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/** STM32F4 application example
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* @ file
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* @ author King Kévin < kingkevin @ cuvoodoo . info >
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* @ copyright SPDX - License - Identifier : GPL - 3.0 - or - later
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* @ date 2016 - 2020
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*/
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/* standard libraries */
# include <stdint.h> // standard integer types
# include <stdlib.h> // standard utilities
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# include <string.h> // string utilities
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# include <time.h> // date/time utilities
# include <ctype.h> // utilities to check chars
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/* STM32 (including CM3) libraries */
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# include <libopencmsis/core_cm3.h> // Cortex M3 utilities
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# include <libopencm3/cm3/scb.h> // vector table definition
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# include <libopencm3/cm3/nvic.h> // interrupt utilities
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# include <libopencm3/stm32/gpio.h> // general purpose input output library
# include <libopencm3/stm32/rcc.h> // real-time control clock library
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# include <libopencm3/stm32/exti.h> // external interrupt utilities
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# include <libopencm3/stm32/rtc.h> // real time clock utilities
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# include <libopencm3/stm32/iwdg.h> // independent watchdog utilities
# include <libopencm3/stm32/dbgmcu.h> // debug utilities
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# include <libopencm3/stm32/desig.h> // design utilities
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# include <libopencm3/stm32/flash.h> // flash utilities
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/* own libraries */
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# include "global.h" // board definitions
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# include "print.h" // printing utilities
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# include "uart.h" // USART utilities
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# include "usb_cdcacm.h" // USB CDC ACM utilities
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# include "terminal.h" // handle the terminal interface
# include "menu.h" // menu utilities
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/** watchdog period in ms */
# define WATCHDOG_PERIOD 10000
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/** @defgroup main_flags flag set in interrupts to be processed in main task
* @ {
*/
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static volatile bool rtc_internal_tick_flag = false ; /**< flag set when internal RTC ticked */
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/** @} */
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size_t putc ( char c )
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{
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size_t length = 0 ; // number of characters printed
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static char last_c = 0 ; // to remember on which character we last sent
if ( ' \n ' = = c ) { // send carriage return (CR) + line feed (LF) newline for each LF
if ( ' \r ' ! = last_c ) { // CR has not already been sent
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uart_putchar_nonblocking ( ' \r ' ) ; // send CR over USART
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usb_cdcacm_putchar ( ' \r ' ) ; // send CR over USB
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length + + ; // remember we printed 1 character
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}
}
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uart_putchar_nonblocking ( c ) ; // send byte over USART
usb_cdcacm_putchar ( c ) ; // send byte over USB
length + + ; // remember we printed 1 character
last_c = c ; // remember last character
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return length ; // return number of characters printed
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}
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// menu commands
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/** display available commands
* @ param [ in ] argument no argument required
*/
static void command_help ( void * argument ) ;
/** show software and hardware version
* @ param [ in ] argument no argument required
*/
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static void command_version ( void * argument )
{
( void ) argument ; // we won't use the argument
