keyboard_idle_timer_cb, (void *)usbp);
osalSysUnlockFromISR();
}
usbSetupTransfer(usbp, NULL, 0, NULL);
return TRUE;
break;
}
break;
}
}
/* Handle the Get_Descriptor Request for HID class (not handled by the default hook) */
if((usbp->setup[0] == 0x81) && (usbp->setup[1] == USB_REQ_GET_DESCRIPTOR)) {
dp = usbp->config->get_descriptor_cb(usbp, usbp->setup[3], usbp->setup[2], get_hword(&usbp->setup[4]));
if(dp == NULL)
return FALSE;
usbSetupTransfer(usbp, (uint8_t *)dp->ud_string, dp->ud_size, NULL);
return TRUE;
}
for (int i=0;i<NUM_USB_DRIVERS;i++) {
if (drivers.array[i].config.int_in) {
// NOTE: Assumes that we only have one serial driver
return qmkusbRequestsHook(usbp);
}
}
return FALSE;
}
/* Start-of-frame callback */
static void usb_sof_cb(USBDriver *usbp) {
kbd_sof_cb(usbp);
osalSysLockFromISR();
for (int i=0; i<NUM_USB_DRIVERS;i++) {
qmkusbSOFHookI(&drivers.array[i].driver);
}
osalSysUnlockFromISR();
}
/* USB driver configuration */
static const USBConfig usbcfg = {
usb_event_cb, /* USB events callback */
usb_get_descriptor_cb, /* Device GET_DESCRIPTOR request callback */
usb_request_hook_cb, /* Requests hook callback */
usb_sof_cb /* Start Of Frame callback */
};
/*
* Initialize the USB driver
*/
void init_usb_driver(USBDriver *usbp) {
for (int i=0; i<NUM_USB_DRIVERS;i++) {
QMKUSBDriver* driver = &drivers.array[i].driver;
drivers.array[i].in_ep_config.in_state = &drivers.array[i].in_ep_state;
drivers.array[i].out_ep_config.out_state = &drivers.array[i].out_ep_state;
drivers.array[i].int_ep_config.in_state = &drivers.array[i].int_ep_state;
qmkusbObjectInit(driver, &drivers.array[i].config);
qmkusbStart(driver, &drivers.array[i].config);
}
/*
* Activates the USB driver and then the USB bus pull-up on D+.
* Note, a delay is inserted in order to not have to disconnect the cable
* after a reset.
*/
usbDisconnectBus(usbp);
wait_ms(1500);
usbStart(usbp, &usbcfg);
usbConnectBus(usbp);
chVTObjectInit(&keyboard_idle_timer);
}
/* ---------------------------------------------------------
* Keyboard functions
* ---------------------------------------------------------
*/
/* keyboard IN callback hander (a kbd report has made it IN) */
void kbd_in_cb(USBDriver *usbp, usbep_t ep) {
/* STUB */
(void)usbp;
(void)ep;
}
static msg_t thdUsbStorage(void *arg)
{
(void) arg; // unused
chRegSetThreadName("UsbStorage:polling");
uint antiBounce=5;
EventListener connected;
// Should use EXTI interrupt instead of active polling,
// but in the chibios_opencm3 implementation, since EXTI is
// used via libopencm3, ISR are routed on pprz/opencm3 and cannot
// be used concurrently by chibios api
// Should be fixed when using chibios-rt branch
while (!chThdShouldTerminate() && antiBounce) {
const bool_t usbConnected = palReadPad (GPIOA, GPIOA_OTG_FS_VBUS);
if (usbConnected)
antiBounce--;
else
antiBounce=5;
chThdSleepMilliseconds(20);
}
isRunning = true;
chRegSetThreadName("UsbStorage:connected");
/* Stop the logs*/
chibios_logFinish (true);
/* connect sdcard sdc interface sdio */
if (sdioConnect () == false)
chThdExit (RDY_TIMEOUT);
/* initialize the USB mass storage driver */
msdInit(&UMSD1);
/* start the USB mass storage service */
msdStart(&UMSD1, &msdConfig);
/* start the USB driver */
usbDisconnectBus(&USBD1);
chThdSleepMilliseconds(1000);
usbStart(&USBD1, &usbConfig);
usbConnectBus(&USBD1);
/* wait for a real usb storage connexion before shutting down autopilot */
chEvtRegisterMask(&UMSD1.evt_connected, &connected, EVENT_MASK(1));
chEvtWaitOne(EVENT_MASK(1));
/* stop autopilot */
if (pprzThdPtr != NULL) {
chThdTerminate (pprzThdPtr);
chThdWait (pprzThdPtr);
pprzThdPtr = NULL;
}
/* wait until usb-storage is unmount and usb cable is unplugged*/
while (!chThdShouldTerminate() && palReadPad (GPIOA, GPIOA_OTG_FS_VBUS)) {
chThdSleepMilliseconds(10);
}
/* then close open descriptors and reboot autopilot */
usbDisconnectBus(&USBD1);
chThdSleepMilliseconds(500);
msdStop(&UMSD1);
sdioDisconnect ();
MCU_RESTART();
return RDY_OK;
}
/*
* Application entry point.
