int16_t main(void) {
int led2_on;
int led3_on;
led2_on = 0;
led3_on = 1;
init_clock();
init_ui();
init_timer();
led_on(&led1);
timer_setPeriod(&timer2, 0.1);
timer_start(&timer2);
while (1) {
if (timer_flag(&timer2)) {
timer_lower(&timer2);
led_toggle(&led1);
}
if(!sw_read(&sw2)){
timer_setPeriod(&timer2, 0.5);
timer_start(&timer2);
led2_on = 1;
led3_on = 0;
} else if(!sw_read(&sw3)){
timer_setPeriod(&timer2, 0.1);
timer_start(&timer2);
led2_on = 0;
led3_on = 1;
}
led_write(&led2, led2_on);
led_write(&led3, led3_on);
}
}
int main() {
led_init();
while (1) {
int i;
led_write(0);
for (i = 0; i < 10000; ++i);
led_write(1);
for (i = 0; i < 10000; ++i);
}
}
void led_init(void) {
palSetPadMode(GPIOE, 0,
PAL_MODE_OUTPUT_PUSHPULL |
PAL_STM32_OSPEED_HIGHEST);
palSetPadMode(GPIOE, 1,
PAL_MODE_OUTPUT_PUSHPULL |
PAL_STM32_OSPEED_HIGHEST);
led_write(LED_RED, 0);
led_write(LED_GREEN, 0);
}
/* スレッドからの要求を処理する */
static int display_cmdproc(char *p)
{
int cmd = p[0];
switch (cmd) {
case DISPLAY_CMD_LCD_CLEAR:
NTLEVT_START(NTLUSR_TRACK_DISPLAY, NTLUSR_EVENT_DISPLAY_CLEAR);
sg12232c_clear();
NTLEVT_END(NTLUSR_TRACK_DISPLAY, NTLUSR_EVENT_DISPLAY_CLEAR);
break;
case DISPLAY_CMD_LCD_DRAW_BOX:
NTLEVT_START(NTLUSR_TRACK_DISPLAY, NTLUSR_EVENT_DISPLAY_DRAWBOX);
sg12232c_draw_box(p[1], p[2], p[3], p[4], p[5]);
NTLEVT_END(NTLUSR_TRACK_DISPLAY, NTLUSR_EVENT_DISPLAY_DRAWBOX);
break;
case DISPLAY_CMD_LCD_DRAW_LOGO:
NTLEVT_START(NTLUSR_TRACK_DISPLAY, NTLUSR_EVENT_DISPLAY_DRAWLOGO);
draw_logo(p[1], p[2], p[3]);
NTLEVT_END(NTLUSR_TRACK_DISPLAY, NTLUSR_EVENT_DISPLAY_DRAWLOGO);
break;
case DISPLAY_CMD_LCD_DRAW_TEXT:
NTLEVT_START(NTLUSR_TRACK_DISPLAY, NTLUSR_EVENT_DISPLAY_DRAWTEXT);
sg12232c_draw_string(p[1], p[2], &p[3], 0);
NTLEVT_END(NTLUSR_TRACK_DISPLAY, NTLUSR_EVENT_DISPLAY_DRAWTEXT);
break;
case DISPLAY_CMD_LCD_DRAW_PBAR:
NTLEVT_START(NTLUSR_TRACK_DISPLAY, NTLUSR_EVENT_DISPLAY_DRAWPROG);
sg12232c_draw_progressbar(
p[1], p[2], p[3], p[4], p[5], p[6], p[7], 0);
NTLEVT_END(NTLUSR_TRACK_DISPLAY, NTLUSR_EVENT_DISPLAY_DRAWPROG);
break;
case DISPLAY_CMD_LED_ON:
NTLEVT_START(NTLUSR_TRACK_DISPLAY, NTLUSR_EVENT_DISPLAY_LEDON);
led_write(p[1] - '0', LedOn);
NTLEVT_END(NTLUSR_TRACK_DISPLAY, NTLUSR_EVENT_DISPLAY_LEDON);
break;
case DISPLAY_CMD_LED_OFF:
NTLEVT_START(NTLUSR_TRACK_DISPLAY, NTLUSR_EVENT_DISPLAY_LEDOFF);
led_write(p[1] - '0', LedOff);
NTLEVT_END(NTLUSR_TRACK_DISPLAY, NTLUSR_EVENT_DISPLAY_LEDOFF);
break;
case DISPLAY_CMD_LED_TOGGLE:
NTLEVT_START(NTLUSR_TRACK_DISPLAY, NTLUSR_EVENT_DISPLAY_LEDTOGGLE);
led_toggle(p[1] - '0');
NTLEVT_END(NTLUSR_TRACK_DISPLAY, NTLUSR_EVENT_DISPLAY_LEDTOGGLE);
break;
default:
break;
}
kz_kmfree(p);
return 0;
}
// Display a blank output on the LED (useful for modes outside of the game mode)
void led_display_blank() {
for(int y = 0; y < 8; y++) {
for(int x = 0; x < 8; x++) {
led_current_pattern[y][x] = BLACK;
}
}
led_write(&led_current_pattern);
}
// Copy the game's pattern to the LED pattern
void led_display_game() {
// Copy pattern (from game.h) into led_current_pattern
for(int x = 0; x < 8; x++) {
for(int y = 0; y < 8; y++) {
if(pattern[x][y] == 1)
led_current_pattern[x][y] = ORANGE;
else
led_current_pattern[x][y] = BLACK;
}
}
led_write(&led_current_pattern);
}
// Copy the game's map to the LED pattern
void led_display_game() {
// Convert game_map tiles into appropriate colored tiles and set into led_current_pattern
