int main(void)
{
SystemInit();
STM32F4_Discovery_LEDInit(LED3); //Orange
STM32F4_Discovery_LEDInit(LED4); //Green
STM32F4_Discovery_LEDInit(LED5); //Red
STM32F4_Discovery_LEDInit(LED6); //Blue
STM32F4_Discovery_PBInit(BUTTON_USER, BUTTON_MODE_GPIO);
USBD_Init(&USB_OTG_dev,USB_OTG_FS_CORE_ID,&USR_desc,&USBD_CDC_cb,&USR_cb);
while (1){
if(usb_cdc_kbhit()){
char c, buffer_out[15];
c = usb_cdc_getc();
switch(c){
case '3':
STM32F4_Discovery_LEDToggle(LED3);
sprintf(buffer_out,"LED%c = %u\r\n",c,GPIO_ReadInputDataBit(GPIOD,LED3_PIN));
usb_cdc_printf(buffer_out);
break;
case '4':
STM32F4_Discovery_LEDToggle(LED4);
sprintf(buffer_out,"LED%c = %u\r\n",c,GPIO_ReadInputDataBit(GPIOD,LED4_PIN));
usb_cdc_printf(buffer_out);
break;
case '5':
STM32F4_Discovery_LEDToggle(LED5);
sprintf(buffer_out,"LED%c = %u\r\n",c,GPIO_ReadInputDataBit(GPIOD,LED5_PIN));
usb_cdc_printf(buffer_out);
break;
case '6':
STM32F4_Discovery_LEDToggle(LED6);
sprintf(buffer_out,"LED%c = %u\r\n",c,GPIO_ReadInputDataBit(GPIOD,LED6_PIN));
usb_cdc_printf(buffer_out);
break;
}
}
button_sts = STM32F4_Discovery_PBGetState(BUTTON_USER);
if(button_sts){
STM32F4_Discovery_LEDOff(LED3);
STM32F4_Discovery_LEDOff(LED5);
STM32F4_Discovery_LEDOff(LED3);
STM32F4_Discovery_LEDOff(LED5);
}
}
}
void main(void) {
char c;
LED_OFF(LED1);
LED_OFF(LED2);
LED_OFF(LED3);
printf("\r\n\nCCS CDC (Virtual RS232) Example\r\n");
#ifdef __PCH__
printf("PCH: v");
printf(__PCH__);
#else
printf("PCM: v");
printf(__PCM__);
#endif
printf("\r\n");
usb_init();
#if !(__USB_PIC_PERIF__)
printf("USBN: 0x%X", usbn_get_version());
printf("\r\n\n");
#endif
while (TRUE) {
usb_task();
usb_debug_task();
if (kbhit()) {
c=getc();
if (c=='\n') {usb_cdc_putc('\r'); usb_cdc_putc('\n');}
if (c=='\r') {usb_cdc_putc('\r'); usb_cdc_putc('\n');}
else {usb_cdc_putc(c);}
}
if (usb_cdc_kbhit()) {
c=usb_cdc_getc();
if (c=='\n') {putc('\r'); putc('\n');}
if (c=='\r') {putc('\r'); putc('\n');}
else {putc(c);}
}
}
}
int waitFor(char targetByte) {
int tollerance=100; // how many bytes to ignore before giving up
while (tollerance > 0) {
while (!usb_cdc_kbhit()) {
delay_ms(1);
// usb_task(); // not really neccessary if usb_init() is used instead of usb_init_cs()
// delay_ms(1);
}
if (usb_cdc_getc() == targetByte) {
return(1);
}
tollerance--;
}
return(0);
}
void housekeep() {
usb_task(); // service periodic usb functions
while (usb_cdc_kbhit() && (nqueue(&rxque0) < HIBUF)) {
enqueue(&rxque0, usb_cdc_getc());
}
}
void downloadBootloader()
{
int Buffer[SerBufferSize]; // serial input buffer
int1 notDone = 1;
unsigned int recLen; // HEX file record length
unsigned int16 writeAddr; // HEX file write address
unsigned char recType; // HEX file record type
unsigned char i=0,j; // general counters
/// unsigned int16 UserBootVectorAddr; // holds the address of our new boot vector
unsigned int positionInMemoryBlock;
unsigned int16 memoryBlockAddress;
unsigned int bufferIndex;
unsigned int writeLen;
int16 BankAddress;
int1 skipWriting=0;
int relocateCount=0;
#define REC_SIZE 0x10
int relocateRecordLen[6];
int relocateOriginalAddress[6];
// int flashReadBuffer[getenv("FLASH_ERASE_SIZE")]; // buffer for the relocated first mem block
int flashReadBuffer[REC_SIZE]; // buffer for the relocated first mem block
usb_init();
while(!usb_cdc_connected());
while (notDone) {
//////////////////////////////////////////
/// Wait for ':'
do {
while (!usb_cdc_kbhit());
} while (usb_cdc_getc() != ':');
/////////////////////////////////////////
// Record length
recLen = read8();
/////////////////////////////////////////
// Write Address
writeAddr = ((int16)read8() << 8) + read8();
/////////////////////////////////////////
// Rec Type
usb_cdc_getc(); // ignore the first digit, it is always '0'
recType = usb_cdc_getc();
if (recType == '1') { // End of file record
notDone = 0;
} else if (recType == '4') { // bank select record
BankAddress = (read8()<<8) + read8();
if (BankAddress != 0)
skipWriting = 1;
else
skipWriting = 0;
} else if ((recType == '0') && !(skipWriting)) { // data record
/// get the data
for (i=0; i < recLen ; i++) {
Buffer[i] = read8();
}
/* // if data is in the EEPROM area -> do nothing
if ((writeAddr >= 0x2100) && (writeAddr <= 0x21FF)) {
// we don't support EEPROM records yet
}
*/
// if writing to the first memory block -> we need to temporarily
// relocate it elsewhere. Since this area contains the boot and
// interrupt vectors -> it should be written as the very last memory
// block.
