int main(void)
{
uint8_t data;
watchdog_stop();
set_mcu_speed_dco_mclk_16MHz_smclk_8MHz();
led_red_on();
uart_init(UART_9600_SMCLK_8MHZ);
serial_ring_init();
uart_register_cb( serial_cb);
printf("serial test application: echo\n");
led_green_on();
eint();
for(;;)
{
LPM(1);
if (serial_ring_get(&data))
{
putchar(data);
led_green_switch();
}
else
{
printf("\n\n serial_ring_get() returns 0 : empty ring\n\n");
led_red_switch();
}
}
}
void hal_clocksource_init(void){
//for debugging clocksource problems
led_red_on();
led_green_on();
//power up osc (?)
SLEEP &= ~CLOCKSOURCE_OSC_PD_BIT;
//wait for XOSC stable
while(!CLOCKSOURCE_XOSC_STABLE()){}
NOP();
//start crystal osc as HS clocksource, OSC32 is int rc osc
CLKCON = 0x80;
//wait for selection to be active
while(!CLOCKSOURCE_XOSC_STABLE()){}
NOP();
//power down the unused oscillator
SLEEP |= CLOCKSOURCE_OSC_PD_BIT;
//for debugging clocksource problems
led_red_off();
led_green_off();
}
// Disable the CAN peripheral and go off-bus
void can_disable(void)
{
if (bus_state == ON_BUS)
{
// Do a bxCAN reset (set RESET bit to 1)
can_handle.Instance->MCR |= CAN_MCR_RESET;
bus_state = OFF_BUS;
led_green_on();
}
}
// Send a message on the CAN bus (blocking)
uint32_t can_tx(CanTxMsgTypeDef *tx_msg)
{
uint32_t status;
// Transmit can frame
can_handle.pTxMsg = tx_msg;
status = HAL_CAN_Transmit(&can_handle, 10);
led_green_on();
return status;
}
void default_handler (void) {
uint64_t i;
led_red_on();
while (1) {
for (i=0; i<0x00FFFFF; i++) {}
led_green_off();
for (i=0; i<0x00FFFFF; i++) {}
led_green_on();
}
while (1);
}
void toggle_leds() {
if(state == 0 ) {
led_green_on();
led_blue_off();
state = 1;
} else {
led_green_off();
led_blue_on();
state = 0;
}
}
int8_t ker_led(uint8_t action)
{
switch (action){
case LED_RED_ON: led_red_on(); break;
case LED_GREEN_ON: led_green_on(); break;
case LED_YELLOW_ON: led_yellow_on(); break;
case LED_RED_OFF: led_red_off(); break;
case LED_GREEN_OFF: led_green_off(); break;
case LED_YELLOW_OFF: led_yellow_off(); break;
case LED_RED_TOGGLE: led_red_toggle(); break;
case LED_GREEN_TOGGLE: led_green_toggle(); break;
case LED_YELLOW_TOGGLE: led_yellow_toggle(); break;
}
return 0;
}
// Set CAN peripheral to silent mode
void can_set_autoretransmit(uint8_t autoretransmit)
{
if (bus_state == ON_BUS)
{
// Cannot set autoretransmission while on bus
return;
}
if (autoretransmit)
{
can_nart = DISABLE;
} else {
can_nart = ENABLE;
}
led_green_on();
}
// Set CAN peripheral to silent mode
void can_set_silent(uint8_t silent)
{
if (bus_state == ON_BUS)
{
// cannot set silent mode while on bus
return;
}
if (silent)
{
can_handle.Init.Mode = CAN_MODE_SILENT;
} else {
can_handle.Init.Mode = CAN_MODE_NORMAL;
}
led_green_on();
}
static PT_THREAD(thread_led_green(struct pt *pt))
{
PT_BEGIN(pt);
while(1)
{
PT_WAIT_UNTIL(pt, led_green_flag);
led_green_on();
TIMER_LED_GREEN_ON = 0;
PT_WAIT_UNTIL(pt, timer_reached(TIMER_LED_GREEN_ON,
led_green_duration));
led_green_off();
led_green_flag = 0;
}
PT_END(pt);
}
static void sfi_err_code_led_display(uint8_t errcode)
{
uint8_t _led_display;
_led_display = errcode;
if (_led_display & 0x01)
led_yellow_on();
else
led_yellow_off();
_led_display >>= 1;
if (_led_display & 0x01)
led_green_on();
else
led_green_off();
_led_display >>= 1;
if (_led_display & 0x01)
led_red_on();
else
led_red_off();
return;
}
int window_fan() {
rcc_config();
delay_config();
led_debug_config();
motor_config();
led_blue_off();
led_green_off();
servo_config();
servo_set_pos(0);
servo_start();
u32 i;
u32 from = 0;
u32 to = 180;
u32 delay = 2000;
while(1) {
motor_forward();
led_blue_on();
led_green_off();
for(i=from; i<to; i++) {
servo_set_pos(i);
delay_ms(delay);
}
led_blue_off();
led_green_on();
for(i=to; i>from; i--) {
servo_set_pos(i);
delay_ms(delay);
}
motor_stop();
delay_ms(10000);
}
}
// Set the bitrate of the CAN peripheral
void can_set_bitrate(enum can_bitrate bitrate)
{
if (bus_state == ON_BUS)
{
// cannot set bitrate while on bus
return;
}
switch (bitrate)
{
case CAN_BITRATE_10K:
prescaler = 600;
break;
case CAN_BITRATE_20K:
prescaler = 300;
break;
case CAN_BITRATE_50K:
prescaler = 120;
break;
case CAN_BITRATE_100K:
prescaler = 60;
break;
case CAN_BITRATE_125K:
prescaler = 48;
break;
case CAN_BITRATE_250K:
prescaler = 24;
break;
case CAN_BITRATE_500K:
prescaler = 12;
break;
case CAN_BITRATE_750K:
prescaler = 8;
break;
case CAN_BITRATE_1000K:
prescaler = 6;
break;
}
led_green_on();
}
int reader_test() {
rcc_config();
led_debug_config();
motor_config();
reed_config();
led_blue_off();
led_green_off();
uint8_t i;
while(1) {
// forward
motor_forward();
led_blue_on();
reed_delay_left();
// stop
motor_stop();
led_blue_off();
bigDelay();
bigDelay();
bigDelay();
// backward
motor_back();
led_green_on();
reed_delay_right();
// stop
motor_stop();
led_green_off();
bigDelay();
bigDelay();
bigDelay();
}
}
