Пример #1
0
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_I2C3_Init();
	MX_TIM1_Init();
	MX_TIM2_Init();
	MX_TIM3_Init();
	MX_TIM4_Init();
	MX_TIM5_Init();
	MX_USART1_UART_Init();
	MX_USART2_UART_Init();
	MX_TIM11_Init();

	/* USER CODE BEGIN 2 */
	HAL_TIM_Base_Start_IT(&htim11); // 100 msec timer
	initSonar( MAX_SONAR);
	initSerOutput();
	/* USER CODE END 2 */

	/* Infinite loop */
	/* USER CODE BEGIN WHILE */
	while (1)
	{
		/* USER CODE END WHILE */

		/* USER CODE BEGIN 3 */
		// >>>>> Sonar reading
		triggerSonar( COUPLE_0_2);
		HAL_Delay(49);
		triggerSonar( COUPLE_1_3);
		HAL_Delay(49);
		// <<<<< Sonar reading

		// >>>>> Serial Output
		convertMeasures();
		sendMeasures();
		// <<<<< Serial Output

	}
	/* USER CODE END 3 */

}
Пример #2
0
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_ADC1_Init();
  MX_I2C1_Init();
  MX_RTC_Init();
  MX_SPI2_Init();
  MX_TIM1_Init();
  MX_TIM2_Init();
  MX_TIM3_Init();
  MX_TIM4_Init();
  MX_USART3_UART_Init();

  /* USER CODE BEGIN 2 */
	encoderInit();
	pwmInit();
//	adcInit();
	uartInit();
	timInterruptInit();
	gyroInit(GYROHIGH);
	calibrateGyro();

//	rotaryRight(800);
//	HAL_Delay(500);
//	rotaryLeft(800);
	drive(VEL);

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
  /* USER CODE END WHILE */

  /* USER CODE BEGIN 3 */

  }
  /* USER CODE END 3 */

}
Пример #3
0
int main(void) {
  HAL_Init();    
  SystemClock_Config();
  led2__init();
  MX_TIM4_Init();

  if (HAL_TIM_Base_Start_IT(&htim4) != HAL_OK)
  {
    Error_Handler();
  }

  while (1)
  {
  }
}
Пример #4
0
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_ADC1_Init();
  MX_I2C1_Init();
  MX_SPI1_Init();
  MX_TIM1_Init();
  MX_TIM4_Init();
  MX_TIM6_Init();
  MX_USART1_UART_Init();
  MX_USART2_UART_Init();
  MX_USART3_UART_Init();

  /* USER CODE BEGIN 2 */

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
  /* USER CODE END WHILE */

  /* USER CODE BEGIN 3 */

  FlyMain();
  }
  /* USER CODE END 3 */

}
Пример #5
0
int main(void) {
  HAL_Init();    
  SystemClock_Config();
  led2__init();

  MX_DMA_Init();
  MX_TIM4_Init();

  if (HAL_TIM_Base_Start_DMA(&htim4, (uint32_t *) data, 2) != HAL_OK)
  {
    /* Starting Error */
    Error_Handler();
  }

  while (1)
  {
  }
}
Пример #6
0
void InitSystem(DeviceConfig *devState){
    // init HAL 
    HAL_Init();
   
    /* Configure the system clock */
    SystemClock_Config();

    /* Initialize all configured peripherals */ 
    InitDeviceConfig(devState);  
   
    MX_USB_DEVICE_Init();

    MX_GPIO_Init();
    MX_I2C2_Init(devState);
    MX_ADC1_Init(devState);
    MX_ADC1_Init(devState);
    MX_SPI2_Init(devState);
    MX_TIM4_Init(devState);
    MX_USART3_UART_Init(devState);
    init_printf(NULL,usb_putc);
}
Пример #7
0
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 */

}
Пример #8
0
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_CRC_Init();
  MX_I2C1_Init();
  MX_SPI2_Init();
  MX_TIM2_Init();
  MX_TIM3_Init();
  MX_TIM4_Init();
  MX_USART2_UART_Init();

