void stm32_soc_init(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_USART2_UART_Init();
}
int main(void)
{
HAL_Init();
SystemClock_Config();
MX_GPIO_Init();
MX_CAN_Init();
MX_I2C1_Init();
MX_USART3_UART_Init();
MX_USART2_UART_Init();
MX_USART1_UART_Init();
MX_TIM1_Init();
USBD_Init(&hUsbDeviceFS, &FS_Desc, DEVICE_FS);
USBD_RegisterClass(&hUsbDeviceFS, &USBD_CUSTOM_HID);
USBD_CUSTOM_HID_RegisterInterface(&hUsbDeviceFS, &USBD_CustomHID_fops_FS);
USBD_Start(&hUsbDeviceFS);
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
HAL_GPIO_TogglePin(GPIOB, GPIO_PIN_1);
HAL_Delay(blinkingDelay);
}
/* 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_USART2_UART_Init();
/* USER CODE BEGIN 2 */
dc_main();
/* 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) {
uint8_t opt = 0;
/* 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_USART2_UART_Init();
/* Enable USART2 interrupt */
HAL_NVIC_SetPriority(USART2_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(USART2_IRQn);
printMessage:
printWelcomeMessage();
while (1) {
opt = readUserInput();
if(opt > 0) {
processUserInput(opt);
if(opt == 3)
goto printMessage;
}
performCriticalTasks();
}
}
void SleepMode(void)
{
GPIO_InitTypeDef GPIO_InitStruct;
/* Disable all GPIOs to reduce power */
MX_GPIO_Deinit();
/* Configure User push-button as external interrupt generator */
__HAL_RCC_GPIOC_CLK_ENABLE();
GPIO_InitStruct.Pin = B1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(B1_GPIO_Port, &GPIO_InitStruct);
HAL_UART_DeInit(&huart2);
/* Suspend Tick increment to prevent wakeup by Systick interrupt.
Otherwise the Systick interrupt will wake up the device within 1ms (HAL time base) */
HAL_SuspendTick();
__HAL_RCC_PWR_CLK_ENABLE();
/* Request to enter SLEEP mode */
HAL_PWR_EnterSLEEPMode(0, PWR_SLEEPENTRY_WFI);
/* Resume Tick interrupt if disabled prior to sleep mode entry*/
HAL_ResumeTick();
/* Reinitialize GPIOs */
MX_GPIO_Init();
/* Reinitialize UART2 */
MX_USART2_UART_Init();
}
void Nucleo_BSP_Init() {
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_USART2_UART_Init();
}
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)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
Task_Info_t TaskState=TASK_INFO_INIT;
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* System interrupt init*/
/* Sets the priority grouping field */
HAL_NVIC_SetPriorityGrouping(NVIC_PRIORITYGROUP_0);
HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_USART6_UART_Init();
MX_USART1_UART_Init();
MX_USART2_UART_Init();
MX_USART3_UART_Init();
MX_TimerDynamixel_Init(&TimHandle2 , TIM2);
MX_TimerDynamixel_Init(&TimHandle3 , TIM3);
MX_TimerDynamixel_Init(&TimHandle4 , TIM4);
Trace_Init();
HAL_Delay(1000);
Trace_Raw("Medula control board start...\n\r");
Dynamixel_Init();
IO_Data_init();
while (0)
{
Dynamixel_test(&TaskState);
Trace_Task();
}
while (1)
{
HAL_Delay(10);
IO_Data_Scan_In();
Appli(&TaskState);
Trace_Task();
HAL_Delay(5);
IO_Data_Scan_Out();
}
/* USER CODE END 3 */
}
int main(void)
{
HAL_Init();
SystemClock_Config();
MX_GPIO_Init();
MX_SPI2_Init();
MX_USART2_UART_Init();
CMainMenu::init();
CMainMenu::run();
}
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();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_SPI1_Init();
MX_USART2_UART_Init();
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
int code = init();
if(code < 0) {
UART_Printf("init() failed with code %d, terminating.\r\n", code);
return 0;
}
while (1)
{
loop();
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
int main(void)
{
/* USER CODE BEGIN 1 */
SCB->VTOR = FLASH_START_SECTOR_ADDR;
SEGGER_RTT_Init();
/* 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_I2C1_Init();
MX_I2C2_Init();
MX_SPI1_Init();
MX_TIM3_Init();
MX_USART2_UART_Init();
MX_RTC_Init();
/* USER CODE BEGIN 2 */
//as7000_init();
/* USER CODE END 2 */
/* Call init function for freertos objects (in freertos.c) */
MX_FREERTOS_Init();
/* 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 */
/* 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_SPI1_Init();
MX_TIM2_Init();
MX_TIM3_Init();
MX_TIM7_Init();
MX_TIM10_Init();
MX_TIM11_Init();
MX_TIM13_Init();
MX_TIM14_Init();
MX_USART1_UART_Init();
MX_USART2_UART_Init();
/* USER CODE BEGIN 2 */
HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1); //Motor1
HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4); //Motor2
HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1); //Motor3
HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_4); //Motor4
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
/**
* @brief The application entry point.
