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 */
}
int main(void) {
HAL_Init();
Nucleo_BSP_Init();
MX_TIM1_Init();
MX_TIM5_Init();
HAL_TIM_Base_Start_IT(&htim1);
while (1);
}
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_CAN1_Init();
MX_I2C1_Init();
MX_SPI2_Init();
MX_TIM1_Init();
MX_TIM3_Init();
MX_USART3_UART_Init();
MX_USB_DEVICE_Init();
MX_TIM5_Init();
/* USER CODE BEGIN 2 */
core_setup();
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
core_loop();
}
/* USER CODE END 3 */
}
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 */
}
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 */
}
int main(void)
{
/* USER CODE BEGIN 1 */
/* Data initialization */
int_T i;
/* 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_ADC1_Init();
MX_ADC2_Init();
MX_CAN1_Init();
MX_CAN2_Init();
MX_DAC_Init();
MX_I2C1_Init();
MX_SPI2_Init();
MX_SPI3_Init();
MX_SPI4_Init();
MX_TIM2_Init();
MX_TIM3_Init();
MX_TIM5_Init();
MX_TIM8_Init();
MX_TIM9_Init();
MX_TIM13_Init();
MX_USART1_UART_Init();
MX_USART2_UART_Init();
MX_USART6_UART_Init();
/* USER CODE BEGIN 2 */
/* Systick configuration and enable SysTickHandler interrupt */
if (SysTick_Config((uint32_t)(SystemCoreClock * 0.5))) {
autoReloadTimerLoopVal_S = 1;
do {
autoReloadTimerLoopVal_S++;
} while ((uint32_t)(SystemCoreClock * 0.5)/autoReloadTimerLoopVal_S >
SysTick_LOAD_RELOAD_Msk);
SysTick_Config((uint32_t)(SystemCoreClock * 0.5)/autoReloadTimerLoopVal_S);
}
remainAutoReloadTimerLoopVal_S = autoReloadTimerLoopVal_S;//Set nb of loop to do
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
for (i=0;i<1;i++) {
OverrunFlags[i] = 0;
}
/* Model initialization call */
Test_Stateflow_initialize();
/* Infinite loop */
/* Real time from systickHandler */
while (1) {
/*Process tasks every solver time*/
if (remainAutoReloadTimerLoopVal_S == 0) {
remainAutoReloadTimerLoopVal_S = autoReloadTimerLoopVal_S;
/* Check base rate for overrun */
if (OverrunFlags[0]) {
rtmSetErrorStatus(Test_Stateflow_M, "Overrun");
}
OverrunFlags[0] = true;
/* Step the model for base rate */
Test_Stateflow_step();
/* Get model outputs here */
/* Indicate task for base rate complete */
OverrunFlags[0] = false;
}
}
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
/* USER CODE END 3 */
}
