static THD_FUNCTION(ThreadGFXEvent, arg)
{
(void)arg;
chRegSetThreadName("GFXEvent");
GEvent* pe;
static RTCDateTime timespec;
struct tm timeinfo;
struct tm tim;
struct tm *canary;
static time_t unix_time;
while (true) {
pe = geventEventWait(&gl, TIME_INFINITE);
switch (pe->type) {
case GEVENT_GWIN_BUTTON:
if (((GEventGWinButton*)pe)->gwin == ghBtnSettings) {
createSettingsFrame();
gwinShow(ghFrame1);
updateGraph = false;
updateSettingTime = true;
} else if (((GEventGWinButton*)pe)->gwin == ghBtnSave) {
timeinfo.tm_hour = atoi(gwinListGetSelectedText(ghListHour));
timeinfo.tm_min = atoi(gwinListGetSelectedText(ghListMin));
timeinfo.tm_sec = 0;
timeinfo.tm_mday = atoi(gwinListGetSelectedText(ghListDay));
timeinfo.tm_mon = gwinListGetSelected(ghListMonth);
timeinfo.tm_year = atoi(gwinListGetSelectedText(ghListYear))-1900;
unix_time = mktime(&timeinfo);
canary = localtime_r(&unix_time, &tim);
osalDbgCheck(&tim == canary);
rtcConvertStructTmToDateTime(&tim, 0, ×pec);
rtcSetTime(RTC_DRIVER, ×pec);
} else if (((GEventGWinButton*)pe)->gwin == ghBtnTime) {
updateGraph = false;
gwinShow(ghListFreq);
}
break;
case GEVENT_GWIN_CHECKBOX:
if (((GEventGWinCheckbox*)pe)->gwin == ghCheckBoxHR) {
if (((GEventGWinCheckbox*)pe)->isChecked)
use12HR = true;
else
use12HR = false;
}
break;
case GEVENT_GWIN_CLOSE:
updateGraph = true;
updateSettingTime = false;
switch (activeGraph) {
case 0:
drawGraphLines(ghContainerGraphC);
break;
case 1:
drawGraphLines(ghContainerGraphV);
break;
case 2:
drawGraphLines(ghContainerGraphW);
break;
case 3:
drawGraphLines(ghContainerGraphCV_1);
drawGraphLines(ghContainerGraphCV_2);
break;
default:
break;
}
break;
case GEVENT_GWIN_RADIO:
activeGraph = atoi(gwinGetText(((GEventGWinRadio *)pe)->gwin));
setActiveGraph(activeGraph);
break;
case GEVENT_GWIN_LIST:
if (((GEventGWinList*)pe)->gwin == ghListFreq) {
char str[5];
uint8_t val = atoi(gwinListGetSelectedText(ghListFreq));
GRAPH_Refresh = ((1.0/val)*1000);
snprintf(str, 5, "%d%s", val, "Hz");
gwinSetText(ghBtnTime, str, true);
chThdSleepMilliseconds(10);
gwinHide(ghListFreq);
updateGraph = true;
switch (activeGraph) {
case 0:
drawGraphLines(ghContainerGraphC);
break;
case 1:
drawGraphLines(ghContainerGraphV);
break;
case 2:palSetPadMode(GPIOA, 5, PAL_MODE_OUTPUT_PUSHPULL); palClearPad(GPIOA, 5);
drawGraphLines(ghContainerGraphW);
break;
case 3:
drawGraphLines(ghContainerGraphCV_1);
drawGraphLines(ghContainerGraphCV_2);
break;
default:
break;
}
}
break;
default:
break;
}
chThdSleepMilliseconds(500);
}
}
THD_FUNCTION(scMS5611Thread, arg)
{
systime_t sleep_until;
systime_t interval_st = MS2ST(ms5611_interval_ms);
(void)arg;
chRegSetThreadName(__func__);
SC_LOG_PRINTF("d: ms5611 init\r\n");
// We need to give a bit of time to the chip until we can ask it to shut down
// i2c not ready initially? (This is inherited from the LSM9DS0 driver)
chThdSleepMilliseconds(20);
ms5611_reset();
chThdSleepMilliseconds(100);
ms5611_reset();
chThdSleepMilliseconds(100);
ms5611_reset();
chThdSleepMilliseconds(100);
ms5611_read_prom();
uint8_t ref_crc = ms5611_prom[MS5611_PROM_SIZE - 1] & 0x0F;
uint8_t calc_crc = ms5611_calc_crc();
if (ref_crc != calc_crc) {
SC_LOG_PRINTF("e: ms5611 crc failure: 0x%x vs 0x%x\r\n", ref_crc, calc_crc);
}
sleep_until = chVTGetSystemTime() + interval_st;
// Loop initiating measurements and waiting for results
while (!chThdShouldTerminateX()) {
systime_t now = chVTGetSystemTime();
systime_t wait_time = sleep_until - now;
uint32_t temp;
uint32_t pres;
msg_t msg;
// Using a semaphore allows to cancel the sleep outside the thread
if (chBSemWaitTimeout(&ms5611_wait_sem, wait_time) != MSG_TIMEOUT) {
continue;
}
sleep_until += interval_st;
now = chVTGetSystemTime();
temp = ms5611_read(true);
if (chThdShouldTerminateX()) {
break;
}
pres = ms5611_read(false);
chMtxLock(&data_mtx);
ms5611_temp = temp;
ms5611_pres = pres;
ms5611_time_st = now;
chMtxUnlock(&data_mtx);
// Notify main app about new measurements being available
msg = sc_event_msg_create_type(SC_EVENT_TYPE_MS5611_AVAILABLE);
sc_event_msg_post(msg, SC_EVENT_MSG_POST_FROM_NORMAL);
}
}
static THD_FUNCTION(Thread1, arg) {
(void)arg;
chRegSetThreadName("blinker");
while (true) {
unsigned i;
for (i = 0; i < 4; i++) {
palClearPad(PORT_D, PD_LED1);
chThdSleepMilliseconds(100);
palClearPad(PORT_D, PD_LED2);
chThdSleepMilliseconds(100);
palClearPad(PORT_D, PD_LED3);
chThdSleepMilliseconds(100);
palClearPad(PORT_D, PD_LED4);
chThdSleepMilliseconds(100);
palSetPad(PORT_D, PD_LED1);
chThdSleepMilliseconds(100);
palSetPad(PORT_D, PD_LED2);
chThdSleepMilliseconds(100);
palSetPad(PORT_D, PD_LED3);
chThdSleepMilliseconds(100);
palSetPad(PORT_D, PD_LED4);
chThdSleepMilliseconds(300);
}
for (i = 0; i < 4; i++) {
palTogglePort(PORT_D, PAL_PORT_BIT(PD_LED1) | PAL_PORT_BIT(PD_LED2) |
PAL_PORT_BIT(PD_LED3) | PAL_PORT_BIT(PD_LED4));
chThdSleepMilliseconds(500);
palTogglePort(PORT_D, PAL_PORT_BIT(PD_LED1) | PAL_PORT_BIT(PD_LED2) |
PAL_PORT_BIT(PD_LED3) | PAL_PORT_BIT(PD_LED4));
chThdSleepMilliseconds(500);
}
for (i = 0; i < 4; i++) {
palTogglePad(PORT_D, PD_LED1);
chThdSleepMilliseconds(250);
palTogglePad(PORT_D, PD_LED1);
palTogglePad(PORT_D, PD_LED2);
chThdSleepMilliseconds(250);
palTogglePad(PORT_D, PD_LED2);
palTogglePad(PORT_D, PD_LED3);
chThdSleepMilliseconds(250);
palTogglePad(PORT_D, PD_LED3);
palTogglePad(PORT_D, PD_LED4);
chThdSleepMilliseconds(250);
palTogglePad(PORT_D, PD_LED4);
}
for (i = 0; i < 4; i++) {
palClearPort(PORT_D, PAL_PORT_BIT(PD_LED1) | PAL_PORT_BIT(PD_LED3));
palSetPort(PORT_D, PAL_PORT_BIT(PD_LED2) | PAL_PORT_BIT(PD_LED4));
chThdSleepMilliseconds(500);
palClearPort(PORT_D, PAL_PORT_BIT(PD_LED2) | PAL_PORT_BIT(PD_LED4));
palSetPort(PORT_D, PAL_PORT_BIT(PD_LED1) | PAL_PORT_BIT(PD_LED3));
chThdSleepMilliseconds(500);
}
palSetPort(PORT_D, PAL_PORT_BIT(PD_LED1) | PAL_PORT_BIT(PD_LED2) |
PAL_PORT_BIT(PD_LED3) | PAL_PORT_BIT(PD_LED4));
}
}
/*
* 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();
chSysInit();
/*
* Initializes the PWM driver 1 and ICU driver 1.
* GPIOD10 is the PWM output.
* GPIOA0 is the ICU input.
* The two pins have to be externally connected together.
*/
icuStart(&ICUD1, &icucfg);
icuEnable(&ICUD1);
/* Sets A0 alternative function.*/
SIU.PCR[0].R = 0b0100010100000100;
pwmStart(&PWMD1, &pwmcfg);
/* Sets D10 alternative function.*/
SIU.PCR[58].R = 0b0100010100000100;
chThdSleepMilliseconds(2000);
/*
* Starts the PWM channel 0 using 75% duty cycle.
*/
pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 7500));
chThdSleepMilliseconds(5000);
/*
* Changes the PWM channel 0 to 50% duty cycle.
*/
pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 5000));
chThdSleepMilliseconds(5000);
/*
* Changes the PWM channel 0 to 25% duty cycle.
*/
pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 2500));
chThdSleepMilliseconds(5000);
/*
* Changes PWM period and the PWM channel 0 to 50% duty cycle.
*/
pwmChangePeriod(&PWMD1, 25000);
pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 5000));
chThdSleepMilliseconds(5000);
/*
* Disables channel 0 and stops the drivers.
