diff options
Diffstat (limited to 'demos/STM32/RT-STM32F429-DISCOVERY-DMA2D/main.c')
| -rw-r--r-- | demos/STM32/RT-STM32F429-DISCOVERY-DMA2D/main.c | 670 |
1 files changed, 670 insertions, 0 deletions
diff --git a/demos/STM32/RT-STM32F429-DISCOVERY-DMA2D/main.c b/demos/STM32/RT-STM32F429-DISCOVERY-DMA2D/main.c new file mode 100644 index 0000000..d0b07d3 --- /dev/null +++ b/demos/STM32/RT-STM32F429-DISCOVERY-DMA2D/main.c @@ -0,0 +1,670 @@ +/*
+ Copyright (C) 2013-2015 Andrea Zoppi
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+*/
+
+#include "ch.h"
+#include "hal.h"
+#include "test.h"
+
+#include "chprintf.h"
+#include "shell.h"
+#if HAL_USE_SERIAL_USB
+#include "usbcfg.h"
+#endif
+
+#include "fsmc_sdram.h"
+#include "ili9341.h"
+#include "stm32_ltdc.h"
+#include "stm32_dma2d.h"
+
+#include "res/wolf3d_vgagraph_chunk87.h"
+
+/*===========================================================================*/
+/* SDRAM related. */
+/*===========================================================================*/
+
+// TODO: Move constants below elsewhere, and normalize their name
+
+/* SDRAM bank base address.*/
+#define SDRAM_BANK_ADDR ((uint32_t)0xD0000000)
+
+/*
+ * FMC SDRAM Mode definition register defines
+ */
+#define FMC_SDCMR_MRD_BURST_LENGTH_1 ((uint16_t)0x0000)
+#define FMC_SDCMR_MRD_BURST_LENGTH_2 ((uint16_t)0x0001)
+#define FMC_SDCMR_MRD_BURST_LENGTH_4 ((uint16_t)0x0002)
+#define FMC_SDCMR_MRD_BURST_LENGTH_8 ((uint16_t)0x0004)
+#define FMC_SDCMR_MRD_BURST_TYPE_SEQUENTIAL ((uint16_t)0x0000)
+#define FMC_SDCMR_MRD_BURST_TYPE_INTERLEAVED ((uint16_t)0x0008)
+#define FMC_SDCMR_MRD_CAS_LATENCY_2 ((uint16_t)0x0020)
+#define FMC_SDCMR_MRD_CAS_LATENCY_3 ((uint16_t)0x0030)
+#define FMC_SDCMR_MRD_OPERATING_MODE_STANDARD ((uint16_t)0x0000)
+#define FMC_SDCMR_MRD_WRITEBURST_MODE_PROGRAMMED ((uint16_t)0x0000)
+#define FMC_SDCMR_MRD_WRITEBURST_MODE_SINGLE ((uint16_t)0x0200)
+
+/*
+ * FMC_ReadPipe_Delay
+ */
+#define FMC_ReadPipe_Delay_0 ((uint32_t)0x00000000)
+#define FMC_ReadPipe_Delay_1 ((uint32_t)0x00002000)
+#define FMC_ReadPipe_Delay_2 ((uint32_t)0x00004000)
+#define FMC_ReadPipe_Delay_Mask ((uint32_t)0x00006000)
+
+/*
+ * FMC_Read_Burst
+ */
+#define FMC_Read_Burst_Disable ((uint32_t)0x00000000)
+#define FMC_Read_Burst_Enable ((uint32_t)0x00001000)
+#define FMC_Read_Burst_Mask ((uint32_t)0x00001000)
+
+/*
+ * FMC_SDClock_Period
+ */
+#define FMC_SDClock_Disable ((uint32_t)0x00000000)
+#define FMC_SDClock_Period_2 ((uint32_t)0x00000800)
+#define FMC_SDClock_Period_3 ((uint32_t)0x00000C00)
+#define FMC_SDClock_Period_Mask ((uint32_t)0x00000C00)
