258 lines
7.7 KiB
C
258 lines
7.7 KiB
C
/*
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ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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*/
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#include "ch.h"
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#include "hal.h"
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#include "chprintf.h"
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#include "shell.h"
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#include "usbcfg.h"
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/* Virtual serial port over USB.*/
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SerialUSBDriver SDU1;
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BaseSequentialStream *eLuaSDriver;
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/*===========================================================================*/
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/* Command line related. */
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/*===========================================================================*/
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#define SHELL_WA_SIZE THD_WORKING_AREA_SIZE(2048)
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#define TEST_WA_SIZE THD_WORKING_AREA_SIZE(256)
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static void cmd_mem(BaseSequentialStream *chp, int argc, char *argv[]) {
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size_t n, size;
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(void)argv;
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if (argc > 0) {
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chprintf(chp, "Usage: mem\r\n");
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return;
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}
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chprintf(chp, "core free memory : %u bytes\r\n", chCoreGetStatusX());
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chprintf(chp, "heap free total : %u bytes\r\n", size);
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}
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static void cmd_threads(BaseSequentialStream *chp, int argc, char *argv[]) {
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static const char *states[] = {CH_STATE_NAMES};
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thread_t *tp;
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(void)argv;
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if (argc > 0) {
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chprintf(chp, "Usage: threads\r\n");
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return;
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}
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chprintf(chp, " addr stack prio refs state\r\n");
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tp = chRegFirstThread();
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do {
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tp = chRegNextThread(tp);
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} while (tp != NULL);
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}
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static const ShellCommand commands[] = {
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{"mem", cmd_mem},
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{"threads", cmd_threads},
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{NULL, NULL}
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};
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static const ShellConfig shell_cfg1 = {
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(BaseSequentialStream *)&SDU1,
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commands
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};
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/*===========================================================================*/
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/* Accelerometer related. */
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/*===========================================================================*/
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/*
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* This is a periodic thread that reads accelerometer and outputs.
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*/
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static THD_WORKING_AREA(waThread1, 128);
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static THD_FUNCTION(Thread1, arg) {
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static int8_t xbuf[4], ybuf[4]; /* Last accelerometer data.*/
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systime_t time; /* Next deadline.*/
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(void)arg;
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chRegSetThreadName("reader");
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/* Reader thread loop.*/
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time = chVTGetSystemTime();
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while (TRUE) {
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int32_t x, y;
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unsigned i;
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/* Keeping an history of the latest four accelerometer readings.*/
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for (i = 3; i > 0; i--) {
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xbuf[i] = xbuf[i - 1];
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ybuf[i] = ybuf[i - 1];
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}
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/* Calculating average of the latest four accelerometer readings.*/
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x = ((int32_t)xbuf[0] + (int32_t)xbuf[1] +
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(int32_t)xbuf[2] + (int32_t)xbuf[3]) / 4;
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y = ((int32_t)ybuf[0] + (int32_t)ybuf[1] +
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(int32_t)ybuf[2] + (int32_t)ybuf[3]) / 4;
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/* Reprogramming the four PWM channels using the accelerometer data.*/
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if (y < 0) {
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}
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else {
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}
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if (x < 0) {
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}
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else {
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}
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/* Waiting until the next 250 milliseconds time interval.*/
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chThdSleepUntil(time += MS2ST(100));
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}
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}
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static THD_WORKING_AREA(waUSB_THREAD, 512);
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static THD_FUNCTION(USB_THREAD, arg) {
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(void)arg;
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thread_t *shelltp = NULL;
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/*
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* Normal main() thread activity, in this demo it just performs
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* a shell respawn upon its termination.
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*/
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while (TRUE) {
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if (!shelltp) {
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if (SDU1.config->usbp->state == USB_ACTIVE) {
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/* Spawns a new shell.*/
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shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO);
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}
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}
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else {
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/* If the previous shell exited.*/
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if (chThdTerminatedX(shelltp)) {
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/* Recovers memory of the previous shell.*/
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chThdRelease(shelltp);
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shelltp = NULL;
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}
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}
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chThdSleepMilliseconds(500);
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}
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}
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/*===========================================================================*/
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/* Initialization and main thread. */
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/*===========================================================================*/
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/*
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* Application entry point.
