//Initialize all the peripherals
void init_peripherals(void)
{
//Hardware modules:
init_systick_timer(); //SysTick timer
init_usart1(2000000); //USART1 (RS-485 #1)
init_usart6(2000000); //USART6 (RS-485 #2)
init_rs485_outputs();
init_leds();
init_switches();
init_dio(); //All inputs by default
init_adc1();
init_spi4(); //Plan
//init_spi5(); //FLASH
//init_spi6(); //Expansion
init_i2c1();
init_imu();
init_adva_fc_pins();
init_pwr_out();
//Software:
init_master_slave_comm();
//All RGB LEDs OFF
LEDR(0); LEDG(0); LEDB(0);
//Default analog input states:
set_default_analog();
}
int main ( void ) {
char *rstr = (char*) alloca(sizeof(char) * 128); //allocate an array of 128 bytes called rstr
uint8_t cnt=0; //counter variable
for(cnt=0;cnt<128;cnt++) {
rstr[cnt] = 0; //clear out variable
}
init_usart1(51, DB8 | P_N | SB1); //51 is the ubrr value for 19.2kBaud at 16MHz and data format is 8N1
write_1s("This is a string of data!\r", 26); //Transmit this 26 byte string over the usart
write_1s("Enter a string: ", 16); //Transmit this 16 byte string
read_1s((uint8_t*)rstr, 128, '\r'); //read 128 bytes or until a '\r' is received (the enter button) and store in str
write_1s("You entered: ", 13); //write a string
write_1s(rstr, strlen(rstr)); //write the received message
while (1) ;
return 0;
}
int main_cm3 ( void ) {
#if 1 // go for 120MHz, built into libopencm3
// requires: external 8MHz crystal on pin5/6 with associated caps to ground
rcc_clock_setup_hse_3v3 ( &hse_8mhz_3v3 [ CLOCK_3V3_120MHZ ] );
#endif
// wait a sec, so we have a reflash opportunity before things get funky
//
lame_delay_ms ( 2000 );
// initialize USART1 @ 9600 baud
//
init_usart1 ( 9600 );
usart_puts ( 1, "Init usart1 complete! Hello World!\r\n" );
//usart_puts ( 2, "Init usart2 complete! Hello World!\r\n" );
// PWM setup
#if 0
usart_puts ( 1, "usart1 pwm test start!\r\n" );
pwm_test();
usart_puts ( 1, "usart1 pwm test complete!\r\n" );
#endif
// MPU setup
#if 0
mpu_test();
usart_puts ( 1, "usart1 mpu test complete!\r\n" );
#endif
// balance!
#if 1
usart_puts ( 1, "usart1 - enter balance mode!\r\n" );
balance_or_die();
#endif
//__enable_irq();
//cm_enable_interrupts();
while ( 1 ) {
__asm__("nop");
} // while forever
return 0;
}
int main(void)
{
int16_t buff[6];
uint8_t bin_buff[13];
comm_package imu_comm;
imu_comm.header = (uint8_t)'I';
init_led();
init_usart1();
MPU6050_I2C_Init();
MPU6050_Initialize();
init_tim2();
if( MPU6050_TestConnection() == TRUE)
{
puts("connection success\r\n");
}else {
puts("connection failed\r\n");
}
imu_calibration();
while (1) {
//puts("running now\r\n");
MPU6050_GetRawAccelGyro(buff);
imu_comm.acc_x = buff[0]-ACC_X_OFFSET;
imu_comm.acc_y = buff[1]-ACC_Y_OFFSET;
imu_comm.acc_z = buff[2]-ACC_Z_OFFSET;
imu_comm.gyro_x = buff[3]-GYRO_X_OFFSET;
imu_comm.gyro_y = buff[4]-GYRO_Y_OFFSET;
imu_comm.gyro_z = buff[5]-GYRO_Z_OFFSET;
generate_package( &imu_comm, &bin_buff[0]);
for (int i = 0 ; i<13 ; i++)
send_byte( bin_buff[i] );
gpio_toggle(GPIOA, GPIO_Pin_0);
gpio_toggle(GPIOA, GPIO_Pin_1);
delay_ms(10);
}
}
int main(void) {
system_cm3_setup();
log_setup();
queue_setup();
init_usart1 ( 38400 ); // initialize USART1 @ 9600 baud
init_usart2 ( 38400 );
//USART_puts ( USART1, "Init usart1 complete! Hello World!\r\n" );
USART_puts ( USART2, "Init usart2 complete! Hello World!\r\n" );
fb_setup();
#ifdef VGA_DMA
vga_setup ( VGA_USE_DMA );
#else
vga_setup ( VGA_NO_DMA );
#endif
fb_test_pattern ( fb_active, fbt_offset_squares );
//fb_test_pattern ( fb_active, fbt_vlines );
//fb_test_pattern ( fb_active, fbt_v1lines );
//fb_test_pattern ( fb_active, fbt_onoff1 );
while ( 1 ) {
// weeeeee!
// any work for us to do?
