Feeder

README.md

@@ -9,6 +9,7 @@ Template to create FreeRTOS tasks using the team's middleware
 2. Go into the newly generated directory `cd AppCodeTemp`
 1. Download the submodules `git submodule init && git submodule update`
 1. In case any of the dependencies needs to be updated, simply do: `git submodule update --remote`
+1. Open it in Visual Studio `code .`
 
 ## Having problems with git?:
 

app/src/task_feeder.c

@@ -0,0 +1,51 @@
+#include "stdint.h"
+#include "stm32f1xx.h"
+
+#define HEADLIGHT_PIN GPIO_PIN_0
+#define MOTOR_PWM_PIN GPIO_PIN_1
+
+void pwm_init() {
+    RCC->APB2ENR |= RCC_APB2ENR_IOPAEN;
+    RCC->APB1ENR |= RCC_APB1ENR_TIM2EN;
+
+    GPIOA->CRL &= ~(GPIO_CRL_MODE1 | GPIO_CRL_CNF1);
+    GPIOA->CRL |= (GPIO_CRL_MODE1_1 | GPIO_CRL_MODE1_0 | GPIO_CRL_CNF1_1);
+
+    TIM2->PSC = 1 - 1;
+    TIM2->ARR = 255;
+    TIM2->CCMR1 |= TIM_CCMR1_OC2M_2 | TIM_CCMR1_OC2M_1 | TIM_CCMR1_OC2PE;
+    TIM2->CCER |= TIM_CCER_CC2E;
+    TIM2->CR1 |= TIM_CR1_CEN;
+}
+
+void set_motor_speed(uint8_t duty_cycle) { TIM2->CCR2 = duty_cycle; }
+
+void gpio_init() {
+    RCC->APB2ENR |= RCC_APB2ENR_IOPAEN;
+
+    GPIOA->CRL &= ~(GPIO_CRL_MODE0 | GPIO_CRL_CNF0);
+    GPIOA->CRL |= GPIO_CRL_CNF0_1;
+    GPIOA->ODR |= HEADLIGHT_PIN;
+}
+
+void motor_control_task() {
+    if (!(GPIOA->IDR & HEADLIGHT_PIN)) {
+        set_motor_speed(178);
+    } else {
+        set_motor_speed(0);
+    }
+}
+
+int main(void) {
+    gpio_init();
+    pwm_init();
+
+    osThreadDef(THREAD_1, motor_control_task, osPriorityNormal, 0, configMINIMAL_STACK_SIZE);
+    osThreadId LEDThread1Handle = osThreadCreate(osThread(THREAD_1), NULL);
+
+    osKernelStart();
+
+    while (1) {
+        motor_control_task();
+    }
+}