/*----------------------------------------------------------------------------
* Main:
*---------------------------------------------------------------------------*/
int main (void) { /* program execution starts here */
semaphore = osSemaphoreCreate(osSemaphore(semaphore), 1);
tid_thread1 = osThreadCreate(osThread(thread1), NULL);
tid_thread2 = osThreadCreate(osThread(thread2), NULL);
osDelay(osWaitForever);
for (;;);
}
/**
* @brief In this function, the hardware should be initialized.
* Called from ethernetif_init().
*
* @param netif the already initialized lwip network interface structure
* for this ethernetif
*/
static void low_level_init(struct netif *netif)
{
uint8_t macaddress[6]= { MAC_ADDR0, MAC_ADDR1, MAC_ADDR2, MAC_ADDR3, MAC_ADDR4, MAC_ADDR5 };
EthHandle.Instance = ETH;
EthHandle.Init.MACAddr = macaddress;
EthHandle.Init.AutoNegotiation = ETH_AUTONEGOTIATION_ENABLE;
EthHandle.Init.Speed = ETH_SPEED_100M;
EthHandle.Init.DuplexMode = ETH_MODE_FULLDUPLEX;
EthHandle.Init.MediaInterface = ETH_MEDIA_INTERFACE_RMII;
EthHandle.Init.RxMode = ETH_RXINTERRUPT_MODE;
EthHandle.Init.ChecksumMode = ETH_CHECKSUM_BY_HARDWARE;
EthHandle.Init.PhyAddress = LAN8742A_PHY_ADDRESS;
/* configure ethernet peripheral (GPIOs, clocks, MAC, DMA) */
if (HAL_ETH_Init(&EthHandle) == HAL_OK)
{
/* Set netif link flag */
netif->flags |= NETIF_FLAG_LINK_UP;
}
/* Initialize Tx Descriptors list: Chain Mode */
HAL_ETH_DMATxDescListInit(&EthHandle, DMATxDscrTab, &Tx_Buff[0][0], ETH_TXBUFNB);
/* Initialize Rx Descriptors list: Chain Mode */
HAL_ETH_DMARxDescListInit(&EthHandle, DMARxDscrTab, &Rx_Buff[0][0], ETH_RXBUFNB);
/* set netif MAC hardware address length */
netif->hwaddr_len = ETHARP_HWADDR_LEN;
/* set netif MAC hardware address */
netif->hwaddr[0] = MAC_ADDR0;
netif->hwaddr[1] = MAC_ADDR1;
netif->hwaddr[2] = MAC_ADDR2;
netif->hwaddr[3] = MAC_ADDR3;
netif->hwaddr[4] = MAC_ADDR4;
netif->hwaddr[5] = MAC_ADDR5;
/* set netif maximum transfer unit */
netif->mtu = 1500;
/* Accept broadcast address and ARP traffic */
netif->flags |= NETIF_FLAG_BROADCAST | NETIF_FLAG_ETHARP;
/* create a binary semaphore used for informing ethernetif of frame reception */
osSemaphoreDef(SEM);
s_xSemaphore = osSemaphoreCreate(osSemaphore(SEM) , 1 );
/* create the task that handles the ETH_MAC */
osThreadDef(EthIf, ethernetif_input, osPriorityRealtime, 0, INTERFACE_THREAD_STACK_SIZE);
osThreadCreate (osThread(EthIf), netif);
/* Enable MAC and DMA transmission and reception */
HAL_ETH_Start(&EthHandle);
}
int Init_Semaphore (void) {
sid_Thread_Semaphore = osSemaphoreCreate (osSemaphore(SampleSemaphore), 1);
if (!sid_Thread_Semaphore) {
; // Semaphore object not created, handle failure
}
tid_Thread_Semaphore = osThreadCreate (osThread(Thread_Semaphore), NULL);
if (!tid_Thread_Semaphore) return(-1);
return(0);
}
s32 bsp_rfile_init(void)
{
s32 ret;
g_stRfileMain.semAll = osSemaphoreCreate(osSemaphore(rfile_all_sem), 1);
g_stRfileMain.semReq = osSemaphoreCreate(osSemaphore(rfile_req_sem), 0);
ret = bsp_icc_event_register(RFILE_MCORE_ICC_RD_CHAN, bsp_RfileCallback, NULL, NULL, NULL);
if(ret)
{
bsp_trace(BSP_LOG_LEVEL_ERROR, BSP_MODU_RFILE, "[%s] bsp_icc_event_register failed.\n", __FUNCTION__);
return BSP_ERROR;
}
g_stRfileMain.bInitFlag = BSP_TRUE;
// bsp_trace(BSP_LOG_LEVEL_ERROR, BSP_MODU_RFILE, "[%s] success.\n", __FUNCTION__);
return BSP_OK;
}
/**
* @brief Network interface configuration
* @param None
* @retval None
*/
static void Netif_Config(void)
{
struct ip_addr ipaddr;
struct ip_addr netmask;
struct ip_addr gw;
/* IP address default setting */
IP4_ADDR(&ipaddr, IP_ADDR0, IP_ADDR1, IP_ADDR2, IP_ADDR3);
IP4_ADDR(&netmask, NETMASK_ADDR0, NETMASK_ADDR1 , NETMASK_ADDR2, NETMASK_ADDR3);
IP4_ADDR(&gw, GW_ADDR0, GW_ADDR1, GW_ADDR2, GW_ADDR3);
/* - netif_add(struct netif *netif, struct ip_addr *ipaddr,
struct ip_addr *netmask, struct ip_addr *gw,
void *state, err_t (* init)(struct netif *netif),
err_t (* input)(struct pbuf *p, struct netif *netif))
Adds your network interface to the netif_list. Allocate a struct
netif and pass a pointer to this structure as the first argument.