*/
pwmDisableChannel(&PWMD1, 0);
pwmStop(&PWMD1);
icuDisable(&ICUD1);
icuStop(&ICUD1);
palClearPad(PORT_D, PD_LED3);
palClearPad(PORT_D, PD_LED4);
/*
* Normal main() thread activity, in this demo it does nothing.
*/
while (TRUE) {
chThdSleepMilliseconds(500);
}
return 0;
}
/**
* @brief Test execution thread function.
*
* @param[in] p pointer to a @p BaseChannel object for test output
* @return A failure boolean value.
*/
msg_t TestThread(void *p) {
int i, j;
chp = p;
test_println("");
test_println("*** ChibiOS/RT test suite");
test_println("***");
test_print("*** Kernel: ");
test_println(CH_KERNEL_VERSION);
test_print("*** Compiled: ");
test_println(__DATE__ " - " __TIME__);
#ifdef CH_COMPILER_NAME
test_print("*** Compiler: ");
test_println(CH_COMPILER_NAME);
#endif
test_print("*** Architecture: ");
test_println(CH_ARCHITECTURE_NAME);
#ifdef CH_CORE_VARIANT_NAME
test_print("*** Core Variant: ");
test_println(CH_CORE_VARIANT_NAME);
#endif
#ifdef CH_PORT_INFO
test_print("*** Port Info: ");
test_println(CH_PORT_INFO);
#endif
#ifdef PLATFORM_NAME
test_print("*** Platform: ");
test_println(PLATFORM_NAME);
#endif
#ifdef BOARD_NAME
test_print("*** Test Board: ");
test_println(BOARD_NAME);
#endif
test_println("");
global_fail = FALSE;
i = 0;
while (patterns[i]) {
j = 0;
while (patterns[i][j]) {
print_line();
test_print("--- Test Case ");
test_printn(i + 1);
test_print(".");
test_printn(j + 1);
test_print(" (");
test_print(patterns[i][j]->name);
test_println(")");
#if DELAY_BETWEEN_TESTS > 0
chThdSleepMilliseconds(DELAY_BETWEEN_TESTS);
#endif
execute_test(patterns[i][j]);
if (local_fail) {
test_print("--- Result: FAILURE (#");
test_printn(failpoint);
test_print(" [");
print_tokens();
test_println("])");
}
else
test_println("--- Result: SUCCESS");
j++;
}
i++;
}
print_line();
test_println("");
test_print("Final result: ");
if (global_fail)
test_println("FAILURE");
else
test_println("SUCCESS");
return (msg_t)global_fail;
}
/*
* Application entry point.
*/
int main(void) {
thread_t *shelltp1 = NULL;
thread_t *shelltp2 = NULL;
/*
* 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();
/*
* Initializes a serial-over-USB CDC driver.
*/
sduObjectInit(&SDU1);
sduStart(&SDU1, &serusbcfg1);
sduObjectInit(&SDU2);
sduStart(&SDU2, &serusbcfg2);
/*
* 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(serusbcfg1.usbp);
chThdSleepMilliseconds(1500);
usbStart(serusbcfg1.usbp, &usbcfg);
usbConnectBus(serusbcfg1.usbp);
/*
* Shell manager initialization.
*/
shellInit();
/*
* Creates the blinker thread.
*/
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
/*
* Normal main() thread activity, in this demo it does nothing except
* sleeping in a loop and check the button state.
*/
while (true) {
if (!shelltp1 && (SDU1.config->usbp->state == USB_ACTIVE))
shelltp1 = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO);
else if (chThdTerminatedX(shelltp1)) {
chThdRelease(shelltp1); /* Recovers memory of the previous shell. */
shelltp1 = NULL; /* Triggers spawning of a new shell. */
}
if (!shelltp2 && (SDU2.config->usbp->state == USB_ACTIVE))
shelltp2 = shellCreate(&shell_cfg2, SHELL_WA_SIZE, NORMALPRIO);
else if (chThdTerminatedX(shelltp2)) {
chThdRelease(shelltp2); /* Recovers memory of the previous shell. */
shelltp2 = NULL; /* Triggers spawning of a new shell. */
}
chThdSleepMilliseconds(1000);
}
}
/*
* Application entry point.
*/
int main(void) {
static const evhandler_t evhndl[] = {
InsertHandler,
RemoveHandler,
ShellHandler
};
event_listener_t el0, el1, el2;
/*
* 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();
/*
* 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);
/*
* Shell manager initialization.
*/
shellInit();
/*
* Activates the card insertion monitor.
*/
tmr_init(&SDCD1);
/*
* Creates the blinker thread.
*/
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
/*
* Normal main() thread activity, handling SD card events and shell
* start/exit.
*/
chEvtRegister(&inserted_event, &el0, 0);
chEvtRegister(&removed_event, &el1, 1);
chEvtRegister(&shell_terminated, &el2, 2);
while (true) {
if (!shelltp && (SDU1.config->usbp->state == USB_ACTIVE)) {
shelltp = chThdCreateFromHeap(NULL, SHELL_WA_SIZE,
"shell", NORMALPRIO + 1,
shellThread, (void *)&shell_cfg1);
}
chEvtDispatch(evhndl, chEvtWaitOneTimeout(ALL_EVENTS, MS2ST(500)));
}
}
/*
* Application entry point.
*/
int main(void) {
unsigned i;
gptcnt_t interval, threshold, worst;
/*
* 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();
/*
* Prepares the Serial driver 1 and GPT drivers 2 and 3.
*/
sdStart(&SD1, NULL); /* Default is 38400-8-N-1.*/
palSetPadMode(GPIOA, 9, PAL_MODE_ALTERNATE(7));
palSetPadMode(GPIOA, 10, PAL_MODE_ALTERNATE(7));
gptStart(&GPTD2, &gpt2cfg);
gptStart(&GPTD3, &gpt3cfg);
/*
* Initializes the mailboxes and creates the worker threads.
*/
for (i = 0; i < NUM_THREADS; i++) {
chMBInit(&mb[i], b[i], MAILBOX_SIZE);
chThdCreateStatic(waWorkerThread[i], sizeof waWorkerThread[i],
NORMALPRIO - 20, WorkerThread, (void *)i);
}
/*
* Test procedure.
*/
println("");
println("*** ChibiOS/RT IRQ-STORM long duration test");
println("***");
print("*** Kernel: ");
println(CH_KERNEL_VERSION);
print("*** Compiled: ");
println(__DATE__ " - " __TIME__);
#ifdef CH_COMPILER_NAME
print("*** Compiler: ");
println(CH_COMPILER_NAME);
#endif
print("*** Architecture: ");
println(CH_ARCHITECTURE_NAME);
#ifdef CH_CORE_VARIANT_NAME
print("*** Core Variant: ");
println(CH_CORE_VARIANT_NAME);
#endif
#ifdef CH_PORT_INFO
print("*** Port Info: ");
println(CH_PORT_INFO);
#endif
#ifdef PLATFORM_NAME
print("*** Platform: ");
println(PLATFORM_NAME);
#endif
#ifdef BOARD_NAME
print("*** Test Board: ");
println(BOARD_NAME);
#endif
println("***");
print("*** System Clock: ");
printn(STM32_SYSCLK);
println("");
print("*** Iterations: ");
printn(ITERATIONS);
println("");
print("*** Randomize: ");
printn(RANDOMIZE);
println("");
print("*** Threads: ");
printn(NUM_THREADS);
println("");
print("*** Mailbox size: ");
printn(MAILBOX_SIZE);
println("");
println("");
worst = 0;
for (i = 1; i <= ITERATIONS; i++){
print("Iteration ");
printn(i);
println("");
saturated = FALSE;
threshold = 0;
for (interval = 2000; interval >= 20; interval -= interval / 10) {
gptStartContinuous(&GPTD2, interval - 1); /* Slightly out of phase.*/
gptStartContinuous(&GPTD3, interval + 1); /* Slightly out of phase.*/
chThdSleepMilliseconds(1000);
gptStopTimer(&GPTD2);
gptStopTimer(&GPTD3);
if (!saturated)
print(".");
else {
print("#");
if (threshold == 0)
threshold = interval;
}
}
/* Gives the worker threads a chance to empty the mailboxes before next
cycle.*/
chThdSleepMilliseconds(20);
println("");
print("Saturated at ");
printn(threshold);
println(" uS");
println("");
if (threshold > worst)
worst = threshold;
}
gptStopTimer(&GPTD2);
gptStopTimer(&GPTD3);
print("Worst case at ");
printn(worst);
println(" uS");
println("");
println("Test Complete");
/*
* Normal main() thread activity, nothing in this test.
*/
while (TRUE) {
chThdSleepMilliseconds(5000);
}
return 0;
}
/*
* Application entry point.
*/
int main(void) {
Thread *shelltp = NULL;
/*
* 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();
/*
* Shell manager initialization.
*/
shellInit();
/*
* 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(1000);
usbStart(serusbcfg.usbp, &usbcfg);
usbConnectBus(serusbcfg.usbp);
/*
* 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));
/*
* Initializes the SPI driver 1 in order to access the MEMS. The signals
* are already initialized in the board file.
*/
spiStart(&SPID1, &spi1cfg);
/*
* Initializes the SPI driver 2. The SPI2 signals are routed as follow:
* PB12 - NSS.
* PB13 - SCK.
* PB14 - MISO.
* PB15 - MOSI.
*/
spiStart(&SPID2, &spi2cfg);
palSetPad(GPIOB, 12);
palSetPadMode(GPIOB, 12, PAL_MODE_OUTPUT_PUSHPULL |
PAL_STM32_OSPEED_HIGHEST); /* NSS. */
palSetPadMode(GPIOB, 13, PAL_MODE_ALTERNATE(5) |
PAL_STM32_OSPEED_HIGHEST); /* SCK. */
palSetPadMode(GPIOB, 14, PAL_MODE_ALTERNATE(5)); /* MISO. */
palSetPadMode(GPIOB, 15, PAL_MODE_ALTERNATE(5) |
PAL_STM32_OSPEED_HIGHEST); /* MOSI. */
/*
* Initializes the PWM driver 4, routes the TIM4 outputs to the board LEDs.