* @retval int
*/
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();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_USART2_UART_Init();
MX_I2C1_Init();
MX_TIM2_Init();
/* USER CODE BEGIN 2 */
Display_Init();
CircularBuff_Init();
DisplayUpdater_Init();
HAL_TIM_Base_Start_IT(&htim2); //start timer2 in interrupt mode.
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
__WFI(); // CPU sleep
}
/* 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_DMA_Init();
MX_USART2_UART_Init();
MX_USART3_UART_Init();
MX_TIM3_Init();
/* USER CODE BEGIN 2 */
HAL_TIM_Base_Start_IT(&htim3);
HAL_UART_Transmit_DMA(&huart3,g_cUart3_Buff,BUFFSIZE);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
HAL_UART_Receive_DMA(&huart3,g_cUart3_Buff,BUFFSIZE);
//HAL_UART_Transmit_IT(&huart3,g_cUart3_Buff,5);
/* 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_TIM2_Init();
MX_USART2_UART_Init();
MX_USART6_UART_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
HAL_TIM_Base_Start_IT(&htim2);
#ifdef DEBUG_TO_CONSOLE
initialise_monitor_handles();
printf("start\n");
#endif
UARTInit();
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1) {
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
UARTLoopDemo();
}
/* 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();
/* System interrupt init*/
/* Sets the priority grouping field */
HAL_NVIC_SetPriorityGrouping(NVIC_PRIORITYGROUP_0);
HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_I2C1_Init();
MX_I2S2_Init();
MX_I2S3_Init();
MX_SPI1_Init();
MX_SPI4_Init();
MX_TIM3_Init();
MX_USART2_UART_Init();
MX_USB_DEVICE_Init();
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
/*## FatFS: Link the USER disk I/O driver ###############################*/
USER_DriverNum = FATFS_LinkDriver(&USER_Driver, USER_Path);
/* USER CODE BEGIN 3 */
dabstick_loop(); // endless
return 0;
/* 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_RTC_Init();
//if(!(*(volatile uint32_t *) (BDCR_RTCEN_BB)))__HAL_RCC_RTC_ENABLE();
MX_TIM2_Init();
MX_TIM3_Init();
MX_USART1_UART_Init();
MX_USART2_UART_Init();
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
HAL_RTC_GetTime(&hrtc, &myTime, FORMAT_BIN);
HAL_RTC_GetDate(&hrtc, &myDate, FORMAT_BIN);
}
/* 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_DMA_Init();
MX_USART2_UART_Init();
/* USER CODE BEGIN 2 */
char *msg = "Nucleo-64 ISR-UART-DMA Fun!\n\r";
HAL_UART_Transmit(&huart2, (uint8_t*)msg, strlen(msg), 0xFFFF);
HAL_UART_Receive_DMA(&huart2, &rxBuffer, 1);
/* 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_I2C1_Init();
MX_USART2_UART_Init();
/* USER CODE BEGIN 2 */
HAL_DBGMCU_EnableDBGSleepMode();
HAL_SuspendTick(); // we don't want systick to wake us up every 1ms
main_app();
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
HAL_PWR_EnterSTOPMode(PWR_MAINREGULATOR_ON, PWR_STOPENTRY_WFI);
}
/* 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_USART2_UART_Init();
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
HAL_UART_Transmit_IT(&huart2,pString,sizeof(pString)/sizeof(char));
HAL_Delay(500);
}
/* USER CODE END 3 */
}
int main(void) {
