/*
ProffieOS: Control software for lightsabers and other props.
http://fredrik.hubbe.net/lightsaber/teensy_saber.html
Copyright (c) 2016-2019 Fredrik Hubinette
Additional copyright holders listed inline below.
This program 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.
This program 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/>.
*/
/*-----------------------------------------------------------------*\
| You can have multiple configuration files, and specify which one |
| to use here by removing the two slashes at the beginning. |
| **NOTE** Only ONE line should be left uncommented at a time! |
| Add the slashes to any that you are not using. |
\*-----------------------------------------------------------------*/
#define CONFIG_FILE "config/configmysaber_config.h"
// #define CONFIG_FILE "config/default_proffieboard_config.h"
// #define CONFIG_FILE "config/default_v3_config.h"
// #define CONFIG_FILE "config/crossguard_config.h"
// #define CONFIG_FILE "config/graflex_v1_config.h"
// #define CONFIG_FILE "config/prop_shield_fastled_v1_config.h"
// #define CONFIG_FILE "config/owk_v2_config.h"
// #define CONFIG_FILE "config/test_bench_config.h"
// #define CONFIG_FILE "config/toy_saber_config.h"
// #define CONFIG_FILE "config/proffieboard_v1_test_bench_config.h"
// #define CONFIG_FILE "config/proffieboard_v2_testing_config.h"
// #define CONFIG_FILE "config/td_proffieboard_config.h"
// #define CONFIG_FILE "config/proffieboard_v1_graflex.h"
// #define CONFIG_FILE "config/teensy_audio_shield_micom.h"
// #define CONFIG_FILE "config/proffieboard_v2_ob4.h"
// #define CONFIG_FILE "config/testconfig.h"
// #define CONFIG_FILE "config/test_bench_config.h"
#ifdef CONFIG_FILE_TEST
#undef CONFIG_FILE
#define CONFIG_FILE CONFIG_FILE_TEST
#endif
#ifndef CONFIG_FILE
#error Please set CONFIG_FILE as shown above.
#endif
#define CONFIG_TOP
#include CONFIG_FILE
#undef CONFIG_TOP
#ifndef BOOT_VOLUME
#define BOOT_VOLUME VOLUME
#endif
#ifdef SAVE_STATE
#define SAVE_VOLUME
#define SAVE_PRESET
#define SAVE_COLOR_CHANGE
#define SAVE_BLADE_DIMMING
#endif
#ifdef ENABLE_ALL_EDIT_OPTIONS
#define DYNAMIC_BLADE_LENGTH
#define DYNAMIC_BLADE_DIMMING
#define DYNAMIC_CLASH_THRESHOLD
#define SAVE_VOLUME
#define SAVE_BLADE_DIMMING
#define SAVE_CLASH_THRESHOLD
#define SAVE_COLOR_CHANGE
#endif
// #define ENABLE_DEBUG
#ifdef KEEP_SAVEFILES_WHEN_PROGRAMMING
#warning Your config file has KEEP_SAVEFILES_WHEN_PROGRAMMING in it. If you experience problems, please remove it and try again before asking for help. For more information, see: https://pod.hubbe.net/config/keeping-edits-when-uploading.html
#endif
//
// OVERVIEW
//
// Here explain some general code concepts to make it easier
// to understand the code below.
//
// Most things start with the ProbBase class. Depending on the
// configuration, this class is extended by the Saber class,
// the Detonator class, or some other class. The extended class
// is instantiated as "prop", and is responsible for handling
// button clicks, clashes, swings and other events. These events
// are then send to all registered SaberBase classes.
///
// Generally speaking, there are usually two registered SaberBase
// classes listening for events. One for sound and one for
// the blade. Sound and blade effects are generally executed
// separately by separate clases.
//
// Blades are generally handled by one of the child-classes of
// BladeBase. These classes know how many LEDs the current
// blade has, and how to set those LEDs to a given color, but
// they don't actually decide what the blade should look like.
// Instead they just call the current BladeStyle class and
// asks it to set the colors. The BladeStyle classes don't
// need to know what kind of blade is attached, although
// some combinations of BladeBases and BladeStyles just don't
// make any sense.
//
// Sounds are also abstracted. It starts with scanning a directory
// on the SD card for files that match known patterns of file names.
// The Effect class is responsible for keeping track of all numbered
// files that for a particular filename prefix.
//
// Once the directory has been scanned, we'll decide how to play
// sounds. In the past, there was one class for handling NEC style
// fonts and another for handling Plecter style fonts. However,
// both of those have now been merged into the HybridFont class
// which can do both. It is also capable of doing some mix and matching,
// so you can use a plecter style hum together with a NEC style
// swing if you so desire. The HybridFont class inherit from
// SaberBase and listen on on/off/clash/etc. events, just like
// BladeBase classes do.
//
// HybridFont tells the audio subsystem
// to trigger and mix sounds as aproperiate. The sound subsystem
// starts with an DMA channel which feeds data to a digital-to-analog
// converter. Once the data buffer is half-gone, and interrupt is
// triggered in the DAC class, which tries to fill it up by
// reading data from a int16_t AudioStream. Generally, that data
// stream is hooked up to the AudioDynamicMixer class. This
// class is responsible for taking multiple audio inputs,
// summing them up and then adjusting the volume to minimize
// clipping.
// TODO LIST:
// stab detect/effect
//
// Audio work items:
// select clash from force
// stab effect
// Blade stuff
// better clash
// Allow several blades to share power pins.
// If defined, DAC vref will be 3 volts, resulting in louder sound. (teensy only)
#define LOUD
// You can get better SD card performance by
// activating the USE_TEENSY3_OPTIMIZED_CODE define
// in SD.h in the teensy library, however, my sd card
// did not work with that define.
#include <Arduino.h>
#ifdef TEENSYDUINO
#include <DMAChannel.h>
#include <usb_dev.h>
#ifndef USE_TEENSY4
#include <kinetis.h>
#include <i2c_t3.h>
#else
// This is a hack to let me access the internal stuff..
#define private public
#include <Wire.h>
#undef private
#endif
#include <SD.h>
#include <SPI.h>
#ifdef abs
#undef abs
namespace {
template<typename T> constexpr auto abs(T x) -> decltype(-x) {
return x < 0 ? -x : x;
}
}
#endif
#else // TEENSYDUINO
#define digitalWriteFast digitalWrite
#endif // TEENSYDUINO
#ifdef ARDUINO_ARCH_STM32L4
// This is a hack to let me access the internal stuff..
#define private public
#include <Wire.h>
#undef private
#include <FS.h>
#include <stm32l4_wiring_private.h>
#include <stm32l4xx.h>
#include <armv7m.h>
#include <stm32l4_gpio.h>
#include <stm32l4_sai.h>
#include <stm32l4_dma.h>
#include <stm32l4_system.h>
#include <arm_math.h>
#include <STM32.h>
#define DMAChannel stm32l4_dma_t
#define DMAMEM
#define NVIC_SET_PRIORITY(X, Y) NVIC_SetPriority((X), (IRQn_Type)(Y))
#else // ARDUINO_ARCH_STM32L4
#define INPUT_ANALOG INPUT
#endif // ARDUINO_ARCH_STM32L4
#include <math.h>
#include <malloc.h>
#ifdef ENABLE_SERIALFLASH
// This is a hack to let me access the internal stuff..
#define private public
#define protected public
#include <SerialFlash.h>
#undef private
#undef protected
#endif
#ifdef ENABLE_SNOOZE
#define startup_early_hook DISABLE_startup_early_hook
#include <Snooze.h>
#undef startup_early_hook
SnoozeTimer snooze_timer;
SnoozeDigital snooze_digital;
SnoozeTouch snooze_touch;
SnoozeBlock snooze_config(snooze_touch, snooze_digital, snooze_timer);
#endif
const char version[] = "v7.15";
#include "common/common.h"
#include "common/state_machine.h"
#include "common/monitoring.h"
#include "common/stdout.h"
#include "common/errors.h"
Monitoring monitor;
DEFINE_COMMON_STDOUT_GLOBALS;
void PrintQuotedValue(const char* name, const char* str) {
STDOUT.print(name);
STDOUT.write('=');
if (str) {
while (*str) {
switch (*str) {
case '\n':
STDOUT.print("\\n");
break;
case '\t':
STDOUT.print("\\t");
break;
case '\\':
STDOUT.write('\\');
default:
STDOUT.write(*str);
}
++str;
}
}
STDOUT.write('\n');
}
#ifdef ENABLE_DEBUG
// This class is really useful for finding crashes
// basically, the pin you give it will be held high
// while this function is running. After that it will
// be set to low. If a crash occurs in this function
// it will stay high.
class ScopedPinTracer {
public:
explicit ScopedPinTracer(int pin)
: pin_(pin) {
pinMode(pin_, OUTPUT);
digitalWriteFast(pin, HIGH);
}
~ScopedPinTracer() {
digitalWriteFast(pin_, LOW);
}
private:
int pin_;
};
class ScopedTracer3 {
public:
explicit ScopedTracer3(int code) {
pinMode(bladePowerPin1, OUTPUT);
pinMode(bladePowerPin2, OUTPUT);
pinMode(bladePowerPin3, OUTPUT);
digitalWriteFast(bladePowerPin1, !!(code & 1));
digitalWriteFast(bladePowerPin2, !!(code & 2));
digitalWriteFast(bladePowerPin3, !!(code & 4));
}
~ScopedTracer3() {
digitalWriteFast(bladePowerPin1, LOW);
digitalWriteFast(bladePowerPin2, LOW);
digitalWriteFast(bladePowerPin3, LOW);
}
};
#endif
#include "common/scoped_cycle_counter.h"
#include "common/profiling.h"
uint64_t audio_dma_interrupt_cycles = 0;
uint64_t pixel_dma_interrupt_cycles = 0;
uint64_t motion_interrupt_cycles = 0;
uint64_t wav_interrupt_cycles = 0;
uint64_t loop_cycles = 0;
#include "common/loop_counter.h"
#if defined(ENABLE_SSD1306) || defined(INCLUDE_SSD1306)
#define ENABLE_DISPLAY_CODE
#endif
#ifdef DOSFS_CONFIG_STARTUP_DELAY
#define PROFFIEOS_SD_STARTUP_DELAY DOSFS_CONFIG_STARTUP_DELAY
#else
#define PROFFIEOS_SD_STARTUP_DELAY 1000
#endif
#ifndef CONFIG_STARTUP_DELAY
#define CONFIG_STARTUP_DELAY 0
#endif
#if PROFFIEOS_SD_STARTUP_DELAY > CONFIG_STARTUP_DELAY
#define PROFFIEOS_STARTUP_DELAY PROFFIEOS_SD_STARTUP_DELAY
#else
#define PROFFIEOS_STARTUP_DELAY CONFIG_STARTUP_DELAY
#endif
#include "common/linked_list.h"
#include "common/looper.h"
#include "common/command_parser.h"
#include "common/monitor_helper.h"
CommandParser* parsers = NULL;
MonitorHelper monitor_helper;
#include "common/vec3.h"
#include "common/quat.h"
#include "common/ref.h"
#include "common/events.h"
#include "common/saber_base.h"
#include "common/saber_base_passthrough.h"
SaberBase* saberbases = NULL;
SaberBase::LockupType SaberBase::lockup_ = SaberBase::LOCKUP_NONE;
SaberBase::ColorChangeMode SaberBase::color_change_mode_ =
SaberBase::COLOR_CHANGE_MODE_NONE;
bool SaberBase::on_ = false;
uint32_t SaberBase::last_motion_request_ = 0;
uint32_t SaberBase::current_variation_ = 0;
float SaberBase::sound_length = 0.0;
int SaberBase::sound_number = -1;
float SaberBase::clash_strength_ = 0.0;
#ifdef DYNAMIC_BLADE_DIMMING
int SaberBase::dimming_ = 16384;
#endif
#include "common/box_filter.h"
// Returns the decimals of a number, ie 12.2134 -> 0.2134
float fract(float x) {
return x - floorf(x);
}
// clamp(x, a, b) makes sure that x is between a and b.
float clamp(float x, float a, float b) {
if (x < a) return a;
if (x > b) return b;
return x;
}
float Fmod(float a, float b) {
return a - floorf(a / b) * b;
}
int32_t clampi32(int32_t x, int32_t a, int32_t b) {
if (x < a) return a;
if (x > b) return b;
return x;
}
int16_t clamptoi16(int32_t x) {
return clampi32(x, -32768, 32767);
}
int32_t clamptoi24(int32_t x) {
return clampi32(x, -8388608, 8388607);
}
#include "common/sin_table.h"
void EnableBooster();
void EnableAmplifier();
bool AmplifierIsActive();
void MountSDCard();
const char* GetSaveDir();
#include "common/lsfs.h"
#include "common/strfun.h"
// Double-zero terminated array of search paths.