*/
int main(void) {
thread_t *shelltp1 = NULL;
thread_t *shelltp2 = NULL;
/*
* 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();
/*
* Initializes two serial-over-USB CDC drivers.
*/
sduObjectInit(&SDU1);
sduStart(&SDU1, &serusbcfg1);
sduObjectInit(&SDU2);
sduStart(&SDU2, &serusbcfg2);
/*
* Activates the USB driver and then the USB bus pull-up on D+.
* Note, a delay is inserted in order to not have to disconnect the cable
* after a reset.
*/
usbDisconnectBus(serusbcfg1.usbp);
chThdSleepMilliseconds(1500);
usbStart(serusbcfg1.usbp, &usbcfg);
usbConnectBus(serusbcfg1.usbp);
/*
* Shell manager initialization.
*/
shellInit();
/*
* Creates the blinker threads.
*/
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
/*
* Normal main() thread activity, in this demo it does nothing except
* sleeping in a loop and check the button state.
*/
while (true) {
if (!shelltp1 && (SDU1.config->usbp->state == USB_ACTIVE))
shelltp1 = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO);
else if (chThdTerminatedX(shelltp1)) {
chThdRelease(shelltp1); /* Recovers memory of the previous shell. */
shelltp1 = NULL; /* Triggers spawning of a new shell. */
}
if (!shelltp2 && (SDU2.config->usbp->state == USB_ACTIVE))
shelltp2 = shellCreate(&shell_cfg2, SHELL_WA_SIZE, NORMALPRIO);
else if (chThdTerminatedX(shelltp2)) {
chThdRelease(shelltp2); /* Recovers memory of the previous shell. */
shelltp2 = NULL; /* Triggers spawning of a new shell. */
}
chThdSleepMilliseconds(1000);
}
}
/*
* 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();
/*
* Initializes a serial-over-USB CDC driver.
*/
sduObjectInit(&SDU1);
sduStart(&SDU1, &serusbcfg);
/*
* Activates the USB driver and then the USB bus pull-up on D+.
* Note, a delay is inserted in order to not have to disconnect the cable
* after a reset.
*/
usbDisconnectBus(serusbcfg.usbp);
chThdSleepMilliseconds(1500);
usbStart(serusbcfg.usbp, &usbcfg);
usbConnectBus(serusbcfg.usbp);
/*
* Creates the blinker thread.
*/
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO + 1, Thread1, NULL);
/*
* L3GD20 Object Initialization
*/
l3gd20ObjectInit(&L3GD20D1);
/*
* Activates the L3GD20 driver.
*/
l3gd20Start(&L3GD20D1, &l3gd20cfg);
while(!palReadLine(LINE_BUTTON)){
chprintf(chp, "Press BTN to calibrate gyroscope...\r\n");
chThdSleepMilliseconds(150);
#if CHPRINTF_USE_ANSI_CODE
chprintf(chp, "\033[2J\033[1;1H");
#endif
}
chprintf(chp, "Calibrating Gyroscope sampling bias...\r\n");
chprintf(chp, "Keep it in the rest position while red LED is on\r\n");
chThdSleepMilliseconds(3000);
palSetLine(LINE_LED10_RED);
chThdSleepMilliseconds(1000);
gyroscopeSampleBias(&L3GD20D1);
palClearLine(LINE_LED10_RED);
#if CHPRINTF_USE_ANSI_CODE
chprintf(chp, "\033[2J\033[1;1H");
#endif
while (TRUE) {
palToggleLine(LINE_LED10_RED);
gyroscopeReadRaw(&L3GD20D1, rawdata);
for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
chprintf(chp, "RAW-%c:%d\r\n", axesID[i], rawdata[i]);
gyroscopeReadCooked(&L3GD20D1, cookeddata);
for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
chprintf(chp, "COOKED-%c:%.3f\r\n", axesID[i], cookeddata[i]);
gyroscopeGetTemp(&L3GD20D1, &temperature);
chprintf(chp, "TEMP:%.1f C°\r\n", temperature);
chThdSleepMilliseconds(150);
#if CHPRINTF_USE_ANSI_CODE
chprintf(chp, "\033[2J\033[1;1H");
#endif
}
l3gd20Stop(&L3GD20D1);
}
/** Application entry point. */
int main(void) {
static thread_t *shelltp = NULL;
/* Initializes a serial-over-USB CDC driver. */
sduObjectInit(&SDU1);
sduStart(&SDU1, &serusbcfg);
sdStart(&SD3, NULL);
chprintf((BaseSequentialStream *)&SD3 , "\n> boot\n");
/*
* Activates the USB driver and then the USB bus pull-up on D+.
