int main(void) {
GPIO_InitTypeDef GPIO_InitStructure;
SD_Error sderr;
SD_CardInfo ci;
// All GPIO clock enable
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA |
RCC_AHB1Periph_GPIOB |
RCC_AHB1Periph_GPIOC |
RCC_AHB1Periph_GPIOD |
RCC_AHB1Periph_GPIOE, ENABLE);
// Configure LEDs in output pushpull mode
GPIO_InitStructure.GPIO_Pin = LED_PIN_ALL;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(LED_GPIO, &GPIO_InitStructure);
// Configure SysTick for 400ms period
if(!tick_start(400.0)) {
while(1);
}
/*
if((SD_Init() == SD_OK) && SD_Detect()){
sderr = SD_GetCardInfo(&ci);
if(sderr == SD_OK){
while(1);
}
}
*/
lsm303_init();
l3gd20_init();
while (1) {
tick_wait(1);
l3gd20_read_sync();
lsm303_read();
}
}
int main() {
GPIO_InitTypeDef GPIO_InitDef;
SystemClock_Config();
SystemCoreClockUpdate();
HAL_Init();
/* driver init */
lsm303dlhc_init();
l3gd20_init();
osKernelInitialize();
Init_Timers();
handlerThread_id = osThreadCreate(osThread(handlerThread), NULL);
gyroHandlerThread_id = osThreadCreate(osThread(gyroHandlerThread), NULL);
visioThread_id = osThreadCreate(osThread(visioThread), NULL);
accelBuffer_mutex_id = osMutexCreate(osMutex(accelBuffer_mutex));
gyroBuffer_mutex_id = osMutexCreate(osMutex(gyroBuffer_mutex));
// enable clock for GPIOE
//__HAL_RCC_GPIOE_CLK_ENABLE();
// init GPIO pin
GPIO_InitDef.Pin = GPIO_PIN_9;
GPIO_InitDef.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitDef.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOE, &GPIO_InitDef);
// set LD3
HAL_GPIO_WritePin(GPIOE, GPIO_PIN_9, GPIO_PIN_SET);
osKernelStart();
}