Give pointers to cleared ip_addr structures when using DHCP,
or fill them with sane numbers otherwise. The state pointer may be NULL.
The init function pointer must point to a initialization function for
your ethernet netif interface. The following code illustrates it's use.*/
netif_add(&gnetif, &ipaddr, &netmask, &gw, NULL, ðernetif_init, &tcpip_input);
/* Registers the default network interface. */
netif_set_default(&gnetif);
if (netif_is_link_up(&gnetif))
{
/* When the netif is fully configured this function must be called.*/
netif_set_up(&gnetif);
}
else
{
/* When the netif link is down this function must be called */
netif_set_down(&gnetif);
}
/* Set the link callback function, this function is called on change of link status*/
netif_set_link_callback(&gnetif, ethernetif_update_config);
/* create a binary semaphore used for informing ethernetif of frame reception */
osSemaphoreDef(Netif_SEM);
Netif_LinkSemaphore = osSemaphoreCreate(osSemaphore(Netif_SEM) , 1 );
link_arg.netif = &gnetif;
link_arg.semaphore = Netif_LinkSemaphore;
/* Create the Ethernet link handler thread */
osThreadDef(LinkThr, ethernetif_set_link, osPriorityNormal, 0, configMINIMAL_STACK_SIZE);
osThreadCreate (osThread(LinkThr), &link_arg);
}
int ff_cre_syncobj ( /* TRUE:Function succeeded, FALSE:Could not create due to any error */
BYTE vol, /* Corresponding logical drive being processed */
_SYNC_t *sobj /* Pointer to return the created sync object */
)
{
int ret;
osSemaphoreDef(SEM);
*sobj = osSemaphoreCreate(osSemaphore(SEM), 1);
ret = (*sobj != NULL);
return ret;
}
/*!
\brief Initializing Semaphore
\return 0=successful; -1=failure
*/
int Init_Semaphore1 (void)
{
//TWPV1 create with count = 1
sid_Semaphore1 = osSemaphoreCreate(osSemaphore(Semaphore1), 1,osPriorityAboveNormal);
if (!sid_Semaphore1) {
//TWP if (addTrace("sem1 could not create") != TRACE_OK)
//TWP {
//TWP stop_cpu;
//TWP }
return (-1);
}
printf("created sem1\n\r");
return(0);
}
/**
* @brief Demo state machine.
* @param None
* @retval None
*/
void HID_MenuInit(void)
{
/* Create Menu Semaphore */
osSemaphoreDef(osSem);
MenuEvent = osSemaphoreCreate(osSemaphore(osSem), 1);
/* Force menu to show Item 0 by default */
osSemaphoreRelease(MenuEvent);
/* Menu task */
osThreadDef(Menu_Thread, HID_MenuThread, osPriorityHigh, 0, 8 * configMINIMAL_STACK_SIZE);
osThreadCreate(osThread(Menu_Thread), NULL);
}
/**
* @brief create a thread for temperature measurement
* @param None
* @retval The thread ID for temperature
*/
osThreadId temperature_Thread_Create(void)
{
//initialize ADC
temperature_Init();
pwm_alarm_init();
//create semaphore
tempeature_semaphore = osSemaphoreCreate(osSemaphore(tempeature_semaphore), 1);
//initialize filter
filter_init(&temperature_filter_struct, 20);
temperature_filter_struct.mutexId = osMutexCreate(osMutex (temperatureFilterMutex));
//create temperature thread
tempeature_thread_id = osThreadCreate(osThread(temperature_Thread), NULL);
return tempeature_thread_id;
}
/**
* @brief Demo state machine.
