/**
* CAN test main function
*
* @return Nothing really...
*/
int main(void)
{
int timer;
uint8_t data[1];
mcu_init();
led_init();
sys_tick_init();
can_setup();
timer = sys_tick_get_timer();
data[0] = 10;
while (true) {
if (sys_tick_check_timer(timer, 10000)) {
data[0]++;
timer = sys_tick_get_timer();
#ifdef CAN__SEND
#ifdef CAN_ADDR
can_trans(CAN_ADDR, data, 1);
#else
can_trans(CAN__DEFAULT_ADDR, data, 1);
#endif
#endif
}
}
}
int main()
{
uart_config_t uart_conf;
DISABLE_IRQ();
hal_clk_init();
sys_tick_init();
I2cInit( &I2c, I2C_SCL, I2C_SDA );
uart_conf.baud = 9600;
uart_conf.word_length = 8;
uart_conf.parity = NONE;
uart_conf.stop_bits = 1;
uart_init(&uart_conf);
ENABLE_IRQ();
app_init();
DISABLE_IRQ();
led_init();
while(1){
/** polling all events */
app_evt();
led_evt();
}
}
// setup the basic components of any system
void sys_init(void)
{
sys_clk_init();
sys_interrupt_init();
sys_tick_init();
sys_temp_init();
sys_log_init();
}
bool HAL_STM32M0::init(void)
{
#ifdef HAL_SYS_TICK
SysTick_Config(SystemCoreClock / SYSCLOCK_PERIOD);
sys_tick_init();
#endif
return true;
}
/**
* Main function of the motor controller.
*/
int main(void)
{
int demo_counter;
int demo_dir;
system_init();
led_init();
debug_pins_init();
gprot_init();
usart_init();
sys_tick_init();
cpu_load_process_init();
comm_process_init();
sensor_process_init();
//adc_init();
pwm_init();
comm_tim_init();
control_process_init();
bemf_hd_init();
demo_counter = 500;
demo_dir = 1;
demo = false;
while (true) {
run_cpu_load_process();
/*
if (adc_new_data_trigger) {
adc_new_data_trigger = false;
run_sensor_process();
}
*/
if (*comm_process_trigger) {
*comm_process_trigger = false;
run_comm_process();
}
run_control_process();
if (demo) {
if (demo_counter == 0) {
demo_counter = 300;
pwm_val += demo_dir;
if (pwm_val > 2000) {
demo_dir = -1;
}
if (pwm_val < 500) {
demo_dir = 1;
}
} else {
demo_counter--;
}
}
}
}
void main()
{
uint32_t timestamp;
sx1276_config_t sx1276_config;
DISABLE_IRQ();
hal_clk_init();
sys_tick_init();
ENABLE_IRQ();
led_init();
sx1276_init(LORA, NULL);
sx1276_config.frequency = 433400000;
sx1276_config.spread_factor = SX1276_SF7;
sx1276_config.bandwidth = SX1276_BW_125K;
sx1276_config.coding_rate = SX1276_CR1;
sx1276_config.crc_mode = SX1276_CRC_ON;
sx1276_config.header_mode = SX1276_HEADER_ENABLE;
sx1276_config.payload_len = 0; // Set in HEADER disable mode
sx1276_config.tx_power = 20;
sx1276_config.tx_preamble_len = 12;
sx1276_config.rx_preamble_len = 12;
sx1276_set_config(&sx1276_config);
/** Enter HF/LF test mode */
if(sx1276_config.frequency < SX1276_LF_FREQ_MAX){
sx1276_write( 0x01, 0x88 );
}else{
sx1276_write( 0x01, 0x80 );
}
sx1276_write( 0x3D, 0xA1 );
sx1276_write( 0x36, 0x01 );
sx1276_write( 0x1e, 0x08 );
/** Enable TX to enter continuous wave transmitting mode */
sx1276_send(NULL, 0, 0);