*/
pwmStart(&PWMD4, &pwmcfg);
palSetPadMode(GPIOD, GPIOD_LED4, PAL_MODE_ALTERNATE(2)); /* Green. */
palSetPadMode(GPIOD, GPIOD_LED3, PAL_MODE_ALTERNATE(2)); /* Orange. */
palSetPadMode(GPIOD, GPIOD_LED5, PAL_MODE_ALTERNATE(2)); /* Red. */
palSetPadMode(GPIOD, GPIOD_LED6, PAL_MODE_ALTERNATE(2)); /* Blue. */
/*
* Creates the example thread.
*/
chThdCreateStatic(waThread1, sizeof(waThread1),
NORMALPRIO + 10, Thread1, NULL);
/*
* Normal main() thread activity, in this demo it just performs
* a shell respawn upon its termination.
*/
while (TRUE) {
if (!shelltp) {
if (SDU1.config->usbp->state == USB_ACTIVE) {
/* Spawns a new shell.*/
shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO);
}
}
else {
/* If the previous shell exited.*/
if (chThdTerminated(shelltp)) {
/* Recovers memory of the previous shell.*/
chThdRelease(shelltp);
shelltp = NULL;
}
}
chThdSleepMilliseconds(500);
}
}
static msg_t thdUsbStorage(void *arg)
{
(void) arg; // unused
chRegSetThreadName("UsbStorage:polling");
uint antiBounce=5;
EventListener connected;
// Should use EXTI interrupt instead of active polling,
// but in the chibios_opencm3 implementation, since EXTI is
// used via libopencm3, ISR are routed on pprz/opencm3 and cannot
// be used concurrently by chibios api
// Should be fixed when using chibios-rt branch
while (!chThdShouldTerminate() && antiBounce) {
const bool_t usbConnected = palReadPad (GPIOA, GPIOA_OTG_FS_VBUS);
if (usbConnected)
antiBounce--;
else
antiBounce=5;
chThdSleepMilliseconds(20);
}
isRunning = true;
chRegSetThreadName("UsbStorage:connected");
/* Stop the logs*/
chibios_logFinish (true);
/* connect sdcard sdc interface sdio */
if (sdioConnect () == false)
chThdExit (RDY_TIMEOUT);
/* initialize the USB mass storage driver */
msdInit(&UMSD1);
/* start the USB mass storage service */
msdStart(&UMSD1, &msdConfig);
/* start the USB driver */
usbDisconnectBus(&USBD1);
chThdSleepMilliseconds(1000);
usbStart(&USBD1, &usbConfig);
usbConnectBus(&USBD1);
/* wait for a real usb storage connexion before shutting down autopilot */
chEvtRegisterMask(&UMSD1.evt_connected, &connected, EVENT_MASK(1));
chEvtWaitOne(EVENT_MASK(1));
/* stop autopilot */
if (pprzThdPtr != NULL) {
chThdTerminate (pprzThdPtr);
chThdWait (pprzThdPtr);
pprzThdPtr = NULL;
}
/* wait until usb-storage is unmount and usb cable is unplugged*/
while (!chThdShouldTerminate() && palReadPad (GPIOA, GPIOA_OTG_FS_VBUS)) {
chThdSleepMilliseconds(10);
}
/* then close open descriptors and reboot autopilot */
usbDisconnectBus(&USBD1);
chThdSleepMilliseconds(500);
msdStop(&UMSD1);
sdioDisconnect ();
MCU_RESTART();
return RDY_OK;
}
static void sleepMilliseconds(uint32_t ms)
{
chThdSleepMilliseconds(ms);
}
THD_FUNCTION(Thread1, arg) {
(void)arg;
/*
* Activate the serial driver 0 using the driver default configuration.
*/
sdStart(&SD0, NULL);
while (chnGetTimeout(&SD0, TIME_INFINITE)) {
chnWrite(&SD0, (const uint8_t *)start_msg, strlen(start_msg));
chThdSleepMilliseconds(2000);
/* Test 1 - use DMA engine to execute a word-wise memory-to-memory copy. */
chnWrite(&SD0, (const uint8_t *)test_1_msg, strlen(test_1_msg));
strcpy(instring, "After DMA test \r\n");
strcpy(outstring, "Before DMA test \r\n");
if (strcmp("Before DMA test \r\n", outstring)) {
chnWrite(&SD0, (const uint8_t *)fail_string, strlen(fail_string));
}
request = &test_1_req;
chSysLock();
dmaRequestS(request, TIME_INFINITE);
chSysUnlock();
if (strcmp("After DMA test \r\n", outstring)) {
chnWrite(&SD0, (const uint8_t *)fail_string, strlen(fail_string));
}
else {
chnWrite(&SD0, (const uint8_t *)succeed_string, strlen(succeed_string));
}
/* Test 2 - use DMA engine to execute a byte-wise memory-to-memory copy. */
chnWrite(&SD0, (const uint8_t *)test_2_msg, strlen(test_2_msg));
strcpy(instring, "After DMA test \r\n");
strcpy(outstring, "Before DMA test \r\n");
if (strcmp("Before DMA test \r\n", outstring)) {
chnWrite(&SD0, (const uint8_t *)fail_string, strlen(fail_string));
}
request = &test_2_req;
chSysLock();
dmaRequestS(request, TIME_INFINITE);
chSysUnlock();
if (strcmp("After DMA test \r\n", outstring)) {
chnWrite(&SD0, (const uint8_t *)fail_string, strlen(fail_string));
}
else {
chnWrite(&SD0, (const uint8_t *)succeed_string, strlen(succeed_string));
}
/* Test 3 - use DMA engine to execute a word-wise memory-to-memory set. */
chnWrite(&SD0, (const uint8_t *)test_3_msg, strlen(test_3_msg));
strcpy(instring, "After DMA test \r\n");
strcpy(outstring, "Before DMA test \r\n");
if (strcmp("Before DMA test \r\n", outstring)) {
chnWrite(&SD0, (const uint8_t *)fail_string, strlen(fail_string));
}
request = &test_3_req;
chSysLock();
dmaRequestS(request, TIME_INFINITE);
chSysUnlock();
if (strcmp("AAAAAAAAAAAAAAAA\r\n", outstring)) {
chnWrite(&SD0, (const uint8_t *)fail_string, strlen(fail_string));
}
else {
chnWrite(&SD0, (const uint8_t *)succeed_string, strlen(succeed_string));
}
/* Test 4 - use DMA engine to execute a word-wise memory-to-memory copy,
* then call a callback. */
chnWrite(&SD0, (const uint8_t *)test_4_msg, strlen(test_4_msg));
strcpy(instring, "After DMA test \r\n");
strcpy(outstring, "Before DMA test \r\n");
cb_arg = 1;
if (strcmp("Before DMA test \r\n", outstring) || (cb_arg != 1)) {
chnWrite(&SD0, (const uint8_t *)fail_string, strlen(fail_string));
}
request = &test_4_req;
chSysLock();
dmaRequestS(request, TIME_INFINITE);
chSysUnlock();
if (strcmp("After DMA test \r\n", outstring) || cb_arg) {
chnWrite(&SD0, (const uint8_t *)fail_string, strlen(fail_string));
}
else {
chnWrite(&SD0, (const uint8_t *)succeed_string, strlen(succeed_string));
}
/* Test 5 - use exclusive DMA channel 0 to execute a word-wise
* memory-to-memory copy. */
chnWrite(&SD0, (const uint8_t *)test_5_msg, strlen(test_5_msg));
strcpy(instring, "After DMA test \r\n");
strcpy(outstring, "Before DMA test \r\n");
if (strcmp("Before DMA test \r\n", outstring)) {
chnWrite(&SD0, (const uint8_t *)fail_string, strlen(fail_string));
}
request = &test_5_req;
chSysLock();
dmaAcquireI(&ch, 0);
chSysUnlock();
dmaTransfer(&ch, request);
if (strcmp("After DMA test \r\n", outstring)) {
chnWrite(&SD0, (const uint8_t *)fail_string, strlen(fail_string));
}
else {
chnWrite(&SD0, (const uint8_t *)succeed_string, strlen(succeed_string));
}
/* Test 6 - Attempt to claim DMA channel 0, fail, release it, attempt to
* claim it again */
chnWrite(&SD0, (const uint8_t *)test_6_msg, strlen(test_6_msg));
chSysLock();
result = dmaAcquireI(&ch, 0);
chSysUnlock();
if (!result) {
chnWrite(&SD0, (const uint8_t *)fail_string, strlen(fail_string));
}
dmaRelease(&ch);
chSysLock();
result = dmaAcquireI(&ch, 0);
chSysUnlock();
if (result) {
chnWrite(&SD0, (const uint8_t *)fail_string, strlen(fail_string));
}
else {
chnWrite(&SD0, (const uint8_t *)succeed_string, strlen(succeed_string));
}
dmaRelease(&ch);
/* Test 7 - use exclusive DMA channel 1 to execute a word-wise
* memory-to-memory copy. */
chnWrite(&SD0, (const uint8_t *)test_7_msg, strlen(test_7_msg));
strcpy(instring, "After DMA test \r\n");
strcpy(outstring, "Before DMA test \r\n");
if (strcmp("Before DMA test \r\n", outstring)) {
chnWrite(&SD0, (const uint8_t *)fail_string, strlen(fail_string));
}
request = &test_5_req;
chSysLock();
dmaAcquireI(&ch, 1);
chSysUnlock();
dmaTransfer(&ch, request);
if (strcmp("After DMA test \r\n", outstring)) {
chnWrite(&SD0, (const uint8_t *)fail_string, strlen(fail_string));
}
else {
chnWrite(&SD0, (const uint8_t *)succeed_string, strlen(succeed_string));
}
dmaRelease(&ch);
/* Test 8 - Claim all 3 DMA channels, attempt dmaRequest, fail */
chnWrite(&SD0, (const uint8_t *)test_8_msg, strlen(test_8_msg));
chSysLock();
result = dmaAcquireI(&ch, 0);
chSysUnlock();
if (result) {
chnWrite(&SD0, (const uint8_t *)fail_string, strlen(fail_string));
}
chSysLock();
result = dmaAcquireI(&ch1, 1);
chSysUnlock();
if (result) {
chnWrite(&SD0, (const uint8_t *)fail_string, strlen(fail_string));
}
chSysLock();
result = dmaAcquireI(&ch2, 2);
chSysUnlock();
if (result) {
chnWrite(&SD0, (const uint8_t *)fail_string, strlen(fail_string));
}
chSysLock();
result_i = dmaRequestS(request, TIME_IMMEDIATE);
chSysUnlock();
if (result_i > 0) {
chnWrite(&SD0, (const uint8_t *)fail_string, strlen(fail_string));
}
else {
chnWrite(&SD0, (const uint8_t *)succeed_string, strlen(succeed_string));
}
dmaRelease(&ch);
dmaRelease(&ch1);
dmaRelease(&ch2);
}
}
/*
* 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();
chSysInit();
/*
* Activates the serial driver 2 and SDC driver 1 using default
* configuration.