// No trailing slashes!
char current_directory[128];
const char* next_current_directory(const char* dir) {
dir += strlen(dir);
dir++;
if (!*dir) return NULL;
return dir;
}
const char* last_current_directory() {
const char* ret = current_directory;
while (true) {
const char* tmp = next_current_directory(ret);
if (!tmp) return ret;
ret = tmp;
}
}
const char* previous_current_directory(const char* dir) {
if (dir == current_directory) return nullptr;
dir -= 2;
while (true) {
if (dir == current_directory) return current_directory;
if (!*dir) return dir + 1;
dir--;
}
}
#include "sound/sound.h"
#include "common/battery_monitor.h"
#include "common/color.h"
#include "common/range.h"
#include "common/fuse.h"
#include "common/config_file.h"
#include "blades/blade_base.h"
#include "blades/blade_wrapper.h"
class MicroEventTime {
void SetToNow() {
micros_ = micros();
millis_ = millis();
}
uint32_t millis_since() {
return millis() - millis_;
}
uint32_t micros_since() {
if (millis_since() > (0xFFFF0000UL / 1000)) return 0xFFFFFFFFUL;
return micros() - micros_;
}
private:
uint32_t millis_;
uint32_t micros_;
};
template<class T, class U>
struct is_same_type { static const bool value = false; };
template<class T>
struct is_same_type<T, T> { static const bool value = true; };
// This really ought to be a typedef, but it causes problems I don't understand.
#define StyleAllocator class StyleFactory*
#include "styles/rgb.h"
#include "styles/rgb_arg.h"
#include "styles/charging.h"
#include "styles/fire.h"
#include "styles/sparkle.h"
#include "styles/gradient.h"
#include "styles/random_flicker.h"
#include "styles/random_per_led_flicker.h"
#include "styles/audio_flicker.h"
#include "styles/brown_noise_flicker.h"
#include "styles/hump_flicker.h"
#include "styles/rainbow.h"
#include "styles/color_cycle.h"
#include "styles/cylon.h"
#include "styles/ignition_delay.h"
#include "styles/retraction_delay.h"
#include "styles/pulsing.h"
#include "styles/blinking.h"
#include "styles/on_spark.h"
#include "styles/rgb_cycle.h"
#include "styles/clash.h"
#include "styles/lockup.h" // Also does "drag"
#include "styles/blast.h"
#include "styles/strobe.h"
#include "styles/inout_helper.h"
#include "styles/inout_sparktip.h"
#include "styles/colors.h"
#include "styles/mix.h"
#include "styles/style_ptr.h"
#include "styles/file.h"
#include "styles/stripes.h"
#include "styles/random_blink.h"
#include "styles/sequence.h"
#include "styles/byteorder.h"
#include "styles/rotate_color.h"
#include "styles/colorchange.h"
#include "styles/transition_pulse.h"
#include "styles/transition_effect.h"
#include "styles/transition_loop.h"
#include "styles/effect_sequence.h"
#include "styles/color_select.h"
#include "styles/remap.h"
#include "styles/edit_mode.h"
// functions
#include "functions/ifon.h"
#include "functions/change_slowly.h"
#include "functions/int.h"
#include "functions/int_arg.h"
#include "functions/int_select.h"
#include "functions/sin.h"
#include "functions/scale.h"
#include "functions/battery_level.h"
#include "functions/trigger.h"
#include "functions/bump.h"
#include "functions/smoothstep.h"
#include "functions/swing_speed.h"
#include "functions/sound_level.h"
#include "functions/blade_angle.h"
#include "functions/variation.h"
#include "functions/twist_angle.h"
#include "functions/layer_functions.h"
#include "functions/islessthan.h"
#include "functions/circular_section.h"
#include "functions/marble.h"
#include "functions/slice.h"
#include "functions/mult.h"
#include "functions/wavlen.h"
#include "functions/wavnum.h"
#include "functions/effect_position.h"
#include "functions/time_since_effect.h"
#include "functions/sum.h"
#include "functions/ramp.h"
#include "functions/center_dist.h"
#include "functions/linear_section.h"
#include "functions/hold_peak.h"
#include "functions/clash_impact.h"
#include "functions/effect_increment.h"
#include "functions/increment.h"
#include "functions/subtract.h"
#include "functions/divide.h"
#include "functions/isbetween.h"
#include "functions/clamp.h"
#include "functions/alt.h"
#include "functions/volume_level.h"
#include "functions/mod.h"
// transitions
#include "transitions/fade.h"
#include "transitions/join.h"
#include "transitions/concat.h"
#include "transitions/instant.h"
#include "transitions/delay.h"
#include "transitions/wipe.h"
#include "transitions/join.h"
#include "transitions/boing.h"
#include "transitions/random.h"
#include "transitions/colorcycle.h"
#include "transitions/wave.h"
#include "transitions/select.h"
#include "transitions/extend.h"
#include "transitions/center_wipe.h"
#include "transitions/sequence.h"
#include "transitions/blink.h"
#include "transitions/doeffect.h"
#include "transitions/loop.h"
#include "styles/legacy_styles.h"
//responsive styles
#include "styles/responsive_styles.h"
#include "styles/pov.h"
class NoLED;
#include "blades/power_pin.h"
#include "blades/drive_logic.h"
#include "blades/pwm_pin.h"
#include "blades/ws2811_blade.h"
#include "blades/fastled_blade.h"
#include "blades/simple_blade.h"
#include "blades/saviblade.h"
#include "blades/sub_blade.h"
#include "blades/dim_blade.h"
#include "blades/leds.h"
#include "blades/blade_id.h"
#include "common/preset.h"
#include "common/blade_config.h"
#include "common/current_preset.h"
#include "common/status_led.h"
#include "styles/style_parser.h"
#include "styles/length_finder.h"
#include "styles/show_color.h"
#include "styles/blade_shortener.h"
BladeConfig* current_config = nullptr;
class BladeBase* GetPrimaryBlade() {
#if NUM_BLADES == 0
return nullptr;
#else
return current_config->blade1;
#endif
}
const char* GetSaveDir() {
if (!current_config) return "";
if (!current_config->save_dir) return "";
return current_config->save_dir;
}
ArgParserInterface* CurrentArgParser;
#define CONFIG_STYLES
#include CONFIG_FILE
#undef CONFIG_STYLES
#define CONFIG_PRESETS
#include CONFIG_FILE
#undef CONFIG_PRESETS
#define CONFIG_PROP
#include CONFIG_FILE
#undef CONFIG_PROP
#ifndef PROP_TYPE
#include "props/saber.h"
#endif
PROP_TYPE prop;
#ifdef BLADE_ID_SCAN_MILLIS
bool ScanBladeIdNow() {
return prop.ScanBladeIdNow();
}
#endif
#if 0
#include "scripts/test_motion_timeout.h"
#warning MOTION TEST SCRIPT ACTIVE
MotionTimeoutScript script;
#endif
#if 0
#include "scripts/v3_test_script.h"
#warning !!! V3 TEST SCRIPT ACTIVE !!!
V3TestScript script;
#endif
#include "buttons/floating_button.h"
#include "buttons/latching_button.h"
#include "buttons/button.h"
#ifdef TEENSYDUINO
#include "buttons/touchbutton.h"
#endif
#ifdef ARDUINO_ARCH_STM32L4
#include "buttons/stm32l4_touchbutton.h"
#endif
#include "buttons/rotary.h"
#include "buttons/pots.h"
#include "ir/ir.h"
#include "ir/receiver.h"
#include "ir/blaster.h"
#include "ir/print.h"
#include "ir/nec.h"
#include "ir/rc6.h"
#include "ir/stm32_ir.h"
#ifndef TEENSYDUINO
uint32_t startup_AHB1ENR;
uint32_t startup_AHB2ENR;
uint32_t startup_AHB3ENR;
uint32_t startup_APB1ENR1;
uint32_t startup_APB1ENR2;
uint32_t startup_APB2ENR;
uint32_t startup_MODER[4];
#endif
#define CONFIG_BUTTONS
#include CONFIG_FILE
#undef CONFIG_BUTTONS
#ifdef BLADE_DETECT_PIN
LatchingButtonTemplate<FloatingButtonBase<BLADE_DETECT_PIN>>
BladeDetect(BUTTON_BLADE_DETECT, BLADE_DETECT_PIN, "blade_detect");
#endif
#include "common/sd_test.h"
class I2CDevice;
class Commands : public CommandParser {
public:
enum PinType {
PinTypeFloating,
PinTypePulldown,
PinTypeCap,
PinTypeOther,
};
bool TestPin(int pin, PinType t) {
int ret = 0;
pinMode(pin, OUTPUT);
digitalWrite(pin, LOW);
delayMicroseconds(20);
ret <<= 1;
ret |= digitalRead(pin);
digitalWrite(pin, HIGH);
delayMicroseconds(20);
ret <<= 1;
ret |= digitalRead(pin);
// Discharge time
pinMode(pin, INPUT_PULLDOWN);
uint32_t start = micros();
uint32_t end;
while (digitalRead(pin)) {
end = micros();
if (end - start > 32768) break; // 32 millis
}
ret <<= 16;
ret |= (end - start);
pinMode(pin, INPUT_PULLUP);
delayMicroseconds(20);
ret <<= 1;
ret |= digitalRead(pin);
pinMode(pin, INPUT);
return ret;
}
bool Parse(const char* cmd, const char* e) override {
#ifdef ENABLE_SERIALFLASH
if (!strcmp(cmd, "ls")) {
char tmp[128];
SerialFlashChip::opendir();
uint32_t size;
while (SerialFlashChip::readdir(tmp, sizeof(tmp), size)) {
STDOUT.print(tmp);
STDOUT.print(" ");
STDOUT.println(size);
}
STDOUT.println("Done listing files.");
return true;
}
if (!strcmp(cmd, "rm")) {
if (SerialFlashChip::remove(e)) {
STDOUT.println("Removed.\n");
} else {
STDOUT.println("No such file.\n");
}
return true;
}
if (!strcmp(cmd, "format")) {
STDOUT.print("Erasing ... ");
SerialFlashChip::eraseAll();
while (!SerialFlashChip::ready())
;
STDOUT.println("Done");
return true;
}
#endif
#ifdef ENABLE_SD
#ifndef DISABLE_DIAGNOSTIC_COMMANDS
if (!strcmp(cmd, "dir")) {
LOCK_SD(true);
if (!e || LSFS::Exists(e)) {
for (LSFS::Iterator dir(e ? e : ""); dir; ++dir) {
STDOUT.print(dir.name());
STDOUT.print(" ");
STDOUT.println(dir.size());
}
STDOUT.println("Done listing files.");
} else {
STDOUT.println("No such directory.");
}
LOCK_SD(false);
return true;
}
#endif
#ifndef DISABLE_DIAGNOSTIC_COMMANDS
