/*
* Executed as an event handler at 500mS intervals.
*/
static void TimerHandler(eventid_t id) {
(void)id;
if (palReadPad(GPIOA, GPIOA_BUTTON)) {
TesterThread tester;
tester.Wait();
};
}
/*
* Application entry point.
*/
int main(void) {
/*
* 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();
System::init();
// Initializes a serial-over-USB CDC driver.
sduObjectInit(&SDU1);
sduStart(&SDU1, &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(1500);
usbStart(serusbcfg.usbp, &usbcfg);
usbConnectBus(serusbcfg.usbp);
/*
* Activates the serial driver 1 using the driver default configuration.
*/
// sdStart(&SD1, NULL);
/*
* Starts several instances of the SequencerThread class, each one operating
* on a different LED.
*/
blinker1.start(NORMALPRIO + 10);
/*
* Serves timer events.
*/
while (true) {
if (palReadPad(GPIOA, GPIOA_BUTTON)) {
#if TESTER
tester.start(NORMALPRIO);
tester.wait();
#endif
};
BaseThread::sleep(MS2ST(500));
}
return 0;
}
/*
* Application entry point.
*/
int main(void) {
/*
* 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();
System::init();
fs.mount();
fs.unmount();
/*
* Activates the serial driver 2 using the driver default configuration.
* PA2(TX) and PA3(RX) are routed to USART2.
*/
sdStart(&SD2, NULL);
palSetPadMode(GPIOA, 2, PAL_MODE_ALTERNATE(7));
palSetPadMode(GPIOA, 3, PAL_MODE_ALTERNATE(7));
/*
* Starts several instances of the SequencerThread class, each one operating
* on a different LED.
*/
blinker1.start(NORMALPRIO + 10);
blinker2.start(NORMALPRIO + 10);
blinker3.start(NORMALPRIO + 10);
blinker4.start(NORMALPRIO + 10);
/*
* Serves timer events.
*/
while (true) {
if (palReadPad(GPIOA, GPIOA_BUTTON)) {
tester.start(NORMALPRIO);
tester.wait();
};
BaseThread::sleep(MS2ST(500));
}
return 0;
}
/*
* Application entry point.
*/
int main(void) {
uint8_t buf;
/*
* 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();
System::init();
Motor m1(&PWMD3, 2, 800, 800, 2, {GPIOC, 1}, {GPIOC, 2}); // TIM3_CH3 on PB0
//Motor m2(&PWMD4, 3, 2000, 2000, 2); // TIM3_CH3 on PB8
//Motor m3(&PWMD9, 8, 2000, 2000, 0); // TIM9_CH1 on PA2
m1.enable();
m1.goToPos(50);
usb_cdc_init();
//sduObjectInit(&SDU1);
//sduStart(&SDU1, &serUsbCfg);
/*
* Activates the serial driver 2 using the driver default configuration.
* PA2(TX) and PA3(RX) are routed to USART2.
*/
sdStart(&SD2, NULL);
palSetPadMode(GPIOA, 2, PAL_MODE_ALTERNATE(7));
palSetPadMode(GPIOA, 3, PAL_MODE_ALTERNATE(7));
/*
* Starts several instances of the SequencerThread class, each one operating
* on a different LED.
*/
blinker1.start(NORMALPRIO + 10);
blinker2.start(NORMALPRIO + 10);
blinker3.start(NORMALPRIO + 10);
blinker4.start(NORMALPRIO + 10);
/*
* Serves timer events.
*/
while (true) {
if (palReadPad(GPIOA, GPIOA_BUTTON)) {
tester.start(NORMALPRIO);
tester.wait();
};
BaseThread::sleep(MS2ST(500));
if(usb_cdc_read(&buf, 1, TIME_IMMEDIATE)){
usb_cdc_write(&buf, 1);
}
}
return 0;
}
