void usb_serial_start(void) {
	/*
	 * Initializes a serial-over-USB CDC driver.
	 */
	sduObjectInit(&SDU1);
	sduStart(&SDU1, &serusbcfg);

	/*
	 * Activates the USB driver and then the USB bus pull-up on D+.
	 * Note, a delay is inserted in order to not have to disconnect the cable
	 * after a reset.
	 */
	usbDisconnectBus(serusbcfg.usbp);
	chThdSleepMilliseconds(1500);
	usbStart(serusbcfg.usbp, &usbcfg);
	usbConnectBus(serusbcfg.usbp);
	
#if HAL_USE_SERIAL
	/*
	 * Activates the serial driver 2 using the driver default configuration.
	 */
	sdStart(&SD2, NULL);
#endif

	isUsbSerialInitialized = true;
}

/*
 * Application entry point.
 */
int main(void) {
	/* HAL&RTOS init */
	halInit();
	chSysInit();

	/* SD/FATFS init */
	sdcStart(&SDCD1, NULL );
	wf_init(NORMALPRIO);

	/* POSIX compatibility layer initialization */
	posix_init();
	posix_init_chstream(STDIN_FILENO, (BaseSequentialStream *) &SDU1);
	posix_init_chstream(STDOUT_FILENO, (BaseSequentialStream *) &SDU1);
	posix_init_chstream(STDERR_FILENO, (BaseSequentialStream *) &SDU1);

	/* Initializes a serial-over-USB CDC driver */
	sduObjectInit(&SDU1);
	sduStart(&SDU1, &serusbcfg);

	usbDisconnectBus(serusbcfg.usbp);
	chThdSleepMilliseconds(1000);
	usbStart(serusbcfg.usbp, &usbcfg);
	usbConnectBus(serusbcfg.usbp);

	ngshell_init(&sh1, sh1_wa, SHELL_WA_SIZE, NORMALPRIO);

	while (TRUE)
		chThdSleepMilliseconds(500);
}

int
main(void)
{
  halInit();
  chSysInit();
  static const evhandler_t evhndl[] = { };

  // CDC.
  sduObjectInit(&SDU1);
  sduStart(&SDU1, &serusbcfg);
  usbDisconnectBus(serusbcfg.usbp);
  chThdSleepMilliseconds(1500);
  usbStart(serusbcfg.usbp, &usbcfg);
  usbConnectBus(serusbcfg.usbp);

  chThdSleepMilliseconds(4000);

  uart_init();
  chThdCreateStatic(uart_thread_wa, sizeof(uart_thread_wa), NORMALPRIO, uart_thread, NULL);

  while (true)
  {
    palTogglePad(GPIOC, GPIOC_LED);
    chEvtDispatch(evhndl, chEvtWaitOneTimeout(ALL_EVENTS, MS2ST(100)));
  }
}

/*
 * Application entry point.
 */
int main(void) {

  /*
   * System initializations.
   * - HAL initialization, this also initializes the configured device drivers
   *   and performs the board-specific initializations.
   * - Kernel initialization, the main() function becomes a thread and the
   *   RTOS is active.
   */
  halInit();
  chSysInit();

  /*
   * Initializes a serial-over-USB CDC driver.
   */
  sduObjectInit(&SDU1);
  sduStart(&SDU1, &serusbcfg);

  /*
   * Activates the USB driver and then the USB bus pull-up on D+.
   * Note, a delay is inserted in order to not have to disconnect the cable
   * after a reset.
   */
  usbDisconnectBus(serusbcfg.usbp);
  chThdSleepMilliseconds(1500);
  usbStart(serusbcfg.usbp, &usbcfg);
  usbConnectBus(serusbcfg.usbp);

  /*
   * Creates the blinker thread.
   */
  chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO + 1, Thread1, NULL);

  /*
   * LSM303DLHC Object Initialization
   */
  lsm303dlhcObjectInit(&LSM303DLHCD1);

  /*
   * Activates the LSM303DLHC driver.
   */
  lsm303dlhcStart(&LSM303DLHCD1, &lsm303dlhccfg);

