Exemple #1
0
int main(void)
{

	/* USER CODE BEGIN 1 */

	/* USER CODE END 1 */

	/* MCU Configuration----------------------------------------------------------*/

	/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
	HAL_Init();

	/* Configure the system clock */
	SystemClock_Config();

	/* Initialize all configured peripherals */
	MX_GPIO_Init();
	MX_DMA_Init();
	MX_I2C3_Init();
	MX_TIM1_Init();
	MX_TIM2_Init();
	MX_TIM3_Init();
	MX_TIM4_Init();
	MX_TIM5_Init();
	MX_USART1_UART_Init();
	MX_USART2_UART_Init();
	MX_TIM11_Init();

	/* USER CODE BEGIN 2 */
	HAL_TIM_Base_Start_IT(&htim11); // 100 msec timer
	initSonar( MAX_SONAR);
	initSerOutput();
	/* USER CODE END 2 */

	/* Infinite loop */
	/* USER CODE BEGIN WHILE */
	while (1)
	{
		/* USER CODE END WHILE */

		/* USER CODE BEGIN 3 */
		// >>>>> Sonar reading
		triggerSonar( COUPLE_0_2);
		HAL_Delay(49);
		triggerSonar( COUPLE_1_3);
		HAL_Delay(49);
		// <<<<< Sonar reading

		// >>>>> Serial Output
		convertMeasures();
		sendMeasures();
		// <<<<< Serial Output

	}
	/* USER CODE END 3 */

}
Exemple #2
0
void noreturn main(void)
{
   init();
   initSensors();

   for(;;)
   {
      while(!loopActive)
      {
         ; // wait for next loop
      }

      readSensors();
      attitudeCalculation();
      control();
      actuate();
      triggerSonar();
      input();
      output();
      leds();

      ATOMIC_BLOCK(ATOMIC_FORCEON)
      {
         lastLoopTicks = ticksSinceLoopStart;
         loopActive = false;
      }
   }
}