* Note, a delay is inserted in order to not have to disconnect the cable
* after a reset.
*/
usbDisconnectBus(serusbcfg.usbp);
chThdSleepMilliseconds(1500);
usbStart(serusbcfg.usbp, &usbcfg);
usbConnectBus(serusbcfg.usbp);
/* Shell manager initialization. */
shellInit();
/* Initialize global objects. */
config_init();
chMtxObjectInit(&robot_pose_lock);
/* Initialise timestamp module */
timestamp_stm32_init();
/* bus enumerator init */
static __attribute__((section(".ccm"))) struct bus_enumerator_entry_allocator
bus_enum_entries_alloc[MAX_NB_BUS_ENUMERATOR_ENTRIES];
bus_enumerator_init(&bus_enumerator,
bus_enum_entries_alloc,
MAX_NB_BUS_ENUMERATOR_ENTRIES);
/* allocate and init motor manager */
static __attribute__((section(".ccm"))) trajectory_t trajectory_buffer[MAX_NB_TRAJECTORY_BUFFERS];
static __attribute__((section(".ccm"))) float trajectory_points_buffer[ACTUATOR_TRAJECTORY_NB_POINTS
* ACTUATOR_TRAJECTORY_POINT_DIMENSION
* MAX_NB_TRAJECTORY_BUFFERS];
static __attribute__((section(".ccm"))) motor_driver_t motor_driver_buffer[MAX_NB_MOTOR_DRIVERS];
motor_manager_init(&motor_manager,
trajectory_buffer,
MAX_NB_TRAJECTORY_BUFFERS,
trajectory_points_buffer,
MAX_NB_TRAJECTORY_BUFFERS,
motor_driver_buffer,
MAX_NB_MOTOR_DRIVERS,
&bus_enumerator);
differential_base_init();
/* Checks if there is any log message from a previous boot */
if (panic_log_read() != NULL) {
/* Turns on the user LED if yes */
palClearPad(GPIOC, GPIOC_LED);
/* Turn on all LEDs on the front panel. */
palSetPad(GPIOF, GPIOF_LED_READY);
palSetPad(GPIOF, GPIOF_LED_DEBUG);
palSetPad(GPIOF, GPIOF_LED_ERROR);
palSetPad(GPIOF, GPIOF_LED_POWER_ERROR);
palSetPad(GPIOF, GPIOF_LED_PC_ERROR);
palSetPad(GPIOF, GPIOF_LED_BUS_ERROR);
palSetPad(GPIOF, GPIOF_LED_YELLOW_1);
palSetPad(GPIOF, GPIOF_LED_YELLOW_2);
palSetPad(GPIOF, GPIOF_LED_GREEN_1);
palSetPad(GPIOF, GPIOF_LED_GREEN_2);
} else {
struct netif *ethernet_if;
differential_base_tracking_start(); // tracy
ip_thread_init();
chThdSleepMilliseconds(1000);
ethernet_if = netif_find("ms0");
if (ethernet_if) {
dhcp_start(ethernet_if);
}
sntp_init();
can_bridge_init();
uavcan_node_start(10);
rpc_server_init();
message_server_init();
interface_panel_init();
odometry_publisher_init();
#ifdef ENABLE_STREAM
#warning "Enabling robot stream can lead to lwip crash. Do not use in match until fixed."
stream_init();
#endif
}
/* main thread, spawns a shell on USB connection. */
while (1) {
if (!shelltp && (SDU1.config->usbp->state == USB_ACTIVE)) {
shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, USB_SHELL_PRIO);
} else if (chThdTerminatedX(shelltp)) {
chThdRelease(shelltp); /* Recovers memory of the previous shell. */
shelltp = NULL; /* Triggers spawning of a new shell. */
}
chThdSleepMilliseconds(500);
}
}
int main(void) {
static Thread *shelltp = NULL;
static const evhandler_t evhndl_main[] = {
extdetail_WKUP_button_handler
};
struct EventListener el0;
/*
* 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();
extdetail_init();
palSetPad(GPIOC, GPIOC_LED);
palSetPad(GPIOA, GPIOA_SPI1_SCK);
palSetPad(GPIOA, GPIOA_SPI1_NSS);
/*
* SPI1 I/O pins setup.