if (!strcmp(cmd, "cat") && e) {
LOCK_SD(true);
File f = LSFS::Open(e);
while (f.available()) {
STDOUT.write(f.read());
}
f.close();
LOCK_SD(false);
return true;
}
#endif
if (!strcmp(cmd, "del") && e) {
LOCK_SD(true);
LSFS::Remove(e);
LOCK_SD(false);
return true;
}
#ifdef ENABLE_DEVELOPER_COMMANDS
if (!strcmp(cmd, "readalot")) {
uint8_t tmp[10];
LOCK_SD(true);
File f = LSFS::Open(e);
for (int i = 0; i < 10000; i++) {
f.seek(0);
f.read(tmp, 10);
f.seek(1000);
f.read(tmp, 10);
}
f.close();
LOCK_SD(false);
STDOUT.println("Done");
return true;
}
#endif // ENABLE_DEVELOPER_COMMANDS
#ifndef DISABLE_DIAGNOSTIC_COMMANDS
if (!strcmp(cmd, "sdtest")) {
SDTestHelper sdtester;
if (e && !strcmp(e, "all")) {
sdtester.TestDir("");
} else {
sdtester.TestFont();
}
return true;
}
#endif
#endif // ENABLE_SD
#if defined(ENABLE_SD) && defined(ENABLE_SERIALFLASH)
if (!strcmp(cmd, "cache")) {
LOCK_SD(true);
File f = LSFS::Open(e);
if (!f) {
STDOUT.println("File not found.");
return true;
}
int bytes = f.size();
if (!SerialFlashChip::create(e, bytes)) {
STDOUT.println("Not enough space on serial flash chip.");
return true;
}
SerialFlashFile o = SerialFlashChip::open(e);
while (bytes) {
char tmp[256];
int b = f.read(tmp, min(bytes, (int)NELEM(tmp)));
o.write(tmp, b);
bytes -= b;
}
LOCK_SD(false);
STDOUT.println("Cached!");
return true;
}
#endif
#ifndef DISABLE_DIAGNOSTIC_COMMANDS
if (!strcmp(cmd, "effects")) {
Effect::ShowAll();
return true;
}
#endif
#if 0
if (!strcmp(cmd, "df")) {
STDOUT.print(SerialFlashChip::capacity());
STDOUT.println(" bytes available.");
return true;
}
#endif
#ifdef ENABLE_DEVELOPER_COMMANDS
if (!strcmp(cmd, "high") && e) {
pinMode(atoi(e), OUTPUT);
digitalWrite(atoi(e), HIGH);
STDOUT.println("Ok.");
return true;
}
#endif // ENABLE_DEVELOPER_COMMANDS
#ifdef ENABLE_DEVELOPER_COMMANDS
if (!strcmp(cmd, "low") && e) {
pinMode(atoi(e), OUTPUT);
digitalWrite(atoi(e), LOW);
STDOUT.println("Ok.");
return true;
}
#endif // ENABLE_DEVELOPER_COMMANDS
#if VERSION_MAJOR >= 4
if (!strcmp(cmd, "booster")) {
if (!strcmp(e, "on")) {
digitalWrite(boosterPin, HIGH);
STDOUT.println("Booster on.");
return true;
}
if (!strcmp(e, "off")) {
digitalWrite(boosterPin, LOW);
STDOUT.println("Booster off.");
return true;
}
}
#endif
#ifdef ENABLE_AUDIO
#if 0
if (!strcmp(cmd, "ton")) {
EnableAmplifier();
dac.SetStream(&saber_synth);
saber_synth.on_ = true;
return true;
}
if (!strcmp(cmd, "tof")) {
saber_synth.on_ = false;
return true;
}
#endif
#ifdef ENABLE_DEVELOPER_COMMANDS
if (!strcmp(cmd, "dumpwav")) {
int16_t tmp[32];
wav_players[0].Stop();
wav_players[0].read(tmp, NELEM(tmp));
wav_players[0].Play(e);
for (int j = 0; j < 64; j++) {
int k = wav_players[0].read(tmp, NELEM(tmp));
for (int i = 0; i < k; i++) {
STDOUT.print(tmp[i]);
STDOUT.print(" ");
}
STDOUT.println("");
}
wav_players[0].Stop();
return true;
}
#endif // ENABLE_DEVELOPER_COMMANDS
#ifdef ENABLE_DEVELOPER_COMMANDS
if (!strcmp(cmd, "dumpwavplayer")) {
for (size_t i = 0; i < NELEM(wav_players); i++) {
if (e && atoi(e) != (int)i) continue;
wav_players[i].dump();
}
return true;
}
#endif // ENABLE_DEVELOPER_COMMANDS
#endif
#ifdef ENABLE_DEVELOPER_COMMANDS
if (!strcmp(cmd, "sleep") && e) {
delay(atoi(e));
return true;
}
#endif
#ifdef ENABLE_DEVELOPER_COMMANDS
if (!strcmp(cmd, "twiddle")) {
int pin = strtol(e, NULL, 0);
STDOUT.print("twiddling ");
STDOUT.println(pin);
pinMode(pin, OUTPUT);
for (int i = 0; i < 1000; i++) {
digitalWrite(pin, HIGH);
delay(10);
digitalWrite(pin, LOW);
delay(10);
}
STDOUT.println("done");
return true;
}
#endif // ENABLE_DEVELOPER_COMMANDS
#ifdef ENABLE_DEVELOPER_COMMANDS
if (!strcmp(cmd, "twiddle2")) {
int pin = strtol(e, NULL, 0);
STDOUT.print("twiddling ");
STDOUT.println(pin);
pinMode(pin, OUTPUT);
for (int i = 0; i < 1000; i++) {
for (int i = 0; i < 500; i++) {
digitalWrite(pin, HIGH);
delayMicroseconds(1);
digitalWrite(pin, LOW);
delayMicroseconds(1);
}
delay(10);
}
STDOUT.println("done");
return true;
}
#endif // ENABLE_DEVELOPER_COMMANDS
#ifndef DISABLE_DIAGNOSTIC_COMMANDS
if (!strcmp(cmd, "malloc")) {
STDOUT.print("alloced: ");
STDOUT.println(mallinfo().uordblks);
STDOUT.print("Free: ");
STDOUT.println(mallinfo().fordblks);
return true;
}
#endif
if (!strcmp(cmd, "make_default_console")) {
default_output = stdout_output;
return true;
}
#if 0
// Not finished yet
if (!strcmp(cmd, "selftest")) {
struct PinDefs { int8_t pin; PinType type; };
static PinDefs pin_defs[] = {
{ bladePowerPin1, PinTypePulldown },
{ bladePowerPin2, PinTypePulldown },
{ bladePowerPin3, PinTypePulldown },
{ bladePowerPin4, PinTypePulldown },
{ bladePowerPin5, PinTypePulldown },
{ bladePowerPin6, PinTypePulldown },
{ bladePin, PinTypeOther },
{ blade2Pin, PinTypeFloating },
{ blade3Pin, PinTypeFloating },
{ blade4Pin, PinTypeFloating },
{ blade5Pin, PinTypeFloating },
{ amplifierPin, PinTypeFloating },
{ boosterPin, PinTypeFloating },
{ powerButtonPin, PinTypeFloating },
{ auxPin, PinTypeFloating },
{ aux2Pin, PinTypeFloating },
{ rxPin, PinTypeOther },
{ txPin, PinTypeFloating },
};
for (size_t test_index = 0; test_index < NELEM(pin_defs); test_index++) {
int pin = pin_defs[test_index].pin;
for (size_t i = 0; i < NELEM(pin_defs); i++)
pinMode(pin_defs[i].pin, INPUT);
// test
for (size_t i = 0; i < NELEM(pin_defs); i++) {
pinMode(pin_defs[i].pin, OUTPUT);
digitalWrite(pin_defs[i].pin, HIGH);
// test
digitalWrite(pin_defs[i].pin, LOW);
// test
pinMode(pin_defs[i].pin, INPUT);
}
}
}
#endif
#ifndef DISABLE_DIAGNOSTIC_COMMANDS
if (!strcmp(cmd, "top")) {
#ifdef TEENSYDUINO
if (!(ARM_DWT_CTRL & ARM_DWT_CTRL_CYCCNTENA)) {
ARM_DEMCR |= ARM_DEMCR_TRCENA;
ARM_DWT_CTRL |= ARM_DWT_CTRL_CYCCNTENA;
STDOUT.println("Cycle counting enabled, top will work next time.");
return true;
}
#endif
#ifdef ARDUINO_ARCH_STM32L4
if (!(DWT->CTRL & DWT_CTRL_CYCCNTENA_Msk)) {
CoreDebug->DEMCR |= 1 << 24; // DEMCR_TRCENA_Msk;
DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk;
STDOUT.println("Cycle counting enabled, top will work next time.");
return true;
}
#endif
// TODO: list cpu usage for various objects.
float total_cycles =
(float)(audio_dma_interrupt_cycles + pixel_dma_interrupt_cycles + motion_interrupt_cycles + wav_interrupt_cycles + Looper::CountCycles() + CountProfileCycles());
STDOUT.print("Audio DMA: ");
STDOUT.print(audio_dma_interrupt_cycles * 100.0f / total_cycles);
STDOUT.println("%");
STDOUT.print("Wav reading: ");
STDOUT.print(wav_interrupt_cycles * 100.0f / total_cycles);
STDOUT.println("%");
STDOUT.print("Pixel DMA: ");
STDOUT.print(pixel_dma_interrupt_cycles * 100.0f / total_cycles);
STDOUT.println("%");
STDOUT.print("LOOP: ");
STDOUT.print(loop_cycles * 100.0f / total_cycles);
STDOUT.println("%");
STDOUT.print("Motion: ");
STDOUT.print(motion_interrupt_cycles * 100.0f / total_cycles);
STDOUT.println("%");
STDOUT.print("Global loops / second: ");
global_loop_counter.Print();
STDOUT.println("");
STDOUT.print("High frequency loops / second: ");
hf_loop_counter.Print();
STDOUT.println("");
SaberBase::DoTop(total_cycles);
Looper::LoopTop(total_cycles);
DumpProfileLocations(total_cycles);
noInterrupts();
audio_dma_interrupt_cycles = 0;
pixel_dma_interrupt_cycles = 0;
motion_interrupt_cycles = 0;
wav_interrupt_cycles = 0;
interrupts();
return true;
}
#endif
if (!strcmp(cmd, "version")) {
STDOUT << version
<< "\n" CONFIG_FILE "\nprop: " TOSTRING(PROP_TYPE) "\nbuttons: " TOSTRING(NUM_BUTTONS) "\ninstalled: "
<< install_time << "\n";
return true;
}
if (!strcmp(cmd, "reset")) {
#ifdef TEENSYDUINO
SCB_AIRCR = 0x05FA0004;
#endif
#ifdef ARDUINO_ARCH_STM32L4
STM32.reset();
#endif
STDOUT.println("Reset failed.");
return true;
}
#ifdef ARDUINO_ARCH_STM32L4
if (!strcmp(cmd, "shutdown")) {
STDOUT.println("Sleeping 10 seconds.\n");
STM32.stop(100000);
return true;
}
if (!strcmp(cmd, "RebootDFU")) {
stm32l4_system_dfu();
return true;
}
#ifdef ENABLE_DEVELOPER_COMMANDS
if (!strcmp(cmd, "dumpfusor")) {
fusor.dump();
return true;
}
#endif
#ifdef ENABLE_DEVELOPER_COMMANDS
if (!strcmp(cmd, "stm32info")) {
STDOUT.print("VBAT: ");
STDOUT.println(STM32.getVBAT());
STDOUT.print("VREF: ");
STDOUT.println(STM32.getVREF());
STDOUT.print("TEMP: ");
STDOUT.println(STM32.getTemperature());
return true;
}
#endif // ENABLE_DEVELOPER_COMMANDS
#ifdef ENABLE_DEVELOPER_COMMANDS
if (!strcmp(cmd, "i2cstate")) {
extern void DumpI2CState();
DumpI2CState();
SaberBase::DumpMotionRequest();
return true;
}
#endif // ENABLE_DEVELOPER_COMMANDS
#ifdef ENABLE_DEVELOPER_COMMANDS
if (!strcmp(cmd, "portstates")) {
GPIO_TypeDef* GPIO;
for (int i = 0; i < 4; i++) {
switch (i) {
case 0:
GPIO = (GPIO_TypeDef*)GPIOA_BASE;
STDOUT.print("PORTA: ");
break;
case 1:
GPIO = (GPIO_TypeDef*)GPIOB_BASE;
STDOUT.print("PORTB: ");
break;
case 2:
GPIO = (GPIO_TypeDef*)GPIOC_BASE;
STDOUT.print("PORTC: ");
break;
case 3:
GPIO = (GPIO_TypeDef*)GPIOH_BASE;
STDOUT.print("PORTH: ");
break;
}
for (int j = 15; j >= 0; j--) {
uint32_t now = (GPIO->MODER >> (j * 2)) & 3;
uint32_t saved = (startup_MODER[i] >> (j * 2)) & 3;
STDOUT.print((now == saved ? "ioga" : "IOGA")[now]);
if (!(j & 3)) STDOUT.print(" ");
}
