void startDisplay(void) {
ssd1306Init(SSD1306_SWITCHCAPVCC);
ssd1306TurnOn();
display.state = DISPLAY_ON;
ssd1306DrawString(40, 20, "OpenQS", Font_System7x8);
chThdSleepMilliseconds(100); // Fails
serDbg("startDisplay Complete\r\n");
while (true) {
serDbg("Display OFF\r\n");
ssd1306TurnOff();
display.state = DISPLAY_OFF;
while (!BUTTON_SEL) /* Wait until the select button is pressed */
{
palTogglePad(GPIOC, GPIOC_LED4); /* Display heartbeat */
chThdSleepMilliseconds(250);
}
serDbg("Display ON\r\n");
ssd1306ClearScreen();
ssd1306TurnOn();
display.state = DISPLAY_ON;
openMenu(&mainMenu);
}
}
int test_oled2(void)
{
ssd1306Init(0);
ssd1306ClearScreen();
ssd1306DrawBmp(pic_battery_level, 120, 0, 8, 8);
ssd1306Refresh();
HAL_Delay(4000);
return 0;
}
void test_Oled(void)
{
int i;
ExpanderSetbit(7,0);
HAL_Delay(100);
ExpanderSetbit(7,1);
HAL_Delay(100);
ssd1306Init(0);
ssd1306ClearScreen();
ssd1306Refresh();
ssd1306DrawBmp(Pacabot_bmp, 1, 10, 128, 40);
ssd1306Refresh();
HAL_Delay(3500);
ssd1306ClearScreen();
ssd1306Refresh();
// miniature bitmap display
ssd1306DrawCircle(40, 30, 20);
// ssd1306DrawCircle(50, 20, 10);
ssd1306FillCircle(100, 40, 15);
ssd1306DrawRect(110, 3, 15, 6);
ssd1306FillRect(1, 60, 10, 20);
ssd1306DrawLine(5, 45, 70, 60);
ssd1306Refresh();
HAL_Delay(5500);
ssd1306ClearScreen();
for (i = 0; i <= 100; i+=2)
{
ssd1306ProgressBar(10, 20, i);
// HAL_Delay(1);
ssd1306Refresh();
}
ssd1306ShiftFrameBuffer(8);
ssd1306DrawString(13, 1, "Oled 128x64", &Font_8x8); // 3x6 is UPPER CASE only
ssd1306Refresh();
HAL_Delay(1500);
ssd1306DrawString(1, 25, "Driver for STM32f4xx", &Font_5x8); // 3x6 is UPPER CASE only
ssd1306Refresh();
HAL_Delay(500);
ssd1306DrawString(1, 35, "2 Wire SPI mode", &Font_5x8); // 3x6 is UPPER CASE only
ssd1306Refresh();
HAL_Delay(1500);
ssd1306DrawString(10, 55, "BY PLF, PACABOT TEAM", &Font_3x6); // 3x6 is UPPER CASE only
ssd1306Refresh();
HAL_Delay(5000);
ssd1306ClearScreen();
ssd1306Refresh();
}
void test_EasterEgg(void)
{
ExpanderSetbit(7,0);
HAL_Delay(100);
ExpanderSetbit(7,1);
HAL_Delay(100);
ssd1306Init(0);
ssd1306ClearScreen();
ssd1306Refresh();
// I2C
uint8_t aTxBuffer[3]; // = {control, c};
aTxBuffer[0] = 0x0;
aTxBuffer[1] = 0x1;
aTxBuffer[2] = 0x5;
uint8_t aRxBuffer[1]; // = {control, c};
aRxBuffer[0] = 0x0;
ssd1306ClearScreen();
while(HAL_I2C_Master_Transmit(&hi2c1, (uint16_t)0x50<<1, (uint8_t*)aTxBuffer, 3, 10000)!= HAL_OK)
{
/* Error_Handler() function is called when Timout error occurs.
When Acknowledge failure ocucurs (Slave don't acknowledge it's address)
Master restarts communication */
if (HAL_I2C_GetError(&hi2c1) != HAL_I2C_ERROR_AF)
{
ssd1306PrintInt(10, 15, "Bad Send", 0, &Font_5x8);
}
}
while(HAL_I2C_Master_Receive(&hi2c1, (uint16_t)0x50<<1, (uint8_t*)aRxBuffer, 1, 10000)!= HAL_OK)
{
/* Error_Handler() function is called when Timout error occurs.