+
+/*
+ * FMC_ColumnBits_Number
+ */
+#define FMC_ColumnBits_Number_8b ((uint32_t)0x00000000)
+#define FMC_ColumnBits_Number_9b ((uint32_t)0x00000001)
+#define FMC_ColumnBits_Number_10b ((uint32_t)0x00000002)
+#define FMC_ColumnBits_Number_11b ((uint32_t)0x00000003)
+
+/*
+ * FMC_RowBits_Number
+ */
+#define FMC_RowBits_Number_11b ((uint32_t)0x00000000)
+#define FMC_RowBits_Number_12b ((uint32_t)0x00000004)
+#define FMC_RowBits_Number_13b ((uint32_t)0x00000008)
+
+/*
+ * FMC_SDMemory_Data_Width
+ */
+#define FMC_SDMemory_Width_8b ((uint32_t)0x00000000)
+#define FMC_SDMemory_Width_16b ((uint32_t)0x00000010)
+#define FMC_SDMemory_Width_32b ((uint32_t)0x00000020)
+
+/*
+ * FMC_InternalBank_Number
+ */
+#define FMC_InternalBank_Number_2 ((uint32_t)0x00000000)
+#define FMC_InternalBank_Number_4 ((uint32_t)0x00000040)
+
+/*
+ * FMC_CAS_Latency
+ */
+#define FMC_CAS_Latency_1 ((uint32_t)0x00000080)
+#define FMC_CAS_Latency_2 ((uint32_t)0x00000100)
+#define FMC_CAS_Latency_3 ((uint32_t)0x00000180)
+
+/*
+ * FMC_Write_Protection
+ */
+#define FMC_Write_Protection_Disable ((uint32_t)0x00000000)
+#define FMC_Write_Protection_Enable ((uint32_t)0x00000200)
+
+/*
+ * SDRAM driver configuration structure.
+ */
+static const SDRAMConfig sdram_cfg = {
+ .sdcr = (uint32_t)(FMC_ColumnBits_Number_8b |
+ FMC_RowBits_Number_12b |
+ FMC_SDMemory_Width_16b |
+ FMC_InternalBank_Number_4 |
+ FMC_CAS_Latency_3 |
+ FMC_Write_Protection_Disable |
+ FMC_SDClock_Period_2 |
+ FMC_Read_Burst_Disable |
+ FMC_ReadPipe_Delay_1),
+
+ .sdtr = (uint32_t)((2 - 1) | // FMC_LoadToActiveDelay = 2 (TMRD: 2 Clock cycles)
+ (7 << 4) | // FMC_ExitSelfRefreshDelay = 7 (TXSR: min=70ns (7x11.11ns))
+ (4 << 8) | // FMC_SelfRefreshTime = 4 (TRAS: min=42ns (4x11.11ns) max=120k (ns))
+ (7 << 12) | // FMC_RowCycleDelay = 7 (TRC: min=70 (7x11.11ns))
+ (2 << 16) | // FMC_WriteRecoveryTime = 2 (TWR: min=1+ 7ns (1+1x11.11ns))
+ (2 << 20) | // FMC_RPDelay = 2 (TRP: 20ns => 2x11.11ns)
+ (2 << 24)), // FMC_RCDDelay = 2 (TRCD: 20ns => 2x11.11ns)
+
+ .sdcmr = (uint32_t)(((4 - 1) << 5) |
+ ((FMC_SDCMR_MRD_BURST_LENGTH_2 |
+ FMC_SDCMR_MRD_BURST_TYPE_SEQUENTIAL |
+ FMC_SDCMR_MRD_CAS_LATENCY_3 |
+ FMC_SDCMR_MRD_OPERATING_MODE_STANDARD |
+ FMC_SDCMR_MRD_WRITEBURST_MODE_SINGLE) << 9)),
+
+ /* if (STM32_SYSCLK == 180000000) ->
+ 64ms / 4096 = 15.625us
+ 15.625us * 90MHz = 1406 - 20 = 1386 */
+ //.sdrtr = (1386 << 1),
+ .sdrtr = (uint32_t)(683 << 1),
+};
+
+/* SDRAM size, in bytes.*/
+#define IS42S16400J_SIZE (8 * 1024 * 1024)
+
+/*
+ * Erases the whole SDRAM bank.