#if 1
if ( vblank ) {
if ( queueready() ) {
command_queue_run();
}
}
#endif
// update framebuffers
#if 0
if ( vblank ) {
unsigned char i = 0;
fb_clone ( fb_2, fb_active );
while ( vblank ) {
__asm__("nop");
}
fb_test_pattern ( fb_2, i & 0x03 );
i++;
}
#endif
// handle queued logs
#if 1
if ( logready() ) {
char *log;
while ( ( log = logpull() ) ) {
USART_puts ( USART2, log );
}
}
#endif
__asm__("nop");
}
} // main
int main(void) {
system_cm3_setup();
log_setup();
queue_setup();
init_usart1 ( 38400 ); // initialize USART1 @ 9600 baud
init_usart2 ( 38400 );
//USART_puts ( USART1, "Init usart1 complete! Hello World!\r\n" );
USART_puts ( USART2, "Init usart2 complete! Hello World!\r\n" );
fb_setup();
#ifdef VGA_DMA
vga_setup ( VGA_USE_DMA );
#else
vga_setup ( VGA_NO_DMA );
#endif
#ifdef BUS_FRAMEBUFFER
bus_setup();
#endif
//fb_test_pattern ( fb_active, fbt_topbottom );
fb_test_pattern ( fb_active, fbt_offset_squares );
//fb_test_pattern ( fb_active, fbt_vlines );
//fb_test_pattern ( fb_active, fbt_v1lines );
//fb_test_pattern ( fb_active, fbt_onoff1 );
//fb_test_pattern ( fb_active, fbt_spriteram );
while ( 1 ) {
// weeeeee!
// any work for us to do?
#ifdef RUNMODE_COMMAND_SERIAL
if ( vblank ) {
if ( queueready() ) {
command_queue_run();
}
}
#endif
#ifdef RUNMODE_FRAMEBUFFER_FOREVER
if ( vblank ) {
queueit ( "BD" );
command_queue_run();
}
#endif
// update framebuffers
#if 0
if ( vblank ) {
unsigned char i = 0;
fb_clone ( fb_2, fb_active );
while ( vblank ) {
__asm__("nop");
}
fb_test_pattern ( fb_2, i & 0x03 );
i++;
}
#endif
// check for external RAM updates?
#ifdef zzBUS_FRAMEBUFFER
static uint16_t _done = 0;
_done++;
if ( vblank && _done > 30 && _done < 40 ) {
bus_grab_and_wait();
uint32_t addr = 0x1C0000;
uint8_t v;
uint8_t i;
char b [ 2 ];
USART_puts_optional ( USART2, "+REM cart dump: " );
for ( i = 0; i < 20; i++ ) {
v = bus_perform_read ( addr );
b [ 0 ] = v;
b [ 1 ] = '\0';
USART_puts_optional ( USART2, b );
addr++;
}
USART_puts_optional ( USART2, "+++\n" );
bus_release();
}
#endif
// handle queued logs
#if 0
if ( logready() ) {
char *log;
while ( ( log = logpull() ) ) {
USART_puts ( USART2, log );
}
}
#endif
__asm__("nop");
}
} // main
void main(void)
{
uint8_t i;
BitStatus bytes;
CLK_HSICmd(ENABLE);//开始内部高频RC
CLK_HSIPrescalerConfig(CLK_PRESCALER_HSIDIV1);//不分频 16MHz
/* Initialize I/Os in Output Mode */
init_usart1(); // 输入判断
GPIO_Init(GPIOA, GPIO_PIN_3, GPIO_MODE_OUT_PP_LOW_FAST);// 输出 模式 用于Trag
GPIO_Init(GPIOA, GPIO_PIN_2, GPIO_MODE_OUT_PP_LOW_FAST);// 输出 模式 用于Trag
GPIO_WriteHigh(GPIOA, GPIO_PIN_2);
GPIO_Init(GPIOA,GPIO_PIN_1,GPIO_MODE_IN_PU_NO_IT); // 输入包含 上拉 中断
// GPIO_Init(GPIOA,GPIO_PIN_1,GPIO_MODE_IN_PU_IT);
// EXTI_SetExtIntSensitivity(EXTI_PORT_GPIOA,EXTI_SENSITIVITY_RISE_ONLY);
InitADC();
enableInterrupts();
flageExtiA=0;
sendBuff[0]=DEVICE_ID;
sendBuff[3]=0xff;
sendBuff[4]=0xff;
sendBuff[5]=0xFF;
sendBuff[6]=0xA0;
sendBuff[7]=0xFA;
while (1)
{
bytes=GPIO_ReadInputPin(GPIOA,GPIO_PIN_1);
if(bytes==RESET && flageExtiA==0)
{
flageExtiA=1;
GPIO_WriteReverse(GPIOA,GPIO_PIN_3);
for(i=0;i<8;i++)
{
Send(sendBuff[i]);
}
}else if(bytes!=RESET)
{
flageExtiA=0;
}
datas=readADCs();
sendBuff[5]=0;
sendBuff[1]=(uint8_t)(datas&0xff);
sendBuff[2]=(uint8_t)((datas>>8)&0xff);
for(i=0;i<5;i++)
{
sendBuff[5]+=sendBuff[i];
}
// datas=datas;
// bytes=GPIO_ReadInputPin(GPIOA,GPIO_PIN_1);
// if(flageExtiA!=1)
// {
// sendBuff[1]=(uint8_t)(datas&0xff);
// sendBuff[2]=(uint8_t)((datas>>8)&0xff);
// sendBuff[5]=0;
// for(i=0;i<5;i++)
// {
// sendBuff[5]+=sendBuff[i];
// }
// }
}
}
