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)));
}
}
/*
* Application entry point.
*/
int main(void) {
static const evhandler_t evhndl[] = {
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();
/*
* Initialize event structures BEFORE using them
*/
chEvtInit(&wkup_event);
/*
* Shell manager initialization.
*/
usbSerialShellStart(commands);
// Enable Continuous GPT for 1ms Interval
gptStart(&GPTD1, &gpt1cfg);
gptStartContinuous(&GPTD1,10000);
// Configure pins for Feedback ADC's
palSetPadMode(GPIOA, GPIOA_PIN4, PAL_MODE_INPUT_ANALOG);
palSetPadMode(GPIOA, GPIOA_PIN5, PAL_MODE_INPUT_ANALOG);
// Configure pins for Input ADC's
palSetPadMode(GPIOF, GPIOF_PIN6, PAL_MODE_INPUT_ANALOG);
palSetPadMode(GPIOF, GPIOF_PIN7, PAL_MODE_INPUT_ANALOG);
// Configure pins for LED's
// PD3: Vertical Axis LED
palSetPadMode(GPIOD, GPIOD_PIN3, PAL_MODE_OUTPUT_PUSHPULL);
// PD4: Lateral Axis LED
palSetPadMode(GPIOD, GPIOD_PIN4, PAL_MODE_OUTPUT_PUSHPULL);
// Configure pins for switches
// PD8: Drive Enable Switch
palSetPadMode(GPIOD, GPIOD_PIN8, PAL_MODE_INPUT);
// PD9: Mode Select Switch
palSetPadMode(GPIOD, GPIOD_PIN9, PAL_MODE_INPUT);
// Configure pins for long lead GMD Enable/Watchdog
// PD5: Enable out to GMD
palSetPadMode(GPIOD, GPIOD_PIN5, PAL_MODE_OUTPUT_PUSHPULL);
// PD6: Watchdog out to GMD
palSetPadMode(GPIOD, GPIOD_PIN6, PAL_MODE_OUTPUT_PUSHPULL);
// Configure pins for short lead GMD Enable/Watchdog
// PD10: Enable out to GMD
palSetPadMode(GPIOD, GPIOD_PIN10, PAL_MODE_OUTPUT_PUSHPULL);
// PD11: Watchdog out to GMD
palSetPadMode(GPIOD, GPIOD_PIN11, PAL_MODE_OUTPUT_PUSHPULL);
// Configure pins for PWM output (D12-D15: TIM4, channel 1-4)
palSetPadMode(GPIOD, GPIOD_PIN12, PAL_MODE_ALTERNATE(2)); //U-pole, short lead
palSetPadMode(GPIOD, GPIOD_PIN13, PAL_MODE_ALTERNATE(2)); //V-pole, short lead
palSetPadMode(GPIOD, GPIOD_PIN14, PAL_MODE_ALTERNATE(2)); //U-pole, long lead
palSetPadMode(GPIOD, GPIOD_PIN15, PAL_MODE_ALTERNATE(2)); //V-pole, long lead
adcStart(&ADCD1, NULL);
adcStart(&ADCD2, NULL);
adcStart(&ADCD3, NULL);
pwmStart(&PWMD4, &pwmcfg);
// Enable TIM4 PWM channel 1-4 with initial DC=0%
/* @param[in] pwmp pointer to a @p PWMDriver object
* @param[in] channel PWM channel identifier (0...PWM_CHANNELS-1)
* @param[in] width PWM pulse width as clock pulses number
*/
pwmEnableChannel(&PWMD4, 0, 0);
pwmEnableChannel(&PWMD4, 1, 0);
pwmEnableChannel(&PWMD4, 2, 0);
pwmEnableChannel(&PWMD4, 3, 0);
// Set axis control gain and limit values
// Set Vertical Axis Gains
vertAxisStruct.U16PositionPGain = 4;
vertAxisStruct.U16PositionIGain = 1;
vertAxisStruct.U16PositionDGain = 0;
// Set vertical axis limits
vertAxisStruct.U16CommandLimit = VERTICAL_COMMAND_LIMIT;
vertAxisStruct.U16HighPosnLimit = 5100;
vertAxisStruct.U16LowPosnLimit = 2480;
// Set Lateral Axis Gains
latAxisStruct.U16PositionPGain = 2;
latAxisStruct.U16PositionIGain = 0;
latAxisStruct.U16PositionDGain = 0;
// Set lateral axis limits
latAxisStruct.U16CommandLimit = LATERAL_COMMAND_LIMIT;
latAxisStruct.U16HighPosnLimit = 5300;
latAxisStruct.U16LowPosnLimit = 3100;
/*
* Activates the serial driver 6 and SDC driver 1 using default
* configuration.
*/
sdStart(&SD6, NULL);
/*
* Activates the EXT driver 1.
* This is for the external interrupt
*/
extStart(&EXTD1, &extcfg);
/*
* Normal main() thread activity, in this demo it does nothing except
* sleeping in a loop and listen for events.
*/
chEvtRegister(&wkup_event, &el0, 0);
while (TRUE) {
//Cycle motordrive if timer fails
if(U32DelayCount++ > 2500){
motordrive(&GPTD1);
}
chEvtDispatch(evhndl, chEvtWaitOneTimeout(ALL_EVENTS, MS2ST(500)));
}
}