+ */
+static void sdram_bulk_erase(void) {
+
+ volatile uint8_t *p = (volatile uint8_t *)SDRAM_BANK_ADDR;
+ volatile uint8_t *end = p + IS42S16400J_SIZE;
+ while (p < end)
+ *p++ = 0;
+}
+
+/*
+ * Red LED blinker thread, times are in milliseconds.
+ */
+static THD_WORKING_AREA(waThread1, 128);
+static THD_FUNCTION(Thread1, arg) {
+
+ (void)arg;
+ chRegSetThreadName("blinker1");
+ while (true) {
+ palClearPad(GPIOG, GPIOG_LED4_RED);
+ chThdSleepMilliseconds(500);
+ palSetPad(GPIOG, GPIOG_LED4_RED);
+ chThdSleepMilliseconds(500);
+ }
+}
+
+/*
+ * Green LED blinker thread, times are in milliseconds.
+ */
+static THD_WORKING_AREA(waThread2, 128);
+static THD_FUNCTION(Thread2, arg) {
+
+ (void)arg;
+ chRegSetThreadName("blinker2");
+ while (true) {
+ palClearPad(GPIOG, GPIOG_LED3_GREEN);
+ chThdSleepMilliseconds(250);
+ palSetPad(GPIOG, GPIOG_LED3_GREEN);
+ chThdSleepMilliseconds(250);
+ }
+}
+
+/*===========================================================================*/
+/* LTDC related. */
+/*===========================================================================*/
+
+static uint8_t frame_buffer[240 * 320 * 3] __attribute__((section(".ram7")));
+
+static uint8_t view_buffer[240 * 320];
+
+extern const ltdc_color_t wolf3d_palette[256];
+
+static const ltdc_window_t ltdc_fullscreen_wincfg = {
+ 0,
+ 240 - 1,
+ 0,
+ 320 - 1,
+};
+
+static const ltdc_frame_t ltdc_view_frmcfg1 = {
+ view_buffer,
+ 240,
+ 320,
+ 240 * sizeof(uint8_t),
+ LTDC_FMT_L8,
+};
+
+static const ltdc_laycfg_t ltdc_view_laycfg1 = {
+ <dc_view_frmcfg1,
+ <dc_fullscreen_wincfg,
+ LTDC_COLOR_FUCHSIA,
+ 0xFF,
+ 0x980088,
+ wolf3d_palette,
+ 256,
+ LTDC_BLEND_FIX1_FIX2,
+ (LTDC_LEF_ENABLE | LTDC_LEF_PALETTE),
+};
+
+static const ltdc_frame_t ltdc_screen_frmcfg1 = {
+ frame_buffer,
+ 240,
+ 320,
+ 240 * 3,
+ LTDC_FMT_RGB888,
+};
+
+static const ltdc_laycfg_t ltdc_screen_laycfg1 = {
+ <dc_screen_frmcfg1,
+ <dc_fullscreen_wincfg,
+ LTDC_COLOR_FUCHSIA,
+ 0xFF,
+ 0x980088,
+ NULL,
+ 0,
+ LTDC_BLEND_FIX1_FIX2,
+ LTDC_LEF_ENABLE,
+};
+
+static const LTDCConfig ltdc_cfg = {
+ /* Display specifications.*/
+ 240, /**< Screen pixel width.*/
+ 320, /**< Screen pixel height.*/
+ 10, /**< Horizontal sync pixel width.*/
+ 2, /**< Vertical sync pixel height.*/
+ 20, /**< Horizontal back porch pixel width.*/
+ 2, /**< Vertical back porch pixel height.*/
+ 10, /**< Horizontal front porch pixel width.*/
+ 4, /**< Vertical front porch pixel height.*/
+ 0, /**< Driver configuration flags.*/
+
+ /* ISR callbacks.*/