  /*
   * Shell manager initialization.
   */
  shellInit();

  while(TRUE) {
    if (SDU1.config->usbp->state == USB_ACTIVE) {
      thread_t *shelltp = chThdCreateFromHeap(NULL, SHELL_WA_SIZE,
                                              "shell", NORMALPRIO + 1,
                                              shellThread, (void *)&shell_cfg1);
      chThdWait(shelltp);               /* Waiting termination.             */
    }
    chThdSleepMilliseconds(1000);
  }
  lsm303dlhcStop(&LSM303DLHCD1);
  return 0;
}

int main(void)
{
    halInit();
    chSysInit();

    chBSemObjectInit(&frame_thread_sem, false);

    bus_init();
    power_init();

    sduObjectInit(&SDU1);
    sduStart(&SDU1, &serusbcfg);

    usbDisconnectBus(serusbcfg.usbp);
    chThdSleepMilliseconds(1500);
    usbStart(serusbcfg.usbp, &usbcfg);
    usbConnectBus(serusbcfg.usbp);

    chThdCreateStatic(frame_thread_wa, sizeof(frame_thread_wa),
        NORMALPRIO, frame_thread, NULL);

    while(true) {
        usb_rx(streamGet(&SDU1));
    }
}

int main(void) {
	thread_t *sh = NULL;

	PollerData.temp = 0;
	PollerData.press = 0;/*
	PollerData.uTime = 0;*/

	halInit();
	chSysInit();

	shellInit();
	
	usbDisconnectBus(serusbcfg.usbp);
	chThdSleepMilliseconds(1000);
	usbStart(serusbcfg.usbp, &usbcfg);
	usbConnectBus(serusbcfg.usbp);
	
	sduObjectInit(&SDU1);
	sduStart(&SDU1, &serusbcfg);

	// SPI-related pins (for display)
	palSetPadMode(GPIOB, 11, PAL_MODE_OUTPUT_PUSHPULL); 
	palSetPadMode(GPIOB, 10, PAL_MODE_OUTPUT_PUSHPULL);
	palSetPadMode(GPIOB, 13, PAL_MODE_ALTERNATE(5));
	palSetPadMode(GPIOB, 14, PAL_MODE_OUTPUT_PUSHPULL);
	palSetPadMode(GPIOB, 15, PAL_MODE_ALTERNATE(5));

	spiStart(&SPID1, &spi1cfg);
	spiStart(&SPID2, &spi2cfg);

	i2cStart(&I2CD1, &i2cconfig);
	initGyro();
	initAccel();
	initMag();
//	nunchuk_status = nunchuk_init();
	bmp085_status = bmp085_init();
	lcd5110Init();
	lcd5110SetPosXY(0, 0);
	lcd5110WriteText("P :: ");
	lcd5110SetPosXY(0, 1);
	lcd5110WriteText("T :: ");


	chThdCreateStatic(waThreadBlink, sizeof(waThreadBlink), NORMALPRIO, ThreadBlink, NULL);
	chThdCreateStatic(waThreadButton, sizeof(waThreadButton), NORMALPRIO, ThreadButton, NULL);
	chThdCreateStatic(waPoller, sizeof(waPoller), NORMALPRIO, ThreadPoller, NULL);

    while (TRUE) {
		if (!sh) {
			sh = shellCreate(&shCfg, SHELL_WA_SIZE, NORMALPRIO);
		}
		else if (chThdTerminatedX(sh)) {
			chThdRelease(sh);
			sh = NULL;
		}
		chThdSleepMilliseconds(1000);
	}
	return 0; // never returns, lol
}

void serialUSBInit(BaseSequentialStream *stream){
  serialSequentialStream = stream;
  /*
   * Initializes a serial-over-USB CDC driver.
   */
  sduObjectInit((SerialUSBDriver*) serialSequentialStream);
  sduStart((SerialUSBDriver*)serialSequentialStream, &serusbcfg);
}

/*
 * Application entry point.
 */
int main(void) {
  Thread *shelltp = NULL;

  /*
   * System initializations.
   * - HAL initialization, this also initializes the configured device drivers
   *   and performs the board-specific initializations.
   * - Kernel initialization, the main() function becomes a thread and the
   *   RTOS is active.
   */
  halInit();
  chSysInit();