* @param None
* @retval None
*/
void Menu_Init(void)
{
/* Create Menu Semaphore */
osSemaphoreDef(osSem);
MenuEvent = osSemaphoreCreate(osSemaphore(osSem), 1);
/* Force menu to show Item 0 by default */
osSemaphoreRelease(MenuEvent);
/* Menu task */
osThreadDef(Menu_Thread, MSC_MenuThread, osPriorityHigh, 0, 8 * configMINIMAL_STACK_SIZE);
osThreadCreate(osThread(Menu_Thread), NULL);
/* Define used semaphore fot Joystick*/
osSemaphoreDef(JOY_SEM);
/* Create the semaphore used by the two threads. */
osJoySemaphore = osSemaphoreCreate(osSemaphore(JOY_SEM) , 1);
BSP_LCD_SetTextColor(LCD_COLOR_GREEN);
BSP_LCD_DisplayStringAtLine(15, (uint8_t *)"Use [Joystick Left/Right] to scroll up/down");
BSP_LCD_DisplayStringAtLine(16, (uint8_t *)"Use [Joystick Up/Down] to scroll MSC menu");
}
/**
* @brief Demo state machine.
* @param None
* @retval None
*/
void HID_MenuInit(void)
{
/* Create Menu Semaphore */
osSemaphoreDef(osSem);
MenuEvent = osSemaphoreCreate(osSemaphore(osSem), 1);
/* Force menu to show Item 0 by default */
osSemaphoreRelease(MenuEvent);
/* Menu task */
osThreadDef(Menu_Thread, HID_MenuThread, osPriorityHigh, 0, 8 * configMINIMAL_STACK_SIZE);
osThreadCreate(osThread(Menu_Thread), NULL);
BSP_LCD_SetTextColor(LCD_COLOR_GREEN);
BSP_LCD_DisplayStringAtLine(18, (uint8_t *)"Use [Joystick Left/Right] to scroll up/down");
BSP_LCD_DisplayStringAtLine(19, (uint8_t *)"Use [Joystick Up/Down] to scroll HID menu");
}
void InitializeAppShooter()
{
TimerId = osTimerCreate (osTimer(PeriodicTimer), osTimerPeriodic, NULL);
if (TimerId) {
osTimerStart (TimerId, 8);
}
/* Prepare display */
GLCD_SetBackgroundColor (GLCD_COLOR_BLACK);
GLCD_SetForegroundColor (GLCD_COLOR_WHITE);
GLCD_ClearScreen();
// Variables initialization
timerTick_01 = 0; // Timer counter for Main
timerTick_02 = 0; // Timer counter for drawing the Objects
plane_x = 0; // Plane X position
plane_y = 110; // Plane Y position
actualBallNumber = 0;
newBall = false; // Tells to the routine S_MoveBall to create a new ball
objectNumb = 0;
objectColor = 1;
stopThreads = false;
ballTimer = 0;
stopShooter = false;
playerScore = 0;
machineScore = 0;
S_IncPlayerScore();
S_IncMachineScore();
if(S_firstTime){
glcd_semaph_id = osSemaphoreCreate(osSemaphore(glcd_semaph), 1); // Semaphore binaire, only one thread at the same time
planeVar_mutex_id = osMutexCreate(osMutex(planeVar_mutex));
objectVar_mutex_id = osMutexCreate(osMutex(objectVar_mutex));
S_firstTime = false;
}
idThreadPlane = osThreadCreate (osThread (S_Thread_MovePlane), NULL); // create the thread
}
/**
* @brief Demo state machine.
