/**
* @brief Main program.
* @param None
* @retval None
*/
int main(void)
{
uint32_t x;
/*!< At this stage the microcontroller clock setting is already configured,
this is done through SystemInit() function which is called from startup
file (startup_stm32f072xb.s) before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
system_stm32f0xx.c file
*/
/* initialization of the tables values for DAC signal generations */
for (x = 0; x < SIN1_ARRAY_SIZE; x++)
{
sin1_data[x] = (uint32_t) GenerateWave(INCREMENT1, DAC_AMPL_MAX); /* as the DAC buffer are enabled */
sin1_data[x] += sin1_data[x] << 16;
}
ConfigureGPIO();
ConfigureGPIOasAnalog();
ConfigureDAC();
ConfigureDMA();
ConfigureTIM7();
__WFI(); /* If an error occurs or the execution is stop by debugger, the wait mode is exited */
SysTick_Config(48000); /* 1ms config */
while (1) /* Infinite loop only reach in case of error */
{
}
}
/**
* @brief Main program.
* @param None
* @retval None
*/
int main(void)
{
/*!< At this stage the microcontroller clock setting is already configured,
this is done through SystemInit() function which is called from startup
file (startup_stm32f072xb.s) before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
system_stm32f0xx.c file
PLL is set to x12 with a PREDIV /2 so the system clock SYSCLK = 48MHz
*/
ConfigureGPIO();
SetClockForADC();
CalibrateADC();
ConfigureGPIOforADC();
EnableADC();
ConfigureADC();
ConfigureDMA();
ADC1->CR |= ADC_CR_ADSTART; /* start the ADC conversions */
GPIOC->BSRR = (1<<9); /* switch on the green led */
__WFI(); /* No interrupt should occur, as only error could trigger an interrupt */
GPIOC->BRR = (1<<9); /* switch off the green led */
DisableADC();
SysTick_Config(48000); /* 1ms config */
while (1) /* Infinite loop */
{
}
}
/**
* @brief Main program.
* @param None
* @retval None
*/
int main(void)
{
/*!< At this stage the microcontroller clock setting is already configured,
this is done through SystemInit() function which is called from startup
file (startup_stm32f072xb.s) before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
system_stm32f0xx.c file
PLL is set to x12 with a PREDIV /2 so the system clock SYSCLK = 48MHz
*/
ConfigureGPIO();
ConfigureExternalIT();
RCC->APB2ENR = RCC_APB2ENR_ADC1EN; /* Enable the peripheral clock of the ADC */
RCC->CFGR |= RCC_CFGR_PPRE_2; /* Set peripheral prescaler to /2 so PCLK = HCLK/2 = 24MHz */
CalibrateADC();
EnableADC();
ConfigureADC();
ConfigureDMA();
ADC1->CR |= ADC_CR_ADSTART; /* Start the ADC conversions */
while (error < ERROR_UNEXPECTED_DMA_IT) /* loop till no unrecoverable error */
{
__WFI();
}
DisableADC();
SysTick_Config(48000); /* 1ms config */
while (1) /* Infinite loop */
{
}
}
/**
* @brief Main program.
* @param None
* @retval None
*/
int main(void)
{
/*!< At this stage the microcontroller clock setting is already configured,
this is done through SystemInit() function which is called from startup
file (startup_stm32f072xb.s) before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
system_stm32f0xx.c file
PLL is set to x12 with a PREDIV /2 so the system clock SYSCLK = 48MHz
*/
ConfigureGPIO();
ConfigureExternalIT();
SetClockForADC();
CalibrateADC();
ConfigureGPIOforADC();
EnableADC();
ConfigureADC();
CurrentChannel = 0; /* Initializes the CurrentChannel */
ADC1->CR |= ADC_CR_ADSTART; /* start the ADC conversions */
while (error == 0) /* loop till no unrecoverable error, should never be exited */
{
__WFI();
}
DisableADC();
SysTick_Config(48000); /* 1ms config */
while (1) /* Infinite loop */
{
}
}
/**
* @brief Main program.
* @param None
* @retval None
*/
int main(void)
{
/*!< At this stage the microcontroller clock setting is already configured,
this is done through SystemInit() function which is called from startup
file (startup_stm32f072xb.s) before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
system_stm32f0xx.c file
*/
ConfigureGPIO();
SysTick_Config(48000);/* 1ms config */
ConfigureTIMxForETR();
while (1) /* Infinite loop */
{
}
}
/**
* @brief Main program.