printf ( " firmware date: %04u-%02u-%02u \n " , BUILD_YEAR , BUILD_MONTH , BUILD_DAY ) ; // show firmware build date
printf ( " device serial: %08x%08x%08x \n " , DESIG_UNIQUE_ID2 , DESIG_UNIQUE_ID1 , DESIG_UNIQUE_ID0 ) ; // show complete serial (different than the one used for USB)
}
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/** show uptime
* @ param [ in ] argument no argument required
*/
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static void command_uptime ( void * argument )
{
( void ) argument ; // we won't use the argument
// TODO calculate time difference
const uint32_t uptime = 0 ; // get time from internal RTC
printf ( " uptime: %u.%02u:%02u:%02u \n " , uptime / ( 24 * 60 * 60 ) , ( uptime / ( 60 * 60 ) ) % 24 , ( uptime / 60 ) % 60 , uptime % 60 ) ;
}
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/** show date and time
* @ param [ in ] argument date and time to set
*/
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static void command_datetime ( void * argument )
{
char * datetime = ( char * ) argument ; // argument is optional date time
if ( NULL = = argument ) { // no date and time provided, just show the current day and time
// TODO wait until date/time is synchronised
const uint8_t year = ( ( RTC_DR > > RTC_DR_YT_SHIFT ) & RTC_DR_YT_MASK ) * 10 + ( ( RTC_DR > > RTC_DR_YU_SHIFT ) & RTC_DR_YU_MASK ) ; // get year
const uint8_t month = ( ( RTC_DR > > RTC_DR_MT_SHIFT ) & RTC_DR_MT_MASK ) * 10 + ( ( RTC_DR > > RTC_DR_MU_SHIFT ) & RTC_DR_MU_MASK ) ; // get month
const uint8_t day = ( ( RTC_DR > > RTC_DR_DT_SHIFT ) & RTC_DR_DT_MASK ) * 10 + ( ( RTC_DR > > RTC_DR_DU_SHIFT ) & RTC_DR_DU_MASK ) ; // get day
const uint8_t week_day = ( ( RTC_DR > > RTC_DR_WDU_SHIFT ) & RTC_DR_WDU_MASK ) ; // get week day
const char * days [ ] = { " ?? " , " Su " , " Mo " , " Tu " , " We " , " Th " , " Fr " , " Sa " } ; // the days of the week
const uint8_t hour = ( ( RTC_TR > > RTC_TR_HT_SHIFT ) * RTC_TR_HT_MASK ) * 10 + ( ( RTC_TR > > RTC_TR_HU_SHIFT ) & RTC_TR_HU_MASK ) ; // get hours
const uint8_t minute = ( ( RTC_TR > > RTC_TR_MNT_SHIFT ) & RTC_TR_MNT_MASK ) * 10 + ( ( RTC_TR > > RTC_TR_MNU_SHIFT ) & RTC_TR_MNU_MASK ) ; // get minutes
const uint8_t second = ( ( RTC_TR > > RTC_TR_ST_SHIFT ) & RTC_TR_ST_MASK ) * 10 + ( ( RTC_TR > > RTC_TR_SU_SHIFT ) & RTC_TR_SU_MASK ) ; // get seconds
printf ( " date: %s 20%02d-%02d-%02d %02d:%02d:%02d \n " , days [ week_day ] , year , month , day , hour , minute , second ) ;
} else { // date and time provided, set it
const char * malformed = " date and time malformed, expecting YYYY-MM-DD HH:MM:SS \n " ;
if ( strlen ( datetime ) ! = ( 4 + 1 + 2 + 1 + 2 ) + 1 + ( 2 + 1 + 2 + 1 + 2 ) ) { // verify date/time is long enough
printf ( malformed ) ;
return ;
}
if ( ! ( isdigit ( ( int8_t ) datetime [ 0 ] ) & & isdigit ( ( int8_t ) datetime [ 1 ] ) & & isdigit ( ( int8_t ) datetime [ 2 ] ) & & isdigit ( ( int8_t ) datetime [ 3 ] ) & & ' - ' = = datetime [ 4 ] & & isdigit ( ( int8_t ) datetime [ 5 ] ) & & isdigit ( ( int8_t ) datetime [ 6 ] ) & & ' - ' = = datetime [ 7 ] & & isdigit ( ( int8_t ) datetime [ 8 ] ) & & isdigit ( ( int8_t ) datetime [ 9 ] ) & & ' ' = = datetime [ 10 ] & & isdigit ( ( int8_t ) datetime [ 11 ] ) & & isdigit ( ( int8_t ) datetime [ 12 ] ) & & ' : ' = = datetime [ 13 ] & & isdigit ( ( int8_t ) datetime [ 14 ] ) & & isdigit ( ( int8_t ) datetime [ 15 ] ) & & ' : ' = = datetime [ 16 ] & & isdigit ( ( int8_t ) datetime [ 17 ] ) & & isdigit ( ( int8_t ) datetime [ 18 ] ) ) ) { // verify format (good enough to not fail parsing)
printf ( malformed ) ;
return ;
}
/*
time_tm . tm_year = strtol ( & datetime [ 0 ] , NULL , 10 ) - 1900 ; // parse year
time_tm . tm_mon = strtol ( & datetime [ 5 ] , NULL , 10 ) - 1 ; // parse month
time_tm . tm_mday = strtol ( & datetime [ 8 ] , NULL , 10 ) ; // parse day
time_tm . tm_hour = strtol ( & datetime [ 11 ] , NULL , 10 ) ; // parse hour
time_tm . tm_min = strtol ( & datetime [ 14 ] , NULL , 10 ) ; // parse minutes
time_tm . tm_sec = strtol ( & datetime [ 17 ] , NULL , 10 ) ; // parse seconds
time_t time_rtc = mktime ( & time_tm ) ; // get back seconds
time_rtc - = rtc_offset ; // remove start offset
time_start = time_rtc * RTC_TICKS_SECOND + ( rtc_get_counter_val ( ) - time_start ) ; // update uptime with current date
rtc_set_counter_val ( time_rtc * RTC_TICKS_SECOND ) ; // save date/time to internal RTC
*/
}
}
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/** reset board
* @ param [ in ] argument no argument required
*/
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static void command_reset ( void * argument )
{
( void ) argument ; // we won't use the argument
scb_reset_system ( ) ; // reset device
while ( true ) ; // wait for the reset to happen
}
/** switch to system memory (e.g. embedded bootloader)
* @ param [ in ] argument no argument required
*/
static void command_system ( void * argument )
{
( void ) argument ; // we won't use the argument
system_memory ( ) ; // jump to system memory
}
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/** switch to DFU bootloader
