/*
* 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();
palSetPadMode(GPIOB, GPIOB_PIN0, PAL_MODE_ALTERNATE(2) | PAL_STM32_PUDR_FLOATING);
palSetPadMode(GPIOB, GPIOB_PIN1, PAL_MODE_ALTERNATE(2) | PAL_STM32_PUDR_FLOATING);
palSetPadMode(GPIOB, GPIOB_PIN4, PAL_MODE_ALTERNATE(2) | PAL_STM32_PUDR_FLOATING);
palSetPadMode(GPIOB, GPIOB_PIN5, PAL_MODE_ALTERNATE(2) | PAL_STM32_PUDR_FLOATING);
eicuStart(&EICUD3, &eicucfg);
eicuEnable(&EICUD3);
osalThreadSleepMicroseconds(10); // need to stabilize input puns
chThdCreateStatic(PulseThreadWA_LED3, sizeof(PulseThreadWA_LED3),
NORMALPRIO+1, PulseThread, &pulse_led3);
chThdCreateStatic(PulseThreadWA_LED4, sizeof(PulseThreadWA_LED4),
NORMALPRIO+1, PulseThread, &pulse_led4);
chThdCreateStatic(PulseThreadWA_LED5, sizeof(PulseThreadWA_LED5),
NORMALPRIO+1, PulseThread, &pulse_led5);
chThdCreateStatic(PulseThreadWA_LED6, sizeof(PulseThreadWA_LED6),
NORMALPRIO+1, PulseThread, &pulse_led6);
while (true) {
osalThreadSleepMilliseconds(500);
}
return 0;
}
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+.
*
*/
usbDisconnectBus(serusbcfg.usbp);
chThdSleepMilliseconds(500);
usbStart(serusbcfg.usbp, &usbcfg);
usbConnectBus(serusbcfg.usbp);
/*
*
* Start I2C and set up sensors
*
*/
i2cStart(&I2CD2, &i2cfg2);
/* Initialize Accelerometer and Gyroscope */
if (MPU6050Init(&mpu6050cfg) != MSG_OK)
panic("MPU6050 init failed"); /* Initialization failed */
/* Initialize Magnetometer */
if (HMC5983Init(&hmc5983cfg) != MSG_OK)
panic("HMC5983 init failed"); /* Initialization failed */
/* Initialize Barometer */
/* TODO: Add barometer code */
/* Initialize sensor readout */
if (SensorReadInit(&mpu6050cfg, &hmc5983cfg,
&mpu6050cal, &hmc5983cal) != MSG_OK)
panic("Sensor Read init failed"); /* Initialization failed */
/*
*
* Start the external interrupts
*
*/
extStart(&EXTD1, &extcfg);
/*
*
* Initialize the RC Outputs
*
*/
if (RCOutputInit(&rcoutputcfg) != MSG_OK)
panic("RC output init failed"); /* Initialization failed */
/*
*
* Start RC Inputs
*
*/
eicuInit();
eicuStart(&EICUD9, &rcinputcfg);
eicuEnable(&EICUD9);
/*
*
* Start test thread
*
*/
chThdCreateStatic( waThreadTestEvents,
sizeof(waThreadTestEvents),
HIGHPRIO,
ThreadTestEvents,
NULL);
while(1)
{
chThdSleepMilliseconds(100);
if (isUSBActive() == true)
chprintf((BaseSequentialStream *)&SDU1, "Input width: %u\r\n", ic_test);
}
}