*/
sdStart(&SD6, NULL);
BaseSequentialStream *chp = (BaseSequentialStream *)&SD6;
chprintf(chp, "running main()\r\n");
chThdSleepMilliseconds(50);
#if STM32_USB_USE_OTG2
USBDriver *usb_driver = &USBD2;
#else
USBDriver *usb_driver = &USBD1;
#endif
/*
* Activates the card insertion monitor.
*/
init_sd();
chprintf(chp, "done starting SDC\r\n");
const bool_t sdcConnectStatus = sdcConnect(&SDCD1);
if( sdcConnectStatus != CH_SUCCESS ) {
chprintf(chp, "failed to connect to SD Card, sdcConnectStatus = %u\r\n", sdcConnectStatus);
for(;;) {
chThdSleepMilliseconds(3000);
}
}
chprintf(chp, "setting up MSD\r\n");
const usb_msd_driver_state_t msd_driver_state = msdInit(usb_driver, (BaseBlockDevice*)&SDCD1, &UMSD1, USB_MS_DATA_EP, USB_MSD_INTERFACE_NUMBER);
if( msd_driver_state != USB_MSD_DRIVER_OK ) {
chprintf(chp, "Error initing USB MSD, %d %s\r\n", msd_driver_state, usb_msd_driver_state_t_to_str(msd_driver_state));
}
UMSD1.chp = chp;
chprintf(chp, "Initializing SDU1...\r\n");
serusbcfg.usbp = usb_driver;
sduObjectInit(&SDU1);
/*Disconnect the USB Bus*/
usbDisconnectBus(usb_driver);
chThdSleepMilliseconds(200);
/*Start the useful functions*/
sduStart(&SDU1, &serusbcfg);
msdStart(&UMSD1);
usbStart(usb_driver, &msd_usb_config);
/*Connect the USB Bus*/
usbConnectBus(usb_driver);
/*
* Creates the blinker thread.
*/
chprintf(chp, "starting blinker thread\r\n");
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
while (TRUE) {
palTogglePad(GPIOC, GPIOC_LED);
chThdSleepMilliseconds(500);
}
}
int main(void) {
Thread * pub_tp = NULL;
Thread * sub_tp = NULL;
halInit();
chSysInit();
/*
* Initializes a serial-over-USB CDC driver.
*/
#if USE_USB_SERIAL
sduObjectInit(&SDU1);
sduStart(&SDU1, &serusbcfg);
#endif
/*
* 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.
*/
#if USE_USB_SERIAL
usbDisconnectBus(serusbcfg.usbp);
chThdSleepMilliseconds(500);
usbStart(serusbcfg.usbp, &usbcfg);
usbConnectBus(serusbcfg.usbp);
#endif
/* Start the serial driver. */
#if !USE_USB_SERIAL
sdStart(&SD3, NULL);
#endif
for (;;) {
#if USE_USB_SERIAL
if (!pub_tp && (SDU1.config->usbp->state == USB_ACTIVE)) {
#else
if (!pub_tp) {
#endif
pub_tp = chThdCreateFromHeap(NULL, THD_WA_SIZE(2048), NORMALPRIO, rosserial_pub_thread, NULL);
} else if (chThdTerminated(pub_tp)) {
chThdRelease(pub_tp);
pub_tp = NULL;
}
chThdSleepMilliseconds(123);
#if USE_USB_SERIAL
if (!sub_tp && (SDU1.config->usbp->state == USB_ACTIVE)) {
#else
if (!sub_tp) {
#endif
sub_tp = chThdCreateFromHeap(NULL, THD_WA_SIZE(2048), NORMALPRIO, rosserial_sub_thread, NULL);
} else if (chThdTerminated(sub_tp)) {
chThdRelease(sub_tp);
sub_tp = NULL;
}
chThdSleepMilliseconds(500);
}
return CH_SUCCESS;
}
}
/*
* Application entry point.
*/
int main(void) {
/* Initialization of all the imported components in the order specified in
the application wizard. The function is generated automatically.*/
componentsInit();
palClearPad(PORT11, P11_LED4);
/*
* Initializes the PWM driver 8 and ICU driver 1.
* PIN80 is the PWM output.
* PIN63 is the ICU input.
* The two pins have to be externally connected together.
*/
/* Sets PIN63 alternative function.*/
SIU.PCR[179].R = 0b0000010100001100;
/* Sets PIN80 alternative function.*/
SIU.PCR[202].R = 0b0000011000001100;
icuStart(&ICUD1, &icucfg);
icuEnable(&ICUD1);
pwmStart(&PWMD8, &pwmcfg);
chThdSleepMilliseconds(2000);
/*
* Starts the PWM channel 0 using 75% duty cycle.
*/
pwmEnableChannel(&PWMD8, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD8, 7500));
chThdSleepMilliseconds(5000);
/*
* Changes the PWM channel 0 to 50% duty cycle.
*/
pwmEnableChannel(&PWMD8, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD8, 5000));
chThdSleepMilliseconds(5000);
/*
* Changes the PWM channel 0 to 25% duty cycle.
*/
pwmEnableChannel(&PWMD8, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD8, 2500));
chThdSleepMilliseconds(5000);
/*
* Changes PWM period and the PWM channel 0 to 50% duty cycle.
*/
pwmChangePeriod(&PWMD8, 25000);
pwmEnableChannel(&PWMD8, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD8, 5000));
chThdSleepMilliseconds(5000);
/*
* Disables PWM channel 0 and stops the drivers.
*/
pwmDisableChannel(&PWMD8, 0);
pwmStop(&PWMD8);
/*
* Disables and stops the ICU drivers.
*/
icuDisable(&ICUD1);
icuStop(&ICUD1);
palClearPad(PORT11, P11_LED3);
palClearPad(PORT11, P11_LED4);
/*
* Normal main() thread activity, in this demo it does nothing.
*/
while (TRUE) {
chThdSleepMilliseconds(500);
}
return 0;
}
static THD_FUNCTION(Thread1, arg) {
(void)arg;
/*
* Activates the serial driver 1 using the driver default configuration.
*/
sdStart(&SD1, NULL);
while (true) {
unsigned i;
for (i = 0; i < 4; i++) {
palClearPad(PORT_E, PE_LED1);
chThdSleepMilliseconds(100);
palClearPad(PORT_E, PE_LED2);
chThdSleepMilliseconds(100);
palClearPad(PORT_E, PE_LED3);
chThdSleepMilliseconds(100);
palClearPad(PORT_E, PE_LED4);
chThdSleepMilliseconds(100);
palSetPad(PORT_E, PE_LED1);
chThdSleepMilliseconds(100);
palSetPad(PORT_E, PE_LED2);
chThdSleepMilliseconds(100);
palSetPad(PORT_E, PE_LED3);
chThdSleepMilliseconds(100);
palSetPad(PORT_E, PE_LED4);
chThdSleepMilliseconds(300);
}
for (i = 0; i < 4; i++) {
palTogglePort(PORT_E, PAL_PORT_BIT(PE_LED1) | PAL_PORT_BIT(PE_LED2) |
PAL_PORT_BIT(PE_LED3) | PAL_PORT_BIT(PE_LED4));
chThdSleepMilliseconds(500);
palTogglePort(PORT_E, PAL_PORT_BIT(PE_LED1) | PAL_PORT_BIT(PE_LED2) |
PAL_PORT_BIT(PE_LED3) | PAL_PORT_BIT(PE_LED4));
chThdSleepMilliseconds(500);
}
for (i = 0; i < 4; i++) {
palTogglePad(PORT_E, PE_LED1);
chThdSleepMilliseconds(250);
palTogglePad(PORT_E, PE_LED1);
palTogglePad(PORT_E, PE_LED2);
chThdSleepMilliseconds(250);
palTogglePad(PORT_E, PE_LED2);
palTogglePad(PORT_E, PE_LED3);
chThdSleepMilliseconds(250);
palTogglePad(PORT_E, PE_LED3);
palTogglePad(PORT_E, PE_LED4);
chThdSleepMilliseconds(250);
palTogglePad(PORT_E, PE_LED4);
}
for (i = 0; i < 4; i++) {
palClearPort(PORT_E, PAL_PORT_BIT(PE_LED1) | PAL_PORT_BIT(PE_LED3));
palSetPort(PORT_E, PAL_PORT_BIT(PE_LED2) | PAL_PORT_BIT(PE_LED4));
chThdSleepMilliseconds(500);
palClearPort(PORT_E, PAL_PORT_BIT(PE_LED2) | PAL_PORT_BIT(PE_LED4));
palSetPort(PORT_E, PAL_PORT_BIT(PE_LED1) | PAL_PORT_BIT(PE_LED3));
chThdSleepMilliseconds(500);
}
palSetPort(PORT_E, PAL_PORT_BIT(PE_LED1) | PAL_PORT_BIT(PE_LED2) |
PAL_PORT_BIT(PE_LED3) | PAL_PORT_BIT(PE_LED4));
}
}
int main(void) {
static Thread *shelltp = NULL;
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);
palSetPad(GPIOA, GPIOA_SPI1_SCK);
palSetPad(GPIOA, GPIOA_SPI1_NSS);
/*
* SPI1 I/O pins setup.
