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Diffstat (limited to 'testio/STM32/main.c')
| -rw-r--r-- | testio/STM32/main.c | 218 |
1 files changed, 218 insertions, 0 deletions
diff --git a/testio/STM32/main.c b/testio/STM32/main.c new file mode 100644 index 000000000..4a774b246 --- /dev/null +++ b/testio/STM32/main.c @@ -0,0 +1,218 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+
+ This file is part of ChibiOS/RT.
+
+ ChibiOS/RT is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS/RT is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+#include <stdio.h>
+
+#include "ch.h"
+#include "hal.h"
+#include "test.h"
+#include "settings.h"
+
+/*
+ * LED blinker thread, times are in milliseconds.
+ */
+static WORKING_AREA(blinker_wa, 128);
+static msg_t blinker_thread(void *p) {
+
+ (void)p;
+ while (TRUE) {
+ palClearPad(IOPORT3, GPIOC_LED);
+ chThdSleepMilliseconds(500);
+ palSetPad(IOPORT3, GPIOC_LED);
+ chThdSleepMilliseconds(500);
+ }
+ return 0;
+}
+
+#if CH_HAL_USE_ADC
+static adcsample_t samples[ADC_GRP1_NUM_CHANNELS * ADC_GRP1_BUF_DEPTH];
+static Thread *adctp;
+
+/*
+ * ADC continuous conversion thread.
+ */
+size_t nx = 0, ny = 0;
+static void adccallback(adcsample_t *buffer, size_t n) {
+
+ if (samples == buffer) {
+ nx += n;
+ }
+ else {
+ ny += n;
+ }
+}
+static WORKING_AREA(adc_continuous_wa, 256);
+static msg_t adc_continuous_thread(void *p){
+
+ (void)p;
+ palSetGroupMode(IOPORT3,
+ PAL_PORT_BIT(0) | PAL_PORT_BIT(1),
+ PAL_MODE_INPUT_ANALOG);
+ adcStart(&ADCD1, &adccfg);
+ adcStartConversion(&ADCD1, &adcgrpcfg, samples,
+ ADC_GRP1_BUF_DEPTH, adccallback);
+ adcWaitConversion(&ADCD1, TIME_INFINITE);
+ adcStop(&ADCD1);
+ return 0;
+}
+#endif /* CH_HAL_USE_ADC */
+
+#if CH_HAL_USE_CAN
+static Thread *canrtp;
+static Thread *canttp;
+
+static WORKING_AREA(can_rx_wa, 256);
+static msg_t can_rx(void *p) {
+ EventListener el;
+ CANRxFrame rxmsg;
+
+ (void)p;
+ chEvtRegister(&CAND1.cd_rxfull_event, &el, 0);
+ while(!chThdShouldTerminate()) {
+ if (chEvtWaitAnyTimeout(ALL_EVENTS, MS2ST(100)) == 0)
+ continue;
+ while (canReceive(&CAND1, &rxmsg, TIME_IMMEDIATE) == RDY_OK) {
+ /* Process message.*/
+ palTogglePad(IOPORT3, GPIOC_LED);
+ }
+ }
+ return 0;
+}
+
+static WORKING_AREA(can_tx_wa, 256);
+static msg_t can_tx(void * p) {
+ CANTxFrame txmsg;
+
+ (void)p;
+ txmsg.cf_IDE = CAN_IDE_STD;
+ txmsg.cf_EID = 0x01234567;
+ txmsg.cf_RTR = CAN_RTR_DATA;
+ txmsg.cf_DLC = 8;
+ txmsg.cf_data32[0] = 0x55AA55AA;
+ txmsg.cf_data32[0] = 0x00FF00FF;
+
+ while (!chThdShouldTerminate()) {
+ canTransmit(&CAND1, &txmsg, TIME_INFINITE);
+ chThdSleepMilliseconds(50);
+ }
+ return 0;
+}
+#endif /* CH_HAL_USE_CAN */
+
+#if CH_HAL_USE_SPI
+static uint8_t txbuf[512];
+static uint8_t rxbuf[512];
+static Thread *spitp;
+
+/*
+ * Maximum speed SPI continuous loopback thread. + */
+static WORKING_AREA(spi_loopback_wa, 256);
+static msg_t spi_loopback_thread(void *p){
+
+ (void)p;
+ palSetPadMode(IOPORT1, GPIOA_SPI1NSS, PAL_MODE_OUTPUT_PUSHPULL);
+ palSetPad(IOPORT1, GPIOA_SPI1NSS);
+ spiStart(&SPID1, &spicfg);
+ while (!chThdShouldTerminate()) {
+ spiSelect(&SPID1);
+ spiExchange(&SPID1, 512, txbuf, rxbuf);
+ spiUnselect(&SPID1);
+ }
+ spiStop(&SPID1);
+ return 0;
+}
+#endif /* CH_HAL_USE_SPI */
+
+/*
+ * Entry point, note, the main() function is already a thread in the system
+ * on entry.
+ */
+int main(int argc, char **argv) {
+ unsigned i;
+
+ (void)argc;
+ (void)argv;
+ (void)i;
+
+ /*
+ * Activates the serial driver 2 using the driver default configuration.
+ */
+ sdStart(&SD2, NULL);
+
+ /*
+ * Creates the blinker thread.
+ */
+ chThdCreateStatic(blinker_wa, sizeof(blinker_wa),
+ NORMALPRIO + 10, blinker_thread, NULL);
+
+#if CH_HAL_USE_ADC
+ /*
+ * Creates the ADC continuous conversion test thread.
+ */
+ adctp = chThdCreateStatic(adc_continuous_wa, sizeof(adc_continuous_wa),
+ NORMALPRIO + 9, adc_continuous_thread, NULL);
+#endif
+
+#if CH_HAL_USE_CAN
+ canStart(&CAND1, &cancfg);
+ canrtp = chThdCreateStatic(can_rx_wa, sizeof(can_rx_wa),
+ NORMALPRIO + 7, can_rx, NULL);
+ canttp = chThdCreateStatic(can_tx_wa, sizeof(can_tx_wa),
+ NORMALPRIO + 7, can_tx, NULL);
+#endif
+
+#if CH_HAL_USE_SPI
+ /*
+ * Creates the SPI loopback test thread.
+ */
+ for (i = 0; i < sizeof(txbuf); i++)
+ txbuf[i] = (uint8_t)i;
+ spitp = chThdCreateStatic(spi_loopback_wa, sizeof(spi_loopback_wa),
+ NORMALPRIO + 8, spi_loopback_thread, NULL);
+#endif
+
+ /*
+ * Normal main() thread activity, in this demo it does nothing except
+ * sleeping in a loop and check the button state.
+ */
+ while (TRUE) {
+ if (palReadPad(IOPORT1, GPIOA_BUTTON)) {
+ TestThread(&SD2);
+#if CH_HAL_USE_ADC
+ adcStopConversion(&ADCD1);
+ chThdWait(adctp);
+#endif
+#if CH_HAL_USE_CAN
+ chThdTerminate(canttp);
+ chThdWait(canttp);
+ chThdTerminate(canrtp);
+ chThdWait(canrtp);
+#endif
+#if CH_HAL_USE_SPI
+ chThdTerminate(spitp);
+ chThdWait(spitp);
+#endif
+ TestThread(&SD2);
+ chThdSleepMilliseconds(500);
+ chSysHalt();
+ }
+ chThdSleepMilliseconds(500);
+ }
+ return 0;
+}
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