* @param None
* @retval None
*/
void Menu_Init(void)
{
/* Create Menu Semaphore */
osSemaphoreDef(osSem);
MenuEvent = osSemaphoreCreate(osSemaphore(osSem), 1);
/* Force menu to show Item 0 by default */
osSemaphoreRelease(MenuEvent);
/* Menu task */
#if defined(__GNUC__)
osThreadDef(Menu_Thread, MSC_MenuThread, osPriorityHigh, 0, 8 * configMINIMAL_STACK_SIZE);
#else
osThreadDef(Menu_Thread, MSC_MenuThread, osPriorityHigh, 0, 4 * configMINIMAL_STACK_SIZE);
#endif
osThreadCreate(osThread(Menu_Thread), NULL);
BSP_LCD_SetTextColor(LCD_COLOR_GREEN);
BSP_LCD_DisplayStringAtLine(15, (uint8_t *)"Use [Joystick Left/Right] to scroll up/down");
BSP_LCD_DisplayStringAtLine(16, (uint8_t *)"Use [Joystick Up/Down] to scroll MSC menu");
}
void CommInit(void)
{
huart2.Instance = USART2;
huart2.Init.BaudRate = 57600;
huart2.Init.WordLength = UART_WORDLENGTH_8B;
huart2.Init.StopBits = UART_STOPBITS_1;
huart2.Init.Parity = UART_PARITY_NONE;
huart2.Init.Mode = UART_MODE_TX_RX;
huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart2.Init.OverSampling = UART_OVERSAMPLING_16;
HAL_UART_Init(&huart2);
hcrc.Instance = CRC;
HAL_CRC_Init(&hcrc);
chIQInit(&g_iqp, g_comm_iqp_buf, COMM_IQP_BUF_SIZE, NULL);
osSemaphoreDef(COMM_SEMA);
commSema = osSemaphoreEmptyCreate(osSemaphore(COMM_SEMA));
if (NULL == commSema)
{
printf("[%s, L%d] create semaphore failed!\r\n", __FILE__, __LINE__);
return;
}
osThreadDef(CommTask, CommStartTask, osPriorityNormal, 0, 1024);
CommTaskHandle = osThreadCreate(osThread(CommTask), NULL);
if (NULL == CommTaskHandle)
{
printf("[%s, L%d] create thread failed!\r\n", __FILE__, __LINE__);
return;
}
HAL_NVIC_SetPriority(USART2_IRQn, configLIBRARY_LOWEST_INTERRUPT_PRIORITY, 0);
HAL_NVIC_EnableIRQ(USART2_IRQn);
__HAL_UART_ENABLE_IT(&huart2, UART_IT_RXNE);
return;
}
int main(void) {
HAL_Init();
Nucleo_BSP_Init();
RetargetInit(&huart2);
osThreadDef(blink, blinkThread, osPriorityNormal, 0, 100);
osThreadCreate(osThread(blink), NULL);
osThreadDef(delay, delayThread, osPriorityNormal, 0, 100);
osThreadCreate(osThread(delay), NULL);
osSemaphoreDef(sem);
semid = osSemaphoreCreate(osSemaphore(sem), 1);
osSemaphoreWait(semid, osWaitForever);
osKernelStart();
/* Infinite loop */
while (1);
}
/* Init FreeRTOS */
void MX_FREERTOS_Init(void)
{
/* Create a defaultTask */
xTaskCreate(StartDefaultTask, (const char *) "DefaultTask", configMINIMAL_STACK_SIZE, NULL, osPriorityNormal, &defaultTaskHandle);
/* Create tasks for module ports */
xTaskCreate(PxTask, (const char *) "P1Task", configMINIMAL_STACK_SIZE, (void *) P1, osPriorityNormal, &P1TaskHandle);
xTaskCreate(PxTask, (const char *) "P2Task", configMINIMAL_STACK_SIZE, (void *) P2, osPriorityNormal, &P2TaskHandle);
xTaskCreate(PxTask, (const char *) "P3Task", configMINIMAL_STACK_SIZE, (void *) P3, osPriorityNormal, &P3TaskHandle);
xTaskCreate(PxTask, (const char *) "P4Task", configMINIMAL_STACK_SIZE, (void *) P4, osPriorityNormal, &P4TaskHandle);
xTaskCreate(PxTask, (const char *) "P5Task", configMINIMAL_STACK_SIZE, (void *) P5, osPriorityNormal, &P5TaskHandle);
#if (HO01R1 || HO02R0 || HO01R2 || HO02R1 || HO01R3 || HO02R2)
xTaskCreate(PxTask, (const char *) "P6Task", configMINIMAL_STACK_SIZE, (void *) P6, osPriorityNormal, &P6TaskHandle);
#endif
/* Create the front-end task */
xTaskCreate(FrontEndTask, (const char *) "FrontEndTask", configMINIMAL_STACK_SIZE, NULL, osPriorityAboveNormal, &FrontEndTaskHandle);