*/
palSetPadMode(adis_connections.spi_sck_port, adis_connections.spi_sck_pad,
PAL_MODE_ALTERNATE(5) |
PAL_STM32_OSPEED_HIGHEST);
palSetPadMode(adis_connections.spi_miso_port, adis_connections.spi_miso_pad,
PAL_MODE_ALTERNATE(5) |
PAL_STM32_OSPEED_HIGHEST| PAL_STM32_PUDR_FLOATING);
palSetPadMode(adis_connections.spi_mosi_port, adis_connections.spi_mosi_pad,
PAL_MODE_ALTERNATE(5) |
PAL_STM32_OSPEED_HIGHEST );
palSetPadMode(adis_connections.spi_cs_port, adis_connections.spi_cs_pad,
PAL_MODE_OUTPUT_PUSHPULL |
PAL_STM32_OSPEED_HIGHEST);
palSetPad(GPIOA, GPIOA_SPI1_SCK);
palSetPad(GPIOA, GPIOA_SPI1_NSS);
/*!
* Initializes a serial-over-USB CDC driver.
*/
sduObjectInit(&SDU_PSAS);
sduStart(&SDU_PSAS, &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(1000);
usbStart(serusbcfg.usbp, &usbcfg);
usbConnectBus(serusbcfg.usbp);
shellInit();
iwdg_begin();
/*!
* Activates the serial driver 6 and SDC driver 1 using default
* configuration.
*/
sdStart(&SD6, NULL);
spiStart(&SPID1, &adis_spicfg); /* Set transfer parameters. */
chThdSleepMilliseconds(300);
adis_init();
adis_reset();
/*! Activates the EXT driver 1. */
extStart(&EXTD1, &extcfg);
chThdCreateStatic(waThread_blinker, sizeof(waThread_blinker), NORMALPRIO, Thread_blinker, NULL);
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);
chThdCreateStatic(waThread_indwatchdog, sizeof(waThread_indwatchdog), NORMALPRIO, Thread_indwatchdog, NULL);
chEvtRegister(&extdetail_wkup_event, &el0, 0);
while (TRUE) {
if (!shelltp && (SDU_PSAS.config->usbp->state == USB_ACTIVE))
shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO);
else if (chThdTerminated(shelltp)) {
chThdRelease(shelltp); /* Recovers memory of the previous shell. */
shelltp = NULL; /* Triggers spawning of a new shell. */
}
chEvtDispatch(evhndl_main, chEvtWaitOneTimeout((eventmask_t)1, MS2ST(500)));
}
}
void Hip9011Hardware::sendSyncCommand(unsigned char command) {
SPI_SYNCHRONOUS(command);
chThdSleepMilliseconds(10);
}
/*
* Application entry point.
*/
int main(void) {
size_t start = 1100;
size_t end = 1150;
volatile int32_t adc_its = 0;
volatile int32_t spi_its = 0;
volatile int32_t uart_its = 0;
volatile int32_t adc_its_idle = 0;
volatile int32_t spi_its_idle = 0;
volatile int32_t uart_its_idle = 0;
volatile uint32_t idle_thread_cnt = 0;
#if EMCNAND_USE_KILL_TEST
size_t kill = 8000;
#endif
/*
* 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();
emcStart(&EMCD1, &emccfg);
#if !STM32_EMC_EMCNAND_USE_FSMC_INT
extStart(&EXTD1, &extcfg);
#endif
emcnandStart(&EMCNANDD1, &nandcfg);
chThdSleepMilliseconds(4000);
chThdCreateStatic(fsmcIdleThreadWA,
sizeof(fsmcIdleThreadWA),
NORMALPRIO - 20,
fsmcIdleThread,
NULL);
nand_wp_release();
dma_storm_adc_start();
dma_storm_uart_start();
dma_storm_spi_start();
T = chVTGetSystemTimeX();
general_test(&EMCNANDD1, start, end, 1);
T = chVTGetSystemTimeX() - T;
adc_its = dma_storm_adc_stop();
uart_its = dma_storm_uart_stop();
spi_its = dma_storm_spi_stop();
chSysLock();
idle_thread_cnt = IdleCnt;
IdleCnt = 0;
chSysUnlock();
dma_storm_adc_start();
dma_storm_uart_start();
dma_storm_spi_start();
chThdSleep(T);
adc_its_idle = dma_storm_adc_stop();
uart_its_idle = dma_storm_uart_stop();
spi_its_idle = dma_storm_spi_stop();
osalDbgCheck(idle_thread_cnt > (IdleCnt / 4));
osalDbgCheck(abs(adc_its - adc_its_idle) < (adc_its_idle / 20));
osalDbgCheck(abs(uart_its - uart_its_idle) < (uart_its_idle / 20));
osalDbgCheck(abs(spi_its - spi_its_idle) < (spi_its_idle / 10));
ecc_test(&EMCNANDD1, end);
#if EMCNAND_USE_KILL_TEST
kill_block(&EMCNANDD1, kill);
#endif
nand_wp_assert();
/*
* Normal main() thread activity, in this demo it does nothing.
*/
while (TRUE) {
chThdSleepMilliseconds(500);
}
}
/*! \brief Reset the ADIS
*/
void adis_reset() {
palClearPad(adis_connections.reset_port, adis_connections.reset_pad);
chThdSleepMilliseconds(ADIS_RESET_MSECS);
palSetPad(adis_connections.reset_port, adis_connections.reset_pad);
chThdSleepMilliseconds(ADIS_RESET_MSECS);
}
/**
* @brief IRQ storm execution.
*
* @param[in] cfg pointer to the test configuration structure
*
* @api
*/
void irq_storm_execute(const irq_storm_config_t *cfg) {
unsigned i;
gptcnt_t interval, threshold, worst;
/* Global configuration pointer.*/
config = cfg;
/* Starting timers using the stored configurations.*/
gptStart(cfg->gpt1p, cfg->gptcfg1p);
gptStart(cfg->gpt2p, cfg->gptcfg2p);
/*
* Initializes the mailboxes and creates the worker threads.
*/
for (i = 0; i < IRQ_STORM_CFG_NUM_THREADS; i++) {
chMBObjectInit(&mb[i], b[i], IRQ_STORM_CFG_MAILBOX_SIZE);
threads[i] = chThdCreateStatic(irq_storm_thread_wa[i],
sizeof irq_storm_thread_wa[i],
IRQ_STORM_CFG_THREADS_PRIORITY,
irq_storm_thread,
(void *)i);
}
/* Printing environment information.*/
chprintf(cfg->out, "");
chprintf(cfg->out, "\r\n*** ChibiOS/RT IRQ-STORM long duration test\r\n***\r\n");
chprintf(cfg->out, "*** Kernel: %s\r\n", CH_KERNEL_VERSION);
chprintf(cfg->out, "*** Compiled: %s\r\n", __DATE__ " - " __TIME__);
#ifdef PORT_COMPILER_NAME
chprintf(cfg->out, "*** Compiler: %s\r\n", PORT_COMPILER_NAME);
#endif
chprintf(cfg->out, "*** Architecture: %s\r\n", PORT_ARCHITECTURE_NAME);
#ifdef PORT_CORE_VARIANT_NAME
chprintf(cfg->out, "*** Core Variant: %s\r\n", PORT_CORE_VARIANT_NAME);
#endif
chprintf(cfg->out, "*** System Clock: %d\r\n", cfg->sysclk);
#ifdef PORT_INFO
chprintf(cfg->out, "*** Port Info: %s\r\n", PORT_INFO);
#endif
#ifdef PLATFORM_NAME
chprintf(cfg->out, "*** Platform: %s\r\n", PLATFORM_NAME);
#endif
#ifdef BOARD_NAME
chprintf(cfg->out, "*** Test Board: %s\r\n", BOARD_NAME);
#endif
chprintf(cfg->out, "***\r\n");
chprintf(cfg->out, "*** Iterations: %d\r\n", IRQ_STORM_CFG_ITERATIONS);
chprintf(cfg->out, "*** Randomize: %d\r\n", IRQ_STORM_CFG_RANDOMIZE);
chprintf(cfg->out, "*** Threads: %d\r\n", IRQ_STORM_CFG_NUM_THREADS);
chprintf(cfg->out, "*** Mailbox size: %d\r\n\r\n", IRQ_STORM_CFG_MAILBOX_SIZE);
/* Test loop.*/
worst = 0;
for (i = 1; i <= IRQ_STORM_CFG_ITERATIONS; i++){
chprintf(cfg->out, "Iteration %d\r\n", i);
saturated = false;
threshold = 0;
/* Timer intervals starting at 2mS then decreased by 10% after each
cycle.*/
for (interval = 2000; interval >= 2; interval -= (interval + 9) / 10) {
/* Timers programmed slightly out of phase each other.*/
gptStartContinuous(cfg->gpt1p, interval - 1); /* Slightly out of phase.*/
gptStartContinuous(cfg->gpt2p, interval + 1); /* Slightly out of phase.*/
/* Storming for one second.*/
chThdSleepMilliseconds(1000);
/* Timers stopped.*/
gptStopTimer(cfg->gpt1p);
gptStopTimer(cfg->gpt2p);
/* Did the storm saturate the threads chain?*/
if (!saturated)
chprintf(cfg->out, ".");
else {
chprintf(cfg->out, "#");
if (threshold == 0)
threshold = interval;
break;
}
}
/* Gives threads a chance to empty the mailboxes before next cycle.*/
chThdSleepMilliseconds(20);
chprintf(cfg->out, "\r\nSaturated at %d uS\r\n\r\n", threshold);
if (threshold > worst)
worst = threshold;
}
gptStopTimer(cfg->gpt1p);
gptStopTimer(cfg->gpt2p);
chprintf(cfg->out, "Worst case at %d uS\r\n", worst);
chprintf(cfg->out, "\r\nTest Complete\r\n");
/* Terminating threads and cleaning up.*/
for (i = 0; i < IRQ_STORM_CFG_NUM_THREADS; i++) {
chThdTerminate(threads[i]);
chThdWait(threads[i]);
threads[i] = NULL;
}
}
/*
* 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();
chSysInit();
/*
* Initializes the PWM driver 2 and ICU driver 3.
