int main(void) {
static Thread *shelltp = NULL;
static const evhandler_t evhndl_main[] = {
extdetail_WKUP_button_handler
};
struct EventListener el0;
/*
* System initializations.
* - HAL initialization, this also initializes the configured device drivers
* and performs the board-specific initializations.
* - Kernel initialization, the main() function becomes a thread and the
* RTOS is active.
*/
halInit();
chSysInit();
extdetail_init();
palSetPad(GPIOC, GPIOC_LED);
palSetPad(GPIOA, GPIOA_SPI1_SCK);
palSetPad(GPIOA, GPIOA_SPI1_NSS);
/*
* SPI1 I/O pins setup.
*/
palSetPadMode(adis_connections.spi_sck_port, adis_connections.spi_sck_pad,
PAL_MODE_ALTERNATE(5) |
PAL_STM32_OSPEED_HIGHEST);
palSetPadMode(adis_connections.spi_miso_port, adis_connections.spi_miso_pad,
PAL_MODE_ALTERNATE(5) |
PAL_STM32_OSPEED_HIGHEST| PAL_STM32_PUDR_FLOATING);
palSetPadMode(adis_connections.spi_mosi_port, adis_connections.spi_mosi_pad,
PAL_MODE_ALTERNATE(5) |
PAL_STM32_OSPEED_HIGHEST );
palSetPadMode(adis_connections.spi_cs_port, adis_connections.spi_cs_pad,
PAL_MODE_OUTPUT_PUSHPULL |
PAL_STM32_OSPEED_HIGHEST);
palSetPad(GPIOA, GPIOA_SPI1_SCK);
palSetPad(GPIOA, GPIOA_SPI1_NSS);
/*!
* Initializes a serial-over-USB CDC driver.
*/
sduObjectInit(&SDU_PSAS);
sduStart(&SDU_PSAS, &serusbcfg);
/*!
* Activates the USB driver and then the USB bus pull-up on D+.
* Note, a delay is inserted in order to not have to disconnect the cable
* after a reset.
*/
usbDisconnectBus(serusbcfg.usbp);
chThdSleepMilliseconds(1000);
usbStart(serusbcfg.usbp, &usbcfg);
usbConnectBus(serusbcfg.usbp);
shellInit();
iwdg_begin();
/*!
* Activates the serial driver 6 and SDC driver 1 using default
* configuration.
*/
sdStart(&SD6, NULL);
spiStart(&SPID1, &adis_spicfg); /* Set transfer parameters. */
chThdSleepMilliseconds(300);
adis_init();
adis_reset();
/*! Activates the EXT driver 1. */
extStart(&EXTD1, &extcfg);
chThdCreateStatic(waThread_blinker, sizeof(waThread_blinker), NORMALPRIO, Thread_blinker, NULL);
chThdCreateStatic(waThread_adis_dio1, sizeof(waThread_adis_dio1), NORMALPRIO, Thread_adis_dio1, NULL);
chThdCreateStatic(waThread_adis_newdata, sizeof(waThread_adis_newdata), NORMALPRIO, Thread_adis_newdata, NULL);
chThdCreateStatic(waThread_indwatchdog, sizeof(waThread_indwatchdog), NORMALPRIO, Thread_indwatchdog, NULL);
chEvtRegister(&extdetail_wkup_event, &el0, 0);
while (TRUE) {
if (!shelltp && (SDU_PSAS.config->usbp->state == USB_ACTIVE))
shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO);
else if (chThdTerminated(shelltp)) {
chThdRelease(shelltp); /* Recovers memory of the previous shell. */
shelltp = NULL; /* Triggers spawning of a new shell. */
}
chEvtDispatch(evhndl_main, chEvtWaitOneTimeout((eventmask_t)1, MS2ST(500)));
}
}
int main(void) {
static const evhandler_t evhndl_main[] = {
extdetail_WKUP_button_handler
};
struct EventListener el0;
/*
* System initializations.
* - HAL initialization, this also initializes the configured device drivers
* and performs the board-specific initializations.
* - Kernel initialization, the main() function becomes a thread and the
* RTOS is active.
*/
halInit();
chSysInit();
extdetail_init();
palSetPad(GPIOC, GPIOC_LED);
/*!
* GPIO Pins for generating pulses at data input detect and data output send.
* Used for measuring latency timing of data
*
* \sa board.h
*/
palClearPad( TIMEOUTPUT_PORT, TIMEOUTPUT_PIN);
palSetPadMode(TIMEOUTPUT_PORT, TIMEOUTPUT_PIN, PAL_MODE_OUTPUT_PUSHPULL);
palSetPad( TIMEINPUT_PORT, TIMEINPUT_PIN);
palSetPadMode(TIMEINPUT_PORT, TIMEINPUT_PIN, PAL_MODE_OUTPUT_PUSHPULL );
/*
* I2C2 I/O pins setup
*/
palSetPadMode(si_i2c_connections.i2c_sda_port , si_i2c_connections.i2c_sda_pad,
PAL_MODE_ALTERNATE(4) | PAL_STM32_OTYPE_OPENDRAIN | PAL_STM32_OSPEED_HIGHEST |PAL_STM32_PUDR_FLOATING );
palSetPadMode(si_i2c_connections.i2c_scl_port, si_i2c_connections.i2c_scl_pad,
PAL_MODE_ALTERNATE(4) | PAL_STM32_OSPEED_HIGHEST | PAL_STM32_PUDR_FLOATING);
palSetPad(si_i2c_connections.i2c_scl_port, si_i2c_connections.i2c_scl_pad );
static const ShellCommand commands[] = {
{"mem", cmd_mem},
{"threads", cmd_threads},
{NULL, NULL}
};
usbSerialShellStart(commands);
mpu9150_start(&I2CD2);
i2cStart(mpu9150_driver.i2c_instance, &si_i2c_config);
mpu9150_init(mpu9150_driver.i2c_instance);
/* Administrative threads */
chThdCreateStatic(waThread_blinker, sizeof(waThread_blinker), NORMALPRIO, Thread_blinker, NULL);
chThdCreateStatic(waThread_indwatchdog, sizeof(waThread_indwatchdog), NORMALPRIO, Thread_indwatchdog, NULL);
/* MAC */
/*!
* Use a locally administered MAC address second LSbit of MSB of MAC should be 1
* Use unicast address LSbit of MSB of MAC should be 0
*/
data_udp_init();
chThdCreateStatic(wa_lwip_thread , sizeof(wa_lwip_thread) , NORMALPRIO + 2, lwip_thread , SENSOR_LWIP);
chThdCreateStatic(wa_data_udp_send_thread , sizeof(wa_data_udp_send_thread) , NORMALPRIO , data_udp_send_thread , NULL);
/* i2c MPU9150 */
chThdCreateStatic(waThread_mpu9150_int, sizeof(waThread_mpu9150_int) , NORMALPRIO , Thread_mpu9150_int, NULL);
/* SPI ADIS */
//chThdCreateStatic(waThread_adis_dio1, sizeof(waThread_adis_dio1), NORMALPRIO, Thread_adis_dio1, NULL);
//chThdCreateStatic(waThread_adis_newdata, sizeof(waThread_adis_newdata), NORMALPRIO, Thread_adis_newdata, NULL);
/*! Activates the EXT driver 1. */
extStart(&EXTD1, &extcfg);
chEvtRegister(&extdetail_wkup_event, &el0, 0);
while (TRUE) {
chEvtDispatch(evhndl_main, chEvtWaitOneTimeout((eventmask_t)1, MS2ST(500)));
}
}