When Acknowledge failure ocucurs (Slave don't acknowledge it's address)
Master restarts communication */
if (HAL_I2C_GetError(&hi2c1) != HAL_I2C_ERROR_AF)
{
ssd1306PrintInt(10, 25, "Bad recv", 0, &Font_5x8);
}
}
ssd1306PrintInt(10, 35, "Fini : ", aRxBuffer[0], &Font_5x8);
ssd1306Refresh();
}
void test_Telemeters(void)
{
Telemeters_Init();
ssd1306Init(0);
while(1)
{
ssd1306ClearScreen();
ssd1306PrintInt(10, 5, "LFRONT = ", (int) L_front_distance, &Font_5x8);
ssd1306PrintInt(10, 15, "RFRONT = ", (int) R_front_distance, &Font_5x8);
ssd1306PrintInt(10, 25, "LDIAG = ", (int) L_diag_distance, &Font_5x8);
ssd1306PrintInt(10, 35, "RDIAG = ", (int) R_diag_distance, &Font_5x8);
ssd1306Refresh();
}
}
int test_oled1(void)
{
int i;
ssd1306Init(0);
ssd1306Refresh();
ssd1306ClearScreen();
ssd1306DrawBmp(Pacabot_bmp, 1, 1, 128, 40);
ssd1306Refresh();
HAL_Delay(3500);
ssd1306ClearScreen();
ssd1306Refresh();
// miniature bitmap display
ssd1306DrawCircle(40, 30, 20);
// ssd1306DrawCircle(50, 20, 10);
ssd1306FillCircle(100, 40, 15);
ssd1306DrawRect(110, 3, 15, 6);
ssd1306FillRect(1, 60, 10, 20);
ssd1306DrawLine(5, 45, 70, 60);
ssd1306Refresh();
HAL_Delay(5500);
ssd1306ClearScreen();
for (i = 0; i <= 100; i++)
{
ssd1306ProgressBar(10, 20, i);
HAL_Delay(1);
ssd1306Refresh();
}
ssd1306ShiftFrameBuffer(8);
ssd1306DrawString(13, 1, "Oled 128x64", &Font_8x8); // 3x6 is UPPER CASE only
ssd1306Refresh();
HAL_Delay(1500);
ssd1306DrawString(1, 25, "Driver for STM32f10x", &Font_5x8); // 3x6 is UPPER CASE only
ssd1306Refresh();
HAL_Delay(500);
ssd1306DrawString(1, 35, "4 Wire SPI mode", &Font_5x8); // 3x6 is UPPER CASE only
ssd1306Refresh();
HAL_Delay(1500);
ssd1306DrawString(10, 55, "BY PLF ALL RIGHTS RESERVED", &Font_3x6); // 3x6 is UPPER CASE only
ssd1306Refresh();
HAL_Delay(5000);
ssd1306ClearScreen();
ssd1306Refresh();
return 0;
}
int test_oled3(void)
{
//int i;
ssd1306Init(0);
ssd1306ClearScreen();
ssd1306DrawBmp(cafard, 12, 0, 103, 64);
ssd1306Refresh();
// for (i = 0; i < 10; i++)
// {
// hal_os_sleep(500);
// ssd1306InvertArea(39, 39, 10, 10);
// ssd1306Refresh();
// }
HAL_Delay(10000);
return 0;
}
void test_Gyro(void)
{
ADXRS620_Init();
ssd1306Init(0);
while(1)
{
ssd1306ClearScreen();
ssd1306PrintInt(10, 25, "Angle = ", (int) gyro_Current_Angle, &Font_5x8);
int y = 0;
for(int i = 0; i<100; i++)
{
y += uhADCxConvertedValue_Gyro, &Font_5x8;
HAL_Delay(1);
}
ssd1306PrintInt(10, 35, "Adc = ", ((y/100)*3300)/4095, &Font_5x8);
ssd1306Refresh();
}
}
void test_Encoders(void)
{
ssd1306Init(0);
ssd1306ClearScreen();
ssd1306Refresh();
Encoders_Init();
while(1)
{
ssd1306ClearScreen();
// ssd1306PrintInt(0, 6, "REV = ", toto, &Font_3x6);
// ssd1306PrintInt(0, 13, "CNT = ", (&htim1)->Instance->CNT, &Font_3x6);
ssd1306PrintInt(0, 7, "L_REV = ", left_encoder.nb_revolutions, &Font_3x6);
ssd1306PrintInt(0, 14, "L_CNT = ", __HAL_TIM_GetCounter(&htim1), &Font_3x6);
