void init()
{
/* STM32F4 discovery LEDs */
GPIO_InitTypeDef LED_Config;
/* Always remember to turn on the peripheral clock... If not, you may be up till 3am debugging... */
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);
LED_Config.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_13| GPIO_Pin_14| GPIO_Pin_15;
LED_Config.GPIO_Mode = GPIO_Mode_OUT;
LED_Config.GPIO_OType = GPIO_OType_PP;
LED_Config.GPIO_Speed = GPIO_Speed_25MHz;
LED_Config.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOD, &LED_Config);
/* Setup SysTick or CROD! */
if (SysTick_Config(SystemCoreClock / 1000))
{
ColorfulRingOfDeath();
}
/* Setup USB */
USBD_Init(&USB_OTG_dev,
USB_OTG_FS_CORE_ID,
&USR_desc,
&USBD_CDC_cb,
&USR_cb);
return;
}
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
int16_t accData[3];
#ifdef WITH_USART
char msg[3] = {'0','\r','\n'};
#endif
HAL_Init();
HW_Init();
BlueNRG_Init();
while (1)
{
HCI_Process();
if (set_connectable) {
set_bluenrg_connectable();
set_connectable = 0;
}
/* Blink the orange LED */
if (HAL_GetTick() % 500 == 0)
BSP_LED_Toggle(LED3);
if (HAL_GetTick() % 100 == 0) {
BSP_ACCELERO_GetXYZ(accData);
Acc_Update(accData);
}
#ifdef WITH_USART
msg[0] = (msg[0] == '9')? '0' : msg[0]+1;
if (HAL_USART_Transmit(&UsartHandle, (uint8_t *)msg, 3, 5000) != HAL_OK)
ColorfulRingOfDeath();
#endif
}
}
void init()
{
/* STM32F4 discovery LEDs */
GPIO_InitTypeDef LED_Config;
/* Always remember to turn on the peripheral clock... If not, you may be up till 3am debugging... */
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);
LED_Config.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_13| GPIO_Pin_14| GPIO_Pin_15;
LED_Config.GPIO_Mode = GPIO_Mode_OUT;
LED_Config.GPIO_OType = GPIO_OType_PP;
LED_Config.GPIO_Speed = GPIO_Speed_25MHz;
LED_Config.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOD, &LED_Config);
/* Setup SysTick or CROD! */
if (SysTick_Config(SystemCoreClock / 1000))
{
ColorfulRingOfDeath();
}
/** Setup UART */
GPIO_InitTypeDef GPIO_InitStruct;
USART_InitTypeDef USART_InitStruct;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
GPIO_InitStruct.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7; // Pins 6 (TX) and 7 (RX) are used
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF; // the pins are configured as alternate function so the USART peripheral has access to them
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz; // this defines the IO speed and has nothing to do with the baudrate!
GPIO_InitStruct.GPIO_OType = GPIO_OType_PP; // this defines the output type as push pull mode (as opposed to open drain)
GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_UP; // this activates the pullup resistors on the IO pins
GPIO_Init(GPIOB, &GPIO_InitStruct);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource6, GPIO_AF_USART1);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource7, GPIO_AF_USART1);
USART_InitStruct.USART_BaudRate = 115200; // the baudrate is set to the value we passed into this init function
USART_InitStruct.USART_WordLength = USART_WordLength_8b;// we want the data frame size to be 8 bits (standard)
USART_InitStruct.USART_StopBits = USART_StopBits_1; // we want 1 stop bit (standard)
USART_InitStruct.USART_Parity = USART_Parity_No; // we don't want a parity bit (standard)
USART_InitStruct.USART_HardwareFlowControl = USART_HardwareFlowControl_None; // we don't want flow control (standard)
USART_InitStruct.USART_Mode = USART_Mode_Tx | USART_Mode_Rx; // we want to enable the transmitter and the receiver
USART_Init(USART1, &USART_InitStruct);