uint8_t opt = 0;
/* 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_USART2_UART_Init();
printMessage:
printWelcomeMessage();
while (1) {
opt = readUserInput();
processUserInput(opt);
if(opt == 3)
goto printMessage;
}
}
int main(void)
{
uint8_t oldRelease = 0;
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* Enable I-Cache-------------------------------------------------------------*/
SCB_EnableICache();
/* Enable D-Cache-------------------------------------------------------------*/
SCB_EnableDCache();
/* 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_DMA_Init();
MX_CAN1_Init();
MX_CAN2_Init();
MX_DAC_Init();
MX_DMA2D_Init();
MX_FMC_Init();
MX_I2C2_Init();
MX_SDMMC1_SD_Init();
MX_SPI2_Init();
MX_TIM6_Init();
MX_TIM7_Init();
MX_USART2_UART_Init();
MX_USART3_UART_Init();
MX_USART6_UART_Init();
MX_FATFS_Init();
MX_USB_HOST_Init();
MX_TIM11_Init();
MX_TIM13_Init();
MX_TIM14_Init();
/* USER CODE BEGIN 2 */
//MPU_Config();
InitPeriph();
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while(1){
/* USER CODE END WHILE */
MX_USB_HOST_Process();
/* USER CODE BEGIN 3 */
RoutineFast(); // get and run deals from medium queue
if(oldRelease && Touch_Data.status == TOUCH_RELEASED){
ReleaseFunction();
}
else
{oldRelease = 1;}
if(UpdateScreen|| DISP.ReleaseFlag || TimeIsReady){
Run_GUI();
Show_GUI();
UpdateScreen = 0;
DISP.ReleaseFlag = 0;
}
}
/* 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_DMA_Init();
MX_USART1_UART_Init();
MX_USART2_UART_Init();
MX_SPI1_Init();
/* USER CODE BEGIN 2 */
/* 硬件初始化开始 */
// USART_printf( &BSP_USART_PRINT, "开始硬件初始化!\n");
/* 初始化输出 */
ControlOut_Init( );
/* 初始化控制模式 */
ModeControl_Init( );
/* 初始化主控模块 */
DataProcess_Init( );
/*启动循环接收DMA*/
HAL_UART_Receive_DMA(&BSP_USART_SENSOR, (uint8_t*)&gUSART1_RX_TMP, 1);
/* 硬件初始化结束 */
// USART_printf( &BSP_USART_PRINT, "硬件初始化结束 !\n");
/* 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 MainTask */
osThreadDef(MainTask, StartMainTask, osPriorityBelowNormal, 0, 128);
MainTaskHandle = osThreadCreate(osThread(MainTask), NULL);
/* definition and creation of DataParseTask */
osThreadDef(DataParseTask, StartDataParseTask, osPriorityNormal, 0, 160);
DataParseTaskHandle = osThreadCreate(osThread(DataParseTask), NULL);
/* definition and creation of DataProcessTask */
osThreadDef(DataProcessTask, StartDataProcessTask, osPriorityAboveNormal, 0, 256);
DataProcessTaskHandle = osThreadCreate(osThread(DataProcessTask), NULL);
/* definition and creation of DataOutTask */
osThreadDef(DataOutTask, StartDataOutTask, osPriorityHigh, 0, 160);
DataOutTaskHandle = osThreadCreate(osThread(DataOutTask), NULL);
/* definition and creation of PrintTask */
osThreadDef(PrintTask, StartPrintTask, osPriorityBelowNormal, 0, 128);
PrintTaskHandle = osThreadCreate(osThread(PrintTask), NULL);
/* USER CODE BEGIN RTOS_THREADS */
/* add threads, ... */
/* USER CODE END RTOS_THREADS */
/* Create the queue(s) */
/* definition and creation of ReceiveDataQueue */
osMessageQDef(ReceiveDataQueue, 128, uint8_t);
ReceiveDataQueueHandle = osMessageCreate(osMessageQ(ReceiveDataQueue), NULL);