/* Create the motor continuous rotation task */
// xTaskCreate(ContRotationTask, (const char *) "ContRotationTask", configMINIMAL_STACK_SIZE, NULL, osPriorityAboveNormal, &ContRotationHandle);
/* Create semaphores to protect module ports (FreeRTOS vSemaphoreCreateBinary didn't work) */
osSemaphoreDef(SemaphoreP1); PxSemaphoreHandle[P1] = osSemaphoreCreate(osSemaphore(SemaphoreP1), 1);
osSemaphoreDef(SemaphoreP2); PxSemaphoreHandle[P2] = osSemaphoreCreate(osSemaphore(SemaphoreP2), 1);
osSemaphoreDef(SemaphoreP3); PxSemaphoreHandle[P3] = osSemaphoreCreate(osSemaphore(SemaphoreP3), 1);
osSemaphoreDef(SemaphoreP4); PxSemaphoreHandle[P4] = osSemaphoreCreate(osSemaphore(SemaphoreP4), 1);
osSemaphoreDef(SemaphoreP5); PxSemaphoreHandle[P5] = osSemaphoreCreate(osSemaphore(SemaphoreP5), 1);
#if (HO01R1 || HO02R0 || HO01R2 || HO02R1 || HO01R3 || HO02R2)
osSemaphoreDef(SemaphoreP6); PxSemaphoreHandle[P6] = osSemaphoreCreate(osSemaphore(SemaphoreP6), 1);
#endif
/* Register command line commands */
vRegisterCLICommands();
/* Start the tasks that implements the command console on the UART */
vUARTCommandConsoleStart();
}
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_USART2_UART_Init();
/* USER CODE BEGIN 2 */
/* Create the threads and semaphore */
// osThreadDef(defaultTask, StartDefaultTask, osPriorityNormal, 0, 128);
// defaultTaskHandle = osThreadCreate(osThread(defaultTask), NULL);
osThreadDef(blinkTask, BlinkTask, osPriorityNormal, 0, 128);
blinkTaskHandle = osThreadCreate(osThread(blinkTask), NULL);
osSemaphoreDef(sem);
semHandle = osSemaphoreCreate(osSemaphore(sem), 1);
osSemaphoreWait(semHandle, osWaitForever);
/* USER CODE END 2 */
/* USER CODE BEGIN RTOS_MUTEX */
/* add mutexes, ... */
/* USER CODE END RTOS_MUTEX */
/* USER CODE BEGIN RTOS_SEMAPHORES */
/* add semaphores, ... */
/* USER CODE END RTOS_SEMAPHORES */
/* USER CODE BEGIN RTOS_TIMERS */
/* start timers, add new ones, ... */
/* USER CODE END RTOS_TIMERS */
/* Create the thread(s) */
/* definition and creation of defaultTask */
osThreadDef(defaultTask, StartDefaultTask, osPriorityNormal, 0, 128);
defaultTaskHandle = osThreadCreate(osThread(defaultTask), NULL);
/* USER CODE BEGIN RTOS_THREADS */
/* add threads, ... */
/* USER CODE END RTOS_THREADS */
/* USER CODE BEGIN RTOS_QUEUES */
/* add queues, ... */
/* USER CODE END RTOS_QUEUES */
/* Start scheduler */
osKernelStart();
/* We should never get here as control is now taken by the scheduler */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
void serial::setSem(void) {
semTxReady = osSemaphoreCreate(osSemaphore(semTxReady),0);
semRxReady = osSemaphoreCreate(osSemaphore(semRxReady),0);
printMutexId = osMutexCreate(osMutex(printMutexId));
}
void dma_init(void) {
dmaSema_ID = osMutexCreate(osMutex(dmaSema));
dmaComplete_ID = osSemaphoreCreate(osSemaphore(dmaComplete), 1);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_DMA2, ENABLE);
// SPI_InitTypeDef SPI_InitStructure;
DMA_InitTypeDef DMA_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
DMA_Cmd(DMA2_Stream0, DISABLE); //disable receiver
DMA_Cmd(DMA2_Stream3, DISABLE); //disable transmitter
DMA_DeInit(DMA2_Stream0); //place default values
DMA_DeInit(DMA2_Stream3);
DMA_ClearFlag(DMA2_Stream0, DMA_FLAG_TCIF0); //transfer complete
DMA_ClearFlag(DMA2_Stream3, DMA_FLAG_TCIF3);
DMA_ClearFlag(DMA2_Stream0, DMA_FLAG_TEIF0); //transfer error
DMA_ClearFlag(DMA2_Stream3, DMA_FLAG_TEIF3);