+ NULL, /**< Line Interrupt ISR, or @p NULL.*/
+ NULL, /**< Register Reload ISR, or @p NULL.*/
+ NULL, /**< FIFO Underrun ISR, or @p NULL.*/
+ NULL, /**< Transfer Error ISR, or @p NULL.*/
+
+ /* Color and layer settings.*/
+ LTDC_COLOR_TEAL,
+ <dc_view_laycfg1,
+ NULL,
+};
+
+extern LTDCDriver LTDCD1;
+
+const SPIConfig spi_cfg5 = {
+ NULL,
+ GPIOC,
+ GPIOC_SPI5_LCD_CS,
+ (((1 << 3) & SPI_CR1_BR) | SPI_CR1_SSM | SPI_CR1_SSI | SPI_CR1_MSTR),
+};
+
+extern SPIDriver SPID5;
+
+const ILI9341Config ili9341_cfg = {
+ &SPID5,
+ GPIOD,
+ GPIOD_LCD_WRX
+};
+
+static void initialize_lcd(void) {
+
+ static const uint8_t pgamma[15] = {
+ 0x0F, 0x29, 0x24, 0x0C, 0x0E, 0x09, 0x4E, 0x78,
+ 0x3C, 0x09, 0x13, 0x05, 0x17, 0x11, 0x00
+ };
+ static const uint8_t ngamma[15] = {
+ 0x00, 0x16, 0x1B, 0x04, 0x11, 0x07, 0x31, 0x33,
+ 0x42, 0x05, 0x0C, 0x0A, 0x28, 0x2F, 0x0F
+ };
+
+ ILI9341Driver *const lcdp = &ILI9341D1;
+
+ /* XOR-checkerboard texture.*/
+ unsigned x, y;
+ for (y = 0; y < 320; ++y)
+ for (x = 0; x < 240; ++x)
+ view_buffer[y * 240 + x] = (uint8_t)(x ^ y);
+
+ ili9341AcquireBus(lcdp);
+ ili9341Select(lcdp);
+
+ ili9341WriteCommand(lcdp, ILI9341_SET_FRAME_CTL_NORMAL);
+ ili9341WriteByte(lcdp, 0x00);
+ ili9341WriteByte(lcdp, 0x1B);
+
+ ili9341WriteCommand(lcdp, ILI9341_SET_FUNCTION_CTL);
+ ili9341WriteByte(lcdp, 0x0A);
+ ili9341WriteByte(lcdp, 0xA2);
+
+ ili9341WriteCommand(lcdp, ILI9341_SET_POWER_CTL_1);
+ ili9341WriteByte(lcdp, 0x10);
+
+ ili9341WriteCommand(lcdp, ILI9341_SET_POWER_CTL_2);
+ ili9341WriteByte(lcdp, 0x10);
+
+ ili9341WriteCommand(lcdp, ILI9341_SET_VCOM_CTL_1);
+ ili9341WriteByte(lcdp, 0x45);
+ ili9341WriteByte(lcdp, 0x15);
+
+ ili9341WriteCommand(lcdp, ILI9341_SET_VCOM_CTL_2);
+ ili9341WriteByte(lcdp, 0x90);
+
+ ili9341WriteCommand(lcdp, ILI9341_SET_MEM_ACS_CTL);
+ ili9341WriteByte(lcdp, 0xC8);
+
+ ili9341WriteCommand(lcdp, ILI9341_SET_RGB_IF_SIG_CTL);
+ ili9341WriteByte(lcdp, 0xC2);
+
+ ili9341WriteCommand(lcdp, ILI9341_SET_FUNCTION_CTL);
+ ili9341WriteByte(lcdp, 0x0A);
+ ili9341WriteByte(lcdp, 0xA7);
+ ili9341WriteByte(lcdp, 0x27);
+ ili9341WriteByte(lcdp, 0x04);
+
+ ili9341WriteCommand(lcdp, ILI9341_SET_COL_ADDR);
+ ili9341WriteByte(lcdp, 0x00);
+ ili9341WriteByte(lcdp, 0x00);
+ ili9341WriteByte(lcdp, 0x00);
+ ili9341WriteByte(lcdp, 0xEF);
+
+ ili9341WriteCommand(lcdp, ILI9341_SET_PAGE_ADDR);
+ ili9341WriteByte(lcdp, 0x00);
+ ili9341WriteByte(lcdp, 0x00);
+ ili9341WriteByte(lcdp, 0x01);
+ ili9341WriteByte(lcdp, 0x3F);
+
+ ili9341WriteCommand(lcdp, ILI9341_SET_IF_CTL);