/* Here the USART1 receive interrupt is enabled
* and the interrupt controller is configured
* to jump to the USART1_IRQHandler() function
* if the USART1 receive interrupt occurs
*/
USART_ITConfig(USART1, USART_IT_RXNE, ENABLE); // enable the USART1 receive interrupt
NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn; // we want to configure the USART1 interrupts
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;// this sets the priority group of the USART1 interrupts
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; // this sets the subpriority inside the group
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; // the USART1 interrupts are globally enabled
NVIC_Init(&NVIC_InitStructure); // the properties are passed to the NVIC_Init function which takes care of the low level stuff
// finally this enables the complete USART1 peripheral
USART_Cmd(USART1, ENABLE);
/* Setup USB */
USBD_Init(&USB_OTG_dev,
USB_OTG_FS_CORE_ID,
&USR_desc,
&USBD_CDC_cb,
&USR_cb);
return;
}
void UsageFault_Handler(void){ ColorfulRingOfDeath(); }
void BusFault_Handler(void) { ColorfulRingOfDeath(); }
void MemManage_Handler(void) { ColorfulRingOfDeath(); }
void HardFault_Handler(void) { ColorfulRingOfDeath(); }
void init(void)
{
SystemInit();
//Setup SystickTimer
if (SysTick_Config(SystemCoreClock / 1000)){ColorfulRingOfDeath();}
GPIO_Configuration();
#ifdef USE_MICROUSB
USBD_Init(&USB_OTG_dev,
USB_OTG_FS_CORE_ID,
&USR_desc,
&USBD_CDC_cb,
&USR_cb);
#endif
#ifdef USE_SDIO
UB_Fatfs_Init();
#endif
#ifdef USE_ADC
ADC_Configuration();
#endif
#ifdef USE_I2C
I2C_Configuration();
#endif
#ifdef USE_SPI
SPI_Configuration();
#endif
#ifdef USE_ENCODER
TIM_encoder_Configuration();
#endif
#ifdef USE_USART1
USART1_Configuration();
#endif
#ifdef USE_USART2
USART2_Configuration();
#endif
#ifdef USE_USART3
USART3_Configuration();
#endif
#ifdef USE_CAN
CAN_Configuration();
#endif
#ifdef USE_PWM
TIM_pwm_Configuration();
#endif
#ifdef USE_EXTI
EXTI_Configuration();
#endif
NVIC_Configuration();
}
static void HW_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct;
/* Init STM32F401 discovery LEDs */
BSP_LED_Init(LED3);
BSP_LED_Init(LED4);
BSP_LED_Init(LED5);
BSP_LED_Init(LED6);
/* Init SPI and I2C */
GYRO_IO_Init();
COMPASSACCELERO_IO_Init();
/* Init on-board AccelMag */
BSP_ACCELERO_Init();
/* Init BlueNRG CS, Reset, and IRQ pin */
BLUENRG_CS_GPIO_CLK_ENABLE();
GPIO_InitStruct.Pin = BLUENRG_CS_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
HAL_GPIO_Init(BLUENRG_CS_GPIO_PORT, &GPIO_InitStruct);
HAL_GPIO_WritePin(BLUENRG_CS_GPIO_PORT, BLUENRG_CS_PIN, GPIO_PIN_SET);
BLUENRG_RESET_GPIO_CLK_ENABLE();
GPIO_InitStruct.Pin = BLUENRG_RESET_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
HAL_GPIO_Init(BLUENRG_RESET_GPIO_PORT, &GPIO_InitStruct);
BLUENRG_IRQ_GPIO_CLK_ENABLE();
GPIO_InitStruct.Pin = BLUENRG_IRQ_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(BLUENRG_IRQ_GPIO_PORT, &GPIO_InitStruct);
#ifdef WITH_USART
/* Init USART port */
UsartHandle.Instance = USART2;
UsartHandle.Init.BaudRate = 9600;
UsartHandle.Init.WordLength = USART_WORDLENGTH_8B;
UsartHandle.Init.StopBits = USART_STOPBITS_1;
UsartHandle.Init.Parity = USART_PARITY_NONE;
UsartHandle.Init.Mode = USART_MODE_TX_RX;
if (HAL_USART_Init(&UsartHandle) != HAL_OK)
{
ColorfulRingOfDeath();
}
#endif
#ifdef WITH_VCP
/* Init Device Library */
USBD_Init(&hUSBDDevice, &VCP_Desc, 0);
/* Add Supported Class */
USBD_RegisterClass(&hUSBDDevice, &USBD_CDC);
/* Add CDC Interface Class */
USBD_CDC_RegisterInterface(&hUSBDDevice, &USBD_CDC_fops);
/* Start Device Process */
USBD_Start(&hUSBDDevice);
#endif
}
