/*
* 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();
/*
* Starting the watchdog driver.
*/
wdgStart(&WDGD1, &wdgcfg);
/*
* Normal main() thread activity, it resets the watchdog.
*/
while (true) {
wdgReset(&WDGD1);
palToggleLine(LINE_LED4);
chThdSleepMilliseconds(500);
}
return 0;
}
static THD_FUNCTION(Thread1, arg) {
(void)arg;
chRegSetThreadName("blinker");
while (true) {
palToggleLine(LINE_LED6_GREEN);
chThdSleepMilliseconds(50);
palToggleLine(LINE_LED4_BLUE);
chThdSleepMilliseconds(50);
palToggleLine(LINE_LED3_RED);
chThdSleepMilliseconds(50);
palToggleLine(LINE_LED5_ORANGE);
chThdSleepMilliseconds(50);
palToggleLine(LINE_LED7_GREEN);
chThdSleepMilliseconds(200);
}
}
static THD_FUNCTION(Thread1, arg) {
(void)arg;
chRegSetThreadName("blinker");
while (true) {
systime_t time = palReadLine(PORTAB_LINE_BUTTON) == PORTAB_BUTTON_PRESSED ? 250 : 500;
palToggleLine(PORTAB_LINE_LED2);
chThdSleepMilliseconds(time);
}
}
static THD_FUNCTION(Thread1, arg) {
(void)arg;
chRegSetThreadName("blinker");
while (true) {
palToggleLine(LINE_LED_GREEN);
chThdSleepMilliseconds(500);
}
}
static THD_FUNCTION(Thread1, arg) {
(void)arg;
chRegSetThreadName("blinker");
while (true) {
palToggleLine(PORTAB_BLINK_LED1);
chThdSleepMilliseconds(fs_ready ? 250 : 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();
palSetLineMode(LINE_ARD_D14, PAL_MODE_ALTERNATE(4) | PAL_STM32_OSPEED_HIGH);
palSetLineMode(LINE_ARD_D15, PAL_MODE_ALTERNATE(4) | PAL_STM32_OSPEED_HIGH);
/*
* Activates the serial driver 2 using the driver default configuration.
*/
sdStart(&SD2, NULL);
/*
* L3GD20 Object Initialization
*/
lsm6ds0ObjectInit(&LSM6DS0D1);
lsm6ds0Start(&LSM6DS0D1, &lsm6ds0cfg);
while (TRUE) {
palToggleLine(LINE_LED_GREEN);
sensorReadRaw(&LSM6DS0D1, rawdata);
sensorReadCooked(&LSM6DS0D1, cookeddata);
gyroscopeGetTemp(&LSM6DS0D1, &temp);
chprintf(chp, "ACCELEROMETER DATA\r\n");
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
chprintf(chp, "RAW-%c:%d\t\t", axesID[i], rawdata[i]);
chprintf(chp, "\r\n");
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
chprintf(chp, "COOKED-%c:%.3f g\t", axesID[i], cookeddata[i]);
chprintf(chp, "\r\nGYROSCOPE DATA\r\n");
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++)
chprintf(chp, "RAW-%c:%d\t\t", axesID[i], rawdata[i + 3]);
chprintf(chp, "\r\n");
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++)
chprintf(chp, "COOKED-%c:%.3f dps\t", axesID[i], cookeddata[i + 3]);
chprintf(chp, "\r\n");
chprintf(chp, "TEMPERATURE DATA\r\n");
chprintf(chp, "LSM6DS0:%.3f C°\t", temp);
chprintf(chp, "\r\n");
chThdSleepMilliseconds(100);
#if CHPRINTF_USE_ANSI_CODE
chprintf(chp, "\033[2J\033[1;1H");
#endif
}
}
static THD_FUNCTION(Thread1, arg) {
(void)arg;
chRegSetThreadName("blinker");
while (true) {
systime_t time;
time = serusbcfg.usbp->state == USB_ACTIVE ? 250 : 500;
palToggleLine(LINE_LED5);
chThdSleepMilliseconds(time);
}
}
/*
* 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();
/*
* Route USART3 to PC4/TX/pin1 PC5/RX/pin0
*/
palSetLineMode(LINE_PIN0, PAL_MODE_ALTERNATE(7));
palSetLineMode(LINE_PIN1, PAL_MODE_ALTERNATE(7));
/*
* Activates the serial driver 2 using the driver default configuration.
*/
sdStart(&SD3, NULL);
// palSetLineMode(LINE_LED_GREEN, PAL_MODE_OUTPUT_PUSHPULL);
palClearLine(LINE_LED_GREEN);
chThdSleepMilliseconds(500);
palSetLine(LINE_LED_GREEN);
// palSetPadMode(GPIOC, 10, PAL_MODE_OUTPUT_PUSHPULL);
// palTogglePad(GPIOC, 10);
/*
* 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 (palReadLine(LINE_BUTTON)) {
palToggleLine(LINE_LED_BLUE);
// test_execute((BaseSequentialStream *)&SD3);
}
chThdSleepMilliseconds(500);
}
}
void AP_IOMCU_FW::heater_update()
{
uint32_t now = AP_HAL::millis();
if (!has_heater) {
// use blue LED as heartbeat
if (now - last_blue_led_ms > 500) {
palToggleLine(HAL_GPIO_PIN_HEATER);
last_blue_led_ms = now;
}
} else if (reg_setup.heater_duty_cycle == 0 || (now - last_heater_ms > 3000UL)) {
palWriteLine(HAL_GPIO_PIN_HEATER, 0);
} else {
uint8_t cycle = ((now / 10UL) % 100U);
palWriteLine(HAL_GPIO_PIN_HEATER, !(cycle >= reg_setup.heater_duty_cycle));
}
}
static THD_FUNCTION(can_rx, p) {
struct can_instance *cip = p;
event_listener_t el;
CANRxFrame rxmsg;
(void)p;
chRegSetThreadName("receiver");
chEvtRegister(&cip->canp->rxfull_event, &el, 0);
while(!chThdShouldTerminateX()) {
if (chEvtWaitAnyTimeout(ALL_EVENTS, TIME_MS2I(100)) == 0)
continue;
while (canReceive(cip->canp, CAN_ANY_MAILBOX,
&rxmsg, TIME_IMMEDIATE) == MSG_OK) {
/* Process message.*/
palToggleLine(cip->led);
}
}
chEvtUnregister(&CAND1.rxfull_event, &el);
}
/*
* Application entry point.
*/
int main(void) {
halInit();
chSysInit();
/*
* Set PA3 - PA1 to Analog (DAC1_CH1, OPAMP1_INP)
* You will have to connect these with a jumper wire
*/
palSetPadMode(GPIOA, 3, PAL_MODE_INPUT_ANALOG);
palSetPadMode(GPIOA, 1, PAL_MODE_INPUT_ANALOG);
/*
* Start peripherals
*/
dacStart(&DACD1, &dac1cfg1);
opampStart(&OPAMPD1, &opamp1_conf);
gptStart(&GPTD6, &gpt6cfg1);
/*
* Starting a continuous conversion.
*/
dacStartConversion(&DACD1, &dacgrpcfg1, dac_buffer, DAC_BUFFER_SIZE);
gptStartContinuous(&GPTD6, 2U);
opampEnable(&OPAMPD1);
opampCalibrate();
/*
* Normal main() thread activity.
*/
while (true) {
chThdSleepMilliseconds(250);
palToggleLine(LINE_LED3_RED);
}
return 0;
}
/*
* 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);
}