DMA_ClearFlag(DMA2_Stream0, DMA_FLAG_FEIF0); //FIFO error
DMA_ClearFlag(DMA2_Stream3, DMA_FLAG_FEIF3);
DMA_ClearFlag(DMA2_Stream0, DMA_FLAG_DMEIF0); //direct mode error
DMA_ClearFlag(DMA2_Stream3, DMA_FLAG_DMEIF3);
/* Start DMA2 clock */
// Configure DMA streams
DMA_InitStructure.DMA_Channel = DMA_Channel_3;
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR);
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
DMA_InitStructure.DMA_Mode = DMA_Mode_Normal;
DMA_InitStructure.DMA_Priority = DMA_Priority_High;
DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_1QuarterFull; //not needed
DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
//receiving
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
DMA_Init(DMA2_Stream0, &DMA_InitStructure);
//sending
DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral;
DMA_Init(DMA2_Stream3, &DMA_InitStructure);
//enable
SPI_DMACmd(SPI1, SPI_DMAReq_Rx | SPI_DMAReq_Tx, ENABLE);
//Setting up interrupt
NVIC_InitStructure.NVIC_IRQChannel = DMA2_Stream0_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
//enable receiving
DMA_ITConfig(DMA2_Stream0, DMA_IT_TC, ENABLE);
}
void initDriveSemaphores(void)
{
osSemaphoreDef(driveUpdaterSemaphore);
driveUpdaterHandle = osSemaphoreCreate(osSemaphore(driveUpdaterSemaphore), 1);
}
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_SPI2_Init();
MX_TIM1_Init();
MX_TIM2_Init();
/* USER CODE BEGIN 2 */
InitMotor();
HAL_TIM_Encoder_Start(&htim1,TIM_CHANNEL_ALL);
/* USER CODE END 2 */
/* USER CODE BEGIN RTOS_MUTEX */
/* add mutexes, ... */
/* USER CODE END RTOS_MUTEX */
/* Create the semaphores(s) */
/* definition and creation of stopMoveByTime */
osSemaphoreDef(stopMoveByTime);
stopMoveByTimeHandle = osSemaphoreCreate(osSemaphore(stopMoveByTime), 1);
/* definition and creation of suspendMoveByTime */
osSemaphoreDef(suspendMoveByTime);
suspendMoveByTimeHandle = osSemaphoreCreate(osSemaphore(suspendMoveByTime), 1);
/* USER CODE BEGIN RTOS_SEMAPHORES */
xSemaphoreTake(stopMoveByTimeHandle, 0);
xSemaphoreTake(suspendMoveByTimeHandle, 0);
/* add semaphores, ... */
/* USER CODE END RTOS_SEMAPHORES */
/* Create the timer(s) */
/* definition and creation of elapsedTimer */
osTimerDef(elapsedTimer, elapsedTimerCallback);
elapsedTimerHandle = osTimerCreate(osTimer(elapsedTimer), osTimerPeriodic, NULL);
/* definition and creation of moveTimer */
osTimerDef(moveTimer, moveTimerCallback);
moveTimerHandle = osTimerCreate(osTimer(moveTimer), osTimerPeriodic, NULL);
/* USER CODE BEGIN RTOS_TIMERS */
/* start timers, add new ones, ... */
/* USER CODE END RTOS_TIMERS */
/* Create the thread(s) */
/* definition and creation of defaultTask */
osThreadDef(defaultTask, StartDefaultTask, osPriorityNormal, 0, 64);
defaultTaskHandle = osThreadCreate(osThread(defaultTask), NULL);
/* definition and creation of buttonScanTask */
osThreadDef(buttonScanTask, buttonScanFunc, osPriorityLow, 0, 128);
buttonScanTaskHandle = osThreadCreate(osThread(buttonScanTask), NULL);
/* definition and creation of guiTask */
osThreadDef(guiTask, guiFunc, osPriorityNormal, 0, 128);
guiTaskHandle = osThreadCreate(osThread(guiTask), NULL);
/* definition and creation of motorTask */
osThreadDef(motorTask, motorFunc, osPriorityAboveNormal, 0, 64);
motorTaskHandle = osThreadCreate(osThread(motorTask), NULL);
/* USER CODE BEGIN RTOS_THREADS */
/* add threads, ... */