  /* USER CODE BEGIN 2 */
  HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8, GPIO_PIN_RESET);

  // reinitialize uart with speed from config
  huart2.Init.BaudRate = USART_DEBUG_SPEED;
  HAL_UART_Init(&huart2);

  DEBUG_PRINTF("Hello, Lepton!\n\r");
  fflush(stdout);

  lepton_init();

  HAL_Delay(1000);

  init_lepton_command_interface();
#ifdef ENABLE_LEPTON_AGC
  enable_lepton_agc();
#endif

#ifdef Y16
  enable_telemetry();
#else
  enable_rgb888(PSUEDOCOLOR_LUT);
#endif

  DEBUG_PRINTF("reading_tmp007_regs...\n\r");

  read_tmp007_regs();

  DEBUG_PRINTF("Initialized...\n\r");

  HAL_Delay(250);

  MX_USB_DEVICE_Init();

  PT_INIT(&lepton_task_pt);
  PT_INIT(&usb_task_pt);
  PT_INIT(&uart_task_pt);

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
  /* USER CODE END WHILE */

  /* USER CODE BEGIN 3 */

	  PT_SCHEDULE(lepton_task(&lepton_task_pt));
	  PT_SCHEDULE(usb_task(&usb_task_pt));
	  PT_SCHEDULE(uart_task(&uart_task_pt));
	  PT_SCHEDULE(button_task(&button_task_pt));

  }
  /* USER CODE END 3 */

}
Пример #9
0
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_I2C3_Init();
  MX_SPI3_Init();
  MX_TIM1_Init();
  MX_TIM2_Init();
  MX_TIM3_Init();
  MX_TIM4_Init();
  MX_TIM5_Init();
  MX_USART1_UART_Init();

  /* USER CODE BEGIN 2 */

  /* 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 */

  /* Create the queue(s) */
  /* definition and creation of xQueueUARTReceive */
  osMessageQDef(xQueueUARTReceive, 3, char);
  xQueueUARTReceiveHandle = osMessageCreate(osMessageQ(xQueueUARTReceive), NULL);

  /* 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 */

}
Пример #10
0
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 */

}
Пример #11
0
int main(void)
{

  /* USER CODE BEGIN 1 */
  osKernelInitialize();
  /* 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_TIM2_Init();
  MX_USART2_UART_Init();
  MX_TIM4_Init();
  MX_TIM3_Init();
  MX_ADC1_Init();

  /* USER CODE BEGIN 2 */
//#ifdef  USE_FULL_ASSERT
#ifndef MAC_COORDINATOR
  // Board - Serial identification
  sprintf(Buf, "\x0cNUCLEO-F446 Debug Terminal\r\nVisible Light Communication "
      "Project\r\n---\r\nDEV_CONFIG=%d\r\n\r\n", DEV_CONFIG);
  HAL_UART_Transmit(&huart2, (uint8_t *) Buf, strlen(Buf), 0xffff);
#endif
//#endif
  // Initialize Optical Driver
  DRV_Init();
  // Initialize PHY layer
  PHY_Init();
  // Initialize MAC APP layer
  MAC_AppInit();
  
  // Create threads
#ifdef MAC_COORDINATOR
  tid_blinkLED = osThreadCreate (osThread(blinkLED), NULL);
#endif
  //tid_sendSerial = osThreadCreate (osThread(sendSerial), NULL);
  //tid_checkButton = osThreadCreate (osThread(checkButton), NULL);
  // Start thread execution
  osKernelStart();

  // Run codes
  DRV_RX_Start();
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1) {
    osDelay(1000);
#ifdef MAC_COORDINATOR
    osSignalSet(tid_blinkLED, 0x0001);
#endif
  }
  /* USER CODE END WHILE */

  /* USER CODE BEGIN 3 */

  /* USER CODE END 3 */

}