  /*
   * Activates the USB driver and then the USB bus pull-up on D+.
   */
  usbDisconnectBus(serusbcfg.usbp);
  chThdSleepMilliseconds(1000);
  sduObjectInit(&SDU1);
  sduStart(&SDU1, &serusbcfg);
  usbConnectBus(serusbcfg.usbp);
  palClearPad(GPIOC, GPIOC_USB_DISC);

  /*
   * Shell manager initialization.
   */
  shellInit();

  /*
   * Creates the blinker thread.
   */
  chThdCreateStatic(waBurner, sizeof(waBurner), NORMALPRIO, Burner, &SDU1);

  i2cStart(&I2CD1, &i2cfg1);
  EepromOpen(&EepromFile);

  /* tune ports for I2C1*/
  palSetPadMode(IOPORT2, 6, PAL_MODE_STM32_ALTERNATE_OPENDRAIN);
  palSetPadMode(IOPORT2, 7, PAL_MODE_STM32_ALTERNATE_OPENDRAIN);

//  BKP->DR1 = 0;
//  BKP->DR2 = 0;
//  BKP->DR3 = 0;

  /*
   * Normal main() thread activity, in this demo it does nothing except
   * sleeping in a loop and check the button state.
   */
  while (TRUE) {
    if (!shelltp && (SDU1.config->usbp->state == USB_ACTIVE))
      shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO);
    else if (chThdTerminated(shelltp)) {
      chThdRelease(shelltp);    /* Recovers memory of the previous shell.   */
      shelltp = NULL;           /* Triggers spawning of a new shell.        */
    }
    chThdSleepMilliseconds(1000);
  }
}

/*
 * Application entry point.
 */
int main(void) {

  /*
   * System initializations.
   * - HAL initialization, this also initializes the configured device drivers
   *   and performs the board-specific initializations.
   * - Kernel initialization, the main() function becomes a thread and the
   *   RTOS is active.
   */
  halInit();
  chSysInit();

  /*
   * Initializes a serial-over-USB CDC driver.
   */
  sduObjectInit(&SDU1);
  sduStart(&SDU1, &serusbcfg);

  /*
   * Configuring USB DP and DM PINs.
   */
  palSetPadMode(GPIOA, GPIOA_PIN11, PAL_MODE_INPUT);
  palSetPadMode(GPIOA, GPIOA_PIN12, PAL_MODE_INPUT);

  /*
   * Activates the USB driver and then the USB bus pull-up on D+.
   * Note, a delay is inserted in order to not have to disconnect the cable
   * after a reset.
   */
  usbDisconnectBus(serusbcfg.usbp);
  chThdSleepMilliseconds(1500);
  usbStart(serusbcfg.usbp, &usbcfg);
  usbConnectBus(serusbcfg.usbp);

  /*
   * Shell manager initialization.
   */
  shellInit();

  /*
   * Creates the blinker thread.
   */
  chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);

  /*
   * Normal main() thread activity, spawning shells.
   */
  while (true) {
    if (SDU1.config->usbp->state == USB_ACTIVE) {
      thread_t *shelltp = chThdCreateFromHeap(NULL, SHELL_WA_SIZE,
                                              "shell", NORMALPRIO + 1,
                                              shellThread, (void *)&shell_cfg1);
      chThdWait(shelltp);               /* Waiting termination.             */
    }
    chThdSleepMilliseconds(1000);
  }
}

/*
 * Application entry point.
 */
int main(void) {
  Thread *shelltp = NULL;

  /*
   * System initializations.
   * - HAL initialization, this also initializes the configured device drivers
   *   and performs the board-specific initializations.
   * - Kernel initialization, the main() function becomes a thread and the
   *   RTOS is active.
   */
  halInit();
  chSysInit();

  /*
   * Initializes a serial-over-USB CDC driver.
   */
  sduObjectInit(&SDU1);
  sduStart(&SDU1, &serusbcfg);

  /*
   * Activates the USB driver and then the USB bus pull-up on D+.
   * Note, a delay is inserted in order to not have to disconnect the cable
   * after a reset.
   */
  usbDisconnectBus(serusbcfg.usbp);
  chThdSleepMilliseconds(1000);
  usbStart(serusbcfg.usbp, &usbcfg);
  usbConnectBus(serusbcfg.usbp);
  chThdSleepMilliseconds(100);