* @ param [ in ] argument no argument required
*/
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static void command_bootloader ( void * argument )
{
( void ) argument ; // we won't use the argument
dfu_bootloader ( ) ; // start DFU bootloader
}
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/** list of all supported commands */
static const struct menu_command_t menu_commands [ ] = {
{
. shortcut = ' h ' ,
. name = " help " ,
. command_description = " display help " ,
. argument = MENU_ARGUMENT_NONE ,
. argument_description = NULL ,
. command_handler = & command_help ,
} ,
{
. shortcut = ' v ' ,
. name = " version " ,
. command_description = " show software and hardware version " ,
. argument = MENU_ARGUMENT_NONE ,
. argument_description = NULL ,
. command_handler = & command_version ,
} ,
{
. shortcut = ' u ' ,
. name = " uptime " ,
. command_description = " show uptime " ,
. argument = MENU_ARGUMENT_NONE ,
. argument_description = NULL ,
. command_handler = & command_uptime ,
} ,
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{
. shortcut = ' d ' ,
. name = " date " ,
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. command_description = " show/set date and time " ,
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. argument = MENU_ARGUMENT_STRING ,
. argument_description = " [YYYY-MM-DD HH:MM:SS] " ,
. command_handler = & command_datetime ,
} ,
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{
. shortcut = ' r ' ,
. name = " reset " ,
. command_description = " reset board " ,
. argument = MENU_ARGUMENT_NONE ,
. argument_description = NULL ,
. command_handler = & command_reset ,
} ,
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{
. shortcut = ' s ' ,
. name = " system " ,
. command_description = " reboot into system memory " ,
. argument = MENU_ARGUMENT_NONE ,
. argument_description = NULL ,
. command_handler = & command_system ,
} ,
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{
. shortcut = ' b ' ,
. name = " bootloader " ,
. command_description = " reboot into DFU bootloader " ,
. argument = MENU_ARGUMENT_NONE ,
. argument_description = NULL ,
. command_handler = & command_bootloader ,
} ,
} ;
static void command_help ( void * argument )
{
( void ) argument ; // we won't use the argument
printf ( " available commands: \n " ) ;
menu_print_commands ( menu_commands , LENGTH ( menu_commands ) ) ; // print global commands
}
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/** process user command
* @ param [ in ] str user command string ( \ 0 ended )
*/
static void process_command ( char * str )
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{
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// ensure actions are available
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if ( NULL = = menu_commands | | 0 = = LENGTH ( menu_commands ) ) {
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return ;
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}
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// don't handle empty lines
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if ( ! str | | 0 = = strlen ( str ) ) {
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return ;
}
bool command_handled = false ;
if ( ! command_handled ) {
command_handled = menu_handle_command ( str , menu_commands , LENGTH ( menu_commands ) ) ; // try if this is not a global command
}
if ( ! command_handled ) {
printf ( " command not recognized. enter help to list commands \n " ) ;
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}
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}
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/** program entry point
* this is the firmware function started by the micro - controller
*/
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void main ( void ) ;
void main ( void )
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{
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# if DEBUG
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// enable functionalities for easier debug
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DBGMCU_CR | = DBGMCU_CR_IWDG_STOP ; // stop independent watchdog counter when code is halted
DBGMCU_CR | = DBGMCU_CR_WWDG_STOP ; // stop window watchdog counter when code is halted
DBGMCU_CR | = DBGMCU_CR_STANDBY ; // allow debug also in standby mode (keep digital part and clock powered)
DBGMCU_CR | = DBGMCU_CR_STOP ; // allow debug also in stop mode (keep clock powered)
DBGMCU_CR | = DBGMCU_CR_SLEEP ; // allow debug also in sleep mode (keep clock powered)
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# else
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// setup watchdog to reset in case we get stuck (i.e. when an error occurred)
iwdg_set_period_ms ( WATCHDOG_PERIOD ) ; // set independent watchdog period
iwdg_start ( ) ; // start independent watchdog
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# endif
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board_setup ( ) ; // setup board