*/
palSetPadMode(adis_connections.spi_sck_port, adis_connections.spi_sck_pad,
PAL_MODE_ALTERNATE(5) |
PAL_STM32_OSPEED_HIGHEST);
palSetPadMode(adis_connections.spi_miso_port, adis_connections.spi_miso_pad,
PAL_MODE_ALTERNATE(5) |
PAL_STM32_OSPEED_HIGHEST| PAL_STM32_PUDR_FLOATING);
palSetPadMode(adis_connections.spi_mosi_port, adis_connections.spi_mosi_pad,
PAL_MODE_ALTERNATE(5) |
PAL_STM32_OSPEED_HIGHEST );
palSetPadMode(adis_connections.spi_cs_port, adis_connections.spi_cs_pad,
PAL_MODE_OUTPUT_PUSHPULL |
PAL_STM32_OSPEED_HIGHEST);
palSetPad(GPIOA, GPIOA_SPI1_SCK);
palSetPad(GPIOA, GPIOA_SPI1_NSS);
/*!
* Initializes a serial-over-USB CDC driver.
*/
sduObjectInit(&SDU_PSAS);
sduStart(&SDU_PSAS, &serusbcfg);
/*!
* Activates the USB driver and then the USB bus pull-up on D+.
* Note, a delay is inserted in order to not have to disconnect the cable
* after a reset.
*/
usbDisconnectBus(serusbcfg.usbp);
chThdSleepMilliseconds(1000);
usbStart(serusbcfg.usbp, &usbcfg);
usbConnectBus(serusbcfg.usbp);
shellInit();
iwdg_begin();
/*!
* Activates the serial driver 6 and SDC driver 1 using default
* configuration.
*/
sdStart(&SD6, NULL);
spiStart(&SPID1, &adis_spicfg); /* Set transfer parameters. */
chThdSleepMilliseconds(300);
adis_init();
adis_reset();
/*! Activates the EXT driver 1. */
extStart(&EXTD1, &extcfg);
chThdCreateStatic(waThread_blinker, sizeof(waThread_blinker), NORMALPRIO, Thread_blinker, NULL);
chThdCreateStatic(waThread_adis_dio1, sizeof(waThread_adis_dio1), NORMALPRIO, Thread_adis_dio1, NULL);
chThdCreateStatic(waThread_adis_newdata, sizeof(waThread_adis_newdata), NORMALPRIO, Thread_adis_newdata, NULL);
chThdCreateStatic(waThread_indwatchdog, sizeof(waThread_indwatchdog), NORMALPRIO, Thread_indwatchdog, NULL);
chEvtRegister(&extdetail_wkup_event, &el0, 0);
while (TRUE) {
if (!shelltp && (SDU_PSAS.config->usbp->state == USB_ACTIVE))
shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO);
else if (chThdTerminated(shelltp)) {
chThdRelease(shelltp); /* Recovers memory of the previous shell. */
shelltp = NULL; /* Triggers spawning of a new shell. */
}
chEvtDispatch(evhndl_main, chEvtWaitOneTimeout((eventmask_t)1, MS2ST(500)));
}
}
/*
* Application entry point.
*/
int main(void) {
thread_t *shelltp = NULL;
/*
* 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();
/*
* Shell manager initialization.
*/
shellInit();
/*
* Initializes a serial-over-USB CDC driver.
*/
sduObjectInit(&SDU1);
sduStart(&SDU1, &serusbcfg);
/*
* Activates the USB driver and then the USB bus pull-up on D+.
* Note, a delay is inserted in order to not have to disconnect the cable
* after a reset.
*/
usbDisconnectBus(serusbcfg.usbp);
chThdSleepMilliseconds(1000);
usbStart(serusbcfg.usbp, &usbcfg);
usbConnectBus(serusbcfg.usbp);
/*
* Activates the serial driver 2 using the driver default configuration.
* PA2(TX) and PA3(RX) are routed to USART2.
*/
sdStart(&SD2, NULL);
palSetPadMode(GPIOA, 2, PAL_MODE_ALTERNATE(7));
palSetPadMode(GPIOA, 3, PAL_MODE_ALTERNATE(7));
/*
* Initializes the SPI driver 1 in order to access the MEMS. The signals
* are already initialized in the board file.
*/
spiStart(&SPID1, &spi1cfg);
/*
* Initializes the SPI driver 2. The SPI2 signals are routed as follow:
* PB12 - NSS.
* PB13 - SCK.
* PB14 - MISO.
* PB15 - MOSI.
