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#include "thread.h"
#include "usbserial.h"
#include <ch.h>
#include <hal.h>
#include <pwm.h>
#include <i2c.h>
class LEDThread : public BaseThread<LEDThread, 128> {
public:
noreturn_t thread_main() {
while (1) {
palClearPad(GPIOA, 5);
chThdSleepMilliseconds(500);
palSetPad(GPIOA, 5);
chThdSleepMilliseconds(500);
}
}
};
LEDThread led_thread;
class USBThread : public BaseThread<USBThread, 256> {
private:
typedef enum {W_S, W_N, W_V} w_s_t;
public:
USBSerial* usbs;
uint8_t data[9];
noreturn_t thread_main() {
for(int i = 0; i < 9; i++) {
data[i] = 0;
}
w_s_t w_s = W_S;
uint8_t w_n = 0;
while(1) {
size_t buffer = usbs->getc();
if(buffer >= 0 && buffer < 256) {
if(w_s == W_S && buffer == 'S') {
w_s = W_N;
} else if(w_s == W_N && buffer >= '1' && buffer <= '9') {
w_s = W_V;
w_n = buffer - '1';
} else if(w_s == W_V) {
w_s = W_S;
data[w_n] = buffer;
} else {
w_s = W_S;
}
}
}
}
};
USBThread usb_thread;
USBSerial usbs;
I2CConfig i2cconfig = {
opmodeI2C,
100000, /*!< Specifies the clock frequency. Must be set to a value lower than 400kHz */
stdDutyCycle, /*!< Specifies the I2C fast mode duty cycle */
0, /*!< Specifies the first device 7-bit own address. */
0 /*!< Specifies the second part of device own address in 10-bit mode. Set to NULL if not used. */
};
void cba(I2CDriver* i2cp, I2CSlaveConfig* i2cscfg) {
if(i2cp->id_slave_config->restart) {
i2cp->id_slave_config->restart = FALSE;
i2cMasterReceive(i2cp, i2cscfg);
//palSetPad(GPIOA, 5);
} else {
i2cMasterStop(i2cp);
}
}
void cbe(I2CDriver* i2cp, I2CSlaveConfig* i2cscfg) {
//palClearPad(GPIOA, 5);
//while(1);
}
i2cblock_t rxdata[6];
i2cblock_t txdata[2] = {0x1d};
I2CSlaveConfig i2c_gyro = {
cba,
cbe,
rxdata,
6,
6,
0,
txdata,
2,
1,
0,
0x68,
FALSE
};
uint8_t strbuf[64];
#include "foo.h"
class I2CThread : public BaseThread<I2CThread, 256> {
public:
int16_t x, y, z;
noreturn_t thread_main() {
i2cStart(&I2CD2, &i2cconfig);
while(I2CD2.id_state != I2C_READY) {
chThdSleepMilliseconds(1);
}
palSetPadMode(GPIOB, 10, PAL_MODE_STM32_ALTERNATE_OPENDRAIN);
palSetPadMode(GPIOB, 11, PAL_MODE_STM32_ALTERNATE_OPENDRAIN);
i2c_gyro.txbytes = 2;
i2c_gyro.txbuf[0] = 0x3e;
i2c_gyro.txbuf[1] = 0x03;
i2cMasterTransmit(&I2CD2, &i2c_gyro);
chThdSleepMilliseconds(2);
i2c_gyro.txbytes = 2;
i2c_gyro.txbuf[0] = 0x16;
i2c_gyro.txbuf[1] = 0x18;
i2cMasterTransmit(&I2CD2, &i2c_gyro);
chThdSleepMilliseconds(2);
while (1) {
I2CD2.id_state = I2C_READY;
i2c_gyro.txbufhead = 0;
i2c_gyro.txbuf[0] = 0x1d;
i2c_gyro.txbytes = 1;
i2c_gyro.rxbufhead = 0;
i2c_gyro.rxbytes = 6;
i2c_gyro.restart = TRUE;
i2cMasterTransmit(&I2CD2, &i2c_gyro);
chThdSleepMilliseconds(2);
x = rxdata[0] << 8 | rxdata[1];
y = rxdata[2] << 8 | rxdata[3];
z = rxdata[4] << 8 | rxdata[5];
usbprintf(usbs, "%6d, %6d, %6d\r\n", x, y, z);
chThdSleepMilliseconds(100);
}
}
};
I2CThread i2c_thread;
void foo(PWMDriver*) {
int16_t thrust, pitch, roll, yaw;
pitch = roll = 0;
uint8_t shift = 8 - (usb_thread.data[8] >> 3);
thrust = usb_thread.data[0] * 10;
yaw = i2c_thread.z >> shift;
pwmEnableChannel(&PWMD2, 0, 1000 + thrust + pitch + roll - yaw);
pwmEnableChannel(&PWMD2, 1, 1000 + thrust + pitch - roll + yaw);
pwmEnableChannel(&PWMD2, 2, 1000 + thrust - pitch + roll + yaw);
pwmEnableChannel(&PWMD2, 3, 1000 + thrust - pitch - roll - yaw);
}
static PWMConfig pwmcfg = {
1000000,
1000000 / 50,
foo,
{
{PWM_OUTPUT_ACTIVE_HIGH, NULL},
{PWM_OUTPUT_ACTIVE_HIGH, NULL},
{PWM_OUTPUT_ACTIVE_HIGH, NULL},
{PWM_OUTPUT_ACTIVE_HIGH, NULL}
},
0
};
int main(void) {
halInit();
chSysInit();
led_thread.start();
usbs.init();
i2c_thread.start();
pwmStart(&PWMD2, &pwmcfg);
palSetPadMode(GPIOA, 0, PAL_MODE_STM32_ALTERNATE_PUSHPULL);
palSetPadMode(GPIOA, 1, PAL_MODE_STM32_ALTERNATE_PUSHPULL);
palSetPadMode(GPIOA, 2, PAL_MODE_STM32_ALTERNATE_PUSHPULL);
palSetPadMode(GPIOA, 3, PAL_MODE_STM32_ALTERNATE_PUSHPULL);
pwmEnableChannel(&PWMD2, 0, 1000);
pwmEnableChannel(&PWMD2, 1, 1000);
pwmEnableChannel(&PWMD2, 2, 1000);
pwmEnableChannel(&PWMD2, 3, 1000);
usb_thread.usbs = &usbs;
usb_thread.start();
while (1) {
chThdSleepMilliseconds(1000);
}
}
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