ssd1306PrintInt(0, 21, "L_DIR = ", __HAL_TIM_DIRECTION_STATUS(&htim1), &Font_3x6);
ssd1306PrintInt(0, 35, "R_REV = ", right_encoder.nb_revolutions, &Font_3x6);
ssd1306PrintInt(0, 42, "R_CNT = ", __HAL_TIM_GetCounter(&htim3), &Font_3x6);
ssd1306PrintInt(0, 49, "R_DIR = ", __HAL_TIM_DIRECTION_STATUS(&htim3), &Font_3x6);
ssd1306Refresh();
HAL_Delay(10);
}
}
void test_Vbat(void)
{
ADC_ChannelConfTypeDef sConfig;
int vbat;
int vref = 3300; //mV
int coeff = 33; //%
ExpanderSetbit(7,0);
HAL_Delay(100);
ExpanderSetbit(7,1);
HAL_Delay(100);
ssd1306Init(0);
ssd1306ClearScreen();
ssd1306Refresh();
while(1)
{
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0, SET);
ssd1306ClearScreen();
HAL_ADC_Stop_DMA(&hadc1);
sConfig.Channel = ADC_CHANNEL_15;
sConfig.Rank = 1;
sConfig.SamplingTime = ADC_SAMPLETIME_56CYCLES;
HAL_ADC_ConfigChannel(&hadc1, &sConfig);
HAL_ADC_Start_DMA(&hadc1, (uint32_t*)&uhADCxConvertedValue_8, 1);
vbat = (((vref * uhADCxConvertedValue_8) / 40950) * coeff);
ssd1306PrintInt(10, 5, "Vbat = ", vbat, &Font_5x8);
ssd1306Refresh();
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0, RESET);
HAL_Delay(100);
}
}
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 */
/* 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 */
}
void systemInit()
{
cpuInit();
systickInit((CFG_CPU_CCLK / 1000) * CFG_SYSTICK_DELAY_IN_MS);
gpioInit();
pmuInit();
adcInit(); // Init adc pins to avoid wasting 60uA in deep sleep
#ifdef CFG_PRINTF_UART
// Initialise UART with the default baud rate (set in projectconfig.h)
uartInit(CFG_UART_BAUDRATE);
#endif
// Switch to 3.3V if TPS780 (etc.) is being used
#if defined CFG_VREG_ALT_PRESENT && CFG_VREG_ALT_PRESENT == 1
gpioSetDir(CFG_VREG_ALT_PORT, CFG_VREG_ALT_PIN, gpioDirection_Output);
gpioSetValue(CFG_VREG_ALT_PORT, CFG_VREG_ALT_PIN, 0);
gpioSetPullup(&CFG_VREG_ALT_REG32, gpioPullupMode_Inactive);
#endif
// Set LED pin as output and turn LED off
gpioSetDir(CFG_LED_PORT, CFG_LED_PIN, 1);
gpioSetValue(CFG_LED_PORT, CFG_LED_PIN, CFG_LED_OFF);
// Initialise the ST7565 128x64 pixel display
#ifdef CFG_ST7565
st7565Init();
st7565ClearScreen(); // Clear the screen
st7565Backlight(1); // Enable the backlight
#endif
// Initialise the SSD1306 OLED display
#ifdef CFG_SSD1306
ssd1306Init(SSD1306_SWITCHCAPVCC);
ssd1306ClearScreen(); // Clear the screen
#endif
// Initialise EEPROM
#ifdef CFG_I2CEEPROM
mcp24aaInit();
#endif
// Initialise Chibi
#ifdef CFG_CHIBI
// Write addresses to EEPROM for the first time if necessary
// uint16_t addr_short = 0x1166;
// uint64_t addr_ieee = addr_short;
// mcp24aaWriteBuffer(CFG_CHIBI_EEPROM_SHORTADDR, (uint8_t *)&addr_short, 2);
// mcp24aaWriteBuffer(CFG_CHIBI_EEPROM_IEEEADDR, (uint8_t *)&addr_ieee, 8);
chb_init();
#endif
// Setup SD Card
#ifdef CFG_SDCARD
// Turn off SD card by default (saves power)
gpioSetDir(CFG_SDCARD_ENPORT, CFG_SDCARD_ENPIN, gpioDirection_Output); /* Set enable pin to output */