STDOUT.print(" ");
for (int j = 15; j >= 0; j--) {
uint32_t now = (GPIO->PUPDR >> (j * 2)) & 3;
STDOUT.print("-ud?"[now]);
if (!(j & 3)) STDOUT.print(" ");
}
STDOUT.print(" ");
for (int j = 15; j >= 0; j--) {
uint32_t now = ((GPIO->IDR >> j) & 1) | (((GPIO->ODR >> j) & 1) << 1);
STDOUT.print("lhLH"[now]);
if (!(j & 3)) STDOUT.print(" ");
}
STDOUT.print(" ");
for (int j = 15; j >= 0; j--) {
int afr = 0xf & (GPIO->AFR[j >> 3] >> ((j & 7) * 4));
STDOUT.print("0123456789ABCDEF"[afr]);
if (!(j & 3)) STDOUT.print(" ");
}
STDOUT.println("");
}
return true;
}
#endif // ENABLE_DEVELOPER_COMMANDS
#ifdef ENABLE_DEVELOPER_COMMANDS
if (!strcmp(cmd, "CLK")) {
if (e) {
uint32_t c = atoi(e) * 1000000;
stm32l4_system_sysclk_configure(c, c / 2, c / 2);
}
STDOUT.print("Clocks: hse=");
STDOUT.print(stm32l4_system_hseclk());
STDOUT.print(" lse=");
STDOUT.print(stm32l4_system_lseclk());
STDOUT.print(" sys=");
STDOUT.print(stm32l4_system_sysclk());
STDOUT.print(" f=");
STDOUT.print(stm32l4_system_fclk());
STDOUT.print(" h=");
STDOUT.print(stm32l4_system_hclk());
STDOUT.print(" p1=");
STDOUT.print(stm32l4_system_pclk1());
STDOUT.print(" p2=");
STDOUT.print(stm32l4_system_pclk2());
STDOUT.print(" sai=");
STDOUT.println(stm32l4_system_saiclk());
return true;
}
#endif // ENABLE_DEVELOPER_COMMANDS
#ifdef ENABLE_DEVELOPER_COMMANDS
if (!strcmp(cmd, "whatispowered")) {
STDOUT.print("ON: ");
#define PRINTIFON(REG, BIT) \
do { \
if (RCC->REG & RCC_##REG##_##BIT##EN) { \
STDOUT.print(" " #BIT); \
if (!(startup_##REG & RCC_##REG##_##BIT##EN)) STDOUT.print("+"); \
} \
} while (0)
PRINTIFON(AHB1ENR, FLASH);
PRINTIFON(AHB1ENR, DMA1);
PRINTIFON(AHB1ENR, DMA2);
PRINTIFON(AHB2ENR, GPIOA);
PRINTIFON(AHB2ENR, GPIOB);
#ifdef GPIOC_BASE
PRINTIFON(AHB2ENR, GPIOC);
#endif
#ifdef GPIOD_BASE
PRINTIFON(AHB2ENR, GPIOD);
#endif
#ifdef GPIOE_BASE
PRINTIFON(AHB2ENR, GPIOE);
#endif
#if defined(STM32L476xx) || defined(STM32L496xx)
PRINTIFON(AHB2ENR, GPIOF);
PRINTIFON(AHB2ENR, GPIOG);
#endif
PRINTIFON(AHB2ENR, GPIOH);
#if defined(STM32L496xx)
PRINTIFON(AHB2ENR, GPIOI);
#endif
PRINTIFON(AHB2ENR, ADC);
PRINTIFON(APB1ENR1, DAC1);
#if defined(STM32L476xx) || defined(STM32L496xx)
PRINTIFON(AHB2ENR, OTGFS);
#else
PRINTIFON(APB1ENR1, USBFS);
#endif
PRINTIFON(APB2ENR, USART1);
PRINTIFON(APB1ENR1, USART2);
#if defined(STM32L433xx) || defined(STM32L476xx) || defined(STM32L496xx)
PRINTIFON(APB1ENR1, USART3);
#endif
#if defined(STM32L476xx) || defined(STM32L496xx)
PRINTIFON(APB1ENR1, UART4);
PRINTIFON(APB1ENR1, UART5);
#endif
PRINTIFON(APB1ENR2, LPUART1);
PRINTIFON(APB1ENR1, I2C1);
#if defined(STM32L433xx) || defined(STM32L476xx) || defined(STM32L496xx)
PRINTIFON(APB1ENR1, I2C2);
#endif
PRINTIFON(APB1ENR1, I2C3);
#if defined(STM32L496xx)
PRINTIFON(APB1ENR2, I2C4);
#endif
PRINTIFON(APB2ENR, SPI1);
#if defined(STM32L433xx) || defined(STM32L476xx) || defined(STM32L496xx)
PRINTIFON(APB1ENR1, SPI2);
#endif
PRINTIFON(APB1ENR1, SPI3);
PRINTIFON(APB1ENR1, CAN1);
#if defined(STM32L496xx)
PRINTIFON(APB1ENR1, CAN2);
#endif
PRINTIFON(AHB3ENR, QSPI);
#if defined(STM32L433xx) || defined(STM32L476xx) || defined(STM32L496xx)
PRINTIFON(APB2ENR, SDMMC1);
#endif
PRINTIFON(APB2ENR, SAI1);
#if defined(STM32L476xx) || defined(STM32L496xx)
PRINTIFON(APB2ENR, SAI2);
PRINTIFON(APB2ENR, DFSDM1);
#endif
PRINTIFON(APB2ENR, TIM1);
PRINTIFON(APB1ENR1, TIM2);
#ifdef TIM3_BASE
PRINTIFON(APB1ENR1, TIM3);
#endif
#ifdef TIM4_BASE
PRINTIFON(APB1ENR1, TIM4);
#endif
#ifdef TIM5_BASE
PRINTIFON(APB1ENR1, TIM5);
#endif
PRINTIFON(APB1ENR1, TIM6);
#ifdef TIM7_BASE
PRINTIFON(APB1ENR1, TIM7);
#endif
#ifdef TIM8_BASE
PRINTIFON(APB2ENR, TIM8);
#endif
PRINTIFON(APB2ENR, TIM15);
PRINTIFON(APB2ENR, TIM16);
#if defined(STM32L476xx) || defined(STM32L496xx)
PRINTIFON(APB2ENR, TIM17);
#endif
PRINTIFON(APB1ENR1, LPTIM1);
PRINTIFON(APB1ENR2, LPTIM2);
// Not sure what CPUs implement these
PRINTIFON(AHB1ENR, CRC);
PRINTIFON(AHB1ENR, TSC);
PRINTIFON(AHB2ENR, RNG);
#ifdef LCD_BASE
PRINTIFON(APB1ENR1, LCD);
#endif
PRINTIFON(APB1ENR1, RTCAPB);
PRINTIFON(APB1ENR1, WWDG);
PRINTIFON(APB1ENR1, CRS);
PRINTIFON(APB1ENR1, CAN1);
PRINTIFON(APB1ENR1, PWR);
PRINTIFON(APB1ENR1, OPAMP);
#ifdef SWPMI1_BASE
PRINTIFON(APB1ENR2, SWPMI1);
#endif
PRINTIFON(APB2ENR, SYSCFG);
PRINTIFON(APB2ENR, FW);
STDOUT.println("");
STDOUT.print("VBUS: ");
STDOUT.println(stm32l4_gpio_pin_read(GPIO_PIN_PB2));
STDOUT.print("USBD connected: ");
STDOUT.println(USBD_Connected());
return true;
}
#endif // ENABLE_DEVELOPER_COMMANDS
#ifdef ENABLE_DEVELOPER_COMMANDS
#ifdef HAVE_STM32L4_DMA_GET
if (!strcmp(cmd, "dmamap")) {
for (int channel = 0; channel < 16; channel++) {
stm32l4_dma_t* dma = stm32l4_dma_get(channel);
if (dma) {
STDOUT.print(" DMA");
STDOUT.print(1 + (channel / 8));
STDOUT.print("_CH");
STDOUT.print(channel % 8);
STDOUT.print(" = ");
STDOUT.println(dma->channel >> 4, HEX);
}
}
return true;
}
#endif // HAVE_STM32L4_DMA_GET
#endif // ENABLE_DEVELOPER_COMMANDS
#endif // TEENSYDUINO
return false;
}
};
StaticWrapper<Commands> commands;
#include "common/serial.h"
#if defined(ENABLE_MOTION) || defined(ENABLE_DISPLAY_CODE)
#include "common/i2cdevice.h"
I2CBus i2cbus;
#endif
#ifdef ENABLE_SSD1306
#include "display/ssd1306.h"
#ifndef DISPLAY_POWER_PINS
#define DISPLAY_POWER_PINS PowerPINS<>
#endif
StandardDisplayController<128, uint32_t> display_controller;
SSD1306Template<128, uint32_t, DISPLAY_POWER_PINS> display(&display_controller);
#endif
#ifdef INCLUDE_SSD1306
#include "display/ssd1306.h"
#endif
#ifdef ENABLE_MOTION
#include "motion/motion_util.h"
#include "motion/mpu6050.h"
#include "motion/lsm6ds3h.h"
#include "motion/fxos8700.h"
#include "motion/fxas21002.h"
// Define this to record clashes to sd card as CSV files
// #define CLASH_RECORDER
#ifdef GYRO_CLASS
// Can also be gyro+accel.
StaticWrapper<GYRO_CLASS> gyroscope;
#endif
#ifdef ACCEL_CLASS
StaticWrapper<ACCEL_CLASS> accelerometer;
#endif
#endif // ENABLE_MOTION
#include "sound/amplifier.h"
#include "common/sd_card.h"
#include "common/booster.h"
void setup() {
#if VERSION_MAJOR >= 4
#define SAVE_RCC(X) startup_##X = RCC->X
SAVE_RCC(AHB1ENR);
SAVE_RCC(AHB2ENR);
SAVE_RCC(AHB3ENR);
SAVE_RCC(APB1ENR1);
SAVE_RCC(APB1ENR2);
SAVE_RCC(APB2ENR);
#define SAVE_MODER(PORT, X) startup_MODER[X] = ((GPIO_TypeDef*)GPIO##PORT##_BASE)->MODER
SAVE_MODER(A, 0);
SAVE_MODER(B, 1);
SAVE_MODER(C, 2);
SAVE_MODER(H, 3);
// TODO enable/disable as needed
pinMode(boosterPin, OUTPUT);
digitalWrite(boosterPin, HIGH);
#endif
Serial.begin(115200);
#if VERSION_MAJOR >= 4
// TODO: Figure out if we need this.
// Serial.blockOnOverrun(false);
#endif
// Wait for all voltages to settle.
// Accumulate some entrypy while we wait.
uint32_t now = millis();
while (millis() - now < PROFFIEOS_STARTUP_DELAY) {
#ifndef NO_BATTERY_MONITOR
srand((rand() * 917823) ^ LSAnalogRead(batteryLevelPin));
#endif
#ifdef BLADE_DETECT_PIN
// Figure out if blade is connected or not.
// Note that if PROFFIEOS_STARTUP_DELAY is smaller than
// the settle time for BladeDetect, this won't work properly.
BladeDetect.Warmup();
#endif
}
#ifdef ENABLE_SERIALFLASH
SerialFlashChip::begin(serialFlashSelectPin);
#endif
#ifdef ENABLE_SD
bool sd_card_found = LSFS::Begin();
if (!sd_card_found) {
if (sdCardSelectPin >= 0 && sdCardSelectPin < 255) {
STDOUT.println("No sdcard found.");
pinMode(sdCardSelectPin, OUTPUT);
digitalWrite(sdCardSelectPin, 0);
delayMicroseconds(2);
pinMode(sdCardSelectPin, INPUT);
delayMicroseconds(2);
if (digitalRead(sdCardSelectPin) != HIGH) {
STDOUT.println("SD select not pulled high!");
}
}
#if VERSION_MAJOR >= 4
stm32l4_gpio_pin_configure(GPIO_PIN_PA5, (GPIO_PUPD_PULLUP | GPIO_OSPEED_HIGH | GPIO_MODE_INPUT));
delayMicroseconds(10);
if (!stm32l4_gpio_pin_read(GPIO_PIN_PA5)) {
STDOUT.println("SCK won't go high!");
}
stm32l4_gpio_pin_configure(GPIO_PIN_PA5, (GPIO_PUPD_PULLDOWN | GPIO_OSPEED_HIGH | GPIO_MODE_INPUT));
delayMicroseconds(10);
if (stm32l4_gpio_pin_read(GPIO_PIN_PA5)) {
STDOUT.println("SCK won't go low!");
}
#endif
} else {
STDOUT.println("Sdcard found..");
}
#endif
Looper::DoSetup();
// Time to identify the blade.
prop.FindBlade();
SaberBase::DoBoot();
#if defined(ENABLE_SD)
if (!sd_card_found) ProffieOSErrors::sd_card_not_found();
#endif // ENABLE_SD
}
#ifdef MTP_RX_ENDPOINT
void mtp_yield() {
Looper::DoLoop();
}
void mtp_lock_storage(bool lock) {
AudioStreamWork::LockSD(lock);
}
#include "mtp/mtpd.h"
MTPD mtpd;
#ifdef ENABLE_SD
#include "mtp/mtp_storage_sd.h"
MTPStorage_SD sd_storage(&mtpd);
#endif
#ifdef ENABLE_SERIALFLASH
#include "mtp/mtp_storage_serialflash.h"
MTPStorage_SerialFlash serialflash_storage(&mtpd);
#endif
#endif // MTP_RX_ENDPOINT
#include "common/clock_control.h"
void loop() {
#ifdef MTP_RX_ENDPOINT
mtpd.loop();
#endif
Looper::DoLoop();
}
#define CONFIG_BOTTOM
#include CONFIG_FILE
#undef CONFIG_BOTTOM
#define PROFFIEOS_DEFINE_FUNCTION_STAGE
#include "common/errors.h"/*
ProffieOS: Control software for lightsabers and other props.
http://fredrik.hubbe.net/lightsaber/teensy_saber.html
Copyright (c) 2016-2019 Fredrik Hubinette
Additional copyright holders listed inline below.