*/
spiStart(&SPID2, &spi2cfg);
palSetPad(GPIOB, 12);
palSetPadMode(GPIOB, 12, PAL_MODE_OUTPUT_PUSHPULL |
PAL_STM32_OSPEED_HIGHEST); /* NSS. */
palSetPadMode(GPIOB, 13, PAL_MODE_ALTERNATE(5) |
PAL_STM32_OSPEED_HIGHEST); /* SCK. */
palSetPadMode(GPIOB, 14, PAL_MODE_ALTERNATE(5)); /* MISO. */
palSetPadMode(GPIOB, 15, PAL_MODE_ALTERNATE(5) |
PAL_STM32_OSPEED_HIGHEST); /* MOSI. */
/*
* Initializes the PWM driver 4, routes the TIM4 outputs to the board LEDs.
*/
pwmStart(&PWMD4, &pwmcfg);
palSetPadMode(GPIOD, GPIOD_LED4, PAL_MODE_ALTERNATE(2)); /* Green. */
palSetPadMode(GPIOD, GPIOD_LED3, PAL_MODE_ALTERNATE(2)); /* Orange. */
palSetPadMode(GPIOD, GPIOD_LED5, PAL_MODE_ALTERNATE(2)); /* Red. */
palSetPadMode(GPIOD, GPIOD_LED6, PAL_MODE_ALTERNATE(2)); /* Blue. */
/*
* Creates the example thread.
*/
chThdCreateStatic(waThread1, sizeof(waThread1),
NORMALPRIO + 10, Thread1, NULL);
/*
* Normal main() thread activity, in this demo it just performs
* a shell respawn upon its termination.
*/
while (TRUE) {
if (!shelltp) {
if (SDU1.config->usbp->state == USB_ACTIVE) {
/* Spawns a new shell.*/
shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO);
}
}
else {
/* If the previous shell exited.*/
if (chThdTerminatedX(shelltp)) {
/* Recovers memory of the previous shell.*/
chThdRelease(shelltp);
shelltp = NULL;
}
}
chThdSleepMilliseconds(500);
}
}
/*
* Application entry point.
*/
int main(void) {
static const evhandler_t evhndl[] = {
InsertHandler,
RemoveHandler,
ShellHandler
};
event_listener_t el0, el1, el2;
/*
* 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();
/*
* Initializes a serial-over-USB CDC driver.
*/
sduObjectInit(&SDU1);
sduStart(&SDU1, &serusbcfg);
/*
* Activates the USB driver and then the USB bus pull-up on D+.
* Note, a delay is inserted in order to not have to disconnect the cable
* after a reset.
*/
usbDisconnectBus(serusbcfg.usbp);
chThdSleepMilliseconds(1500);
usbStart(serusbcfg.usbp, &usbcfg);
usbConnectBus(serusbcfg.usbp);
/*
* Shell manager initialization.
*/
shellInit();
/*
* Activates the card insertion monitor.
*/
tmr_init(&SDCD1);
/*
* Creates the blinker thread.
*/
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
/*
* Normal main() thread activity, handling SD card events and shell
* start/exit.
*/
chEvtRegister(&inserted_event, &el0, 0);
chEvtRegister(&removed_event, &el1, 1);
chEvtRegister(&shell_terminated, &el2, 2);
while (true) {
if (!shelltp && (SDU1.config->usbp->state == USB_ACTIVE)) {
shelltp = chThdCreateFromHeap(NULL, SHELL_WA_SIZE,
"shell", NORMALPRIO + 1,
shellThread, (void *)&shell_cfg1);
}
chEvtDispatch(evhndl, chEvtWaitOneTimeout(ALL_EVENTS, MS2ST(500)));
}
}
int main(void)
{
halInit();
chSysInit();
timestamp_stm32_init();
board_io_pwr_en(true);
board_sensor_pwr_en(true);
error_init();
// standard output
sdStart(&UART_CONN1, NULL);
stdout = (BaseSequentialStream*)&UART_CONN1;
chprintf(stdout, "\n\n\n");
log_init();
log_handler_register(&log_handler_stdout, LOG_LVL_DEBUG, log_handler_stdout_cb);
log_info("=== boot ===");
led_start();
// mount SD card
board_power_cycle_sdcard();
sdcStart(&SDCD1, NULL);
sdcard_mount();
static char logdir[100];
if (sdcard_find_next_file_name_with_prefix("/", "log_", logdir, sizeof(logdir)) < 0) {
log_error("could not determine log file directory");
}
FRESULT res = f_mkdir(logdir);
if (!(res == FR_OK || res == FR_EXIST)) {
log_warning("could not create log directory %s", logdir);
}
size_t logdir_strlen = strlen(logdir);
if (sdcard_is_mounted()) {
// add .txt to logdir
strncpy(&logdir[logdir_strlen], "/log.txt", sizeof(logdir) - logdir_strlen);
logdir[sizeof(logdir)-1] = '\0';
sdcard_log_handler_init(logdir, LOG_LVL_INFO);
logdir[logdir_strlen] = '\0'; // reset log dir string
}
log_boot_message();
// initialization
parameter_namespace_declare(¶meters, NULL, NULL); // root namespace
parameter_string_declare_with_default(&board_name,