/* USER CODE END RTOS_THREADS */
/* Create the queue(s) */
/* definition and creation of buttonEvents */
osMessageQDef(buttonEvents, 16, uint16_t);
buttonEventsHandle = osMessageCreate(osMessageQ(buttonEvents), NULL);
/* definition and creation of encoderEvents */
osMessageQDef(encoderEvents, 16, uint16_t);
encoderEventsHandle = osMessageCreate(osMessageQ(encoderEvents), NULL);
/* USER CODE BEGIN RTOS_QUEUES */
/* add queues, ... */
xInputEvents = xQueueCreate( 8, sizeof( struct Event ) );
xMotorEvents = xQueueCreate( 4, sizeof( struct MotorEvent ) );
/* USER CODE END RTOS_QUEUES */
/* Start scheduler */
osKernelStart();
/* We should never get here as control is now taken by the scheduler */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
static void low_level_init(struct netif *netif)
{
uint8_t macaddress[6];
uint32_t regvalue = 0;
// Get Ethernet MAC address
stm32f_set_mac_addr((uint8_t*) macaddress);
EthHandle.Instance = ETH;
EthHandle.Init.MACAddr = macaddress;
EthHandle.Init.AutoNegotiation = ETH_AUTONEGOTIATION_ENABLE;
EthHandle.Init.Speed = ETH_SPEED_100M;
EthHandle.Init.DuplexMode = ETH_MODE_FULLDUPLEX;
EthHandle.Init.MediaInterface = ETH_MEDIA_INTERFACE_MII;
EthHandle.Init.RxMode = ETH_RXINTERRUPT_MODE;
EthHandle.Init.ChecksumMode = ETH_CHECKSUM_BY_HARDWARE;
EthHandle.Init.PhyAddress = DP83848_PHY_ADDRESS;
/* configure ethernet peripheral (GPIOs, clocks, MAC, DMA) */
if (HAL_ETH_Init(&EthHandle) == HAL_OK)
{
/* Set netif link flag */
netif->flags |= NETIF_FLAG_LINK_UP;
}
/* Initialize Tx Descriptors list: Chain Mode */
HAL_ETH_DMATxDescListInit(&EthHandle, DMATxDscrTab, &Tx_Buff[0][0], ETH_TXBUFNB);
/* Initialize Rx Descriptors list: Chain Mode */
HAL_ETH_DMARxDescListInit(&EthHandle, DMARxDscrTab, &Rx_Buff[0][0], ETH_RXBUFNB);
/* set MAC hardware address length */
netif->hwaddr_len = ETHARP_HWADDR_LEN;
/* set netif MAC hardware address */
stm32f_set_mac_addr((uint8_t*) netif->hwaddr);
/* maximum transfer unit */
netif->mtu = 1500;
/* device capabilities */
/* don't set NETIF_FLAG_ETHARP if this device is not an ethernet one */
netif->flags |= NETIF_FLAG_BROADCAST | NETIF_FLAG_ETHARP;
/* Enable MAC and DMA transmission and reception */
HAL_ETH_Start(&EthHandle);
/**** Configure PHY to generate an interrupt when Eth Link state changes ****/
/* Read Register Configuration */
HAL_ETH_ReadPHYRegister(&EthHandle, PHY_MICR, ®value);
regvalue |= (PHY_MICR_INT_EN | PHY_MICR_INT_OE);
/* Enable Interrupts */
HAL_ETH_WritePHYRegister(&EthHandle, PHY_MICR, regvalue );
/* Read Register Configuration */
HAL_ETH_ReadPHYRegister(&EthHandle, PHY_MISR, ®value);
regvalue |= PHY_MISR_LINK_INT_EN;
/* create a binary semaphore used for informing ethernetif of frame reception */
osSemaphoreDef( SEM , rtems_build_name( 'E', 'T', 'H', 'I' ));
s_xSemaphore = osSemaphoreCreate( osSemaphore( SEM ), 0 );
/* create the task that handles the ETH_MAC */
osThreadDef( EthIf,
ethernetif_input,
osPriorityRealtime,
1,
INTERFACE_THREAD_STACK_SIZE,
rtems_build_name( 'E', 'T', 'H', 'I' ));
osThreadCreate( osThread( EthIf ), netif );
/* Enable Interrupt on change of link status */
HAL_ETH_WritePHYRegister(&EthHandle, PHY_MISR, regvalue);
}
void MX_FREERTOS_Init(void) {
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Create the recursive mutex(es) */
/* definition and creation of uart2_mutex */
osMutexDef(uart2_mutex);
uart2_mutexHandle = osRecursiveMutexCreate(osMutex(uart2_mutex));
