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#include <rcc/rcc.h>
#include <interrupt/interrupt.h>
#include <os/thread.h>
#include <os/time.h>
#include <gpio/pin.h>
#include <usb/usb.h>
#include <i2c/i2c.h>
#include "lsm303dlm.h"
#include "l3gd20.h"
#include "ppmsum.h"
static Pin& led_status = PA4;
static Pin& led_error = PC4;
static Pin& usb_vbus = PB13;
static Pin& usb_dm = PB14;
static Pin& usb_dp = PB15;
static Pin& jtag_tdo = PC3;
static Pin& jtag_tms = PC13;
static Pin& jtag_tck = PC14;
static Pin& jtag_tdi = PC15;
static Pin& i2c_scl = PB10;
static Pin& i2c_sda = PB11;
static Pin& cs_pressure = PB4;
static Pin& cs_gyro = PB5;
USB_otg usb(OTG_HS);
bool i2c_read(uint16_t wValue, uint16_t wIndex, uint16_t wLength) {
uint8_t buf[wLength];
I2C2.read_reg(wValue, wIndex, wLength, buf);
usb.write(0, (uint32_t*)buf, wLength);
return true;
}
bool jtag_tick(bool tdi, bool tms) {
bool tdo = jtag_tdo.get();
jtag_tdi.set(tdi);
jtag_tms.set(tms);
jtag_tck.on();
for(uint32_t i = 0; i < 1000; i++) {
asm volatile("nop");
}
jtag_tck.off();
for(uint32_t i = 0; i < 1000; i++) {
asm volatile("nop");
}
return tdo;
}
bool jtag_shift(uint16_t wValue, uint16_t wIndex, uint16_t wLength) {
if(wLength > 16) {
return false;
}
uint32_t tdo = 0;
for(int16_t i = 0; i < wLength; i++) {
tdo |= jtag_tick(wValue & 1, wIndex & 1) ? 1 << i : 0;
wValue >>= 1;
wIndex >>= 1;
}
usb.write(0, &tdo, (wLength + 7) >> 3);
return true;
}
template<>
void interrupt<(Interrupt::IRQ)77>() {
usb.process();
}
void usb_main() {
usb_vbus.set_mode(Pin::Input);
usb_dm.set_mode(Pin::AF);
usb_dm.set_pull(Pin::PullNone);
usb_dm.set_af(12);
usb_dp.set_mode(Pin::AF);
usb_dp.set_pull(Pin::PullNone);
usb_dp.set_af(12);
RCC.enable(RCC.OTGHS);
//Interrupt::enable((Interrupt::IRQ)77);
usb.init();
while(1) {
usb.process();
Thread::yield();
}
}
uint32_t usb_stack[1024];
Thread usb_thread(usb_stack, sizeof(usb_stack), usb_main);
L3GD20 gyro(cs_gyro, SPI1);
LSM303DLM_A accel(I2C2);
LSM303DLM_M magn(I2C2);
PPMSum ppmsum;
int main() {
// Initialize system timer.
STK.LOAD = 168000000 / 8 / 1000; // 1000 Hz.
STK.CTRL = 0x03;
RCC.enable(RCC.GPIOA);
RCC.enable(RCC.GPIOB);
RCC.enable(RCC.GPIOC);
RCC.enable(RCC.GPIOD);
led_status.set_mode(Pin::Output);
led_status.off();
led_error.set_mode(Pin::Output);
led_error.off();
jtag_tdi.set_mode(Pin::Output);
jtag_tms.set_mode(Pin::Output);
jtag_tck.set_mode(Pin::Output);
jtag_tdo.set_mode(Pin::Input);
RCC.enable(RCC.I2C2);
I2C2.enable(i2c_scl, i2c_sda);
usb_thread.start();
RCC.enable(RCC.SPI1);
PA5.set_mode(Pin::AF);
PA5.set_af(5);
PA6.set_mode(Pin::AF);
PA6.set_af(5);
PA7.set_mode(Pin::AF);
PA7.set_af(5);
cs_gyro.on();
cs_gyro.set_mode(Pin::Output);
cs_pressure.on();
cs_pressure.set_mode(Pin::Output);
SPI1.reg.CR1 = 0x37f;
Time::sleep(1000);
gyro.init();
accel.init();
magn.init();
PA0.set_mode(Pin::AF);
PA0.set_af(1);
ppmsum.enable();
while(1) {
led_error.toggle();
Time::sleep(10);
gyro.update();
accel.update();
magn.update();
int16_t buf[] = {
gyro.x,
gyro.y,
gyro.z,
accel.x,
accel.y,
accel.z,
magn.x,
magn.y,
magn.z,
};
if(usb.ep_ready(1)) {
usb.write(1, (uint32_t*)buf, sizeof(buf));
}
}
}
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