if (writeAddr & (0xFFFF ^ (getenv("FLASH_ERASE_SIZE")-1)) == 0) {
relocateOriginalAddress[relocateCount] = writeAddr; // remmber the orginal location
relocateRecordLen[relocateCount] = recLen; // remember each record's len
writeAddr = RESERVED_MEMORY_START + (relocateCount * REC_SIZE);
relocateCount++;
}
positionInMemoryBlock = writeAddr & (getenv("FLASH_ERASE_SIZE")-1);
memoryBlockAddress = writeAddr & (0xFFFF ^ (getenv("FLASH_ERASE_SIZE")-1));
writeFlash(memoryBlockAddress, positionInMemoryBlock, recLen, Buffer);
}
if (notDone)
// Tells the PC to send the next line
printf(active_comm_putc, "%c",READY_FOR_NEXT);
}
// Tells the PC that we are finished
printf(active_comm_putc,"%c", FINISH_FLAG);
delay_ms(100);
/////////////////////////////////////////////////////////////////////////
//
// Now we move the relocated first block to its original place
//
// read the entire flash block to memory
disable_interrupts(GLOBAL);
for (i=0;i<relocateCount;i++) {
read_program_memory(RESERVED_MEMORY_START + (i*REC_SIZE), flashReadBuffer, REC_SIZE);
writeAddr = relocateOriginalAddress[i];
writeFlash(0x0, writeAddr, relocateRecordLen[i], flashReadBuffer );
}
output_low(USER_LED);
delay_ms(100);
reset_cpu();
}
int main(void)
{
SystemInit();
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE); //
STM32F4_Discovery_LEDInit(LED3); //Orange
STM32F4_Discovery_LEDInit(LED4); //Green
STM32F4_Discovery_LEDInit(LED5); //Red
STM32F4_Discovery_LEDInit(LED6); //Blue
STM32F4_Discovery_PBInit(BUTTON_USER, BUTTON_MODE_GPIO);
USBD_Init(&USB_OTG_dev,USB_OTG_FS_CORE_ID,&USR_desc,&USBD_CDC_cb,&USR_cb);
led_driver_init();
motor_driver_init();
SysTick_Config(2100000); //10 times a second: 168 MHz / 8 = 21 MHz
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK_Div8);
//while(1)
//{
//led_driver_write_data(50, 10);
//}
while (1)
{
if( usb_cdc_kbhit() )
{
character = usb_cdc_getc();
usb_rx_buffer[usb_rx_ptr] = character;
usb_rx_ptr++;
if( usb_rx_ptr == 10 ) //upon receiving 10 bytes
{
if( ( usb_rx_buffer[0] == 0xAA ) && ( usb_rx_buffer[9] == 0xCC ) ) //check head and tail for correctness
{
usb_rx_ptr = 0; //reset data pointer if correct
flag_new_command_received = 1; //set the flag if packet correct
}
else
{
usb_rx_ptr = 0; // if packet incorrect, reset data pointer
}
}
}
if(flag_new_command_received)
{
flag_new_command_received = 0;
}
if(flag_send_sensor_data)
{
motor_set_speed(0x55, 0x55);
flag_send_sensor_data = 0;
}
// here's how to send data through USB VCP
/*
sprintf(buffer_out,"LED%c = %u\r\n",c,GPIO_ReadInputDataBit(GPIOD,LED6_PIN));
usb_cdc_printf(buffer_out);
*/
}
}
void main()
{
int1 flag = 0;
porta = 0;//all ports are zero
portb = 0;
portc = 0;
setup_adc_ports(no_analogs|vss_vdd); //digital functions selected
setup_adc(adc_off); //internal rc oscillator disabled for adc
setup_wdt(wdt_off); //watch dog timer disabled
setup_timer_0(rtcc_off); //all timers disabled
setup_timer_1(t1_disabled);
setup_timer_2(t2_disabled,0,1);
setup_timer_3(t3_disabled|t3_div_by_1);
setup_comparator(nc_nc_nc_nc); //comparators disabled
setup_vref(false); //no reference voltage in ra2
setup_ccp1(ccp_off); //disable ccp1
setup_ccp2(ccp_off); //disable ccp2
enable_interrupts(int_rda); //uart rx interruption enabled
enable_interrupts(global); //global interruptions enabled