This program 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.
This program 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/>.
*/
/*-----------------------------------------------------------------*\
| You can have multiple configuration files, and specify which one |
| to use here by removing the two slashes at the beginning. |
| **NOTE** Only ONE line should be left uncommented at a time! |
| Add the slashes to any that you are not using. |
\*-----------------------------------------------------------------*/
#define CONFIG_FILE "config/configmysaber_config.h"
// #define CONFIG_FILE "config/default_proffieboard_config.h"
// #define CONFIG_FILE "config/default_v3_config.h"
// #define CONFIG_FILE "config/crossguard_config.h"
// #define CONFIG_FILE "config/graflex_v1_config.h"
// #define CONFIG_FILE "config/prop_shield_fastled_v1_config.h"
// #define CONFIG_FILE "config/owk_v2_config.h"
// #define CONFIG_FILE "config/test_bench_config.h"
// #define CONFIG_FILE "config/toy_saber_config.h"
// #define CONFIG_FILE "config/proffieboard_v1_test_bench_config.h"
// #define CONFIG_FILE "config/proffieboard_v2_testing_config.h"
// #define CONFIG_FILE "config/td_proffieboard_config.h"
// #define CONFIG_FILE "config/proffieboard_v1_graflex.h"
// #define CONFIG_FILE "config/teensy_audio_shield_micom.h"
// #define CONFIG_FILE "config/proffieboard_v2_ob4.h"
// #define CONFIG_FILE "config/testconfig.h"
// #define CONFIG_FILE "config/test_bench_config.h"
#ifdef CONFIG_FILE_TEST
#undef CONFIG_FILE
#define CONFIG_FILE CONFIG_FILE_TEST
#endif
#ifndef CONFIG_FILE
#error Please set CONFIG_FILE as shown above.
#endif
#define CONFIG_TOP
#include CONFIG_FILE
#undef CONFIG_TOP
#ifndef BOOT_VOLUME
#define BOOT_VOLUME VOLUME
#endif
#ifdef SAVE_STATE
#define SAVE_VOLUME
#define SAVE_PRESET
#define SAVE_COLOR_CHANGE
#define SAVE_BLADE_DIMMING
#endif
#ifdef ENABLE_ALL_EDIT_OPTIONS
#define DYNAMIC_BLADE_LENGTH
#define DYNAMIC_BLADE_DIMMING
#define DYNAMIC_CLASH_THRESHOLD
#define SAVE_VOLUME
#define SAVE_BLADE_DIMMING
#define SAVE_CLASH_THRESHOLD
#define SAVE_COLOR_CHANGE
#endif
// #define ENABLE_DEBUG
#ifdef KEEP_SAVEFILES_WHEN_PROGRAMMING
#warning Your config file has KEEP_SAVEFILES_WHEN_PROGRAMMING in it. If you experience problems, please remove it and try again before asking for help. For more information, see: https://pod.hubbe.net/config/keeping-edits-when-uploading.html
#endif
//
// OVERVIEW
//
// Here explain some general code concepts to make it easier
// to understand the code below.
//
// Most things start with the ProbBase class. Depending on the
// configuration, this class is extended by the Saber class,
// the Detonator class, or some other class. The extended class
// is instantiated as "prop", and is responsible for handling
// button clicks, clashes, swings and other events. These events
// are then send to all registered SaberBase classes.
///
// Generally speaking, there are usually two registered SaberBase
// classes listening for events. One for sound and one for
// the blade. Sound and blade effects are generally executed
// separately by separate clases.
//
// Blades are generally handled by one of the child-classes of
// BladeBase. These classes know how many LEDs the current
// blade has, and how to set those LEDs to a given color, but
// they don't actually decide what the blade should look like.
// Instead they just call the current BladeStyle class and
// asks it to set the colors. The BladeStyle classes don't
// need to know what kind of blade is attached, although
// some combinations of BladeBases and BladeStyles just don't
// make any sense.
//
// Sounds are also abstracted. It starts with scanning a directory
// on the SD card for files that match known patterns of file names.
// The Effect class is responsible for keeping track of all numbered
// files that for a particular filename prefix.
//
// Once the directory has been scanned, we'll decide how to play
// sounds. In the past, there was one class for handling NEC style
// fonts and another for handling Plecter style fonts. However,
// both of those have now been merged into the HybridFont class
// which can do both. It is also capable of doing some mix and matching,
// so you can use a plecter style hum together with a NEC style
// swing if you so desire. The HybridFont class inherit from
// SaberBase and listen on on/off/clash/etc. events, just like
// BladeBase classes do.
//
// HybridFont tells the audio subsystem
// to trigger and mix sounds as aproperiate. The sound subsystem
// starts with an DMA channel which feeds data to a digital-to-analog
// converter. Once the data buffer is half-gone, and interrupt is
// triggered in the DAC class, which tries to fill it up by
// reading data from a int16_t AudioStream. Generally, that data
// stream is hooked up to the AudioDynamicMixer class. This
// class is responsible for taking multiple audio inputs,
// summing them up and then adjusting the volume to minimize
// clipping.
// TODO LIST:
// stab detect/effect
//
// Audio work items:
// select clash from force
// stab effect
// Blade stuff
// better clash
// Allow several blades to share power pins.
// If defined, DAC vref will be 3 volts, resulting in louder sound. (teensy only)
#define LOUD
// You can get better SD card performance by
// activating the USE_TEENSY3_OPTIMIZED_CODE define
// in SD.h in the teensy library, however, my sd card
// did not work with that define.
#include <Arduino.h>
#ifdef TEENSYDUINO
#include <DMAChannel.h>
#include <usb_dev.h>
#ifndef USE_TEENSY4
#include <kinetis.h>
#include <i2c_t3.h>
#else
// This is a hack to let me access the internal stuff..
#define private public
#include <Wire.h>
#undef private
#endif
#include <SD.h>
#include <SPI.h>
#ifdef abs
#undef abs
namespace {
template<typename T> constexpr auto abs(T x) -> decltype(-x) {
return x < 0 ? -x : x;
}
}
#endif
#else // TEENSYDUINO
#define digitalWriteFast digitalWrite
#endif // TEENSYDUINO
#ifdef ARDUINO_ARCH_STM32L4
// This is a hack to let me access the internal stuff..
#define private public
#include <Wire.h>
#undef private
#include <FS.h>
#include <stm32l4_wiring_private.h>
#include <stm32l4xx.h>
#include <armv7m.h>
#include <stm32l4_gpio.h>
#include <stm32l4_sai.h>
#include <stm32l4_dma.h>
#include <stm32l4_system.h>
#include <arm_math.h>
#include <STM32.h>
#define DMAChannel stm32l4_dma_t
#define DMAMEM
#define NVIC_SET_PRIORITY(X, Y) NVIC_SetPriority((X), (IRQn_Type)(Y))
#else // ARDUINO_ARCH_STM32L4
#define INPUT_ANALOG INPUT
#endif // ARDUINO_ARCH_STM32L4
#include <math.h>
#include <malloc.h>
#ifdef ENABLE_SERIALFLASH
// This is a hack to let me access the internal stuff..
#define private public
#define protected public
#include <SerialFlash.h>
#undef private
#undef protected
#endif
#ifdef ENABLE_SNOOZE
#define startup_early_hook DISABLE_startup_early_hook
#include <Snooze.h>
#undef startup_early_hook
SnoozeTimer snooze_timer;
SnoozeDigital snooze_digital;
SnoozeTouch snooze_touch;
SnoozeBlock snooze_config(snooze_touch, snooze_digital, snooze_timer);
#endif
const char version[] = "v7.15";
#include "common/common.h"
#include "common/state_machine.h"
#include "common/monitoring.h"
#include "common/stdout.h"
#include "common/errors.h"
Monitoring monitor;
DEFINE_COMMON_STDOUT_GLOBALS;
void PrintQuotedValue(const char* name, const char* str) {
STDOUT.print(name);
STDOUT.write('=');
if (str) {
while (*str) {
switch (*str) {
case '\n':
STDOUT.print("\\n");
break;
case '\t':
STDOUT.print("\\t");
break;
case '\\':
STDOUT.write('\\');
default:
STDOUT.write(*str);
}
++str;
}
}
STDOUT.write('\n');
}
#ifdef ENABLE_DEBUG
// This class is really useful for finding crashes
// basically, the pin you give it will be held high
// while this function is running. After that it will
// be set to low. If a crash occurs in this function
// it will stay high.
class ScopedPinTracer {
public:
explicit ScopedPinTracer(int pin)
: pin_(pin) {
pinMode(pin_, OUTPUT);
digitalWriteFast(pin, HIGH);
}
~ScopedPinTracer() {
digitalWriteFast(pin_, LOW);
}
private:
int pin_;
};
class ScopedTracer3 {
public:
explicit ScopedTracer3(int code) {
pinMode(bladePowerPin1, OUTPUT);
pinMode(bladePowerPin2, OUTPUT);
pinMode(bladePowerPin3, OUTPUT);
digitalWriteFast(bladePowerPin1, !!(code & 1));
digitalWriteFast(bladePowerPin2, !!(code & 2));
digitalWriteFast(bladePowerPin3, !!(code & 4));
}
~ScopedTracer3() {
digitalWriteFast(bladePowerPin1, LOW);
digitalWriteFast(bladePowerPin2, LOW);
digitalWriteFast(bladePowerPin3, LOW);
}
};
#endif
#include "common/scoped_cycle_counter.h"
#include "common/profiling.h"
uint64_t audio_dma_interrupt_cycles = 0;
uint64_t pixel_dma_interrupt_cycles = 0;
uint64_t motion_interrupt_cycles = 0;
uint64_t wav_interrupt_cycles = 0;
uint64_t loop_cycles = 0;
#include "common/loop_counter.h"
#if defined(ENABLE_SSD1306) || defined(INCLUDE_SSD1306)
#define ENABLE_DISPLAY_CODE
#endif
#ifdef DOSFS_CONFIG_STARTUP_DELAY
#define PROFFIEOS_SD_STARTUP_DELAY DOSFS_CONFIG_STARTUP_DELAY
#else
#define PROFFIEOS_SD_STARTUP_DELAY 1000
#endif
#ifndef CONFIG_STARTUP_DELAY
#define CONFIG_STARTUP_DELAY 0
#endif
#if PROFFIEOS_SD_STARTUP_DELAY > CONFIG_STARTUP_DELAY
#define PROFFIEOS_STARTUP_DELAY PROFFIEOS_SD_STARTUP_DELAY
#else
#define PROFFIEOS_STARTUP_DELAY CONFIG_STARTUP_DELAY
#endif
#include "common/linked_list.h"
#include "common/looper.h"
#include "common/command_parser.h"
#include "common/monitor_helper.h"
CommandParser* parsers = NULL;
MonitorHelper monitor_helper;
#include "common/vec3.h"
#include "common/quat.h"
#include "common/ref.h"
#include "common/events.h"
#include "common/saber_base.h"
#include "common/saber_base_passthrough.h"
SaberBase* saberbases = NULL;
SaberBase::LockupType SaberBase::lockup_ = SaberBase::LOCKUP_NONE;
SaberBase::ColorChangeMode SaberBase::color_change_mode_ =
SaberBase::COLOR_CHANGE_MODE_NONE;
bool SaberBase::on_ = false;
uint32_t SaberBase::last_motion_request_ = 0;
uint32_t SaberBase::current_variation_ = 0;
float SaberBase::sound_length = 0.0;
int SaberBase::sound_number = -1;
float SaberBase::clash_strength_ = 0.0;
#ifdef DYNAMIC_BLADE_DIMMING
int SaberBase::dimming_ = 16384;
#endif
#include "common/box_filter.h"
// Returns the decimals of a number, ie 12.2134 -> 0.2134
float fract(float x) {
return x - floorf(x);
}
// clamp(x, a, b) makes sure that x is between a and b.
float clamp(float x, float a, float b) {
if (x < a) return a;
if (x > b) return b;
return x;
}
float Fmod(float a, float b) {
return a - floorf(a / b) * b;
}
int32_t clampi32(int32_t x, int32_t a, int32_t b) {
if (x < a) return a;
if (x > b) return b;
return x;
}
int16_t clamptoi16(int32_t x) {
return clampi32(x, -32768, 32767);
}
int32_t clamptoi24(int32_t x) {
return clampi32(x, -8388608, 8388607);
}
#include "common/sin_table.h"
void EnableBooster();
void EnableAmplifier();
bool AmplifierIsActive();
void MountSDCard();
const char* GetSaveDir();
#include "common/lsfs.h"
#include "common/strfun.h"
// Double-zero terminated array of search paths.