+ ili9341WriteByte(lcdp, 0x01);
+ ili9341WriteByte(lcdp, 0x00);
+ ili9341WriteByte(lcdp, 0x06);
+
+ ili9341WriteCommand(lcdp, ILI9341_SET_GAMMA);
+ ili9341WriteByte(lcdp, 0x01);
+
+ ili9341WriteCommand(lcdp, ILI9341_SET_PGAMMA);
+ ili9341WriteChunk(lcdp, pgamma, 15);
+
+ ili9341WriteCommand(lcdp, ILI9341_SET_NGAMMA);
+ ili9341WriteChunk(lcdp, ngamma, 15);
+
+ ili9341WriteCommand(lcdp, ILI9341_CMD_SLEEP_OFF);
+ chThdSleepMilliseconds(10);
+
+ ili9341WriteCommand(lcdp, ILI9341_CMD_DISPLAY_ON);
+ ili9341WriteCommand(lcdp, ILI9341_SET_MEM);
+ chThdSleepMilliseconds(10);
+
+ ili9341Unselect(lcdp);
+ ili9341ReleaseBus(lcdp);
+}
+
+static const DMA2DConfig dma2d_cfg = {
+ /* ISR callbacks.*/
+ NULL, /**< Configuration error, or @p NULL.*/
+ NULL, /**< Palette transfer done, or @p NULL.*/
+ NULL, /**< Palette access error, or @p NULL.*/
+ NULL, /**< Transfer watermark, or @p NULL.*/
+ NULL, /**< Transfer complete, or @p NULL.*/
+ NULL /**< Transfer error, or @p NULL.*/
+};
+
+static const dma2d_palcfg_t dma2d_palcfg = {
+ wolf3d_palette,
+ 256,
+ DMA2D_FMT_ARGB8888
+};
+
+static const dma2d_laycfg_t dma2d_bg_laycfg = {
+ view_buffer,
+ 0,
+ DMA2D_FMT_L8,
+ DMA2D_COLOR_RED,
+ 0xFF,
+ &dma2d_palcfg
+};
+
+static const dma2d_laycfg_t dma2d_fg_laycfg = {
+ (void *)wolf3d_vgagraph_chunk87,
+ 0,
+ DMA2D_FMT_L8,
+ DMA2D_COLOR_LIME,
+ 0xFF,
+ &dma2d_palcfg
+};
+
+static const dma2d_laycfg_t dma2d_frame_laycfg = {
+ frame_buffer,
+ 0,
+ DMA2D_FMT_RGB888,
+ DMA2D_COLOR_BLUE,
+ 0xFF,
+ NULL
+};
+
+static void dma2d_test(void) {
+
+ DMA2DDriver *const dma2dp = &DMA2DD1;
+ LTDCDriver *const ltdcp = <DCD1;
+
+ chThdSleepSeconds(1);
+
+ ltdcBgSetConfig(ltdcp, <dc_screen_laycfg1);
+ ltdcReload(ltdcp, TRUE);
+
+ dma2dAcquireBus(dma2dp);
+
+ /* Target the frame buffer by default.*/
+ dma2dBgSetConfig(dma2dp, &dma2d_frame_laycfg);
+ dma2dFgSetConfig(dma2dp, &dma2d_frame_laycfg);
+ dma2dOutSetConfig(dma2dp, &dma2d_frame_laycfg);
+
+ /* Copy the background.*/
+ dma2dFgSetConfig(dma2dp, &dma2d_bg_laycfg);
+ dma2dJobSetMode(dma2dp, DMA2D_JOB_CONVERT);
+ dma2dJobSetSize(dma2dp, 240, 320);
+ dma2dJobExecute(dma2dp);
+
+ /* Draw the splashscren picture at (8, 0).*/
+ dma2dFgSetConfig(dma2dp, &dma2d_fg_laycfg);
+ dma2dOutSetAddress(dma2dp, dma2dComputeAddress(
+ frame_buffer, ltdc_screen_frmcfg1.pitch, DMA2D_FMT_RGB888, 8, 0
+ ));
+ dma2dOutSetWrapOffset(dma2dp, ltdc_screen_frmcfg1.width - 200);
+ dma2dJobSetMode(dma2dp, DMA2D_JOB_CONVERT);
+ dma2dJobSetSize(dma2dp, 200, 320);
+ dma2dJobExecute(dma2dp);
+