/* definition and creation of PrintQueues */
osMessageQDef(PrintQueues, 512, uint8_t);
PrintQueuesHandle = osMessageCreate(osMessageQ(PrintQueues), NULL);
/* USER CODE BEGIN RTOS_QUEUES */
/* add queues, ... */
/* 创建传感器采集值邮箱 */
gSenorDataMail = osMailCreate(osMailQ(gSenorDataMail), NULL);
/* 创建处理结果输出邮箱 */
gControlDataMail = osMailCreate(osMailQ(gSenorDataMail), NULL);
/* 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 */
/* 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_ADC_Init();
APP_ADC_Init(&hadc);
#ifdef USE_COMPARATORS
MX_COMP1_Init();
MX_COMP2_Init();
#endif
MX_DAC_Init();
MX_USART2_UART_Init();
/* USER CODE BEGIN 2 */
HAL_UART_Transmit(&huart2,str,strlen((const char *) str),1000);
HAL_UART_Transmit(&huart2,heading,strlen((const char *) heading),1000);
dacConfig.DAC_Trigger = DAC_TRIGGER_NONE;
dacConfig.DAC_OutputBuffer = DAC_OUTPUTBUFFER_DISABLE;
HAL_DAC_ConfigChannel(&hdac,&dacConfig,DAC_CHANNEL_1);
HAL_DAC_SetValue(&hdac,DAC_CHANNEL_1,DAC_ALIGN_12B_R,2048);
HAL_DAC_Start(&hdac,DAC_CHANNEL_1);
/* Initialize ADC peripheral according to the passed parameters */
if (HAL_ADC_Init(&hadc) != HAL_OK)
{
while(-1);
}
/* ### - 2 - Start calibration ############################################ */
if (HAL_ADCEx_Calibration_Start(&hadc, ADC_SINGLE_ENDED) != HAL_OK)
{
while(-1);
}
/* ### - 3 - Channel configuration ######################################## */
/* Select Channel 0 to be converted */
///sConfig.Channel = ADC_CHANNEL_0;
//if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
//{
// Error_Handler();
//}
/* ### - 4 - Start conversion in DMA mode ################################# */
if (HAL_ADC_Start_DMA(&hadc, (uint32_t *) adcBuf,ADC_BUFSIZE) != HAL_OK)
{
while(-1);
}
compValues[0]= '-';
compValues[1]= '-';
#ifdef USE_COMPARATORS
HAL_COMP_Start_IT(&hcomp1);
HAL_COMP_Start_IT(&hcomp2);
#endif
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
uint16_t cnt=0;
uint16_t dacValue = 0;
memset(dataline, ' ', sizeof(dataline));
dataline[sizeof(dataline)-1] = 0;
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
HAL_DAC_SetValue(&hdac,DAC_CHANNEL_1,DAC_ALIGN_12B_R,dacValue);
#ifdef WAIT_BEFORE_READING
int i;
for(i=0; i < 10000; i++);
#endif
itoa (cnt,(char *) &dataline[0],5);
itoa (dacValue,(char *)&dataline[10],5);
itoa (adcBuf[0],(char *)&dataline[20],4);
dataline[25] = '/';
itoa (adcBuf[2],(char *)&dataline[25],4);
itoa (adcBuf[1],(char *)&dataline[40],4);
dataline[45] = '/';
itoa (adcBuf[3],(char *)&dataline[45],4);
#ifdef USE_COMPARATORS
dataline[60] = compValues[0];
dataline[65] = compValues[1];
#else
// memcpy("Not Used",dataline[60],8);
#endif
dataline[70] = (HAL_GPIO_ReadPin(GPIOA,GPIO_PIN_6)==GPIO_PIN_SET)?'X':'0';
dataline[75] = (HAL_GPIO_ReadPin(GPIOA,GPIO_PIN_7)==GPIO_PIN_SET)?'X':'0';
dataline[87] = '\r';
dataline[88] = '\n';
dataline[89] = 0;
HAL_UART_Transmit(&huart2,dataline,strlen((const char *) dataline),1000);
cnt++;
dacValue = (dacValue >= (4096-DAC_STEPSIZE))?0:dacValue+DAC_STEPSIZE;
}
/* 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_DMA_Init();
MX_CRC_Init();
MX_I2C1_Init();
MX_SPI2_Init();