/** Get system tick */
timestamp = millis();
while(1){
/** Blink LED every 1s*/
if( millis() - timestamp > 1000){
timestamp = millis();
led_blink(LED0, 100);
}
/** LED event polling */
led_evt();
}
}
/**
* Sys Tick soft timer test main function
*/
int main(void){
uint32_t timer;
mcu_init();
led_init();
sys_tick_init();
(void)sys_tick_timer_register(sys_tick_timer_callback, 1000000);
while (true) {
timer = sys_tick_get_timer();
while (!sys_tick_check_timer(timer, 50000)) {
__asm("nop");
}
TOGGLE(LED_GREEN);
}
}
void main()
{
uint32_t timestamp;
DISABLE_IRQ();
hal_clk_init();
sys_tick_init();
ENABLE_IRQ();
sx1276_init(FSK, NULL);
//Frequency 433.4MHz
sx1276_fsk_set_frf(433400000);
//Fdev 25KHz
sx1276_fsk_set_fdev(25000);
//Bitrate 10KHz
sx1276_fsk_set_bitrate(10000);
//Set RxBw depends on bitrate and fdev
sx1276_set_rxbw(25000, 10000);
sx1276_write(0x10,0xFF);
//Disable AGC, set G1
sx1276_write(0x0C,0x20);
sx1276_write(0x0D,0x00);
sx1276_fsk_rx_test_mode();
timestamp = millis();
while(1){
if( millis() - timestamp > 1000){
timestamp = millis();
led_blink(LED0,100);
}
led_evt();
}
}
void board_init(void)
{
interrupt_init();
sys_tick_init();
pendSV_init();
}
int main(void) {
// TODO disable JTAG
// update the SystemCoreClock variable
SystemCoreClockUpdate();
// set interrupt priority config to use all 4 bits for pre-empting
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);
// enable the CCM RAM and the GPIO's
RCC->AHB1ENR |= RCC_AHB1ENR_CCMDATARAMEN | RCC_AHB1ENR_GPIOAEN | RCC_AHB1ENR_GPIOBEN | RCC_AHB1ENR_GPIOCEN | RCC_AHB1ENR_GPIODEN;
#if MICROPY_HW_HAS_SDCARD
{
// configure SDIO pins to be high to start with (apparently makes it more robust)
// FIXME this is not making them high, it just makes them outputs...
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10 | GPIO_Pin_11 | GPIO_Pin_12;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_25MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOC, &GPIO_InitStructure);
// Configure PD.02 CMD line
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
GPIO_Init(GPIOD, &GPIO_InitStructure);
}
#endif
#if defined(NETDUINO_PLUS_2)
{
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_25MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
#if MICROPY_HW_HAS_SDCARD
// Turn on the power enable for the sdcard (PB1)
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_WriteBit(GPIOB, GPIO_Pin_1, Bit_SET);
#endif
// Turn on the power for the 5V on the expansion header (PB2)
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_WriteBit(GPIOB, GPIO_Pin_2, Bit_SET);
}
#endif
// basic sub-system init
sys_tick_init();
pendsv_init();
led_init();
#if MICROPY_HW_ENABLE_RTC
rtc_init();
#endif
// turn on LED to indicate bootup
led_state(PYB_LED_G1, 1);
// more sub-system init
#if MICROPY_HW_HAS_SDCARD
sdcard_init();
#endif