+ dma2dReleaseBus(dma2dp);
+}
+
+/*===========================================================================*/
+/* Command line related. */
+/*===========================================================================*/
+
+#if HAL_USE_SERIAL_USB
+/* Virtual serial port over USB.*/
+SerialUSBDriver SDU1;
+#endif
+
+#define SHELL_WA_SIZE THD_WORKING_AREA_SIZE(2048)
+#define TEST_WA_SIZE THD_WORKING_AREA_SIZE(256)
+
+static void cmd_mem(BaseSequentialStream *chp, int argc, char *argv[]) {
+ size_t n, size;
+
+ (void)argv;
+ if (argc > 0) {
+ chprintf(chp, "Usage: mem\r\n");
+ return;
+ }
+ n = chHeapStatus(NULL, &size);
+ chprintf(chp, "core free memory : %u bytes\r\n", chCoreGetStatusX());
+ chprintf(chp, "heap fragments : %u\r\n", n);
+ chprintf(chp, "heap free total : %u bytes\r\n", size);
+}
+
+static void cmd_threads(BaseSequentialStream *chp, int argc, char *argv[]) {
+ static const char *states[] = {CH_STATE_NAMES};
+ thread_t *tp;
+
+ (void)argv;
+ if (argc > 0) {
+ chprintf(chp, "Usage: threads\r\n");
+ return;
+ }
+ chprintf(chp, " addr stack prio refs state time\r\n");
+ tp = chRegFirstThread();
+ do {
+ chprintf(chp, "%08lx %08lx %4lu %4lu %9s\r\n",
+ (uint32_t)tp, (uint32_t)tp->p_ctx.r13,
+ (uint32_t)tp->p_prio, (uint32_t)(tp->p_refs - 1),
+ states[tp->p_state]);
+ tp = chRegNextThread(tp);
+ } while (tp != NULL);
+}
+
+static void cmd_test(BaseSequentialStream *chp, int argc, char *argv[]) {
+ thread_t *tp;
+
+ (void)argv;
+ if (argc > 0) {
+ chprintf(chp, "Usage: test\r\n");
+ return;
+ }
+ tp = chThdCreateFromHeap(NULL, TEST_WA_SIZE, chThdGetPriorityX(),
+ TestThread, chp);
+ if (tp == NULL) {
+ chprintf(chp, "out of memory\r\n");
+ return;
+ }
+ chThdWait(tp);
+}
+
+static void cmd_reset(BaseSequentialStream *chp, int argc, char *argv[]) {
+ (void)argv;
+ if (argc > 0) {
+ chprintf(chp, "Usage: reset\r\n");
+ return;
+ }
+
+ chprintf(chp, "Will reset in 200ms\r\n");
+ chThdSleepMilliseconds(200);
+ NVIC_SystemReset();
+}
+
+static const ShellCommand commands[] = {
+ {"mem", cmd_mem},
+ {"threads", cmd_threads},
+ {"test", cmd_test},
+ {"reset", cmd_reset},
+ {NULL, NULL}
+};
+
+static const ShellConfig shell_cfg1 = {
+#if HAL_USE_SERIAL_USB
+ (BaseSequentialStream *)&SDU1,
+#else
+ (BaseSequentialStream *)&SD1,
+#endif
+ commands
+};
+
+/*===========================================================================*/
+/* Initialization and main thread. */
+/*===========================================================================*/
+
+/*
+ * Application entry point.