MX_TIM2_Init();
MX_TIM3_Init();
MX_TIM4_Init();
MX_USART2_UART_Init();
/* USER CODE BEGIN 2 */
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8, GPIO_PIN_RESET);
// reinitialize uart with speed from config
huart2.Init.BaudRate = USART_DEBUG_SPEED;
HAL_UART_Init(&huart2);
DEBUG_PRINTF("Hello, Lepton!\n\r");
fflush(stdout);
lepton_init();
HAL_Delay(1000);
init_lepton_command_interface();
#ifdef ENABLE_LEPTON_AGC
enable_lepton_agc();
#endif
#ifdef Y16
enable_telemetry();
#else
enable_rgb888(PSUEDOCOLOR_LUT);
#endif
DEBUG_PRINTF("reading_tmp007_regs...\n\r");
read_tmp007_regs();
DEBUG_PRINTF("Initialized...\n\r");
HAL_Delay(250);
MX_USB_DEVICE_Init();
PT_INIT(&lepton_task_pt);
PT_INIT(&usb_task_pt);
PT_INIT(&uart_task_pt);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
PT_SCHEDULE(lepton_task(&lepton_task_pt));
PT_SCHEDULE(usb_task(&usb_task_pt));
PT_SCHEDULE(uart_task(&uart_task_pt));
PT_SCHEDULE(button_task(&button_task_pt));
}
/* 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 */
}
int main(void)
{
/* USER CODE BEGIN 1 */
osKernelInitialize();
/* 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_TIM2_Init();
MX_USART2_UART_Init();
MX_TIM4_Init();
MX_TIM3_Init();
MX_ADC1_Init();
/* USER CODE BEGIN 2 */
//#ifdef USE_FULL_ASSERT
#ifndef MAC_COORDINATOR
// Board - Serial identification
sprintf(Buf, "\x0cNUCLEO-F446 Debug Terminal\r\nVisible Light Communication "
"Project\r\n---\r\nDEV_CONFIG=%d\r\n\r\n", DEV_CONFIG);
HAL_UART_Transmit(&huart2, (uint8_t *) Buf, strlen(Buf), 0xffff);
#endif
//#endif
// Initialize Optical Driver
DRV_Init();
// Initialize PHY layer
PHY_Init();
// Initialize MAC APP layer
MAC_AppInit();
// Create threads
#ifdef MAC_COORDINATOR
tid_blinkLED = osThreadCreate (osThread(blinkLED), NULL);
#endif
//tid_sendSerial = osThreadCreate (osThread(sendSerial), NULL);
//tid_checkButton = osThreadCreate (osThread(checkButton), NULL);
// Start thread execution
osKernelStart();
// Run codes
DRV_RX_Start();
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1) {
osDelay(1000);
#ifdef MAC_COORDINATOR
osSignalSet(tid_blinkLED, 0x0001);
#endif
}
/* 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();
char is_joint = 1;
if(is_joint)
{
// init multiplexer pins
MX_SPI1_Init();
}
else
{
MPX_UART_Init();
}
MX_USART1_UART_Init();
MX_USART2_UART_Init();
/* USER CODE BEGIN 2 */
LED_init();
if(is_joint)
{
// set spi chip select high
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_SET);
//init_2D(hspi1, GPIOB, GPIO_PIN_1);
init_1D();
}
else
{
// set spi chip select high
MPX_UART_ONOFF(1);
}
huart_T = &huart2;
huart_U = &huart1;
float alpha, beta, delta;
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
USART_RX_FINISHED=0;
USART_TX_FINISHED=1;
// if(HAL_UART_Receive_IT(huart_U, (uint8_t *)aRxBuffer, RXBUFFERSIZE) != HAL_OK)
// {
// char error = 1;
// }
int i = 0;
//MPX_UART_Open(3);
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
if(is_joint & USART_TX_FINISHED)
{
get_2D(hspi1, GPIOB, GPIO_PIN_1, &alpha, &beta);
get_1D(hspi1, GPIOA, GPIO_PIN_4, &delta);
length = snprintf(usart_buffer, 128, "%f : %f : %f\r\n", alpha, beta, delta);