storage_init();
// uncomment these 2 lines if you want REPL on USART_6 (or another usart) as well as on USB VCP
//pyb_usart_global_debug = PYB_USART_YA;
//usart_init(pyb_usart_global_debug, 115200);
int first_soft_reset = true;
soft_reset:
// GC init
gc_init(&_heap_start, &_heap_end);
// Micro Python init
qstr_init();
mp_init();
mp_obj_list_init(mp_sys_path, 0);
mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR_0_colon__slash_));
mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR_0_colon__slash_lib));
mp_obj_list_init(mp_sys_argv, 0);
exti_init();
#if MICROPY_HW_HAS_SWITCH
switch_init();
#endif
#if MICROPY_HW_HAS_LCD
// LCD init (just creates class, init hardware by calling LCD())
lcd_init();
#endif
#if MICROPY_HW_ENABLE_SERVO
// servo
servo_init();
#endif
#if MICROPY_HW_ENABLE_TIMER
// timer
timer_init();
#endif
#if MICROPY_HW_ENABLE_RNG
// RNG
RCC_AHB2PeriphClockCmd(RCC_AHB2Periph_RNG, ENABLE);
RNG_Cmd(ENABLE);
#endif
pin_map_init();
// add some functions to the builtin Python namespace
mp_store_name(MP_QSTR_help, mp_make_function_n(0, pyb_help));
mp_store_name(MP_QSTR_open, mp_make_function_n(2, pyb_io_open));
// load the pyb module
mp_module_register(MP_QSTR_pyb, (mp_obj_t)&pyb_module);
// check if user switch held (initiates reset of filesystem)
bool reset_filesystem = false;
#if MICROPY_HW_HAS_SWITCH
if (switch_get()) {
reset_filesystem = true;
for (int i = 0; i < 50; i++) {
if (!switch_get()) {
reset_filesystem = false;
break;
}
sys_tick_delay_ms(10);
}
}
#endif
// local filesystem init
{
// try to mount the flash
FRESULT res = f_mount(&fatfs0, "0:", 1);
if (!reset_filesystem && res == FR_OK) {
// mount sucessful
} else if (reset_filesystem || res == FR_NO_FILESYSTEM) {
// no filesystem, so create a fresh one
// TODO doesn't seem to work correctly when reset_filesystem is true...
// LED on to indicate creation of LFS
led_state(PYB_LED_R2, 1);
uint32_t stc = sys_tick_counter;
res = f_mkfs("0:", 0, 0);
if (res == FR_OK) {
// success creating fresh LFS
} else {
__fatal_error("could not create LFS");
}
// create src directory
res = f_mkdir("0:/src");
// ignore result from mkdir
// create empty main.py
FIL fp;
f_open(&fp, "0:/src/main.py", FA_WRITE | FA_CREATE_ALWAYS);
UINT n;
f_write(&fp, fresh_main_py, sizeof(fresh_main_py) - 1 /* don't count null terminator */, &n);
// TODO check we could write n bytes
f_close(&fp);
// keep LED on for at least 200ms
sys_tick_wait_at_least(stc, 200);
led_state(PYB_LED_R2, 0);
} else {
__fatal_error("could not access LFS");
}
}
// make sure we have a /boot.py
{
FILINFO fno;
FRESULT res = f_stat("0:/boot.py", &fno);
if (res == FR_OK) {
if (fno.fattrib & AM_DIR) {
// exists as a directory
// TODO handle this case
// see http://elm-chan.org/fsw/ff/img/app2.c for a "rm -rf" implementation
} else {
// exists as a file, good!