// No trailing slashes!
char current_directory[128];
const char* next_current_directory(const char* dir) {
dir += strlen(dir);
dir++;
if (!*dir) return NULL;
return dir;
}
const char* last_current_directory() {
const char* ret = current_directory;
while (true) {
const char* tmp = next_current_directory(ret);
if (!tmp) return ret;
ret = tmp;
}
}
const char* previous_current_directory(const char* dir) {
if (dir == current_directory) return nullptr;
dir -= 2;
while (true) {
if (dir == current_directory) return current_directory;
if (!*dir) return dir + 1;
dir--;
}
}
#include "sound/sound.h"
#include "common/battery_monitor.h"
#include "common/color.h"
#include "common/range.h"
#include "common/fuse.h"
#include "common/config_file.h"
#include "blades/blade_base.h"
#include "blades/blade_wrapper.h"
class MicroEventTime {
void SetToNow() {
micros_ = micros();
millis_ = millis();
}
uint32_t millis_since() {
return millis() - millis_;
}
uint32_t micros_since() {
if (millis_since() > (0xFFFF0000UL / 1000)) return 0xFFFFFFFFUL;
return micros() - micros_;
}
private:
uint32_t millis_;
uint32_t micros_;
};
template<class T, class U>
struct is_same_type { static const bool value = false; };
template<class T>
struct is_same_type<T, T> { static const bool value = true; };
// This really ought to be a typedef, but it causes problems I don't understand.
#define StyleAllocator class StyleFactory*
#include "styles/rgb.h"
#include "styles/rgb_arg.h"
#include "styles/charging.h"
#include "styles/fire.h"
#include "styles/sparkle.h"
#include "styles/gradient.h"
#include "styles/random_flicker.h"
#include "styles/random_per_led_flicker.h"
#include "styles/audio_flicker.h"
#include "styles/brown_noise_flicker.h"
#include "styles/hump_flicker.h"
#include "styles/rainbow.h"
#include "styles/color_cycle.h"
#include "styles/cylon.h"
#include "styles/ignition_delay.h"
#include "styles/retraction_delay.h"
#include "styles/pulsing.h"
#include "styles/blinking.h"
#include "styles/on_spark.h"
#include "styles/rgb_cycle.h"
#include "styles/clash.h"
#include "styles/lockup.h" // Also does "drag"
#include "styles/blast.h"
#include "styles/strobe.h"
#include "styles/inout_helper.h"
#include "styles/inout_sparktip.h"
#include "styles/colors.h"
#include "styles/mix.h"
#include "styles/style_ptr.h"
#include "styles/file.h"
#include "styles/stripes.h"
#include "styles/random_blink.h"
#include "styles/sequence.h"
#include "styles/byteorder.h"
#include "styles/rotate_color.h"
#include "styles/colorchange.h"
#include "styles/transition_pulse.h"
#include "styles/transition_effect.h"
#include "styles/transition_loop.h"
#include "styles/effect_sequence.h"
#include "styles/color_select.h"
#include "styles/remap.h"
#include "styles/edit_mode.h"
// functions
#include "functions/ifon.h"
#include "functions/change_slowly.h"
#include "functions/int.h"
#include "functions/int_arg.h"
#include "functions/int_select.h"
#include "functions/sin.h"
#include "functions/scale.h"
#include "functions/battery_level.h"
#include "functions/trigger.h"
#include "functions/bump.h"
#include "functions/smoothstep.h"
#include "functions/swing_speed.h"
#include "functions/sound_level.h"
#include "functions/blade_angle.h"
#include "functions/variation.h"
#include "functions/twist_angle.h"
#include "functions/layer_functions.h"
#include "functions/islessthan.h"
#include "functions/circular_section.h"
#include "functions/marble.h"
#include "functions/slice.h"
#include "functions/mult.h"
#include "functions/wavlen.h"
#include "functions/wavnum.h"
#include "functions/effect_position.h"
#include "functions/time_since_effect.h"
#include "functions/sum.h"
#include "functions/ramp.h"
#include "functions/center_dist.h"
#include "functions/linear_section.h"
#include "functions/hold_peak.h"
#include "functions/clash_impact.h"
#include "functions/effect_increment.h"
#include "functions/increment.h"
#include "functions/subtract.h"
#include "functions/divide.h"
#include "functions/isbetween.h"
#include "functions/clamp.h"
#include "functions/alt.h"
#include "functions/volume_level.h"
#include "functions/mod.h"
// transitions
#include "transitions/fade.h"
#include "transitions/join.h"
#include "transitions/concat.h"
#include "transitions/instant.h"
#include "transitions/delay.h"
#include "transitions/wipe.h"
#include "transitions/join.h"
#include "transitions/boing.h"
#include "transitions/random.h"
#include "transitions/colorcycle.h"
#include "transitions/wave.h"
#include "transitions/select.h"
#include "transitions/extend.h"
#include "transitions/center_wipe.h"
#include "transitions/sequence.h"
#include "transitions/blink.h"
#include "transitions/doeffect.h"
#include "transitions/loop.h"
#include "styles/legacy_styles.h"
//responsive styles
#include "styles/responsive_styles.h"
#include "styles/pov.h"
class NoLED;
#include "blades/power_pin.h"
#include "blades/drive_logic.h"
#include "blades/pwm_pin.h"
#include "blades/ws2811_blade.h"
#include "blades/fastled_blade.h"
#include "blades/simple_blade.h"
#include "blades/saviblade.h"
#include "blades/sub_blade.h"
#include "blades/dim_blade.h"
#include "blades/leds.h"
#include "blades/blade_id.h"
#include "common/preset.h"
#include "common/blade_config.h"
#include "common/current_preset.h"
#include "common/status_led.h"
#include "styles/style_parser.h"
#include "styles/length_finder.h"
#include "styles/show_color.h"
#include "styles/blade_shortener.h"
BladeConfig* current_config = nullptr;
class BladeBase* GetPrimaryBlade() {
#if NUM_BLADES == 0
return nullptr;
#else
return current_config->blade1;
#endif
}
const char* GetSaveDir() {
if (!current_config) return "";
if (!current_config->save_dir) return "";
return current_config->save_dir;
}
ArgParserInterface* CurrentArgParser;
#define CONFIG_STYLES
#include CONFIG_FILE
#undef CONFIG_STYLES
#define CONFIG_PRESETS
#include CONFIG_FILE
#undef CONFIG_PRESETS
#define CONFIG_PROP
#include CONFIG_FILE
#undef CONFIG_PROP
#ifndef PROP_TYPE
#include "props/saber.h"
#endif
PROP_TYPE prop;
#ifdef BLADE_ID_SCAN_MILLIS
bool ScanBladeIdNow() {
return prop.ScanBladeIdNow();
}
#endif
#if 0
#include "scripts/test_motion_timeout.h"
#warning MOTION TEST SCRIPT ACTIVE
MotionTimeoutScript script;
#endif
#if 0
#include "scripts/v3_test_script.h"
#warning !!! V3 TEST SCRIPT ACTIVE !!!
V3TestScript script;
#endif
#include "buttons/floating_button.h"
#include "buttons/latching_button.h"
#include "buttons/button.h"
#ifdef TEENSYDUINO
#include "buttons/touchbutton.h"
#endif
#ifdef ARDUINO_ARCH_STM32L4
#include "buttons/stm32l4_touchbutton.h"
#endif
#include "buttons/rotary.h"
#include "buttons/pots.h"
#include "ir/ir.h"
#include "ir/receiver.h"
#include "ir/blaster.h"
#include "ir/print.h"
#include "ir/nec.h"
#include "ir/rc6.h"
#include "ir/stm32_ir.h"
#ifndef TEENSYDUINO
uint32_t startup_AHB1ENR;
uint32_t startup_AHB2ENR;
uint32_t startup_AHB3ENR;
uint32_t startup_APB1ENR1;
uint32_t startup_APB1ENR2;
uint32_t startup_APB2ENR;
uint32_t startup_MODER[4];
#endif
#define CONFIG_BUTTONS
#include CONFIG_FILE
#undef CONFIG_BUTTONS
#ifdef BLADE_DETECT_PIN
LatchingButtonTemplate<FloatingButtonBase<BLADE_DETECT_PIN>>
BladeDetect(BUTTON_BLADE_DETECT, BLADE_DETECT_PIN, "blade_detect");
#endif
#include "common/sd_test.h"
class I2CDevice;
class Commands : public CommandParser {
public:
enum PinType {
PinTypeFloating,
PinTypePulldown,
PinTypeCap,
PinTypeOther,
};
bool TestPin(int pin, PinType t) {
int ret = 0;
pinMode(pin, OUTPUT);
digitalWrite(pin, LOW);
delayMicroseconds(20);
ret <<= 1;
ret |= digitalRead(pin);
digitalWrite(pin, HIGH);
delayMicroseconds(20);
ret <<= 1;
ret |= digitalRead(pin);
// Discharge time
pinMode(pin, INPUT_PULLDOWN);
uint32_t start = micros();
uint32_t end;
while (digitalRead(pin)) {
end = micros();
if (end - start > 32768) break; // 32 millis
}
ret <<= 16;
ret |= (end - start);
pinMode(pin, INPUT_PULLUP);
delayMicroseconds(20);
ret <<= 1;
ret |= digitalRead(pin);
pinMode(pin, INPUT);
return ret;
}
bool Parse(const char* cmd, const char* e) override {
#ifdef ENABLE_SERIALFLASH
if (!strcmp(cmd, "ls")) {
char tmp[128];
SerialFlashChip::opendir();
uint32_t size;
while (SerialFlashChip::readdir(tmp, sizeof(tmp), size)) {
STDOUT.print(tmp);
STDOUT.print(" ");
STDOUT.println(size);
}
STDOUT.println("Done listing files.");
return true;
}
if (!strcmp(cmd, "rm")) {
if (SerialFlashChip::remove(e)) {
STDOUT.println("Removed.\n");
} else {
STDOUT.println("No such file.\n");
}
return true;
}
if (!strcmp(cmd, "format")) {
STDOUT.print("Erasing ... ");
SerialFlashChip::eraseAll();
while (!SerialFlashChip::ready())
;
STDOUT.println("Done");
return true;
}
#endif
#ifdef ENABLE_SD
#ifndef DISABLE_DIAGNOSTIC_COMMANDS
if (!strcmp(cmd, "dir")) {
LOCK_SD(true);
if (!e || LSFS::Exists(e)) {
for (LSFS::Iterator dir(e ? e : ""); dir; ++dir) {
STDOUT.print(dir.name());
STDOUT.print(" ");
STDOUT.println(dir.size());
}
STDOUT.println("Done listing files.");
} else {
STDOUT.println("No such directory.");
}
LOCK_SD(false);