¶meters,
"name",
board_name_p_buf,
sizeof(board_name_p_buf),
"ins-board");
msgbus_init(&bus);
services_init();
// load parameters from SD card
log_info("loading parameters from sd card");
sdcard_read_parameter(¶meters, "/config.msgpack");
chprintf(stdout, "current parameters:");
parameter_print(¶meters, (parameter_printfn_t)chprintf, stdout);
// UART driver
io_setup();
// USB serial driver
sduObjectInit(&SDU1);
sduStart(&SDU1, &serusbcfg);
usbDisconnectBus(serusbcfg.usbp);
chThdSleepMilliseconds(100);
usbStart(serusbcfg.usbp, &usbcfg);
usbConnectBus(serusbcfg.usbp);
// start all services
services_start(logdir);
// shellInit();
// char buf[STREAM_DEV_STR_SIZE];
// parameter_string_get(&shell_port, buf, sizeof(buf));
// BaseSequentialStream* shell_dev = get_base_seq_stream_device_from_str(buf);
// static thread_t *shelltp = NULL;
// static ShellConfig shell_cfg;
// shell_cfg.sc_channel = shell_dev;
// shell_cfg.sc_commands = shell_commands;
chThdSleepMilliseconds(500);
while (true) {
// if (shelltp == NULL && shell_dev != NULL) {
// static THD_WORKING_AREA(shell_wa, 2048);
// shelltp = shellCreateStatic(&shell_cfg, shell_wa, sizeof(shell_wa), THD_PRIO_SHELL);
// } else if (shelltp != NULL && chThdTerminatedX(shelltp)) {
// shelltp = NULL;
// }
log_debug("VCC %f", analog_get_vcc());
log_debug("Temp %f", analog_get_cpu_temp());
log_debug("V_DC %f", analog_get_vdc());
log_debug("CONN2_TX %f", analog_get_voltage(ANALOG_CH_CONN2_TX));
log_debug("CONN2_RX %f", analog_get_voltage(ANALOG_CH_CONN2_RX));
log_debug("CONN3_TX %f", analog_get_voltage(ANALOG_CH_CONN3_TX));
log_debug("CONN3_RX %f", analog_get_voltage(ANALOG_CH_CONN3_RX));
chThdSleepMilliseconds(500);
}
}
/*
* Application entry point.
*/
int main(void) {
color_t color = Black;
uint16_t pen = 0;
Thread *shelltp = NULL;
/*
* 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();
gdispInit();
ginputGetMouse(0);
gdispSetOrientation(GDISP_ROTATE_90);
drawScreen();
/*
* Initializes a serial-over-USB CDC driver.
*/
sduObjectInit(&SDU1);
sduStart(&SDU1, &serusbcfg);
/*
* Activates the USB driver and then the USB bus pull-up on D+.
* Note, a delay is inserted in order to not have to disconnect the cable
* after a reset.
*/
usbDisconnectBus(serusbcfg.usbp);
chThdSleepMilliseconds(1000);
usbStart(serusbcfg.usbp, &usbcfg);
usbConnectBus(serusbcfg.usbp);
/*
* Shell manager initialization.
*/
shellInit();
/*
* Creates the blinker thread.
*/
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
/*
* Normal main() thread activity, in this demo it does nothing except
* sleeping in a loop and check the button state.
*/
while (TRUE) {
if (!shelltp && (SDU1.config->usbp->state == USB_ACTIVE))
shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO);
else if (chThdTerminated(shelltp)) {
chThdRelease(shelltp); /* Recovers memory of the previous shell. */
shelltp = NULL; /* Triggers spawning of a new shell. */
}
ginputGetMouseStatus(0, &ev);
if (!(ev.current_buttons & GINPUT_MOUSE_BTN_LEFT))
{
chThdSleepMicroseconds(500); // Senza questo sleep l'USB non parte
continue;
}
/* inside color box ? */
if(ev.y >= OFFSET && ev.y <= COLOR_SIZE) {
if(GET_COLOR(0)) color = Black;
else if(GET_COLOR(1)) color = Red;
else if(GET_COLOR(2)) color = Yellow;
else if(GET_COLOR(3)) color = Green;
else if(GET_COLOR(4)) color = Blue;
else if(GET_COLOR(5)) color = White;
/* inside pen box ? */
} else if(ev.x >= OFFSET && ev.x <= PEN_SIZE) {
if(GET_PEN(1)) pen = 0;
else if(GET_PEN(2)) pen = 1;
else if(GET_PEN(3)) pen = 2;
else if(GET_PEN(4)) pen = 3;
else if(GET_PEN(5)) pen = 4;
/* inside drawing area ? */
} else if(DRAW_AREA(ev.x, ev.y)) {
if(pen == 0)
gdispDrawPixel(ev.x, ev.y, color);
else
gdispFillCircle(ev.x, ev.y, pen, color);
}
}
}
/*
* 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();
/*
* Initializes a serial-over-USB CDC driver.