gpioSetValue(CFG_SDCARD_ENPORT, CFG_SDCARD_ENPIN, 0); /* Disable card by setting ENPIN low */
gpioSetPullup(&CFG_SDCARD_ENREG32, gpioPullupMode_Inactive);
#endif
#ifdef CFG_LM75B
// Initialise LM75B
lm75bInit();
// Read temp once to make sure we are in sleep mode
int32_t temp;
lm75bGetTemperature(&temp);
#endif
#ifdef CFG_BAT
// Turn off battery voltage divider by default
gpioSetDir(CFG_BAT_ENPORT, CFG_BAT_ENPIN, gpioDirection_Output ); // Set voltage divider enable pin to output
gpioSetValue(CFG_BAT_ENPORT, CFG_BAT_ENPIN, 0 ); // Disable the voltage divider by default
gpioSetPullup(&CFG_BAT_ENREG32, gpioPullupMode_Inactive);
#endif
// Start the command line interface (if requested)
#ifdef CFG_INTERFACE
printf("%sType '?' for a list of available commands%s", CFG_PRINTF_NEWLINE, CFG_PRINTF_NEWLINE);
cmdInit();
#endif
}
void test_LineSensors(void)
{
ADC_ChannelConfTypeDef sConfig;
ExpanderSetbit(7,0);
HAL_Delay(100);
ExpanderSetbit(7,1);
HAL_Delay(100);
ssd1306Init(0);
ssd1306ClearScreen();
ssd1306Refresh();
while(1)
{
ssd1306ClearScreen();
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_2, SET);
HAL_Delay(25);
HAL_ADC_Stop_DMA(&hadc1);
sConfig.Channel = ADC_CHANNEL_3;
sConfig.Rank = 1;
sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES;
HAL_ADC_ConfigChannel(&hadc1, &sConfig);
HAL_ADC_Start_DMA(&hadc1, (uint32_t*)&uhADCxConvertedValue_1, 1);
ssd1306PrintInt(10, 5, "ADC3 = ", uhADCxConvertedValue_1, &Font_5x8);
HAL_ADC_Stop_DMA(&hadc1);
sConfig.Channel = ADC_CHANNEL_4;
sConfig.Rank = 1;
sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES;
HAL_ADC_ConfigChannel(&hadc1, &sConfig);
HAL_ADC_Start_DMA(&hadc1, (uint32_t*)&uhADCxConvertedValue_2, 1);
ssd1306PrintInt(10, 15, "ADC4 = ", uhADCxConvertedValue_2, &Font_5x8);
HAL_ADC_Stop_DMA(&hadc1);
sConfig.Channel = ADC_CHANNEL_1;
sConfig.Rank = 1;
sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES;
HAL_ADC_ConfigChannel(&hadc1, &sConfig);
HAL_ADC_Start_DMA(&hadc1, (uint32_t*)&uhADCxConvertedValue_3, 1);
ssd1306PrintInt(10, 25, "ADC1 = ", uhADCxConvertedValue_3, &Font_5x8);
HAL_ADC_Stop_DMA(&hadc1);
sConfig.Channel = ADC_CHANNEL_13;
sConfig.Rank = 1;
sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES;
HAL_ADC_ConfigChannel(&hadc1, &sConfig);
HAL_ADC_Start_DMA(&hadc1, (uint32_t*)&uhADCxConvertedValue_4, 1);
ssd1306PrintInt(10, 35, "ADC13 = ", uhADCxConvertedValue_4, &Font_5x8);
HAL_ADC_Stop_DMA(&hadc1);
sConfig.Channel = ADC_CHANNEL_12;
sConfig.Rank = 1;
sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES;
HAL_ADC_ConfigChannel(&hadc1, &sConfig);
HAL_ADC_Start_DMA(&hadc1, (uint32_t*)&uhADCxConvertedValue_5, 1);
ssd1306PrintInt(10, 45, "ADC12 = ", uhADCxConvertedValue_5, &Font_5x8);
ssd1306Refresh();
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_2, RESET);
}
}
void init_display()
{
ssd1306Init(0);
ssd1306ClearScreen();
ssd1306Refresh();
}