void startInputDriver(const char *msg, /*nullable*/digital_input_s *hw, bool isActiveHigh) {
if (hw == NULL) {
// we can get NULL driver if user somehow has invalid pin in his configuration
warning(CUSTOM_ERR_INVALID_INPUT_ICU_PIN, "s_not input pin");
return;
}
hw->isActiveHigh = isActiveHigh;
if (hw->isActiveHigh) {
wave_icucfg.mode = ICU_INPUT_ACTIVE_HIGH;
} else {
wave_icucfg.mode = ICU_INPUT_ACTIVE_LOW;
}
ICUDriver *driver = hw->driver;
if (driver != NULL) {
if (hw->started) {
icuDisableNotificationsI(driver);
icuStopCapture(driver);
icuStop(driver);
}
wave_icucfg.channel = getInputCaptureChannel(hw->brainPin);
efiIcuStart(msg, driver, &wave_icucfg);
efiAssertVoid(CUSTOM_ERR_6672, driver != NULL, "di: driver is NULL");
efiAssertVoid(CUSTOM_ERR_6673, driver->state == ICU_READY, "di: driver not ready");
icuStartCapture(driver); // this would change state from READY to WAITING
icuEnableNotifications(driver);
}
hw->started = true;
}
/*
* 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();
palSetPadMode(TRIGGER_PORT, TRIGGER_PIN, PAL_MODE_OUTPUT_PUSHPULL);
palClearPad(TRIGGER_PORT, TRIGGER_PIN);
palSetPadMode(GPIOA, GPIOA_PIN8, PAL_MODE_ALTERNATE(1));
icuStart(&ICUD1, &icucfg);
icuStartCapture(&ICUD1);
icuEnableNotifications(&ICUD1);
sdStart(&SD2, NULL);
chprintf(chp, "\n\n\r ChibiOS 3.0.2 project by NAFT.\n\r");
chprintf(chp, "\n\r test message to print after boot complete");
chprintf(chp, "\n\r my best number is: %d", 17);
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
chThdCreateStatic(waThread2, sizeof(waThread2), HIGHPRIO, Thread2, NULL);
chThdCreateStatic(waThread3, sizeof(waThread3), HIGHPRIO, thread3, NULL);
while (true) {
chThdSleepMilliseconds(1000);
}
}
/**
* Initialize the serve decoding driver.
*
* @param d_func
* A function that should be called every time the servo signals have been
* decoded. Can be NULL.
*/
void servodec_init(void (*d_func)(void)) {
icuStart(&HW_ICU_DEV, &icucfg);
palSetPadMode(HW_ICU_GPIO, HW_ICU_PIN, PAL_MODE_ALTERNATE(HW_ICU_GPIO_AF));
icuStartCapture(&HW_ICU_DEV);
icuEnableNotifications(&HW_ICU_DEV);
for (int i = 0;i < SERVO_NUM;i++) {
servo_pos[i] = 0.0;
last_len_received[i] = 0.0;
}
// Set our function pointer
done_func = d_func;
}
/*
* 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();
/*
* Starting PWM driver 1 and enabling the notifications.
* GPIOA8 is programmed as PWM output (channel 1 of TIM1).
*/
pwmStart(&PWMD1, &pwmcfg);
pwmEnablePeriodicNotification(&PWMD1);
palSetPadMode(GPIOA, GPIOA_ARD_D5, PAL_MODE_ALTERNATE(1));
/*
* Starting ICU driver 2.
* GPIOA15 is programmed as ICU input (channel 1 of TIM2).
*/
icuStart(&ICUD2, &icucfg);
palSetPadMode(GPIOA, GPIOA_ARD_D9, PAL_MODE_ALTERNATE(1));
/*
* GPIOI1 is programmed as output (board LED).
*/
palClearPad(GPIOI, GPIOI_ARD_D13);
palSetPadMode(GPIOI, GPIOI_ARD_D13, PAL_MODE_OUTPUT_PUSHPULL);
chThdSleepMilliseconds(1000);
/*
* Starting ICU capture and enabling the notifications.
*/
icuStartCapture(&ICUD2);
icuEnableNotifications(&ICUD2);
/*
* Normal main() thread activity, various PWM patterns are generated
* cyclically, if the ICU input is connected to the PWM output the
* board LED mirrors the PWM output.
*/
while (true) {
/*
* Starts the PWM channel 0 using 75% duty cycle.
*/
pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 7500));
pwmEnableChannelNotification(&PWMD1, 0);
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 to half second the duty cycle becomes 50%
* implicitly.
*/
pwmChangePeriod(&PWMD1, 5000);
chThdSleepMilliseconds(5000);
/*
* Disables channel 0.
*/
pwmDisableChannel(&PWMD1, 0);
}
}
/*
* Application entry point.
*/
int main(void) {
/*
* System initializations.
* - HAL initialization, this also initializes the configured device drivers
* and performs the board-specific initializations.
* - Kernel initialization, the main() function becomes a thread and the
* RTOS is active.
*/
halInit();
chSysInit();
/*
* Initializes the PWM driver 4 and ICU driver 3.
* GPIOD12 is the PWM output channel 0.
* GPIOC6 is the ICU input ICU_CHANNEL_1.
* The two pins have to be externally connected together.
*/
pwmStart(&PWMD4, &pwmcfg);
pwmEnablePeriodicNotification(&PWMD4);
palSetPadMode(GPIOD, 12, PAL_MODE_ALTERNATE(2));
icuStart(&ICUD3, &icucfg);
palSetPadMode(GPIOC, 6, PAL_MODE_ALTERNATE(2));
icuStartCapture(&ICUD3);
icuEnableNotifications(&ICUD3);
chThdSleepMilliseconds(2000);
/*
* Starts the PWM channel 0 using 75% duty cycle.
*/
pwmEnableChannel(&PWMD4, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD4, 7500));
pwmEnableChannelNotification(&PWMD4, 0);
chThdSleepMilliseconds(5000);
/*
* Changes the PWM channel 0 to 50% duty cycle.
*/
pwmEnableChannel(&PWMD4, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD4, 5000));
chThdSleepMilliseconds(5000);
/*
* Changes the PWM channel 0 to 25% duty cycle.
*/
pwmEnableChannel(&PWMD4, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD4, 2500));
chThdSleepMilliseconds(5000);
/*
* Changes PWM period to half second the duty cycle becomes 50%
* implicitly.
*/
pwmChangePeriod(&PWMD4, 5000);
chThdSleepMilliseconds(5000);
/*
* Disables channel 0 and stops the drivers.
*/
pwmDisableChannel(&PWMD4, 0);
pwmStop(&PWMD4);
icuStopCapture(&ICUD3);
icuStop(&ICUD3);
palClearPad(GPIOE, GPIOE_LED4_BLUE);
palClearPad(GPIOE, GPIOE_LED9_BLUE);
/*
* Normal main() thread activity, in this demo it does nothing.
*/
while (true) {
chThdSleepMilliseconds(500);
}
return 0;
}