*/
sduObjectInit(&SDU2);
sduStart(&SDU2, &serusbcfg);
/*
* GPIOI1 is programmed as output (board LED).
*/
palClearLine(LINE_ARD_D13);
palSetLineMode(LINE_ARD_D13, PAL_MODE_OUTPUT_PUSHPULL);
/*
* Activates the USB driver and then the USB bus pull-up on D+.
* Note, a delay is inserted in order to not have to disconnect the cable
* after a reset.
*/
usbDisconnectBus(serusbcfg.usbp);
chThdSleepMilliseconds(1500);
usbStart(serusbcfg.usbp, &usbcfg);
usbConnectBus(serusbcfg.usbp);
/*
* Shell manager initialization.
*/
shellInit();
/*
* Creates the blinker thread.
*/
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
/*
* Normal main() thread activity, spawning shells.
*/
while (true) {
if (SDU2.config->usbp->state == USB_ACTIVE) {
thread_t *shelltp = chThdCreateFromHeap(NULL, SHELL_WA_SIZE,
"shell", NORMALPRIO + 1,
shellThread, (void *)&shell_cfg1);
chThdWait(shelltp);
}
#if 0
if (palReadPad(GPIOI, GPIOI_BUTTON_USER)) {
usbDisconnectBus(serusbcfg.usbp);
usbStop(serusbcfg.usbp);
chThdSleepMilliseconds(1500);
usbStart(serusbcfg.usbp, &usbcfg);
usbConnectBus(serusbcfg.usbp);
}
#endif
chThdSleepMilliseconds(1000);
}
}
/*
* Application entry point.
*/
int main(void) {
thread_t *shelltp = NULL;
/*
* 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();
/*
* Shell manager initialization.
*/
shellInit();
/*
* Initializes a serial-over-USB CDC driver.
*/
sduObjectInit(&SDU1);
sduStart(&SDU1, &serusbcfg);
/*
* Activates the USB driver and then the USB bus pull-up on D+.
* Note, a delay is inserted in order to not have to disconnect the cable
* after a reset.
*/
usbDisconnectBus(serusbcfg.usbp);
chThdSleepMilliseconds(1000);
usbStart(serusbcfg.usbp, &usbcfg);
usbConnectBus(serusbcfg.usbp);
/*
* Creating the blinker threads.
*/
chThdCreateStatic(waThread1, sizeof(waThread1),
NORMALPRIO + 10, Thread1, NULL);
chThdCreateStatic(waThread2, sizeof(waThread2),
NORMALPRIO + 10, Thread2, NULL);
/*
* Normal main() thread activity, in this demo it just performs
* a shell respawn upon its termination.
*/
while (true) {
if (!shelltp) {
if (SDU1.config->usbp->state == USB_ACTIVE) {
/* Spawns a new shell.*/
shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO);
}
}
else {
/* If the previous shell exited.*/
if (chThdTerminatedX(shelltp)) {
/* Recovers memory of the previous shell.*/
chThdRelease(shelltp);
shelltp = NULL;
}
}
chThdSleepMilliseconds(500);
}
}
static msg_t LinkMgrThread(void *arg){
(void)arg;
chRegSetThreadName("LinkManager");
uint32_t sh = *sh_overxbee; // cached previouse value
/*
* Activates the USB driver and then the USB bus pull-up on D+.
* Note, a delay is inserted in order to not have to disconnect the cable
* after a reset.
