void main(void) {
#else
int main(void) {
#endif
/* Ensure that the Watchdog is not running. */
wdt_disable();
/* Initialize system. */
if (true != avr_init()) {
error_handler();
} else if (true != eep_init()) {
eep_deinit();
error_handler();
} else if (true != cmd_if_init()) {
cmd_if_deinit();
error_handler();
}
/* Disable modules that are not needed any more. */
eep_deinit();
LED_ORANGE_ON();
/* Enable interrupts. */
sei();
/* Endless application loop. */
for(;;) {
/* Dispatch events from the event queue. */
vrt_dispatch_event();
/* Poll modules that require this. */
vrt_timer_task();
usb_task();
air_capture_task();
cmd_if_task();
}
}
/* Main function */
int main(void)
{
int value_mg_x, value_mg_y, value_mg_z;
/* setup all GPIOs */
gpio_setup();
/* initialise LIS3DSH */
lis3dsh_init();
/* infinite loop */
while (1) {
/* get X, Y, Z values */
value_mg_x = ((lis3dsh_read_reg(ADD_REG_OUT_X_H) << 8) |
lis3dsh_read_reg(ADD_REG_OUT_X_L));
value_mg_y = ((lis3dsh_read_reg(ADD_REG_OUT_Y_H) << 8) |
lis3dsh_read_reg(ADD_REG_OUT_Y_L));
value_mg_z = ((lis3dsh_read_reg(ADD_REG_OUT_Z_H) << 8) |
lis3dsh_read_reg(ADD_REG_OUT_Z_L));
/* transform X value from two's complement to 16-bit int */
value_mg_x = two_compl_to_int16(value_mg_x);
/* convert X absolute value to mg value */
value_mg_x = value_mg_x * SENS_2G_RANGE_MG_PER_DIGIT;
/* transform Y value from two's complement to 16-bit int */
value_mg_y = two_compl_to_int16(value_mg_y);
/* convert Y absolute value to mg value */
value_mg_y = value_mg_y * SENS_2G_RANGE_MG_PER_DIGIT;
/* transform Z value from two's complement to 16-bit int */
value_mg_z = two_compl_to_int16(value_mg_z);
/* convert Z absolute value to mg value */
value_mg_z = value_mg_z * SENS_2G_RANGE_MG_PER_DIGIT;
/* set X related LEDs according to specified threshold */
if (value_mg_x >= LED_TH_MG) {
LED_BLUE_OFF();
LED_ORANGE_OFF();
LED_GREEN_OFF();
LED_RED_ON();
} else if (value_mg_x <= -LED_TH_MG) {
LED_BLUE_OFF();
LED_ORANGE_OFF();
LED_RED_OFF();
LED_GREEN_ON();
}
/* set Y related LEDs according to specified threshold */
if (value_mg_y >= LED_TH_MG) {
LED_BLUE_OFF();
LED_RED_OFF();
LED_GREEN_OFF();
LED_ORANGE_ON();
} else if (value_mg_y <= -LED_TH_MG) {
LED_RED_OFF();
LED_GREEN_OFF();
LED_ORANGE_OFF();
LED_BLUE_ON();
}
/* set Z related LEDs according to specified threshold */
if (value_mg_z >= LED_TH_MG) {
LED_BLUE_ON();
LED_ORANGE_ON();
LED_RED_ON();
LED_GREEN_ON();
} else if (value_mg_z <= -LED_TH_MG) {
LED_BLUE_OFF();
LED_ORANGE_OFF();
LED_RED_OFF();
LED_GREEN_OFF();
}
}
return 0;
}
void main(void) {
#else
int main(void) {
#endif
/* Ensure that the watchdog is not running. */
wdt_disable();
/* Initialize AVR peripheral modules. */
(bool)avr_init();
/* Check if the RX and TX pins are shorted. If they are shorted, the RZUSBSTICK
* shall start the bootloader. If not, continue to verify if the application
* requested to enter the bootloader.
*/
/* Check if the application has requested to enter the bootloader. */
if ((BOOT_PIN & (1 << BOOT_RX)) != (1 << BOOT_RX)) {
/* Check that RX goes high when TX is pulled high. */
BOOT_PORT |= (1 << BOOT_TX);
nop();
nop();
nop();
nop();
if ((BOOT_PIN & (1 << BOOT_RX)) != (1 << BOOT_RX)) {
start_application();
}
} else {
/* Check if the application has requested to enter the bootloader. */
uint8_t volatile magic_value = 0xAA;
EEGET(magic_value, EE_BOOT_MAGIC_ADR);
if (EE_BOOT_MAGIC_VALUE != magic_value) {
start_application();
} else {
EEPUT(EE_BOOT_MAGIC_ADR, 0xFF);
}
}
/* Set the interrupt vectors to the bootloader, initialize the LEDs and the
* VRT kernel.
*/
ENTER_CRITICAL_REGION();
uint8_t temp_mcucr = MCUCR;
MCUCR = (1 << IVCE);
MCUCR = (1 << IVSEL);
MCUCR = temp_mcucr;
LEAVE_CRITICAL_REGION();
LED_INIT();
vrt_init();
if (true != eep_init()) {
error_handler();
} else if (true != cmd_if_init()) {
error_handler();
}
LED_ORANGE_ON();
/* Enable Interrupts. */
sei();
/* Enter the endless application loop. */
for (;;) {
vrt_dispatch_event();
usb_task();
}
}