USART_TX_FINISHED = 0;
HAL_UART_Transmit(huart_T, usart_buffer, length, 20);
}
else
{
//length = snprintf(usart_buffer, 128, "hello");
//MPX_UART_Transmit(huart_T, i%5, usart_buffer, length, 20);
//HAL_Delay(200);
//length = snprintf(usart_buffer, 128, "hello\r\n", alpha, beta, delta);
//HAL_UART_Transmit(huart_U, usart_buffer, length, 20);
}
//
// if(USART_RX_FINISHED==1)
// {
// if(aRxBuffer[0]=='r')
// {
// HAL_GPIO_TogglePin(GPIOB, GPIO_PIN_0);
// }
// else if(aRxBuffer[0]=='b')
// {
// HAL_GPIO_TogglePin(GPIOB, GPIO_PIN_4);
// }
// /*else if(aRxBuffer[0]=='g')
// {
// HAL_GPIO_TogglePin(GPIOB, GPIO_PIN_1);
// }*/
// else
// {
// //HAL_GPIO_TogglePin(GPIOB, GPIO_PIN_1);
// HAL_GPIO_TogglePin(GPIOB, GPIO_PIN_4);
// HAL_GPIO_TogglePin(GPIOB, GPIO_PIN_0);
// }
//
// HAL_UART_Transmit(huart_T, aRxBuffer, RXBUFFERSIZE, 20);
//
// USART_RX_FINISHED=0;
//
// if(HAL_UART_Receive_IT(huart_U, (uint8_t *)aRxBuffer, RXBUFFERSIZE) != HAL_OK)
// {
// char error = 1;
// }
// }
//HAL_UART_Transmit(&huart2, "ABC", 3, 20);
i++;
}
/* 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_CAN_Init();
MX_IWDG_Init();
MX_USART1_UART_Init();
MX_USART2_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 */
/* 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)
{
/* 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_TIM3_Init();
MX_USART2_UART_Init();
MX_USART6_UART_Init();
//Clean the one-byte buffer used to for UART reception
husart6RxBuffer = 0;
husart2RxBuffer = 0;
//Initialize the LEDs
BSP_LED_Init(LED3);
BSP_LED_Init(LED4);
BSP_LED_Init(LED5);
BSP_LED_Init(LED6);
BSP_LED_Toggle(LED3);
BSP_LED_Toggle(LED5);
//Clear the buffer to remove trash
memset(localDataBuffer,0, sizeof(localDataBuffer));
localDataLength = 0;
//Enable IT upon reception for userUart
HAL_UART_Receive_IT(&huart6, &husart6RxBuffer,1);
//Enable IT upon reception for deviceUart
HAL_UART_Receive_IT(&huart2, &husart2RxBuffer,1);
//Enable PeriodEllapsed IT for TIM3 (used for periodic data transfer)
HAL_TIM_Base_Start_IT(&htim3);
//Init the BTDevice library
initBTDevice();
//Init the reed switch sensor: GPIO, NVIC
initReedSwitch();
//Display the command menu on userUart
BTDevice_displayMenu();
//Automatically initialize the BTDevice with default settings and perfom a signal check
//The device will try to join the network untill successful. LED visuals will signal success.
BTDevice_AutoInitTypeDef defaultValues = {0};
defaultValues.timerPeriodValue = 300;
defaultValues.autoModeStatus = AUTOMODE_OFF;
while(BTDevice_initLoop(defaultValues) != BTDevice_OK)
;
//Blink the LEDS when the device joins the network
doTheLEDPlay(NULL);
/**
* Main Loop
* the library mainLoop fct will be called to process UART and TIM interupts
* when a message was received by the device (from the gateway), a special handler function is called
*/
while (1)
{
BTDevice_mainLoop();
//True when data is received from the gateway
if(deviceCommandReceivedFlag){
deviceCommandReceivedFlag = 0; //Lower the flag
deviceCommandReceived(); //Call the handler to analyse the received data.
}
}
}