usb_cdc_init();
usb_init(); //initialize hardware usb and wait for PC conection
set_tris_a(0b00111111);
set_tris_b(0b11111011);//rb2 output mclr dspic
port_b_pullups(false);
set_tris_c(0b10111111);
stateDspic = running;
counterReset = 0;
delay_ms(500);//wait for supply stabilization
while(true)
{
usb_task();
manage_conection();
if (usb_cdc_kbhit())
{
data_rx_usb=usb_cdc_getc();//read buffer and save in data_rx
printf("%c",data_rx_usb);//send through uart
if (data_rx_usb == rstKeyword[0])
{
if (counterReset == 0)
counterReset++;
}
else if (data_rx_usb == rstKeyword[1])
{
if (counterReset == 1)
counterReset++;
else
counterReset = 0;
}
else if (data_rx_usb == rstKeyword[2])
{
if (counterReset == 2)
counterReset++;
else
counterReset = 0;
}
else if (data_rx_usb == rstKeyword[3])
{
if (counterReset == 3)
counterReset++;
else
counterReset = 0;
}
else if (data_rx_usb == rstKeyword[4] && counterReset == 4)//here, all requirements were met
{
counterReset = 0;
flag = 0; //reset flag
for(i = 0; i < 10000; i++) //wait for the next byte
{
if (usb_cdc_kbhit()) //if a new byte is received
{
data_rx_usb = usb_cdc_getc();//read buffer and save in data_rx
printf("%c",data_rx_usb);//send through uart
flag = 0;
break;
}
flag = 1;
}
if (flag == 1) //apply reset when no characters were received
{
stateDspic = stop;
delay_ms(50);
stateDspic = running;
}
}
else
counterReset = 0;
}
}
}
void load_program(void)
{
int1 do_ACKLOD, done=FALSE;
int8 checksum, line_type;
int16 l_addr,h_addr=0;
int8 to;
int32 addr;
int8 dataidx, i, count;
int8 data[32];
int buffidx;
char buffer[BUFFER_LEN_LOD];
while (!done) // Loop until the entire program is downloaded
{
usb_task();
if(!usb_cdc_kbhit())
continue;
buffidx = 0; // Read into the buffer until 0x0D ('\r') is received or the buffer is full
to = 250; //250 milliseconds
do
{
if(!usb_cdc_kbhit())
{
delay_ms(1);
to--;
if(!to)
break;
}
else
to = 250;
i = usb_cdc_getc();
buffer[buffidx++] = i;
}while((i != 0x0D) && (i != 0x0A) && (buffidx <= BUFFER_LEN_LOD));
if(!to)
continue;
usb_cdc_putc(XOFF); // Suspend sender
do_ACKLOD = TRUE;
// Only process data blocks that start with ':'
if(buffer[0] == ':')
{
count = atoi_b16 (&buffer[1]); // Get the number of bytes from the buffer
// Get the lower 16 bits of address
l_addr = make16(atoi_b16(&buffer[3]),atoi_b16(&buffer[5]));
line_type = atoi_b16 (&buffer[7]);
addr = make32(h_addr,l_addr);
// If the line type is 1, then data is done being sent
if(line_type == 1)
{
done = TRUE;
}
else if((addr >= (int32)APPLICATION_START) && (addr < ((int32)0x300000)))
{
checksum = 0; // Sum the bytes to find the check sum value
for(i=1; i<(buffidx-3); i+=2)
checksum += atoi_b16 (&buffer[i]);
checksum = 0xFF - checksum + 1;
if(checksum != atoi_b16 (&buffer[buffidx-3]))
do_ACKLOD = FALSE;
else
{
if(line_type == 0) {
// Loops through all of the data and stores it in data
// The last 2 bytes are the check sum, hence buffidx-3
for(i = 9,dataidx=0; i < buffidx-3; i += 2)
data[dataidx++]=atoi_b16(&buffer[i]);
rom_w(addr, data, count);
}
else if(line_type == 4)
h_addr = make16(atoi_b16(&buffer[9]), atoi_b16(&buffer[11]));
}
}
}
if(do_ACKLOD)
usb_cdc_putc (ACKLOD);
usb_cdc_putc(XON);
}
usb_cdc_putc(ACKLOD);
usb_cdc_putc(XON);
delay_ms(2000); //give time for packet to flush
reset_cpu();
}