* GPIOA15 is the PWM output.
* GPIOC6 is the ICU input.
* The two pins have to be externally connected together.
*/
pwmStart(&PWMD2, &pwmcfg);
palSetPadMode(GPIOA, 15, PAL_MODE_ALTERNATE(1));
icuStart(&ICUD3, &icucfg);
palSetPadMode(GPIOC, 6, PAL_MODE_ALTERNATE(2));
icuEnable(&ICUD3);
chThdSleepMilliseconds(2000);
/*
* Starts the PWM channel 0 using 75% duty cycle.
*/
pwmEnableChannel(&PWMD2, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD2, 7500));
chThdSleepMilliseconds(5000);
/*
* Changes the PWM channel 0 to 50% duty cycle.
*/
pwmEnableChannel(&PWMD2, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD2, 5000));
chThdSleepMilliseconds(5000);
/*
* Changes the PWM channel 0 to 25% duty cycle.
*/
pwmEnableChannel(&PWMD2, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD2, 2500));
chThdSleepMilliseconds(5000);
/*
* Changes PWM period to half second the duty cycle becomes 50%
* implicitly.
*/
pwmChangePeriod(&PWMD2, 5000);
chThdSleepMilliseconds(5000);
/*
* Disables channel 0 and stops the drivers.
*/
pwmDisableChannel(&PWMD2, 0);
pwmStop(&PWMD2);
icuDisable(&ICUD3);
icuStop(&ICUD3);
palClearPad(GPIOD, GPIOD_LED4);
palClearPad(GPIOD, GPIOD_LED5);
/*
* Normal main() thread activity, in this demo it does nothing.
*/
while (TRUE) {
chThdSleepMilliseconds(500);
}
return 0;
}
static THD_FUNCTION(Thread1, arg) {
(void)arg;
/*
* Activates the serial driver 1 using the driver default configuration.
*/
sdStart(&SD1, NULL);
while (TRUE) {
unsigned i;
chnWriteTimeout(&SD1, (uint8_t *)"Hello World!\r\n", 14, TIME_INFINITE);
for (i = 0; i < 4; i++) {
palClearPad(PORT_E, PE_LED1);
chThdSleepMilliseconds(100);
palClearPad(PORT_E, PE_LED2);
chThdSleepMilliseconds(100);
palClearPad(PORT_E, PE_LED3);
chThdSleepMilliseconds(100);
palClearPad(PORT_E, PE_LED4);
chThdSleepMilliseconds(100);
palSetPad(PORT_E, PE_LED1);
chThdSleepMilliseconds(100);
palSetPad(PORT_E, PE_LED2);
chThdSleepMilliseconds(100);
palSetPad(PORT_E, PE_LED3);
chThdSleepMilliseconds(100);
palSetPad(PORT_E, PE_LED4);
chThdSleepMilliseconds(300);
}
for (i = 0; i < 4; i++) {
palTogglePort(PORT_E, PAL_PORT_BIT(PE_LED1) | PAL_PORT_BIT(PE_LED2) |
PAL_PORT_BIT(PE_LED3) | PAL_PORT_BIT(PE_LED4));
chThdSleepMilliseconds(500);
palTogglePort(PORT_E, PAL_PORT_BIT(PE_LED1) | PAL_PORT_BIT(PE_LED2) |
PAL_PORT_BIT(PE_LED3) | PAL_PORT_BIT(PE_LED4));
chThdSleepMilliseconds(500);
}
for (i = 0; i < 4; i++) {
palTogglePad(PORT_E, PE_LED1);
chThdSleepMilliseconds(250);
palTogglePad(PORT_E, PE_LED1);
palTogglePad(PORT_E, PE_LED2);
chThdSleepMilliseconds(250);
palTogglePad(PORT_E, PE_LED2);
palTogglePad(PORT_E, PE_LED3);
chThdSleepMilliseconds(250);
palTogglePad(PORT_E, PE_LED3);
palTogglePad(PORT_E, PE_LED4);
chThdSleepMilliseconds(250);
palTogglePad(PORT_E, PE_LED4);
}
for (i = 0; i < 4; i++) {
palClearPort(PORT_E, PAL_PORT_BIT(PE_LED1) | PAL_PORT_BIT(PE_LED3));
palSetPort(PORT_E, PAL_PORT_BIT(PE_LED2) | PAL_PORT_BIT(PE_LED4));
chThdSleepMilliseconds(500);
palClearPort(PORT_E, PAL_PORT_BIT(PE_LED2) | PAL_PORT_BIT(PE_LED4));
palSetPort(PORT_E, PAL_PORT_BIT(PE_LED1) | PAL_PORT_BIT(PE_LED3));
chThdSleepMilliseconds(500);
}
palSetPort(PORT_E, PAL_PORT_BIT(PE_LED1) | PAL_PORT_BIT(PE_LED2) |
PAL_PORT_BIT(PE_LED3) | PAL_PORT_BIT(PE_LED4));
}
}
/*
* 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();
chSysInit();
/*
* 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);
/*
* Creates the blinker thread.
*/
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO + 1, Thread1, NULL);
/*
* L3GD20 Object Initialization
*/
l3gd20ObjectInit(&L3GD20D1);
/*
* Activates the L3GD20 driver.
*/
l3gd20Start(&L3GD20D1, &l3gd20cfg);
while(!palReadLine(LINE_BUTTON)){
chprintf(chp, "Press BTN to calibrate gyroscope...\r\n");
chThdSleepMilliseconds(150);
#if CHPRINTF_USE_ANSI_CODE
chprintf(chp, "\033[2J\033[1;1H");
#endif
}
chprintf(chp, "Calibrating Gyroscope sampling bias...\r\n");
chprintf(chp, "Keep it in the rest position while red LED is on\r\n");
chThdSleepMilliseconds(3000);
palSetLine(LINE_LED10_RED);
chThdSleepMilliseconds(1000);
gyroscopeSampleBias(&L3GD20D1);
palClearLine(LINE_LED10_RED);
#if CHPRINTF_USE_ANSI_CODE
chprintf(chp, "\033[2J\033[1;1H");
#endif
while (TRUE) {
palToggleLine(LINE_LED10_RED);
gyroscopeReadRaw(&L3GD20D1, rawdata);
for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
chprintf(chp, "RAW-%c:%d\r\n", axesID[i], rawdata[i]);
gyroscopeReadCooked(&L3GD20D1, cookeddata);
for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
chprintf(chp, "COOKED-%c:%.3f\r\n", axesID[i], cookeddata[i]);
gyroscopeGetTemp(&L3GD20D1, &temperature);
chprintf(chp, "TEMP:%.1f C°\r\n", temperature);
chThdSleepMilliseconds(150);
#if CHPRINTF_USE_ANSI_CODE
chprintf(chp, "\033[2J\033[1;1H");
#endif
}
l3gd20Stop(&L3GD20D1);
}
static msg_t stThread(StepperMotor *motor) {
chRegSetThreadName("stepper");
// try to get saved stepper position (-1 for no data)
motor->currentPosition = loadStepperPos();
// first wait until at least 1 slowADC sampling is complete
waitForSlowAdc();
// now check if stepper motor re-initialization is requested - if the throttle pedal is pressed at startup
bool forceStepperParking = !engine->rpmCalculator.isRunning(PASS_ENGINE_PARAMETER_SIGNATURE) && getTPS(PASS_ENGINE_PARAMETER_SIGNATURE) > STEPPER_PARKING_TPS;
if (boardConfiguration->stepperForceParkingEveryRestart)
forceStepperParking = true;
scheduleMsg(logger, "Stepper: savedStepperPos=%d forceStepperParking=%d (tps=%.2f)", motor->currentPosition, (forceStepperParking ? 1 : 0), getTPS(PASS_ENGINE_PARAMETER_SIGNATURE));
if (motor->currentPosition < 0 || forceStepperParking) {
// reset saved value
saveStepperPos(-1);
/**
* let's park the motor in a known position to begin with
*
* I believe it's safer to retract the valve for parking - at least on a bench I've seen valves
* disassembling themselves while pushing too far out.
*
* Add extra steps to compensate step skipping by some old motors.
*/
int numParkingSteps = (int)efiRound((1.0f + (float)boardConfiguration->stepperParkingExtraSteps / PERCENT_MULT) * motor->totalSteps, 1.0f);
for (int i = 0; i < numParkingSteps; i++) {
motor->pulse();
}
// set & save zero stepper position after the parking completion
motor->currentPosition = 0;
saveStepperPos(motor->currentPosition);
} else {
// The initial target position should correspond to the saved stepper position.