}
} else {
// doesn't exist, create fresh file
// LED on to indicate creation of boot.py
led_state(PYB_LED_R2, 1);
uint32_t stc = sys_tick_counter;
FIL fp;
f_open(&fp, "0:/boot.py", FA_WRITE | FA_CREATE_ALWAYS);
UINT n;
f_write(&fp, fresh_boot_py, sizeof(fresh_boot_py) - 1 /* don't count null terminator */, &n);
// TODO check we could write n bytes
f_close(&fp);
// keep LED on for at least 200ms
sys_tick_wait_at_least(stc, 200);
led_state(PYB_LED_R2, 0);
}
}
// run /boot.py
if (!pyexec_file("0:/boot.py")) {
flash_error(4);
}
if (first_soft_reset) {
#if MICROPY_HW_HAS_MMA7660
// MMA accel: init and reset address to zero
accel_init();
#endif
}
// turn boot-up LED off
led_state(PYB_LED_G1, 0);
#if MICROPY_HW_HAS_SDCARD
// if an SD card is present then mount it on 1:/
if (sdcard_is_present()) {
FRESULT res = f_mount(&fatfs1, "1:", 1);
if (res != FR_OK) {
printf("[SD] could not mount SD card\n");
} else {
if (first_soft_reset) {
// use SD card as medium for the USB MSD
usbd_storage_select_medium(USBD_STORAGE_MEDIUM_SDCARD);
}
}
}
#endif
#ifdef USE_HOST_MODE
// USB host
pyb_usb_host_init();
#elif defined(USE_DEVICE_MODE)
// USB device
pyb_usb_dev_init(PYB_USB_DEV_VCP_MSC);
#endif
// run main script
{
vstr_t *vstr = vstr_new();
vstr_add_str(vstr, "0:/");
if (pyb_config_source_dir == MP_OBJ_NULL) {
vstr_add_str(vstr, "src");
} else {
vstr_add_str(vstr, mp_obj_str_get_str(pyb_config_source_dir));
}
vstr_add_char(vstr, '/');
if (pyb_config_main == MP_OBJ_NULL) {
vstr_add_str(vstr, "main.py");
} else {
vstr_add_str(vstr, mp_obj_str_get_str(pyb_config_main));
}
if (!pyexec_file(vstr_str(vstr))) {
flash_error(3);
}
vstr_free(vstr);
}
#if MICROPY_HW_HAS_MMA7660
// HID example
if (0) {
uint8_t data[4];
data[0] = 0;
data[1] = 1;
data[2] = -2;
data[3] = 0;
for (;;) {
#if MICROPY_HW_HAS_SWITCH
if (switch_get()) {
data[0] = 0x01; // 0x04 is middle, 0x02 is right
} else {
data[0] = 0x00;
}
#else
data[0] = 0x00;
#endif
accel_start(0x4c /* ACCEL_ADDR */, 1);
accel_send_byte(0);
accel_restart(0x4c /* ACCEL_ADDR */, 0);
for (int i = 0; i <= 1; i++) {
int v = accel_read_ack() & 0x3f;
if (v & 0x20) {
v |= ~0x1f;
}
data[1 + i] = v;
}
accel_read_nack();
usb_hid_send_report(data);
sys_tick_delay_ms(15);
}
}
#endif
#if MICROPY_HW_HAS_WLAN
// wifi
pyb_wlan_init();
pyb_wlan_start();
#endif
pyexec_repl();
printf("PYB: sync filesystems\n");
storage_flush();
printf("PYB: soft reboot\n");
first_soft_reset = false;
goto soft_reset;
}
/**
* Main function of the motor controller.
*/
int main(void)
{
int demo_counter;
int demo_dir;
system_init();
led_init();
debug_pins_init();
gprot_init();
usart_init();
sys_tick_init();
cpu_load_process_init();
comm_process_init();
sensor_process_init();
adc_init();
pwm_init();
comm_tim_init();
control_process_init();
bemf_hd_init();
demo_counter = 500;
demo_dir = 1;
demo = false;
int flag = 0;
while (true) {
run_cpu_load_process();
if(flag%1000000 == 0)
{
//gpc_send_string("Hello World, I am ALIVE\n", strlen("Hello World, I am ALIVE\n"));
DEBUG("HELLO WORLD\n");
flag++;
}
else
{
flag++;
}
if (*comm_process_trigger) {
*comm_process_trigger = false;
run_comm_process();
}
run_control_process();
if (*sensor_process_trigger) {
*sensor_process_trigger = false;
run_sensor_process();
}
//TOGGLE(LED_BLUE);
if (demo) {
if (demo_counter == 0) {
demo_counter = 300;
pwm_val += demo_dir;
if (pwm_val > 300) {
demo_dir = -1;
}
if (pwm_val < 100) {
demo_dir = 1;
}
} else {
demo_counter--;
}
}
}
}