+ */
+int main(void) {
+ thread_t *shelltp = NULL;
+
+ /*
+ * System initializations.
+ * - HAL initialization, this also initializes the configured device drivers
+ * and performs the board-specific initializations.
+ * - Kernel initialization, the main() function becomes a thread and the
+ * RTOS is active.
+ */
+ halInit();
+ chSysInit();
+
+ /*
+ * Shell manager initialization.
+ */
+ shellInit();
+
+#if HAL_USE_SERIAL_USB
+ /*
+ * Initializes a serial-over-USB CDC driver.
+ */
+ sduObjectInit(&SDU1);
+ sduStart(&SDU1, &serusbcfg);
+
+ /*
+ * Activates the USB driver and then the USB bus pull-up on D+.
+ * Note, a delay is inserted in order to not have to disconnect the cable
+ * after a reset.
+ */
+ usbDisconnectBus(serusbcfg.usbp);
+ chThdSleepMilliseconds(1000);
+ usbStart(serusbcfg.usbp, &usbcfg);
+ usbConnectBus(serusbcfg.usbp);
+#else
+ /*
+ * Initializes serial port.
+ */
+ sdStart(&SD1, NULL);
+#endif /* HAL_USE_SERIAL_USB */
+
+ /*
+ * Initialise FSMC for SDRAM.
+ */
+ fsmcSdramInit();
+ fsmcSdramStart(&SDRAMD, &sdram_cfg);
+ sdram_bulk_erase();
+
+ /*
+ * Activates the LCD-related drivers.
+ */
+ spiStart(&SPID5, &spi_cfg5);
+ ili9341ObjectInit(&ILI9341D1);
+ ili9341Start(&ILI9341D1, &ili9341_cfg);
+ initialize_lcd();
+ ltdcInit();
+ ltdcStart(<DCD1, <dc_cfg);
+
+ /*
+ * Activates the DMA2D-related drivers.
+ */
+ dma2dInit();
+ dma2dStart(&DMA2DD1, &dma2d_cfg);
+ dma2d_test();
+
+ /*
+ * Creating the blinker threads.
+ */
+ chThdCreateStatic(waThread1, sizeof(waThread1),
+ NORMALPRIO + 10, Thread1, NULL);
+ chThdCreateStatic(waThread2, sizeof(waThread2),
+ NORMALPRIO + 10, Thread2, NULL);
+
+ /*
+ * Normal main() thread activity, in this demo it just performs
+ * a shell respawn upon its termination.
+ */
+ while (true) {
+ if (!shelltp) {
+#if HAL_USE_SERIAL_USB
+ if (SDU1.config->usbp->state == USB_ACTIVE) {
+ /* Spawns a new shell.*/
+ shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO);
+ }
+#else
+ shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO);
+#endif
+ }
+ else {
+ /* If the previous shell exited.*/
+ if (chThdTerminatedX(shelltp)) {
+ /* Recovers memory of the previous shell.*/
+ chThdRelease(shelltp);
+ shelltp = NULL;
+ }
+ }
+ chThdSleepMilliseconds(500);
+ }
+}
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