// Idle thread starts later and sets a new target position.
motor->setTargetPosition(motor->currentPosition);
}
while (true) {
int targetPosition = motor->getTargetPosition();
int currentPosition = motor->currentPosition;
if (targetPosition == currentPosition) {
chThdSleepMilliseconds(motor->reactionTime);
continue;
}
bool isIncrementing = targetPosition > currentPosition;
motor->setDirection(isIncrementing);
if (isIncrementing) {
motor->currentPosition++;
} else {
motor->currentPosition--;
}
motor->pulse();
// save position to backup RTC register
saveStepperPos(motor->currentPosition);
}
// let's part the motor in a known position to begin with
// for (int i = 0; i < ST_COUNT / 2; i++) {
// motor->pulse();
// }
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.
*/
uint32_t tempR, tempP, tempY;
float Roll,Pitch,Yaw;
halInit();
chSysInit();
i2c_setup();
palSetPadMode(IOPORT1, 8, PAL_MODE_INPUT); // PA8 - RADIO INPUT
palSetPadMode(IOPORT2, 13, PAL_MODE_STM32_ALTERNATE_OPENDRAIN); /* SCK. */
palSetPadMode(IOPORT2, 14, PAL_MODE_STM32_ALTERNATE_PUSHPULL); /* MISO.*/
palSetPadMode(IOPORT2, 15, PAL_MODE_STM32_ALTERNATE_OPENDRAIN); /* MOSI.*/
palSetPadMode(IOPORT2, 12, PAL_MODE_STM32_ALTERNATE_OPENDRAIN);
palSetPadMode(IOPORT3, 11, PAL_MODE_OUTPUT_PUSHPULL);
chMtxInit(&mtx_imu);
chMtxInit(&mutex_motors);
palClearPad(IOPORT3,10);
//palClearPad(IOPORT3,11);
/*
* Activates the USB driver and then the USB bus pull-up on D+.
*/
sduObjectInit(&SDU1);
sduStart(&SDU1, &serusbcfg);
usbConnectBus(serusbcfg.usbp);
//palClearPad(GPIOC, GPIOC_USB_DISC);
icuStart(&ICUD1, &icucfg);
icuEnable(&ICUD1);
chThdSleepSeconds(1);
chThdCreateStatic(waThread1, sizeof(waThread1), HIGHPRIO, Thread1, NULL);
//chThdCreateStatic(waMotorsThread, sizeof(waMotorsThread), NORMALPRIO, MotorsThread, NULL);
spiAcquireBus(&SPID2); /* Acquire ownership of the bus. */
spiStart(&SPID2, &ls_spicfg); /* Setup transfer parameters. */
spiSelect(&SPID2);
KP = 1;
KI = 1;
KD = 0;
while (TRUE) {
while(!(SPID2.spi->SR & SPI_SR_RXNE));
spiReceive(&SPID2,24,rxbuf_16bit);
// Floating point calculation of Roll/Pitch/Yaw inside the microcontroller. Decomment next 6 lines if you want to implement
// the control Law.
tempR = (uint32_t)((rxbuf_16bit[0] << 31) | (rxbuf_16bit[1] << 23) | (rxbuf_16bit[2] << 11) | rxbuf_16bit[3]);
tempP = (uint32_t)((rxbuf_16bit[4] << 31) | (rxbuf_16bit[5] << 23) | (rxbuf_16bit[6] << 11) | rxbuf_16bit[7]);
tempY = (uint32_t)((rxbuf_16bit[8] << 31) | (rxbuf_16bit[9] << 23) | (rxbuf_16bit[10] << 11) | rxbuf_16bit[11]);
Roll = (*(float*)&tempR);
Pitch = (*(float*)&tempP);
Yaw = (*(float*)&tempY);
// CONTROL LAW HERE
//++ (ROLL,PITCH,YAW ERRORS) -----> [CONTROLLER] -----> (MOTORS INPUT)
// PID Control Law
roll_error = 0 - Roll;
pitch_error = 0 - Pitch;
yaw_error = 0 - Yaw;
roll_I = roll_I + roll_error*0.01;
pitch_I = pitch_I + pitch_error*0.01;
roll_D = (roll_error - roll_prev_error)/0.01;
pitch_D = (pitch_error - pitch_prev_error)/0.01;
roll_controller_output = (int8_t)(KP*roll_error + KI*roll_I + KD*roll_D);
pitch_controller_output = (int8_t)(KP*pitch_error + KI*pitch_I + KD*pitch_D);
//roll_controller_output = (int8_t)roll_error;
//pitch_controller_output = (int8_t)pitch_error;
roll_prev_error = roll_error;
pitch_prev_error = pitch_error;
//-------------------------------------------------------------------
blctrl20_set_velocity();
palSetPad(IOPORT3,11);
/* SPI FLOATING POINT TEST PACKET (sending 5.6F)
rxbuf_16bit[0] = 0;
rxbuf_16bit[1] = 129;
rxbuf_16bit[2] = 1638;
rxbuf_16bit[3] = 819;
rxbuf_16bit[4] = 0;
rxbuf_16bit[5] = 129;
rxbuf_16bit[6] = 1638;
rxbuf_16bit[7] = 819;
rxbuf_16bit[8] = 1;
rxbuf_16bit[9] = 129;
rxbuf_16bit[10] = 1638;
rxbuf_16bit[11] = 819;
*/
if(SDU1.config->usbp->state==USB_ACTIVE)
{
// chprintf((BaseChannel *)&SDU1,"S:%6d:%6d:%6d:%6d:%6d:%6d:%6d:%6d:%6d:%6d:%6d:%6d:E\r\n",rxbuf_16bit[0],rxbuf_16bit[1],rxbuf_16bit[2],rxbuf_16bit[3],rxbuf_16bit[4],rxbuf_16bit[5],rxbuf_16bit[6],rxbuf_16bit[7],rxbuf_16bit[8],rxbuf_16bit[9],rxbuf_16bit[10],rxbuf_16bit[11]);
chprintf((BaseChannel *)&SDU1, "S:%6D:%6D:%6D:%6D:%6D:%6D:%6D:%6D:%6D:%6D:%6D:%6D:%6D:%6D:%6D:%6D:%6D:%6D:%6D:%6D:E\r\n",rxbuf_16bit[0],rxbuf_16bit[1],rxbuf_16bit[2],rxbuf_16bit[3],rxbuf_16bit[4],rxbuf_16bit[5],rxbuf_16bit[6],rxbuf_16bit[7],rxbuf_16bit[8],rxbuf_16bit[9],rxbuf_16bit[10],rxbuf_16bit[11],(int8_t)Roll,(int8_t)Pitch,(int8_t)Yaw,icu_ch[3],icu_ch[4],roll_controller_output,pitch_controller_output,yaw_controller_output);
}
chThdSleepMilliseconds(10);
}
spiUnselect(&SPID2);
spiReleaseBus(&SPID2); /* Ownership release. */
}
//Wireless
static void cmd_nrf(BaseSequentialStream *chp, int argc, char *argv[]) {
if(*(argv[0]) == 'c'){
channel = strtol(argv[1], NULL, 0);
nrf24l01SetChannel(&nrf24l01, channel);
chprintf((BaseSequentialStream*)&SD1, "Channel set to %d.\n\r", channel);
}
else if(*(argv[0]) == 'a'){
if(strlen(argv[1]) == 5){
int i = 0;
uint8_t add[5];
for(i; i<5; i++){
addr[i] = *(argv[1]+i);
}
serialOutBuf[0] = msg_seq;
serialOutBuf[2] = addr[0];
serialOutBuf[3] = addr[1];
serialOutBuf[4] = addr[2];
serialOutBuf[5] = addr[3];
serialOutBuf[6] = addr[4];
nrf24l01SetRXAddress(&nrf24l01, 0, addr);
chprintf((BaseSequentialStream*)&SD1, "Personal Address set to %s.\n\r", addr);
//addr = add;
}else {
chprintf((BaseSequentialStream*)&SD1, "Not an appropriate length address.");
}
}
else if(*(argv[0]) == 't'){
int i=0;
for(i; i<5; i++){
target_addr[i] = *(argv[1] + i);
}
chprintf((BaseSequentialStream*)&SD1, "%s.\n\r", target_addr);
//chprintf((BaseSequentialStream*)&SD1, "Sending...");
nrf24l01SetTXAddress(&nrf24l01, target_addr);
int msg_size = strlen(argv[2]);
serialOutBuf[0] = msg_seq;
serialOutBuf[7] = ',';
serialOutBuf[8] = msg_type;
serialOutBuf[9] = ',';
serialOutBuf[10] = msg_size;
serialOutBuf[11] = ',';
for(i=0;i<(msg_size);i++){
serialOutBuf[i+12] = *(argv[2] + i);
}
wait_for_ack = 1;
for(i=0; i<5; i++){
chMtxLock(&nrfMutex);
chnWriteTimeout(&nrf24l01.channels[0], serialOutBuf, 32, MS2ST(100));
chMtxUnlock(&nrfMutex);
chThdSleepMilliseconds(200);
if (!wait_for_ack) break;
chprintf((BaseSequentialStream*)&SD1, "failed to send %d\n\r", i);
}
msg_seq = msg_seq ^ 1;
}
else if(*(argv[0]) == 'r'){
if (*(argv[1]) == 'l'){
int i,j;
for(i=0; i<iter; i++){
chprintf((BaseSequentialStream*)&SD1, "%d. <", i+1);
for(j=0; j<5; j++){
chprintf((BaseSequentialStream*)&SD1, "%c", rec_list[(iter-1)-i][j]);
}
chprintf((BaseSequentialStream*)&SD1, ">, <%d> \n\r", rec_list[(iter-1)-i][5]);
}
}else{
int j;
fifo = (fifo+1)%10;
if(fifo != iter){
for(j=0; j<5; j++){
chprintf((BaseSequentialStream*)&SD1, "%c", rec_list[fifo][j]);
}
chprintf((BaseSequentialStream*)&SD1, ": " );
for(j=0; j<(serialInBuf[10]);j++){
chprintf((BaseSequentialStream*)&SD1, "%c ", serialInBuf[12+j]);
}
chprintf((BaseSequentialStream*)&SD1, "\n\r");
}
for(j=0; j<26; j++){
rec_list[fifo][j] = 0;
}
}
}
}
void Lcd_t::Init() {
// ==== Backlight: Timer15 Ch2 ====
// Setup pin
PinSetupAlterFuncOutput(LCD_GPIO, LCD_BCKLT, omPushPull, ps50MHz);
// Remap Timer15 to PB14 & PB15
AFIO->MAPR2 |= 0x00000001;