  /*
   * Shell manager initialization.
   */
  shellInit();

  /*
   * Initializes the SDIO drivers.
   */
  mmcObjectInit(&MMCD1);
  mmcStart(&MMCD1, &mmccfg);

  /*
   * Normal main() thread activity, in this demo it does nothing except
   * sleeping in a loop and check the button state.
   */
  while (TRUE) {
    if (!shelltp && (SDU1.config->usbp->state == USB_ACTIVE))
      shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO);
    else if (chThdTerminated(shelltp)) {
      chThdRelease(shelltp);    /* Recovers memory of the previous shell.   */
      shelltp = NULL;           /* Triggers spawning of a new shell.        */
    }
  chThdSleepMilliseconds(1000);
}

}

/*
 * Application entry point.
 */
int main(void) {
  thread_t *shelltp = NULL;
  /*
   * System initializations.
   * - HAL initialization, this also initializes the configured device drivers
   *   and performs the board-specific initializations.
   * - Kernel initialization, the main() function becomes a thread and the
   *   RTOS is active.
   */
  halInit();
  chSysInit();

#if defined(DEBUG_USB)
  palSetPadMode(GPIOA, 1, PAL_MODE_ALTERNATIVE_2);
  palSetPadMode(GPIOA, 2, PAL_MODE_ALTERNATIVE_2);
  sdStart(&SD1, &s0cfg);
#endif /* DEBUG_USB */

  /*
   * Initializes a serial-over-USB CDC driver.
   */
  sduObjectInit(&SDU1);
  sduStart(&SDU1, &serusbcfg);

  /*
   * Activates the USB driver and then the USB bus pull-up on D+.
   * Note, a delay is inserted in order to not have to disconnect the cable
   * after a reset.
   */

  usbDisconnectBus(serusbcfg.usbp);
#if defined(DEBUG_USB)
  usb_debug_init();
#endif /* DEBUG_USB */
  chThdSleepMilliseconds(1000);
  usbStart(serusbcfg.usbp, &usbcfg);
  usbConnectBus(serusbcfg.usbp);

  /*
   * Shell manager initialization.
   */
  shellInit();

  while (!chThdShouldTerminateX()) {
     if (!shelltp && (serusbcfg.usbp->state == USB_ACTIVE))
      shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO);
    else if (chThdTerminatedX(shelltp)) {
      chThdRelease(shelltp);    /* Recovers memory of the previous shell.   */
      shelltp = NULL;           /* Triggers spawning of a new shell.        */
    }
    chThdSleepMilliseconds(1000);
    palTogglePad(GPIOB, GPIOB_LED);
  }

  return 0;
}

//fungsi utama
int main (void) {
	
	//inisialisasi HAL (Hardware Abstraction Layer)
	halInit();
	
	//inisialisasi kernel
	chSysInit();
	
	Adc_Init();
	
	process_running();
	
	//inisialisasi CAN
	CAN_Config();
	
	// serial
	sdStart(&SD2,NULL);  
    palSetPadMode(GPIOB,3, PAL_MODE_ALTERNATE(7)); //TX
    palSetPadMode(GPIOB,4, PAL_MODE_ALTERNATE(7)); //RX

    sdStart(&SD1,NULL);
    palSetPadMode(GPIOA,9, PAL_MODE_ALTERNATE(7)); //TX
    palSetPadMode(GPIOA,10, PAL_MODE_ALTERNATE(7)); //RX

    sdStart(&SD3,NULL);
    palSetPadMode(GPIOB,10, PAL_MODE_ALTERNATE(7)); //TX
    palSetPadMode(GPIOE,15, PAL_MODE_ALTERNATE(7)); //RX
    
	//inisialisasi USB
	sduObjectInit(&SDU1);
    sduStart(&SDU1, &serusbcfg);
    
    //aktifasi USB
    usbDisconnectBus(serusbcfg.usbp);
    chThdSleepMilliseconds(200);
    usbStart(serusbcfg.usbp, &usbcfg);
    usbConnectBus(serusbcfg.usbp);
	