for(int y = 0; y < 8; y++) {
for(int x = 0; x < 8; x++) {
if(game_map[y][x] == MAP_WALL)
led_current_pattern[y][x] = GREEN;
else if(game_map[y][x] == MAP_PLAYER)
led_current_pattern[y][x] = ORANGE;
else if(game_map[y][x] == MAP_GHOST)
led_current_pattern[y][x] = RED;
else {
led_current_pattern[y][x] = BLACK; // MAP_EMPTY
}
}
}
led_write(&led_current_pattern);
}
int16_t main(void) {
init_clock();
init_ui();
init_timer();
led_on(&led1);
timer_setPeriod(&timer2, 1.0);
timer_start(&timer2);
while (1) {
if (timer_flag(&timer2)) {
timer_lower(&timer2);
led_toggle(&led1);
led_toggle(&led2);
}
led_write(&led3, !sw_read(&sw3));
}
}
/*
* Routine: board_init
* Description: Early hardware init.
*/
int board_init(void)
{
led_write(U, B, O, O);
return 0;
}
void led_off(void) {
led_state_ = 0;
led_write(led_state_);
}
void led_on(void) {
led_state_ = 1;
led_write(led_state_);
}
void terminal_process_string(char *str) {
enum { kMaxArgs = 64 };
int argc = 0;
char *argv[kMaxArgs];
#if MAIN_MODE == MAIN_MODE_CAR
static char buffer[256];
#endif
char *p2 = strtok(str, " ");
while (p2 && argc < kMaxArgs) {
argv[argc++] = p2;
p2 = strtok(0, " ");
}
if (argc == 0) {
commands_printf("No command received\n");
return;
}
if (strcmp(argv[0], "ping") == 0) {
commands_printf("pong\n");
} else if (strcmp(argv[0], "mem") == 0) {
size_t n, size;
n = chHeapStatus(NULL, &size);
commands_printf("core free memory : %u bytes", chCoreGetStatusX());
commands_printf("heap fragments : %u", n);
commands_printf("heap free total : %u bytes\n", size);
} else if (strcmp(argv[0], "threads") == 0) {
thread_t *tp;
static const char *states[] = {CH_STATE_NAMES};
commands_printf(" addr stack prio refs state name time ");
commands_printf("-------------------------------------------------------------");
tp = chRegFirstThread();
do {
commands_printf("%.8lx %.8lx %4lu %4lu %9s %14s %lu",
(uint32_t)tp, (uint32_t)tp->p_ctx.r13,
(uint32_t)tp->p_prio, (uint32_t)(tp->p_refs - 1),
states[tp->p_state], tp->p_name, (uint32_t)tp->p_time);
tp = chRegNextThread(tp);
} while (tp != NULL);
commands_printf(" ");
}
#if MAIN_MODE == MAIN_MODE_CAR
else if (strcmp(argv[0], "vesc") == 0) {
buffer[0] = '\0';
int ind = 0;
for (int i = 1;i < argc;i++) {
sprintf(buffer + ind, " %s", argv[i]);
ind += strlen(argv[i]) + 1;
}
bldc_interface_terminal_cmd(buffer);
}
#if RADAR_EN
else if (strcmp(argv[0], "radar_sample") == 0) {
commands_printf("Sampling radar...");
radar_setup_measurement_default();
radar_sample();
} else if (strcmp(argv[0], "radar_cmd") == 0) {
buffer[0] = '\0';
int ind = 0;
for (int i = 1;i < argc;i++) {
if (i == 1) {
sprintf(buffer + ind, "%s", argv[i]);
ind += strlen(argv[i]);
} else {
sprintf(buffer + ind, " %s", argv[i]);
ind += strlen(argv[i]) + 1;
}
}
radar_cmd(buffer);
} else if (strcmp(argv[0], "radar_reset") == 0) {
commands_printf("Resetting radar...");
radar_reset_setup();
}
#endif
#endif
else if (strcmp(argv[0], "reset_att") == 0) {
pos_reset_attitude();
} else if (strcmp(argv[0], "reset_enu") == 0) {
pos_reset_enu_ref();
} else if (strcmp(argv[0], "cc1120_state") == 0) {
commands_printf("%s\n", cc1120_state_name());
} else if (strcmp(argv[0], "cc1120_update_rf") == 0) {
if (argc != 2) {
commands_printf("Invalid number of arguments\n");
} else {
int set = -1;
sscanf(argv[1], "%d", &set);
if (set < 0) {
commands_printf("Invalid argument\n");
} else {
cc1120_update_rf(set);