// Setup timer15
rccEnableAPB2(RCC_APB2ENR_TIM15EN, false);
TIM15->CR1 = 0x01; // Enable timer
TIM15->CR2 = 0;
TIM15->PSC = 0; // Do not divide input freq
TIM15->ARR = 100; // Autoreload register: full brightness=100
TIM15->BDTR = 0xC000; // Main output Enable
TIM15->CCMR1 = 0x6000; // PWM mode1 on Ch2 enabled
TIM15->CCER = 0x0010; // Output2 enabled, polarity not inverted
BackligthValue = 0;
// ==== GPIOs ====
// Configure LCD_XRES, LCD_XCS, LCD_SCLK & LCD_SDA as Push-Pull output
InitGpios();
// ========================= Init LCD ======================================
SCLK_Lo();
XCS_Hi();
// Reset display
XRES_Lo();
chThdSleepMilliseconds(9);
XRES_Hi();
WriteCmd(0xAF); // display ON
// Reset display again
XRES_Lo();
chThdSleepMilliseconds(7);
XRES_Hi();
chThdSleepMilliseconds(7);
// Initial commands
WriteCmd(0xAF); // display ON
WriteCmd(0xA4); // Set normal display mode
WriteCmd(0x2F); // Charge pump on
WriteCmd(0x40); // Set start row address = 0
// WriteCmd(0xC8); // mirror Y axis
// WriteCmd(0xA1); // Mirror X axis
// Set x=0, y=0
WriteCmd(0xB3); // Y axis initialization
WriteCmd(0x10); // X axis initialisation1
WriteCmd(0x08); // X axis initialisation2
Cls(); // clear LCD buffer
draw_mode = OVERWRITE;
// ====================== Switch to USART + DMA ============================
#ifdef ENABLE_DMAUSART_MODE
PinSetupAlterFuncOutput(LCD_GPIO, LCD_SCLK, omPushPull, ps50MHz);
PinSetupAlterFuncOutput(LCD_GPIO, LCD_SDA, omPushPull, ps50MHz);
// Workaround hardware bug with disabled CK3 when SPI2 is enabled
SPI2->CR2 |= SPI_CR2_SSOE;
// ==== USART init ====
rccEnableUSART3(false);
// Usart clock: enabled, idle low, first edge, enable last bit pulse
// Usart itself
LCD_USART->BRR = Clk.APB1FreqHz / 100000;
LCD_USART->CR1 = USART_CR1_TE | /* Transmitter enabled */ \
USART_CR1_M; /* 9 bit */
LCD_USART->CR2 = USART_CR2_CLKEN | \
USART_CR2_LBCL;
LCD_USART->CR3 = USART_CR3_DMAT; // Enable DMA at transmitter
LCD_USART->CR1 |= USART_CR1_UE; // Enable USART
// ==== DMA ====
rccEnableDMA1();
dmaStreamAllocate(LCD_DMA, IRQ_PRIO_MEDIUM, LcdDmaCompIrq, NULL);
dmaStreamSetPeripheral(LCD_DMA, &USART3->DR);
dmaStreamSetMemory0(LCD_DMA, (uint32_t)&IBuf[0]);
dmaStreamSetMode (LCD_DMA, LCD_DMA_MODE);
// Start transmission
XCS_Lo();
// DMA_Cmd(DMA1_Channel2, ENABLE); // Enable USARTy DMA TX Channel
#else
for(int i=0; i < 864; i++) WriteData(0x00); // Clear all screen
#endif
Backlight(0);
chThdCreateStatic(waLcdThread, sizeof(waLcdThread), NORMALPRIO, (tfunc_t)LcdThread, NULL);
}
/*
* Application entry point.
*/
int main(void) {
color_t color = Black;
uint16_t pen = 0;
Thread *shelltp = NULL;
/*
* 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();
gdispInit();
ginputGetMouse(0);
gdispSetOrientation(GDISP_ROTATE_90);
drawScreen();
/*
* 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(1000);
usbStart(serusbcfg.usbp, &usbcfg);
usbConnectBus(serusbcfg.usbp);
/*
* Shell manager initialization.
*/
shellInit();
/*
* Creates the blinker thread.
*/
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
/*
* Normal main() thread activity, in this demo it does nothing except
* sleeping in a loop and check the button state.
*/
while (TRUE) {
if (!shelltp && (SDU1.config->usbp->state == USB_ACTIVE))
shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO);
else if (chThdTerminated(shelltp)) {
chThdRelease(shelltp); /* Recovers memory of the previous shell. */
shelltp = NULL; /* Triggers spawning of a new shell. */
}
ginputGetMouseStatus(0, &ev);
if (!(ev.current_buttons & GINPUT_MOUSE_BTN_LEFT))
{
chThdSleepMicroseconds(500); // Senza questo sleep l'USB non parte
continue;
}
/* inside color box ? */
if(ev.y >= OFFSET && ev.y <= COLOR_SIZE) {
if(GET_COLOR(0)) color = Black;
else if(GET_COLOR(1)) color = Red;
else if(GET_COLOR(2)) color = Yellow;
else if(GET_COLOR(3)) color = Green;
else if(GET_COLOR(4)) color = Blue;
else if(GET_COLOR(5)) color = White;
/* inside pen box ? */
} else if(ev.x >= OFFSET && ev.x <= PEN_SIZE) {
if(GET_PEN(1)) pen = 0;
else if(GET_PEN(2)) pen = 1;
else if(GET_PEN(3)) pen = 2;
else if(GET_PEN(4)) pen = 3;
else if(GET_PEN(5)) pen = 4;
/* inside drawing area ? */
} else if(DRAW_AREA(ev.x, ev.y)) {
if(pen == 0)
gdispDrawPixel(ev.x, ev.y, color);
else
gdispFillCircle(ev.x, ev.y, pen, color);
}
}
}
/**
* @brief Performs the initialization procedure on the inserted card.
* @details This function should be invoked when a card is inserted and
* brings the driver in the @p MMC_READY state where it is possible
* to perform read and write operations.
* @note It is possible to invoke this function from the insertion event
* handler.
*
* @param[in] mmcp pointer to the @p MMCDriver object
*
* @return The operation status.
* @retval HAL_SUCCESS the operation succeeded and the driver is now
* in the @p MMC_READY state.
* @retval HAL_FAILED the operation failed.
*
* @api
*/
bool mmcConnect(MMCDriver *mmcp) {
unsigned i;
uint8_t r3[4];
osalDbgCheck(mmcp != NULL);
osalDbgAssert((mmcp->state == BLK_ACTIVE) || (mmcp->state == BLK_READY),
"invalid state");
/* Connection procedure in progress.*/
mmcp->state = BLK_CONNECTING;
mmcp->block_addresses = FALSE;
/* Slow clock mode and 128 clock pulses.*/
spiStart(mmcp->config->spip, mmcp->config->lscfg);
spiIgnore(mmcp->config->spip, 16);
/* SPI mode selection.*/
i = 0;
while (TRUE) {
if (send_command_R1(mmcp, MMCSD_CMD_GO_IDLE_STATE, 0) == 0x01)
break;
if (++i >= MMC_CMD0_RETRY)
goto failed;
chThdSleepMilliseconds(10);
}
/* Try to detect if this is a high capacity card and switch to block
addresses if possible.
This method is based on "How to support SDC Ver2 and high capacity cards"
by ElmChan.*/
if (send_command_R3(mmcp, MMCSD_CMD_SEND_IF_COND,
MMCSD_CMD8_PATTERN, r3) != 0x05) {
/* Switch to SDHC mode.*/
i = 0;
while (TRUE) {
if ((send_command_R1(mmcp, MMCSD_CMD_APP_CMD, 0) == 0x01) &&
(send_command_R3(mmcp, MMCSD_CMD_APP_OP_COND,
0x400001aa, r3) == 0x00))
break;
if (++i >= MMC_ACMD41_RETRY)
goto failed;
chThdSleepMilliseconds(10);
}
/* Execute dedicated read on OCR register */
send_command_R3(mmcp, MMCSD_CMD_READ_OCR, 0, r3);
/* Check if CCS is set in response. Card operates in block mode if set.*/
if (r3[0] & 0x40)
mmcp->block_addresses = TRUE;
}
/* Initialization.*/
i = 0;
while (TRUE) {
uint8_t b = send_command_R1(mmcp, MMCSD_CMD_INIT, 0);
if (b == 0x00)
break;
if (b != 0x01)
goto failed;
if (++i >= MMC_CMD1_RETRY)
goto failed;
chThdSleepMilliseconds(10);
}
/* Initialization complete, full speed.*/
spiStart(mmcp->config->spip, mmcp->config->hscfg);
/* Setting block size.*/
if (send_command_R1(mmcp, MMCSD_CMD_SET_BLOCKLEN,
MMCSD_BLOCK_SIZE) != 0x00)
goto failed;
/* Determine capacity.*/
if (read_CxD(mmcp, MMCSD_CMD_SEND_CSD, mmcp->csd))
goto failed;
mmcp->capacity = mmcsdGetCapacity(mmcp->csd);
if (mmcp->capacity == 0)
goto failed;
if (read_CxD(mmcp, MMCSD_CMD_SEND_CID, mmcp->cid))
goto failed;
mmcp->state = BLK_READY;
return HAL_SUCCESS;
/* Connection failed, state reset to BLK_ACTIVE.*/
failed:
spiStop(mmcp->config->spip);
mmcp->state = BLK_ACTIVE;
return HAL_FAILED;
}