	//thread 1
	chThdCreateStatic(waBacavolt, sizeof(waBacavolt), NORMALPRIO, Bacavolt, NULL);
	chThdCreateStatic(waBacacurrent, sizeof(waBacacurrent), NORMALPRIO, Bacacurrent, NULL);
	chThdCreateStatic(waThreadBMS, sizeof(waThreadBMS), NORMALPRIO, ThreadBMS, NULL);
	//chThdCreateStatic(waThreadkirimjoule, sizeof(waThreadkirimjoule), NORMALPRIO, Threadkirimjoule, NULL);
	//chThdCreateStatic(waThreadkirimjoule2, sizeof(waThreadkirimjoule2), NORMALPRIO, Threadkirimjoule2, NULL);


while(TRUE) {
	kirim_data_usart1();
    chprintf((BaseSequentialStream *)&SD1,"%d,%f,%d,%d,%f,%f,%d,%d,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%d,%d,%d,%d \n",avgtemp,packsoc,packDCL,packCCL,lowvoltcell,highvoltcell,hightemp,lowtemp,packcurrent,packvolt,amphours,supply12v, deltacellvolt,avgcellvolt,mppt1_v,mppt2_v,mppt3_v,mppt4_v,mppt5_v,mppt6_v,mppt7_v,mppt8_v,mppt9_v,mppt10_v,mppt11_v,mppt12_v,mppt13_v,mppt15_v,mppt16_v, mppt1_i, mppt2_i, mppt3_i, mppt4_i, mppt5_i, mppt6_i, mppt7_i,mppt8_i, mppt9_i, mppt10_i, mppt11_i, mppt12_i, mppt13_i, mppt14_i, mppt15_i,current1,current2,current3,voltage1,voltage2,voltage3,milidetik,detik,menit,jam);
    //chprintf((BaseSequentialStream *)&SDU1,"%d,%f,%d,%d,%f,%f,%d,%d,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f \n",avgtemp,packsoc,packDCL,packCCL,lowvoltcell,highvoltcell,hightemp,lowtemp,packcurrent,packvolt,amphours,supply12v, deltacellvolt,avgcellvolt,mppt1_v,mppt2_v,mppt3_v,mppt4_v,mppt5_v,mppt6_v,mppt7_v,mppt8_v,mppt9_v,mppt10_v,mppt11_v,mppt12_v,mppt13_v,mppt15_v,mppt16_v, mppt1_i, mppt2_i, mppt3_i, mppt4_i, mppt5_i, mppt6_i, mppt7_i,mppt8_i, mppt9_i, mppt10_i, mppt11_i, mppt12_i, mppt13_i, mppt14_i, mppt15_i);
    //chprintf((BaseSequentialStream *)&SDU1,"%x %x %x %x %x %x %x %x \n",RxMessage33.StdId, RxMessage44.StdId, RxMessage55.StdId, RxMessage66.StdId, RxMessage77.StdId, RxMessage88.StdId, RxMessage99.StdId, RxMessage11.StdId); 
    //chprintf((BaseSequentialStream *)&SD1,"tes \n");
    chThdSleepMilliseconds(500);
}
   return 0 ;
}	

void vcom_usbInit(void) {

    sduObjectInit(&SDU1);
    sduStart(&SDU1, &serusbcfg);

    usbDisconnectBus(serusbcfg.usbp);
    chThdSleepMilliseconds(1000);
    usbStart(serusbcfg.usbp, &usbcfg);
    usbConnectBus(serusbcfg.usbp);
}

void UsbCDC_t::Init() {
    // GPIO
    PinSetupAlterFunc(GPIOA, 11, omOpenDrain, pudNone, AF10);
    PinSetupAlterFunc(GPIOA, 12, omOpenDrain, pudNone, AF10);
    // Objects
    sduObjectInit(&SDU2);
    sduStart(&SDU2, &SerUsbCfg);
    // Thread
    IPThd = chThdCreateStatic(waUsbCDCThread, sizeof(waUsbCDCThread), NORMALPRIO, UsbCDCThread, NULL);
}

/*
 * Application entry point.
 */
int main(void) {
	Thread *shelltp0 = NULL;
	Thread *shelltp2 = NULL;