* @param None
* @retval None
*/
int main(void)
{
/*!< At this stage the microcontroller clock setting is already configured,
this is done through SystemInit() function which is called from startup
file (startup_stm32f072xb.s) before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
system_stm32f0xx.c file
*/
ConfigureGPIO();
RCC->CFGR |= RCC_CFGR_MCO_SYSCLK; /* Select system clock to be output on the MCO without prescaler */
/* Infinite loop */
while (1)
{
}
}
/**
* @brief Main program.
* @param None
* @retval None
*/
int main(void)
{
/*!< At this stage the microcontroller clock setting is already configured,
this is done through SystemInit() function which is called from startup
file (startup_stm32f072xb.s) before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
system_stm32f0xx.c file
PLL is set to x12 with a PREDIV /2 so the system clock SYSCLK = 48MHz
*/
/* defines the upper limit 15% above the factory value
the value is adapted according to the application power supply
versus the factory calibration power supply */
uint16_t vrefint_high = (*VREFINT_CAL_ADDR)* VDD_CALIB / VDD_APPLI * 115 / 100;
/* defines the lower limit 15% below the factory value
the value is adapted according to the application power supply
versus the factory calibration power supply */
uint16_t vrefint_low = (*VREFINT_CAL_ADDR) * VDD_CALIB / VDD_APPLI * 85 / 100;
ConfigureGPIO();
SetClockForADC();
CalibrateADC();
EnableADC();
ConfigureADC();
ConfigureTIM15();
ADC1->CR |= ADC_CR_ADSTART; /* start the ADC conversion */
while (error == 0) /* Loop till the measure is in the range */
{
while ((ADC1->ISR & ADC_ISR_EOC) == 0); /* wait end of conversion */
if ((ADC1->DR > vrefint_high) && (ADC1->DR > vrefint_low))
{
error |= WARNING_MEASURE; /* report a warning, the measure being out of range due to VDD shift */
}
GPIOC->ODR ^= (1<<9); /* Toggle green led on PC9 */
}
DisableADC();
SysTick_Config(48000); /* 1ms config */
while(1)
{
}
}
/**
* @brief Main program.
* @param None
* @retval None
*/
int main(void)
{
/*!< At this stage the microcontroller clock setting is already configured,
this is done through SystemInit() function which is called from startup
file (startup_stm32f072xb.s) before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
system_stm32f0xx.c file
*/
ConfigureGPIO();
SysTick_Config(48000);/* 1ms config */
ConfigureTIMxAsPWM_Input();
ConfigureDMA();
GPIOC->BSRR = 1<<9; /* switch on green led */
while (error < ERROR_UNEXPECTED_DMA_IT)
{
__WFI();
}
GPIOC->BRR = 1<<9; /* switch off green led */
while (1) /* Infinite loop */
{
}
}
void main(void)
{
char TempVar;
// variable used for IMU chip Autotest
unsigned char IMUAutotestResult;
// structure used to store IMU data
struct IMUData CurrentIMUData;
// variable for CAN TX FIFO buffer
struct CANTxMsg TempCANTxMsg;
// variable for CAN RX FIFO buffer
struct CANRxMsg TempCANRxMsg;
//----------------------------------------------------
//---------- CPU internal configurations: -----------
//----------------------------------------------------
CLRWDT(); // clear watchdog timer at startup
/* Configure the oscillator for the CPU */
ConfigureOscillator();
__delay_ms(10); // wait for Oscillator to be stabilized
// configure CPU GPIO for IMU board
ConfigureGPIO();
//USART Initialize();
ConfigureUSART1();
ConfigureUSART2();
// SPI initialize
ConfigureSPI();
//CAN controller Initialize
ECANInitialize();
//Set MASK and Filters for CAN
ECANFiltersInit();
// Timers configuration
ConfigureTimers();
//----------------------------------------------------
//---------- Global variables initialisation --------
//----------------------------------------------------