commands_printf("Done\n");
}
}
} else if (strcmp(argv[0], "dw_range") == 0) {
if (argc != 2) {
commands_printf("Invalid number of arguments\n");
} else {
int dest = -1;
sscanf(argv[1], "%d", &dest);
if (dest < 0 || dest > 254) {
commands_printf("Invalid argument\n");
} else {
comm_can_set_range_func(range_callback);
comm_can_dw_range(CAN_DW_ID_ANY, dest, 5);
}
}
} else if (strcmp(argv[0], "zero_gyro") == 0) {
led_write(LED_RED, 1);
mpu9150_sample_gyro_offsets(100);
led_write(LED_RED, 0);
}
// The help command
else if (strcmp(argv[0], "help") == 0) {
commands_printf("Valid commands are:");
commands_printf("help");
commands_printf(" Show this help");
commands_printf("ping");
commands_printf(" Print pong here to see if the reply works");
commands_printf("mem");
commands_printf(" Show memory usage");
commands_printf("threads");
commands_printf(" List all threads");
#if MAIN_MODE == MAIN_MODE_CAR
commands_printf("vesc");
commands_printf(" Forward command to VESC");
#if RADAR_EN
commands_printf("radar_sample");
commands_printf(" Start radar sampling");
commands_printf("radar_cmd");
commands_printf(" Forward command to radar");
commands_printf("radar_reset");
commands_printf(" Reset and setup the radar");
#endif
#endif
commands_printf("reset_att");
commands_printf(" Re-initialize the attitude estimation");
commands_printf("reset_enu");
commands_printf(" Re-initialize the ENU reference on the next GNSS sample");
commands_printf("cc1120_state");
commands_printf(" Print the state of the CC1120");
commands_printf("cc1120_update_rf [rf_setting]");
commands_printf(" Set one of the cc1120 RF settings");
int ind = 0;
commands_printf(" %d: %s", ind++, "CC1120_SET_434_0M_1_2K_2FSK_BW25K_4K");
commands_printf(" %d: %s", ind++, "CC1120_SET_434_0M_1_2K_2FSK_BW50K_20K");
commands_printf(" %d: %s", ind++, "CC1120_SET_434_0M_1_2K_2FSK_BW10K_4K");
commands_printf(" %d: %s", ind++, "CC1120_SET_434_0M_50K_2GFSK_BW100K_25K");
commands_printf(" %d: %s", ind++, "CC1120_SET_434_0M_100K_4FSK_BW100K_25K");
commands_printf(" %d: %s", ind++, "CC1120_SET_434_0M_4_8K_2FSK_BW40K_9K");
commands_printf(" %d: %s", ind++, "CC1120_SET_434_0M_4_8K_2FSK_BW50K_14K");
commands_printf(" %d: %s", ind++, "CC1120_SET_434_0M_4_8K_2FSK_BW100K_39K");
commands_printf(" %d: %s", ind++, "CC1120_SET_434_0M_9_6K_2FSK_BW50K_12K");
commands_printf(" %d: %s", ind++, "CC1120_SET_452_0M_9_6K_2GFSK_BW33K_2_4K");
commands_printf(" %d: %s", ind++, "CC1120_SET_452_0M_9_6K_2GFSK_BW50K_2_4K");
commands_printf("dw_range [dest]");
commands_printf(" Measure the distance to DW module [dest] with ultra wideband.");
commands_printf("zero_gyro");
commands_printf(" Zero the gyro bias. Note: The PCB must be completely still when running this command.");
for (int i = 0;i < callback_write;i++) {
if (callbacks[i].arg_names) {
commands_printf("%s %s", callbacks[i].command, callbacks[i].arg_names);
} else {
commands_printf(callbacks[i].command);
}
if (callbacks[i].help) {
commands_printf(" %s", callbacks[i].help);
} else {
commands_printf(" There is no help available for this command.");
}
}
commands_printf(" ");
} else {
bool found = false;
for (int i = 0;i < callback_write;i++) {
if (strcmp(argv[0], callbacks[i].command) == 0) {
callbacks[i].cbf(argc, (const char**)argv);
found = true;
break;
}
}
if (!found) {
commands_printf("Invalid command: %s\n"
"type help to list all available commands\n", argv[0]);
}
}
}