	//unsigned int i = 0;
	/*
	 * System initializations.
	 * - HAL initialization, this also initializes the configured device drivers
	 *   and performs the board-specific initializations.
	 * - Kernel initialization, the main() function becomes a thread and the
	 *   RTOS is active.
	 */
	halInit();
	chSysInit();
	/*
	 * Initializes a serial-over-USB CDC driver.
	 */
	sduObjectInit(&SDU1);
	sduStart(&SDU1, &serusbcfg);

	/*
	 * Activates the USB driver and then the USB bus pull-up on D+.
	 * Note, a delay is inserted in order to not have to disconnect the cable
	 * after a reset.
	 */
	usbDisconnectBus(serusbcfg.usbp);
	chThdSleepMilliseconds(1500);
	usbStart(serusbcfg.usbp, &usbcfg);
	usbConnectBus(serusbcfg.usbp);

	/* added by myself */
	chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
	/* added by myself */

	/*
	 * Normal main() thread activity, in this demo it just performs
	 * a shell respawn upon its termination.
	 */
	while (1) {
		if (!shelltp0) {
			if (SDU1.config->usbp->state == USB_ACTIVE) {
				/* Spawns a new shell.*/
				shelltp0 = shellCreate(&shell_cfg0, SHELL_WA_SIZE, NORMALPRIO);
			}
		} else {
			/* If the previous shell exited.*/
			if (chThdTerminated(shelltp0)) {
				/* Recovers memory of the previous shell.*/
				chThdRelease(shelltp0);
				shelltp0 = NULL;
			}
		}
		chThdSleepMilliseconds(1000);
	}
}

/*
 * Application entry point.
 */
int main(void) {
  Thread *shelltp = NULL;

  /*
   * System initializations.
   * - HAL initialization, this also initializes the configured device drivers
   *   and performs the board-specific initializations.
   * - Kernel initialization, the main() function becomes a thread and the
   *   RTOS is active.
   */
  halInit();
  chSysInit();

  /*
   * Activates the serial driver 1 using the driver default configuration.
   */
  sdStart(&SD1, NULL);

  /*
   * Shell manager initialization.
   */
  shellInit();

  /*
   * Starts the LED blinker thread.
   */
  chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);

  sduObjectInit(&SDU1);
  sduStart(&SDU1, &serusbcfg);

  usbStart(serusbcfg.usbp, &usbcfg);
  usbDisconnectBus(serusbcfg.usbp);
  chThdSleepMilliseconds(1000);
  usbConnectBus(serusbcfg.usbp);

  /*
   * Normal main() thread activity, in this demo it does nothing except
   * sleeping in a loop and listen for events.
   */
  while (TRUE) {
/*    if (!shelltp) {*/
    if (!shelltp && (SDU1.config->usbp->state == USB_ACTIVE)) {
/*      chprintf((BaseSequentialStream *)&SD1, "USB Active\r\n");*/
      shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO);
    }
    else if (chThdTerminated(shelltp)) {
      chThdRelease(shelltp);    /* Recovers memory of the previous shell. */
      shelltp = NULL;           /* Triggers spawning of a new shell.      */
    }
    chThdSleepMilliseconds(100);
  }
  return 0;
}

/*
 * Application entry point.
 */
int main(void) {
  /*
   * System initializations.
   * - HAL initialization, this also initializes the configured device drivers
   *   and performs the board-specific initializations.
   * - Kernel initialization, the main() function becomes a thread and the
   *   RTOS is active.
   */
  halInit();
  /* This is needed to remap the USB pins PA11,PA12 onto the default PA9,PA10
   * so that the USB works. After halInit (which changes that register).
   * This also means that USART1 can't be used, as it is on PA9,PA10.
   */
  SYSCFG->CFGR1 |= SYSCFG_CFGR1_PA11_PA12_RMP;
  chSysInit();

  palSetPadMode(GPIOB, 7, PAL_MODE_OUTPUT_PUSHPULL);

  /*
   * Initializes a serial-over-USB CDC driver.
   */
  sduObjectInit(&SDU1);
  sduStart(&SDU1, &serusbcfg);