// tick counter initialisation
TickCounter.AccelTick_ms=0;
TickCounter.GyroTick_ms=1;
TickCounter.MagnetTick_ms=2;
// initialize CAN tx FIFO
CANTxFifoInit();
CANRxFifoInit();
// initialise USART RX FIFO's
USARTFifoInit ();
//----------------------------------------------------
//------ external peripheral configurations: --------
//----------------------------------------------------
__delay_ms(10); // wait for reset to be released on external peripherals
ISM_RESET = 0; // release reset of ISM module
IMUInitRegisters(); // init of BMX055 chip
IMUAutotestResult=IMUAutotest(); // launch IMU autotest
//----------------------------------------------------
//---------- GSM startup delay -----------
//----------------------------------------------------
GSM_RTS=1;
for(char i=0;i<200;i++)
{
__delay_ms(10);
CLRWDT(); // clear watchdog timer each loop
}
GSM_RTS=0;
__delay_ms(10);
__delay_ms(10);
//----------------------------------------------------
//---------- Ready to go in main loop: -----------
//---------- interrupts activation -----------
//----------------------------------------------------
ConfigureInterrupts();
LED1=1; // everything is initialized: enable the PWR/booted LED
//----------------------------------------------------
//---------- GSM dummy AT command -----------
//----------------------------------------------------
USART1Write('A');
USART1Write('T');
USART1Write(0x0D);
for(char i=0;i<10;i++)
{
__delay_ms(10);
}
//-----------------------------------------------------
//------------- infinite main loop ----------
//----------------------------------------------------
while(1)
{
//--------------------------------------------------------------------------------
//------------- periodic tasks occures according to TickCounter variable----------
//--------------------------------------------------------------------------------
if(TickCounter.AccelTick_ms>IMU_TICK_PERIOD)
{
CLRWDT(); // clear watchdog timer each real time cycles
LED2=1;
TickCounter.AccelTick_ms=0; // reset IMU tick counter to 0
CurrentIMUData = IMUUpdateData(); // update IMU data from sensor
// send Accelerometer data to CAN Fifo
TempCANTxMsg.data_TX[0]=(char)(CurrentIMUData.XAccelerationData>>8); //fill data buffer
TempCANTxMsg.data_TX[1]=(char)(CurrentIMUData.XAccelerationData);
TempCANTxMsg.data_TX[2]=(char)(CurrentIMUData.YAccelerationData>>8);
TempCANTxMsg.data_TX[3]=(char)(CurrentIMUData.YAccelerationData);
TempCANTxMsg.data_TX[4]=(char)(CurrentIMUData.ZAccelerationData>>8);
TempCANTxMsg.data_TX[5]=(char)(CurrentIMUData.ZAccelerationData);
TempCANTxMsg.data_TX[6]=0;
TempCANTxMsg.data_TX[7]=0;
TempCANTxMsg.dataLen= ACCEL_DATA_MESSAGE_LEN;
TempCANTxMsg.id = (CAN_MESSAGE_IMU_TYPE << 7 | CAN_DEVICE_ADRESS <<4 | ACCEL_DATA_MESSAGE_ADRESS );
TempCANTxMsg.flags = ECAN_TX_STD_FRAME;
if(!CANTxFifo.Fifofull)
PutCANTxFifo(TempCANTxMsg);
LED2=0;
}
if(TickCounter.GyroTick_ms>IMU_TICK_PERIOD)
{
//LED2=1;
TickCounter.GyroTick_ms=0; // reset IMU tick counter to 0
// send Gyro data to CAN Fifo
TempCANTxMsg.data_TX[0]=(char)(CurrentIMUData.XGyroscopeData>>8);
TempCANTxMsg.data_TX[1]=(char)(CurrentIMUData.XGyroscopeData);
TempCANTxMsg.data_TX[2]=(char)(CurrentIMUData.YGyroscopeData>>8);
TempCANTxMsg.data_TX[3]=(char)(CurrentIMUData.YGyroscopeData);
TempCANTxMsg.data_TX[4]=(char)(CurrentIMUData.ZGyroscopeData>>8);
TempCANTxMsg.data_TX[5]=(char)(CurrentIMUData.ZGyroscopeData);
TempCANTxMsg.dataLen= GYRO_DATA_MESSAGE_LEN;
TempCANTxMsg.id = (CAN_MESSAGE_IMU_TYPE << 7 | CAN_DEVICE_ADRESS <<4 | GYRO_DATA_MESSAGE_ADRESS );
TempCANTxMsg.flags = ECAN_TX_STD_FRAME;
if(!CANTxFifo.Fifofull)
PutCANTxFifo(TempCANTxMsg);
}