/* definition and creation of mem_mutex */
osMutexDef(mem_mutex);
mem_mutexHandle = osRecursiveMutexCreate(osMutex(mem_mutex));
/* definition and creation of sys_i2c_mutex */
osMutexDef(sys_i2c_mutex);
sys_i2c_mutexHandle = osRecursiveMutexCreate(osMutex(sys_i2c_mutex));
/* definition and creation of rtc_mutex */
osMutexDef(rtc_mutex);
rtc_mutexHandle = osRecursiveMutexCreate(osMutex(rtc_mutex));
/* definition and creation of imu_mutex */
osMutexDef(imu_mutex);
imu_mutexHandle = osRecursiveMutexCreate(osMutex(imu_mutex));
/* definition and creation of eps_mutex */
osMutexDef(eps_mutex);
eps_mutexHandle = osRecursiveMutexCreate(osMutex(eps_mutex));
/* USER CODE BEGIN RTOS_MUTEX */
/* add mutexes, ... */
/* USER CODE END RTOS_MUTEX */
/* Create the semaphores(s) */
/* definition and creation of uart2_txSemaphore */
osSemaphoreDef(uart2_txSemaphore);
uart2_txSemaphoreHandle = osSemaphoreCreate(osSemaphore(uart2_txSemaphore), 1);
/* definition and creation of mem_semaphore */
osSemaphoreDef(mem_semaphore);
mem_semaphoreHandle = osSemaphoreCreate(osSemaphore(mem_semaphore), 1);
/* definition and creation of sys_i2c_semaphore */
osSemaphoreDef(sys_i2c_semaphore);
sys_i2c_semaphoreHandle = osSemaphoreCreate(osSemaphore(sys_i2c_semaphore), 1);
/* definition and creation of radio_txSemaphore */
osSemaphoreDef(radio_txSemaphore);
radio_txSemaphoreHandle = osSemaphoreCreate(osSemaphore(radio_txSemaphore), 1);
/* definition and creation of radio_rxSemaphore */
osSemaphoreDef(radio_rxSemaphore);
radio_rxSemaphoreHandle = osSemaphoreCreate(osSemaphore(radio_rxSemaphore), 1);
/* definition and creation of eps_semaphore */
osSemaphoreDef(eps_semaphore);
eps_semaphoreHandle = osSemaphoreCreate(osSemaphore(eps_semaphore), 1);
/* USER CODE BEGIN RTOS_SEMAPHORES */
/* add semaphores, ... */
/* USER CODE END RTOS_SEMAPHORES */
/* USER CODE BEGIN RTOS_TIMERS */
/* start timers, add new ones, ... */
/* USER CODE END RTOS_TIMERS */
/* Create the thread(s) */
/* definition and creation of defaultTask */
osThreadDef(defaultTask, DefaultTask, osPriorityNormal, 0, 1024);
defaultTaskHandle = osThreadCreate(osThread(defaultTask), NULL);
/* definition and creation of heartbeatTask */
osThreadDef(heartbeatTask, HeartbeatTask, osPriorityNormal, 0, 1024);
heartbeatTaskHandle = osThreadCreate(osThread(heartbeatTask), NULL);
/* definition and creation of radio_TxTask */
osThreadDef(radio_TxTask, He100_TxTask, osPriorityIdle, 0, 1024);
radio_TxTaskHandle = osThreadCreate(osThread(radio_TxTask), NULL);
/* definition and creation of radio_RxTask */
osThreadDef(radio_RxTask, He100_RxTask, osPriorityHigh, 0, 1024);
radio_RxTaskHandle = osThreadCreate(osThread(radio_RxTask), NULL);
/* definition and creation of heapTask */
osThreadDef(heapTask, HeapTask, osPriorityNormal, 0, 1024);
heapTaskHandle = osThreadCreate(osThread(heapTask), NULL);
/* definition and creation of downlinkTask */
osThreadDef(downlinkTask, DownlinkTask, osPriorityNormal, 0, 1024);
downlinkTaskHandle = osThreadCreate(osThread(downlinkTask), NULL);
/* definition and creation of epsTask */
osThreadDef(epsTask, EPSTask, osPriorityNormal, 0, 1024);
epsTaskHandle = osThreadCreate(osThread(epsTask), NULL);
/* USER CODE BEGIN RTOS_THREADS */
/* add threads, ... */
/* USER CODE END RTOS_THREADS */
/* USER CODE BEGIN RTOS_QUEUES */
/* add queues, ... */
InitializeRTOS();
/* USER CODE END RTOS_QUEUES */
}