  /*
   * Activates the USB driver and then the USB bus pull-up on D+.
   * Note, a delay is inserted in order to not have to disconnect the cable
   * after a reset.
   */
  usbDisconnectBus(serusbcfg.usbp);
  chThdSleepMilliseconds(1500);
  usbStart(serusbcfg.usbp, &usbcfg);
  usbConnectBus(serusbcfg.usbp);

  /*
   * Creates the blinker thread.
   */
  chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);

  /*
   * Normal main() thread activity, in this demo it does nothing except
   * sleeping in a loop and check the button state.
   */
  while(true) {
    if((palReadPad(GPIOB, GPIOB_BUTTON) == PAL_HIGH) && (SDU1.config->usbp->state == USB_ACTIVE)) {
      /* sdWrite(&SDU1, (uint8_t *)"hello world\r\n", 13); */
      chprintf((BaseSequentialStream *)&SDU1, "Hello world\r\n");
      /* chnWrite((BaseChannel *)&SDU1, (uint8_t *)"Hello, world\r\n", 14); */
    }
    chThdSleepMilliseconds(200);
  }
}

void comm_usb_serial_init(void) {
	sduObjectInit(&SDU1);
	sduStart(&SDU1, &serusbcfg);

	/*
	 * Activates the USB driver and then the USB bus pull-up on D+.
	 * Note, a delay is inserted in order to not have to disconnect the cable
	 * after a reset.
	 */
	usbDisconnectBus(serusbcfg.usbp);
	chThdSleepMilliseconds(1500);
	usbStart(serusbcfg.usbp, &usbcfg);
	usbConnectBus(serusbcfg.usbp);
}

/*
 *******************************************************************************
 * EXPORTED FUNCTIONS
 *******************************************************************************
 */
void LinkMgrInit(void){

  sh_overxbee = (const uint32_t*)param_registry.valueSearch("SH_overxbee");

  sdStart(&XBEESD, &xbee_ser_cfg);

  sduObjectInit(&SDU1);
  sduStart(&SDU1, &serusbcfg);

  chThdCreateStatic(LinkMgrThreadWA,
          sizeof(LinkMgrThreadWA),
          LINK_THREADS_PRIO,
          LinkMgrThread,
          NULL);
}

void startupInit()
{
    usbdataEnable();

	gdispSetBacklight(50);
	gdispSetContrast(50);

	geventListenerInit(&gl);
	gwinAttachListener(&gl);

	// Setup UI objects and show splash
	guiCreate();
	gwinProgressbarSetResolution(ghProgbarLoad, 10);
	gwinProgressbarStart(ghProgbarLoad, 300);
	graphInit();

	// Setup INA219 I2C Current Sensor
	ina219Init();

	sduObjectInit(USB_SERIAL_DRIVER);
	sduStart(USB_SERIAL_DRIVER, &serusbcfg);

	/*
	 * Activates the USB driver and then the USB bus pull-up on D+.
	 * Note, a delay is inserted in order to not have to disconnect the cable
	 * after a reset.
	 */
	usbDisconnectBus(serusbcfg.usbp);
	chThdSleepMilliseconds(1000);
	usbStart(serusbcfg.usbp, &usbcfg);
	usbConnectBus(serusbcfg.usbp);

	setStartTime();

	chThdCreateStatic(ledThread, sizeof(ledThread), LOWPRIO, ThreadLED, NULL);
	chThdCreateStatic(inaThread, sizeof(inaThread), HIGHPRIO, ThreadINA, NULL);
	chThdCreateStatic(gfxvalThread, sizeof(gfxvalThread), NORMALPRIO, ThreadGFXVal, NULL);
	chThdCreateStatic(timeThread, sizeof(timeThread), NORMALPRIO, ThreadTIME, NULL);
	chThdCreateStatic(gfxEventThread, sizeof(gfxEventThread), NORMALPRIO, ThreadGFXEvent, NULL);

	chThdSleepMilliseconds(2000);

	chThdCreateStatic(graphThread, sizeof(graphThread), NORMALPRIO+5, ThreadGRAPH, NULL);
	// Destroy splay screen and show main page
	gwinDestroy(ghContainerPageSplash);
	guiShowPage(1);
}