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*/
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int main(void) {
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/*
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* System initializations.
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* - HAL initialization, this also initializes the configured device drivers
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* and performs the board-specific initializations.
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* - Kernel initialization, the main() function becomes a thread and the
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* RTOS is active.
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*/
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halInit();
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chSysInit();
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/*
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* Shell manager initialization.
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*/
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shellInit();
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/*
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* Initializes a serial-over-USB CDC driver.
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*/
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sduObjectInit(&SDU1);
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sduStart(&SDU1, &serusbcfg);
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/*
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* Activates the USB driver and then the USB bus pull-up on D+.
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* Note, a delay is inserted in order to not have to disconnect the cable
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* after a reset.
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*/
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usbDisconnectBus(serusbcfg.usbp);
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chThdSleepMilliseconds(1000);
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usbStart(serusbcfg.usbp, &usbcfg);
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usbConnectBus(serusbcfg.usbp);
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/*
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* Activates the serial driver 2 using the driver default configuration.
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* PA2(TX) and PA3(RX) are routed to USART2.
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*/
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sdStart(&SD2, NULL);
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palSetPadMode(GPIOA, 2, PAL_MODE_ALTERNATE(7));
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palSetPadMode(GPIOA, 3, PAL_MODE_ALTERNATE(7));
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/*
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* Initializes the SPI driver 1 in order to access the MEMS. The signals
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* are already initialized in the board file.
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*/
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/*
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* Initializes the SPI driver 2. The SPI2 signals are routed as follow:
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* PB12 - NSS.
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* PB13 - SCK.
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* PB14 - MISO.
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* PB15 - MOSI.
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*/
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palSetPad(GPIOB, 12);
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palSetPadMode(GPIOB, 12, PAL_MODE_OUTPUT_PUSHPULL |
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PAL_STM32_OSPEED_HIGHEST); /* NSS. */
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palSetPadMode(GPIOB, 13, PAL_MODE_ALTERNATE(5) |
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PAL_STM32_OSPEED_HIGHEST); /* SCK. */
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palSetPadMode(GPIOB, 14, PAL_MODE_ALTERNATE(5)); /* MISO. */
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palSetPadMode(GPIOB, 15, PAL_MODE_ALTERNATE(5) |
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PAL_STM32_OSPEED_HIGHEST); /* MOSI. */
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/*
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* Initializes the PWM driver 4, routes the TIM4 outputs to the board LEDs.
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*/
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palSetPadMode(GPIOD, GPIOD_LED4, PAL_MODE_ALTERNATE(2)); /* Green. */
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palSetPadMode(GPIOD, GPIOD_LED3, PAL_MODE_ALTERNATE(2)); /* Orange. */
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palSetPadMode(GPIOD, GPIOD_LED5, PAL_MODE_ALTERNATE(2)); /* Red. */
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palSetPadMode(GPIOD, GPIOD_LED6, PAL_MODE_ALTERNATE(2)); /* Blue. */
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/*
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* Creates the example thread.
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*/
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chThdCreateStatic(waThread1, sizeof(waThread1),
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NORMALPRIO + 10, Thread1, NULL);
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#if !defined(CHIBILUA_USBSERIAL) && !defined(CHIBILUA_SERIAL)
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#error "please chose CHIBILUA_USBSERIAL or CHIBILUA_SERIAL in halconf.h"
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#elif defined(CHIBILUA_USBSERIAL) && !defined(CHIBILUA_SERIAL)
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eLuaSDriver=(BaseSequentialStream *)&SDU1; //elua shell on USB serial
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#elif defined(CHIBILUA_SERIAL) && !defined(CHIBILUA_USBSERIAL)
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eLuaSDriver=(BaseSequentialStream *)&SD2; //elua shell on uart serial
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chThdCreateStatic(waUSB_THREAD, sizeof(waUSB_THREAD), NORMALPRIO, USB_THREAD, NULL);
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#else
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#error "can't use CHIBILUA_USBSERIAL and CHIBILUA_SERIAL in same time"
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#endif
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main_lua();//while(1) !!! but could exit
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/*
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* Normal main() thread activity, in this demo it just performs
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* a shell respawn upon its termination.
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*/
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while (TRUE) {
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chThdSleepMilliseconds(500);
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}
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}
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