return true;
}
#endif
#ifndef DISABLE_DIAGNOSTIC_COMMANDS
if (!strcmp(cmd, "cat") && e) {
LOCK_SD(true);
File f = LSFS::Open(e);
while (f.available()) {
STDOUT.write(f.read());
}
f.close();
LOCK_SD(false);
return true;
}
#endif
if (!strcmp(cmd, "del") && e) {
LOCK_SD(true);
LSFS::Remove(e);
LOCK_SD(false);
return true;
}
#ifdef ENABLE_DEVELOPER_COMMANDS
if (!strcmp(cmd, "readalot")) {
uint8_t tmp[10];
LOCK_SD(true);
File f = LSFS::Open(e);
for (int i = 0; i < 10000; i++) {
f.seek(0);
f.read(tmp, 10);
f.seek(1000);
f.read(tmp, 10);
}
f.close();
LOCK_SD(false);
STDOUT.println("Done");
return true;
}
#endif // ENABLE_DEVELOPER_COMMANDS
#ifndef DISABLE_DIAGNOSTIC_COMMANDS
if (!strcmp(cmd, "sdtest")) {
SDTestHelper sdtester;
if (e && !strcmp(e, "all")) {
sdtester.TestDir("");
} else {
sdtester.TestFont();
}
return true;
}
#endif
#endif // ENABLE_SD
#if defined(ENABLE_SD) && defined(ENABLE_SERIALFLASH)
if (!strcmp(cmd, "cache")) {
LOCK_SD(true);
File f = LSFS::Open(e);
if (!f) {
STDOUT.println("File not found.");
return true;
}
int bytes = f.size();
if (!SerialFlashChip::create(e, bytes)) {
STDOUT.println("Not enough space on serial flash chip.");
return true;
}
SerialFlashFile o = SerialFlashChip::open(e);
while (bytes) {
char tmp[256];
int b = f.read(tmp, min(bytes, (int)NELEM(tmp)));
o.write(tmp, b);
bytes -= b;
}
LOCK_SD(false);
STDOUT.println("Cached!");
return true;
}
#endif
#ifndef DISABLE_DIAGNOSTIC_COMMANDS
if (!strcmp(cmd, "effects")) {
Effect::ShowAll();
return true;
}
#endif
#if 0
if (!strcmp(cmd, "df")) {
STDOUT.print(SerialFlashChip::capacity());
STDOUT.println(" bytes available.");
return true;
}
#endif
#ifdef ENABLE_DEVELOPER_COMMANDS
if (!strcmp(cmd, "high") && e) {
pinMode(atoi(e), OUTPUT);
digitalWrite(atoi(e), HIGH);
STDOUT.println("Ok.");
return true;
}
#endif // ENABLE_DEVELOPER_COMMANDS
#ifdef ENABLE_DEVELOPER_COMMANDS
if (!strcmp(cmd, "low") && e) {
pinMode(atoi(e), OUTPUT);
digitalWrite(atoi(e), LOW);
STDOUT.println("Ok.");
return true;
}
#endif // ENABLE_DEVELOPER_COMMANDS
#if VERSION_MAJOR >= 4
if (!strcmp(cmd, "booster")) {
if (!strcmp(e, "on")) {
digitalWrite(boosterPin, HIGH);
STDOUT.println("Booster on.");
return true;
}
if (!strcmp(e, "off")) {
digitalWrite(boosterPin, LOW);
STDOUT.println("Booster off.");
return true;
}
}
#endif
#ifdef ENABLE_AUDIO
#if 0
if (!strcmp(cmd, "ton")) {
EnableAmplifier();
dac.SetStream(&saber_synth);
saber_synth.on_ = true;
return true;
}
if (!strcmp(cmd, "tof")) {
saber_synth.on_ = false;
return true;
}
#endif
#ifdef ENABLE_DEVELOPER_COMMANDS
if (!strcmp(cmd, "dumpwav")) {
int16_t tmp[32];
wav_players[0].Stop();
wav_players[0].read(tmp, NELEM(tmp));
wav_players[0].Play(e);
for (int j = 0; j < 64; j++) {
int k = wav_players[0].read(tmp, NELEM(tmp));
for (int i = 0; i < k; i++) {
STDOUT.print(tmp[i]);
STDOUT.print(" ");
}
STDOUT.println("");
}
wav_players[0].Stop();
return true;
}
#endif // ENABLE_DEVELOPER_COMMANDS
#ifdef ENABLE_DEVELOPER_COMMANDS
if (!strcmp(cmd, "dumpwavplayer")) {
for (size_t i = 0; i < NELEM(wav_players); i++) {
if (e && atoi(e) != (int)i) continue;
wav_players[i].dump();
}
return true;
}
#endif // ENABLE_DEVELOPER_COMMANDS
#endif
#ifdef ENABLE_DEVELOPER_COMMANDS
if (!strcmp(cmd, "sleep") && e) {
delay(atoi(e));
return true;
}
#endif
#ifdef ENABLE_DEVELOPER_COMMANDS
if (!strcmp(cmd, "twiddle")) {
int pin = strtol(e, NULL, 0);
STDOUT.print("twiddling ");
STDOUT.println(pin);
pinMode(pin, OUTPUT);
for (int i = 0; i < 1000; i++) {
digitalWrite(pin, HIGH);
delay(10);
digitalWrite(pin, LOW);
delay(10);
}
STDOUT.println("done");
return true;
}
#endif // ENABLE_DEVELOPER_COMMANDS
#ifdef ENABLE_DEVELOPER_COMMANDS
if (!strcmp(cmd, "twiddle2")) {
int pin = strtol(e, NULL, 0);
STDOUT.print("twiddling ");
STDOUT.println(pin);
pinMode(pin, OUTPUT);
for (int i = 0; i < 1000; i++) {
for (int i = 0; i < 500; i++) {
digitalWrite(pin, HIGH);
delayMicroseconds(1);
digitalWrite(pin, LOW);
delayMicroseconds(1);
}
delay(10);
}
STDOUT.println("done");
return true;
}
#endif // ENABLE_DEVELOPER_COMMANDS
#ifndef DISABLE_DIAGNOSTIC_COMMANDS
if (!strcmp(cmd, "malloc")) {
STDOUT.print("alloced: ");
STDOUT.println(mallinfo().uordblks);
STDOUT.print("Free: ");
STDOUT.println(mallinfo().fordblks);
return true;
}
#endif
if (!strcmp(cmd, "make_default_console")) {
default_output = stdout_output;
return true;
}
#if 0
// Not finished yet
if (!strcmp(cmd, "selftest")) {
struct PinDefs { int8_t pin; PinType type; };
static PinDefs pin_defs[] = {
{ bladePowerPin1, PinTypePulldown },
{ bladePowerPin2, PinTypePulldown },
{ bladePowerPin3, PinTypePulldown },
{ bladePowerPin4, PinTypePulldown },
{ bladePowerPin5, PinTypePulldown },
{ bladePowerPin6, PinTypePulldown },
{ bladePin, PinTypeOther },
{ blade2Pin, PinTypeFloating },
{ blade3Pin, PinTypeFloating },
{ blade4Pin, PinTypeFloating },
{ blade5Pin, PinTypeFloating },
{ amplifierPin, PinTypeFloating },
{ boosterPin, PinTypeFloating },
{ powerButtonPin, PinTypeFloating },
{ auxPin, PinTypeFloating },
{ aux2Pin, PinTypeFloating },
{ rxPin, PinTypeOther },
{ txPin, PinTypeFloating },
};
for (size_t test_index = 0; test_index < NELEM(pin_defs); test_index++) {
int pin = pin_defs[test_index].pin;
for (size_t i = 0; i < NELEM(pin_defs); i++)
pinMode(pin_defs[i].pin, INPUT);
// test
for (size_t i = 0; i < NELEM(pin_defs); i++) {
pinMode(pin_defs[i].pin, OUTPUT);
digitalWrite(pin_defs[i].pin, HIGH);
// test
digitalWrite(pin_defs[i].pin, LOW);
// test
pinMode(pin_defs[i].pin, INPUT);
}
}
}
#endif
#ifndef DISABLE_DIAGNOSTIC_COMMANDS
if (!strcmp(cmd, "top")) {
#ifdef TEENSYDUINO
if (!(ARM_DWT_CTRL & ARM_DWT_CTRL_CYCCNTENA)) {
ARM_DEMCR |= ARM_DEMCR_TRCENA;
ARM_DWT_CTRL |= ARM_DWT_CTRL_CYCCNTENA;
STDOUT.println("Cycle counting enabled, top will work next time.");
return true;
}
#endif
#ifdef ARDUINO_ARCH_STM32L4
if (!(DWT->CTRL & DWT_CTRL_CYCCNTENA_Msk)) {
CoreDebug->DEMCR |= 1 << 24; // DEMCR_TRCENA_Msk;
DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk;
STDOUT.println("Cycle counting enabled, top will work next time.");
return true;
}
#endif
// TODO: list cpu usage for various objects.
float total_cycles =
(float)(audio_dma_interrupt_cycles + pixel_dma_interrupt_cycles + motion_interrupt_cycles + wav_interrupt_cycles + Looper::CountCycles() + CountProfileCycles());
STDOUT.print("Audio DMA: ");
STDOUT.print(audio_dma_interrupt_cycles * 100.0f / total_cycles);
STDOUT.println("%");
STDOUT.print("Wav reading: ");
STDOUT.print(wav_interrupt_cycles * 100.0f / total_cycles);
STDOUT.println("%");
STDOUT.print("Pixel DMA: ");
STDOUT.print(pixel_dma_interrupt_cycles * 100.0f / total_cycles);
STDOUT.println("%");
STDOUT.print("LOOP: ");
STDOUT.print(loop_cycles * 100.0f / total_cycles);
STDOUT.println("%");
STDOUT.print("Motion: ");
STDOUT.print(motion_interrupt_cycles * 100.0f / total_cycles);
STDOUT.println("%");
STDOUT.print("Global loops / second: ");
global_loop_counter.Print();
STDOUT.println("");
STDOUT.print("High frequency loops / second: ");
hf_loop_counter.Print();
STDOUT.println("");
SaberBase::DoTop(total_cycles);
Looper::LoopTop(total_cycles);
DumpProfileLocations(total_cycles);
noInterrupts();
audio_dma_interrupt_cycles = 0;
pixel_dma_interrupt_cycles = 0;
motion_interrupt_cycles = 0;
wav_interrupt_cycles = 0;
interrupts();
return true;
}
#endif
if (!strcmp(cmd, "version")) {
STDOUT << version
<< "\n" CONFIG_FILE "\nprop: " TOSTRING(PROP_TYPE) "\nbuttons: " TOSTRING(NUM_BUTTONS) "\ninstalled: "
<< install_time << "\n";
return true;
}
if (!strcmp(cmd, "reset")) {
#ifdef TEENSYDUINO
SCB_AIRCR = 0x05FA0004;
#endif
#ifdef ARDUINO_ARCH_STM32L4
STM32.reset();
#endif
STDOUT.println("Reset failed.");
return true;
}
#ifdef ARDUINO_ARCH_STM32L4
if (!strcmp(cmd, "shutdown")) {
STDOUT.println("Sleeping 10 seconds.\n");
STM32.stop(100000);
return true;
}
if (!strcmp(cmd, "RebootDFU")) {
stm32l4_system_dfu();
return true;
}
#ifdef ENABLE_DEVELOPER_COMMANDS
if (!strcmp(cmd, "dumpfusor")) {
fusor.dump();
return true;
}
#endif
#ifdef ENABLE_DEVELOPER_COMMANDS
if (!strcmp(cmd, "stm32info")) {
STDOUT.print("VBAT: ");
STDOUT.println(STM32.getVBAT());
STDOUT.print("VREF: ");
STDOUT.println(STM32.getVREF());
STDOUT.print("TEMP: ");
STDOUT.println(STM32.getTemperature());
return true;
}
#endif // ENABLE_DEVELOPER_COMMANDS
#ifdef ENABLE_DEVELOPER_COMMANDS
if (!strcmp(cmd, "i2cstate")) {
extern void DumpI2CState();
DumpI2CState();
SaberBase::DumpMotionRequest();
return true;
}
#endif // ENABLE_DEVELOPER_COMMANDS
#ifdef ENABLE_DEVELOPER_COMMANDS
if (!strcmp(cmd, "portstates")) {
GPIO_TypeDef* GPIO;
for (int i = 0; i < 4; i++) {
switch (i) {
case 0:
GPIO = (GPIO_TypeDef*)GPIOA_BASE;
STDOUT.print("PORTA: ");
break;
case 1:
GPIO = (GPIO_TypeDef*)GPIOB_BASE;
STDOUT.print("PORTB: ");
break;
case 2:
GPIO = (GPIO_TypeDef*)GPIOC_BASE;
STDOUT.print("PORTC: ");
break;
case 3:
GPIO = (GPIO_TypeDef*)GPIOH_BASE;
STDOUT.print("PORTH: ");
break;
}
for (int j = 15; j >= 0; j--) {
uint32_t now = (GPIO->MODER >> (j * 2)) & 3;