*/
usbDisconnectBus(serusbcfg.usbp);
chThdSleepMilliseconds(1000);
usbStart(serusbcfg.usbp, &usbcfg);
usbConnectBus(serusbcfg.usbp);
/* wait slowpoked modems */
chThdSleepMilliseconds(3000);
/* define what we need to run based on flag */
if (sh == 1){
SpawnShellThreads(&XBEESD);
SpawnMavlinkThreads(&SDU1);
}
else{
SpawnShellThreads(&SDU1);
SpawnMavlinkThreads(&XBEESD);
}
/* say to all that modem is ready */
setGlobalFlag(GlobalFlags.modem_ready);
/* now track changes of flag and fork appropriate threads */
while (TRUE) {
chThdSleepMilliseconds(200);
if(sh != *sh_overxbee){ // state changed
sh = *sh_overxbee;
KillShellThreads();
KillMavlinkThreads();
chThdSleepMilliseconds(1);
// sdStop(&XBEESD);
// sdStart(&XBEESD, &xbee_ser_cfg);
//
// sduStop(&SDU1);
// sduStart(&SDU1, &serusbcfg);
// purge queues to be safer
// chSysLock();
// chIQResetI(&(SDU1.iqueue));
// chIQResetI(&(SDU1.oqueue));
// chIQResetI(&(XBEESD.iqueue));
// chIQResetI(&(XBEESD.oqueue));
// chSysUnlock();
// now spawn threads with proper serial drivers
if (sh == 1){
SpawnShellThreads(&XBEESD);
SpawnMavlinkThreads(&SDU1);
}
else{
SpawnShellThreads(&SDU1);
SpawnMavlinkThreads(&XBEESD);
}
}
}
return 0;
}
int main(void)
{
// copy vector table
memcpy((char *)0x20000000, (const char *)&_vectors, 0x200);
// remap SRAM1 to 0x00000000
SYSCFG->MEMRMP |= 0x03;
/* system & hardware initialization */
halInit();
// float usb inputs, hope the host notices detach...
palSetPadMode(GPIOA, 11, PAL_MODE_INPUT);
palSetPadMode(GPIOA, 12, PAL_MODE_INPUT);
// setup LEDs
palSetPadMode(LED1_PORT,LED1_PIN,PAL_MODE_OUTPUT_PUSHPULL);
palSetPadMode(LED2_PORT, LED2_PIN, PAL_MODE_OUTPUT_PUSHPULL);
palClearPad(LED1_PORT,LED1_PIN);
palSetPad(LED2_PORT,LED2_PIN);
chSysInit();
palSetPadMode(GPIOA, 11, PAL_MODE_ALTERNATE(10));
palSetPadMode(GPIOA, 12, PAL_MODE_ALTERNATE(10));
palSetPadMode(GPIOC, 8, PAL_MODE_ALTERNATE(12) | PAL_STM32_OSPEED_HIGHEST);
palSetPadMode(GPIOC, 9, PAL_MODE_ALTERNATE(12) | PAL_STM32_OSPEED_HIGHEST);
palSetPadMode(GPIOC, 10, PAL_MODE_ALTERNATE(12) | PAL_STM32_OSPEED_HIGHEST);
palSetPadMode(GPIOC, 11, PAL_MODE_ALTERNATE(12) | PAL_STM32_OSPEED_HIGHEST);
palSetPadMode(GPIOC, 12, PAL_MODE_ALTERNATE(12) | PAL_STM32_OSPEED_HIGHEST);
palSetPadMode(GPIOD, 2, PAL_MODE_ALTERNATE(12) | PAL_STM32_OSPEED_HIGHEST);
chThdSleepMilliseconds(50);
/* initialize the SD card */
sdcStart(&SDCD1, NULL);
sdcConnect(&SDCD1);
/* initialize the USB mass storage driver */
msdInit(&UMSD1);
/* turn off green LED, turn on red LED */
palSetPadMode(LED1_PORT, LED1_PIN, PAL_MODE_OUTPUT_PUSHPULL);
palClearPad(LED1_PORT, LED1_PIN);
palSetPadMode(LED2_PORT, LED2_PIN, PAL_MODE_OUTPUT_PUSHPULL);
palSetPad(LED2_PORT, LED2_PIN);
/* start the USB mass storage service */
int ret = msdStart(&UMSD1, &msdConfig);
if (ret != 0) {
/* no media found : bye bye !*/
usbDisconnectBus(&USBD1);
chThdSleepMilliseconds(1000);
NVIC_SystemReset();
}
/* watch the mass storage events */
EventListener connected;
EventListener ejected;
chEvtRegisterMask(&UMSD1.evt_connected, &connected, EVENT_MASK(1));
chEvtRegisterMask(&UMSD1.evt_ejected, &ejected, EVENT_MASK(2));
/* start the USB driver */
usbDisconnectBus(&USBD1);
chThdSleepMilliseconds(1000);
usbStart(&USBD1, &usbConfig);
usbConnectBus(&USBD1);
while (TRUE)
{
eventmask_t event = chEvtWaitOne(EVENT_MASK(1) | EVENT_MASK(2));
if (event == EVENT_MASK(1))
{
/* media connected */
}
else if (event == EVENT_MASK(2))
{
/* media ejected : bye bye !*/
usbDisconnectBus(&USBD1);
chThdSleepMilliseconds(1000);
NVIC_SystemReset();
}
}
return 0;
}