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uart_setup ( ) ; // setup USART (for printing)
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usb_cdcacm_setup ( ) ; // setup USB CDC ACM (for printing)
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puts ( " \n welcome to the CuVoodoo STM32F4 example firmware \n " ) ; // print welcome message
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# if DEBUG
// show reset cause
if ( RCC_CSR & ( RCC_CSR_LPWRRSTF | RCC_CSR_WWDGRSTF | RCC_CSR_IWDGRSTF | RCC_CSR_SFTRSTF | RCC_CSR_PORRSTF | RCC_CSR_PINRSTF ) ) {
puts ( " reset cause(s): " ) ;
if ( RCC_CSR & RCC_CSR_LPWRRSTF ) {
puts ( " low-power " ) ;
}
if ( RCC_CSR & RCC_CSR_WWDGRSTF ) {
puts ( " window-watchdog " ) ;
}
if ( RCC_CSR & RCC_CSR_IWDGRSTF ) {
puts ( " independent-watchdog " ) ;
}
if ( RCC_CSR & RCC_CSR_SFTRSTF ) {
puts ( " software " ) ;
}
if ( RCC_CSR & RCC_CSR_PORRSTF ) {
puts ( " POR/PDR " ) ;
}
if ( RCC_CSR & RCC_CSR_PINRSTF ) {
puts ( " pin " ) ;
}
putc ( ' \n ' ) ;
RCC_CSR | = RCC_CSR_RMVF ; // clear reset flags
}
# endif
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# if !(DEBUG)
// show watchdog information
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printf ( " setup watchdog: %.2fs " , WATCHDOG_PERIOD / 1000.0 ) ;
if ( FLASH_OBR & FLASH_OBR_OPTERR ) {
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puts ( " (option bytes not set in flash: software wachtdog used, not automatically started at reset) \n " ) ;
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} else if ( FLASH_OBR & FLASH_OBR_WDG_SW ) {
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puts ( " (software watchdog used, not automatically started at reset) \n " ) ;
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} else {
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puts ( " (hardware watchdog used, automatically started at reset) \n " ) ;
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}
# endif
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// setup terminal
terminal_prefix = " " ; // set default prefix
terminal_process = & process_command ; // set central function to process commands
terminal_setup ( ) ; // start terminal
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// start main loop
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bool action = false ; // if an action has been performed don't go to sleep
button_flag = false ; // reset button flag
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led_on ( ) ; // switch LED to indicate booting completed
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while ( true ) { // infinite loop
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iwdg_reset ( ) ; // kick the dog
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if ( user_input_available ) { // user input is available
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action = true ; // action has been performed
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led_toggle ( ) ; // toggle LED
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char c = user_input_get ( ) ; // store receive character
terminal_send ( c ) ; // send received character to terminal
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}
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if ( button_flag ) { // user pressed button
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action = true ; // action has been performed
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puts ( " button pressed \n " ) ;
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led_toggle ( ) ; // toggle LED
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sleep_ms ( 100 ) ; // wait a bit to remove noise and double trigger
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button_flag = false ; // reset flag
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}
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/*
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if ( rtc_internal_tick_flag ) { // the internal RTC ticked
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rtc_internal_tick_flag = false ; // reset flag
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action = true ; // action has been performed
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if ( 0 = = ( rtc_get_counter_val ( ) % RTC_TICKS_SECOND ) ) { // one second has passed
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led_toggle ( ) ; // toggle LED (good to indicate if main function is stuck)
}
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}
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*/
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if ( action ) { // go to sleep if nothing had to be done, else recheck for activity
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action = false ;
} else {
__WFI ( ) ; // go to sleep
}
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} // main loop
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}