uint32_t saved = (startup_MODER[i] >> (j * 2)) & 3;
STDOUT.print((now == saved ? "ioga" : "IOGA")[now]);
if (!(j & 3)) STDOUT.print(" ");
}
STDOUT.print(" ");
for (int j = 15; j >= 0; j--) {
uint32_t now = (GPIO->PUPDR >> (j * 2)) & 3;
STDOUT.print("-ud?"[now]);
if (!(j & 3)) STDOUT.print(" ");
}
STDOUT.print(" ");
for (int j = 15; j >= 0; j--) {
uint32_t now = ((GPIO->IDR >> j) & 1) | (((GPIO->ODR >> j) & 1) << 1);
STDOUT.print("lhLH"[now]);
if (!(j & 3)) STDOUT.print(" ");
}
STDOUT.print(" ");
for (int j = 15; j >= 0; j--) {
int afr = 0xf & (GPIO->AFR[j >> 3] >> ((j & 7) * 4));
STDOUT.print("0123456789ABCDEF"[afr]);
if (!(j & 3)) STDOUT.print(" ");
}
STDOUT.println("");
}
return true;
}
#endif // ENABLE_DEVELOPER_COMMANDS
#ifdef ENABLE_DEVELOPER_COMMANDS
if (!strcmp(cmd, "CLK")) {
if (e) {
uint32_t c = atoi(e) * 1000000;
stm32l4_system_sysclk_configure(c, c / 2, c / 2);
}
STDOUT.print("Clocks: hse=");
STDOUT.print(stm32l4_system_hseclk());
STDOUT.print(" lse=");
STDOUT.print(stm32l4_system_lseclk());
STDOUT.print(" sys=");
STDOUT.print(stm32l4_system_sysclk());
STDOUT.print(" f=");
STDOUT.print(stm32l4_system_fclk());
STDOUT.print(" h=");
STDOUT.print(stm32l4_system_hclk());
STDOUT.print(" p1=");
STDOUT.print(stm32l4_system_pclk1());
STDOUT.print(" p2=");
STDOUT.print(stm32l4_system_pclk2());
STDOUT.print(" sai=");
STDOUT.println(stm32l4_system_saiclk());
return true;
}
#endif // ENABLE_DEVELOPER_COMMANDS
#ifdef ENABLE_DEVELOPER_COMMANDS
if (!strcmp(cmd, "whatispowered")) {
STDOUT.print("ON: ");
#define PRINTIFON(REG, BIT) \
do { \
if (RCC->REG & RCC_##REG##_##BIT##EN) { \
STDOUT.print(" " #BIT); \
if (!(startup_##REG & RCC_##REG##_##BIT##EN)) STDOUT.print("+"); \
} \
} while (0)
PRINTIFON(AHB1ENR, FLASH);
PRINTIFON(AHB1ENR, DMA1);
PRINTIFON(AHB1ENR, DMA2);
PRINTIFON(AHB2ENR, GPIOA);
PRINTIFON(AHB2ENR, GPIOB);
#ifdef GPIOC_BASE
PRINTIFON(AHB2ENR, GPIOC);
#endif
#ifdef GPIOD_BASE
PRINTIFON(AHB2ENR, GPIOD);
#endif
#ifdef GPIOE_BASE
PRINTIFON(AHB2ENR, GPIOE);
#endif
#if defined(STM32L476xx) || defined(STM32L496xx)
PRINTIFON(AHB2ENR, GPIOF);
PRINTIFON(AHB2ENR, GPIOG);
#endif
PRINTIFON(AHB2ENR, GPIOH);
#if defined(STM32L496xx)
PRINTIFON(AHB2ENR, GPIOI);
#endif
PRINTIFON(AHB2ENR, ADC);
PRINTIFON(APB1ENR1, DAC1);
#if defined(STM32L476xx) || defined(STM32L496xx)
PRINTIFON(AHB2ENR, OTGFS);
#else
PRINTIFON(APB1ENR1, USBFS);
#endif
PRINTIFON(APB2ENR, USART1);
PRINTIFON(APB1ENR1, USART2);
#if defined(STM32L433xx) || defined(STM32L476xx) || defined(STM32L496xx)
PRINTIFON(APB1ENR1, USART3);
#endif
#if defined(STM32L476xx) || defined(STM32L496xx)
PRINTIFON(APB1ENR1, UART4);
PRINTIFON(APB1ENR1, UART5);
#endif
PRINTIFON(APB1ENR2, LPUART1);
PRINTIFON(APB1ENR1, I2C1);
#if defined(STM32L433xx) || defined(STM32L476xx) || defined(STM32L496xx)
PRINTIFON(APB1ENR1, I2C2);
#endif
PRINTIFON(APB1ENR1, I2C3);
#if defined(STM32L496xx)
PRINTIFON(APB1ENR2, I2C4);
#endif
PRINTIFON(APB2ENR, SPI1);
#if defined(STM32L433xx) || defined(STM32L476xx) || defined(STM32L496xx)
PRINTIFON(APB1ENR1, SPI2);
#endif
PRINTIFON(APB1ENR1, SPI3);
PRINTIFON(APB1ENR1, CAN1);
#if defined(STM32L496xx)
PRINTIFON(APB1ENR1, CAN2);
#endif
PRINTIFON(AHB3ENR, QSPI);
#if defined(STM32L433xx) || defined(STM32L476xx) || defined(STM32L496xx)
PRINTIFON(APB2ENR, SDMMC1);
#endif
PRINTIFON(APB2ENR, SAI1);
#if defined(STM32L476xx) || defined(STM32L496xx)
PRINTIFON(APB2ENR, SAI2);
PRINTIFON(APB2ENR, DFSDM1);
#endif
PRINTIFON(APB2ENR, TIM1);
PRINTIFON(APB1ENR1, TIM2);
#ifdef TIM3_BASE
PRINTIFON(APB1ENR1, TIM3);
#endif
#ifdef TIM4_BASE
PRINTIFON(APB1ENR1, TIM4);
#endif
#ifdef TIM5_BASE
PRINTIFON(APB1ENR1, TIM5);
#endif
PRINTIFON(APB1ENR1, TIM6);
#ifdef TIM7_BASE
PRINTIFON(APB1ENR1, TIM7);
#endif
#ifdef TIM8_BASE
PRINTIFON(APB2ENR, TIM8);
#endif
PRINTIFON(APB2ENR, TIM15);
PRINTIFON(APB2ENR, TIM16);
#if defined(STM32L476xx) || defined(STM32L496xx)
PRINTIFON(APB2ENR, TIM17);
#endif
PRINTIFON(APB1ENR1, LPTIM1);
PRINTIFON(APB1ENR2, LPTIM2);
// Not sure what CPUs implement these
PRINTIFON(AHB1ENR, CRC);
PRINTIFON(AHB1ENR, TSC);
PRINTIFON(AHB2ENR, RNG);
#ifdef LCD_BASE
PRINTIFON(APB1ENR1, LCD);
#endif
PRINTIFON(APB1ENR1, RTCAPB);
PRINTIFON(APB1ENR1, WWDG);
PRINTIFON(APB1ENR1, CRS);
PRINTIFON(APB1ENR1, CAN1);
PRINTIFON(APB1ENR1, PWR);
PRINTIFON(APB1ENR1, OPAMP);
#ifdef SWPMI1_BASE
PRINTIFON(APB1ENR2, SWPMI1);
#endif
PRINTIFON(APB2ENR, SYSCFG);
PRINTIFON(APB2ENR, FW);
STDOUT.println("");
STDOUT.print("VBUS: ");
STDOUT.println(stm32l4_gpio_pin_read(GPIO_PIN_PB2));
STDOUT.print("USBD connected: ");
STDOUT.println(USBD_Connected());
return true;
}
#endif // ENABLE_DEVELOPER_COMMANDS
#ifdef ENABLE_DEVELOPER_COMMANDS
#ifdef HAVE_STM32L4_DMA_GET
if (!strcmp(cmd, "dmamap")) {
for (int channel = 0; channel < 16; channel++) {
stm32l4_dma_t* dma = stm32l4_dma_get(channel);
if (dma) {
STDOUT.print(" DMA");
STDOUT.print(1 + (channel / 8));
STDOUT.print("_CH");
STDOUT.print(channel % 8);
STDOUT.print(" = ");
STDOUT.println(dma->channel >> 4, HEX);
}
}
return true;
}
#endif // HAVE_STM32L4_DMA_GET
#endif // ENABLE_DEVELOPER_COMMANDS
#endif // TEENSYDUINO
return false;
}
};
StaticWrapper<Commands> commands;
#include "common/serial.h"
#if defined(ENABLE_MOTION) || defined(ENABLE_DISPLAY_CODE)
#include "common/i2cdevice.h"
I2CBus i2cbus;
#endif
#ifdef ENABLE_SSD1306
#include "display/ssd1306.h"
#ifndef DISPLAY_POWER_PINS
#define DISPLAY_POWER_PINS PowerPINS<>
#endif
StandardDisplayController<128, uint32_t> display_controller;
SSD1306Template<128, uint32_t, DISPLAY_POWER_PINS> display(&display_controller);
#endif
#ifdef INCLUDE_SSD1306
#include "display/ssd1306.h"
#endif
#ifdef ENABLE_MOTION
#include "motion/motion_util.h"
#include "motion/mpu6050.h"
#include "motion/lsm6ds3h.h"
#include "motion/fxos8700.h"
#include "motion/fxas21002.h"
// Define this to record clashes to sd card as CSV files
// #define CLASH_RECORDER
#ifdef GYRO_CLASS
// Can also be gyro+accel.
StaticWrapper<GYRO_CLASS> gyroscope;
#endif
#ifdef ACCEL_CLASS
StaticWrapper<ACCEL_CLASS> accelerometer;
#endif
#endif // ENABLE_MOTION
#include "sound/amplifier.h"
#include "common/sd_card.h"
#include "common/booster.h"
void setup() {
#if VERSION_MAJOR >= 4
#define SAVE_RCC(X) startup_##X = RCC->X
SAVE_RCC(AHB1ENR);
SAVE_RCC(AHB2ENR);
SAVE_RCC(AHB3ENR);
SAVE_RCC(APB1ENR1);
SAVE_RCC(APB1ENR2);
SAVE_RCC(APB2ENR);
#define SAVE_MODER(PORT, X) startup_MODER[X] = ((GPIO_TypeDef*)GPIO##PORT##_BASE)->MODER
SAVE_MODER(A, 0);
SAVE_MODER(B, 1);
SAVE_MODER(C, 2);
SAVE_MODER(H, 3);
// TODO enable/disable as needed
pinMode(boosterPin, OUTPUT);
digitalWrite(boosterPin, HIGH);
#endif
Serial.begin(115200);
#if VERSION_MAJOR >= 4
// TODO: Figure out if we need this.
// Serial.blockOnOverrun(false);
#endif
// Wait for all voltages to settle.
// Accumulate some entrypy while we wait.
uint32_t now = millis();
while (millis() - now < PROFFIEOS_STARTUP_DELAY) {
#ifndef NO_BATTERY_MONITOR
srand((rand() * 917823) ^ LSAnalogRead(batteryLevelPin));
#endif
#ifdef BLADE_DETECT_PIN
// Figure out if blade is connected or not.
// Note that if PROFFIEOS_STARTUP_DELAY is smaller than
// the settle time for BladeDetect, this won't work properly.
BladeDetect.Warmup();
#endif
}
#ifdef ENABLE_SERIALFLASH
SerialFlashChip::begin(serialFlashSelectPin);
#endif
#ifdef ENABLE_SD
bool sd_card_found = LSFS::Begin();
if (!sd_card_found) {
if (sdCardSelectPin >= 0 && sdCardSelectPin < 255) {
STDOUT.println("No sdcard found.");
pinMode(sdCardSelectPin, OUTPUT);
digitalWrite(sdCardSelectPin, 0);
delayMicroseconds(2);
pinMode(sdCardSelectPin, INPUT);
delayMicroseconds(2);
if (digitalRead(sdCardSelectPin) != HIGH) {
STDOUT.println("SD select not pulled high!");
}
}
#if VERSION_MAJOR >= 4
stm32l4_gpio_pin_configure(GPIO_PIN_PA5, (GPIO_PUPD_PULLUP | GPIO_OSPEED_HIGH | GPIO_MODE_INPUT));
delayMicroseconds(10);
if (!stm32l4_gpio_pin_read(GPIO_PIN_PA5)) {
STDOUT.println("SCK won't go high!");
}
stm32l4_gpio_pin_configure(GPIO_PIN_PA5, (GPIO_PUPD_PULLDOWN | GPIO_OSPEED_HIGH | GPIO_MODE_INPUT));
delayMicroseconds(10);
if (stm32l4_gpio_pin_read(GPIO_PIN_PA5)) {
STDOUT.println("SCK won't go low!");
}
#endif
} else {
STDOUT.println("Sdcard found..");
}
#endif
Looper::DoSetup();
// Time to identify the blade.
prop.FindBlade();
SaberBase::DoBoot();
#if defined(ENABLE_SD)
if (!sd_card_found) ProffieOSErrors::sd_card_not_found();
#endif // ENABLE_SD
}
#ifdef MTP_RX_ENDPOINT
void mtp_yield() {
Looper::DoLoop();
}
void mtp_lock_storage(bool lock) {
AudioStreamWork::LockSD(lock);
}
#include "mtp/mtpd.h"
MTPD mtpd;
#ifdef ENABLE_SD
#include "mtp/mtp_storage_sd.h"
MTPStorage_SD sd_storage(&mtpd);
#endif
#ifdef ENABLE_SERIALFLASH
#include "mtp/mtp_storage_serialflash.h"
MTPStorage_SerialFlash serialflash_storage(&mtpd);
#endif
#endif // MTP_RX_ENDPOINT
#include "common/clock_control.h"
void loop() {
#ifdef MTP_RX_ENDPOINT
mtpd.loop();
#endif
Looper::DoLoop();
}
#define CONFIG_BOTTOM
#include CONFIG_FILE
#undef CONFIG_BOTTOM
#define PROFFIEOS_DEFINE_FUNCTION_STAGE
#include "common/errors.h"
