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(); /* System interrupt init*/ /* Sets the priority grouping field */ HAL_NVIC_SetPriorityGrouping(NVIC_PRIORITYGROUP_1); HAL_NVIC_SetPriority(SysTick_IRQn, 0, 1); /* Initialize all configured peripherals */ MX_GPIO_Init(); MX_DMA_Init(); MX_ADC1_Init(); MX_I2C1_Init(); MX_TIM1_Init(); MX_TIM3_Init(); MX_TIM4_Init(); MX_TIM6_Init(); MX_TIM7_Init(); MX_TIM8_Init(); MX_TIM10_Init(); MX_USART3_UART_Init(); /* USER CODE BEGIN 2 */ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, SET); /* USER CODE END 2 */ /* USER CODE BEGIN 3 */ // test_Expander(); ssd1306Init(0); test_Telemeters(); ADXRS620_Init(); TimesBase_Init(); test_Encoders(); Straight_Control_Start(GYRO); test_Beeper(); Led_Power_Blink(990, 10, 0); //test_Gyro(); Debug_ADXRS620(); //Debug_Straight_Control(); while(1); // test_Encoders(); // test_Vbat(); // test_EasterEgg(); //test_Gyro(); // test_Motor_Move(); // test_Motors(); // test_Telemeters(); // HAL_Delay(1000); // test_LineSensors(); // test_Oled(); // test_IR_Sensors(); /* USER CODE END 3 */ }
int main(void) { /* USER CODE BEGIN 1 */ CMDLINE_CONTEXT cmd_context; const char *zhonx_info = (char *)CONFIG_ZHONX_INFO_ADDR; /* 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_ADC1_Init(); MX_ADC2_Init(); MX_ADC3_Init(); MX_I2C1_Init(); MX_RNG_Init(); MX_TIM1_Init(); MX_TIM2_Init(); MX_TIM3_Init(); MX_TIM4_Init(); MX_TIM5_Init(); MX_TIM6_Init(); MX_TIM7_Init(); MX_TIM8_Init(); MX_TIM11_Init(); MX_USART3_UART_Init(); /* USER CODE BEGIN 2 */ expanderInit(); HAL_Delay(100); mainControlInit(); ssd1306Init(0); timesBaseInit(); ledPowerBlink(990, 10); settingsInit(); mulimeterInit(); bluetoothInit(); toneInit(); spyPostInit(); positionControlSetPositionType(GYRO); mainControlSetFollowType(NO_FOLLOW); toneSetVolulme(100); tone(F4, 50); toneItMode(A4, 50); // Register Output callback cmd_context.out = blockingPrintf; // Initialize Command Line module cmdline_init(&cmd_context); // Check if robot name is populated in Flash memset(zhonxName, 0, sizeof(zhonxName)); // Retrieve ZHONX information from flash if any if (zhonx_info[0] == 'Z') { strcpy(zhonxName, zhonx_info); } while (zhonxName[0] == 0) { menu(zhonxNameMenu); } while (1) { menu(mainMenu); powerOffConfirmation(); } /* USER CODE END 2 */ /* Infinite loop */ /* USER CODE BEGIN WHILE */ while (1) ; /* USER CODE END WHILE */ /* USER CODE BEGIN 3 */ /* USER CODE END 3 */ }
int main(void) { /* USER CODE BEGIN 1 */ /* Data initialization */ int_T i; /* 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_ADC1_Init(); MX_ADC2_Init(); MX_CAN1_Init(); MX_CAN2_Init(); MX_DAC_Init(); MX_I2C1_Init(); MX_SPI2_Init(); MX_SPI3_Init(); MX_SPI4_Init(); MX_TIM2_Init(); MX_TIM3_Init(); MX_TIM5_Init(); MX_TIM8_Init(); MX_TIM9_Init(); MX_TIM13_Init(); MX_USART1_UART_Init(); MX_USART2_UART_Init(); MX_USART6_UART_Init(); /* USER CODE BEGIN 2 */ /* Systick configuration and enable SysTickHandler interrupt */ if (SysTick_Config((uint32_t)(SystemCoreClock * 0.5))) { autoReloadTimerLoopVal_S = 1; do { autoReloadTimerLoopVal_S++; } while ((uint32_t)(SystemCoreClock * 0.5)/autoReloadTimerLoopVal_S > SysTick_LOAD_RELOAD_Msk); SysTick_Config((uint32_t)(SystemCoreClock * 0.5)/autoReloadTimerLoopVal_S); } remainAutoReloadTimerLoopVal_S = autoReloadTimerLoopVal_S;//Set nb of loop to do /* USER CODE END 2 */ /* Infinite loop */ /* USER CODE BEGIN WHILE */ for (i=0;i<1;i++) { OverrunFlags[i] = 0; } /* Model initialization call */ Test_Stateflow_initialize(); /* Infinite loop */ /* Real time from systickHandler */ while (1) { /*Process tasks every solver time*/ if (remainAutoReloadTimerLoopVal_S == 0) { remainAutoReloadTimerLoopVal_S = autoReloadTimerLoopVal_S; /* Check base rate for overrun */ if (OverrunFlags[0]) { rtmSetErrorStatus(Test_Stateflow_M, "Overrun"); } OverrunFlags[0] = true; /* Step the model for base rate */ Test_Stateflow_step(); /* Get model outputs here */ /* Indicate task for base rate complete */ OverrunFlags[0] = false; } } /* USER CODE END WHILE */ /* USER CODE BEGIN 3 */ /* USER CODE END 3 */ }