void SYS_Initialize ( void* data )
{
/* Core Processor Initialization */
SYS_CLK_Initialize( NULL );
sysObj.sysDevcon = SYS_DEVCON_Initialize(SYS_DEVCON_INDEX_0, (SYS_MODULE_INIT*)&sysDevconInit);
SYS_DEVCON_PerformanceConfig(SYS_CLK_SystemFrequencyGet());
SYS_DEVCON_JTAGDisable();
SYS_PORTS_Initialize();
/* Initialize Drivers */
/*Initialize TMR0 */
DRV_TMR0_Initialize();
DRV_USART0_Initialize();
DRV_USART1_Initialize();
DRV_USART2_Initialize();
/* Initialize System Services */
SYS_INT_Initialize();
/* Initialize Middleware */
initDebugU();
/* Initialize the Application */
COMMUNICATION_Initialize();
MOTOR_Initialize();
SENSORCOMMUNICATION_Initialize();
}
void SYS_Initialize ( void* data )
{
/* Core Processor Initialization */
SYS_CLK_Initialize( NULL );
sysObj.sysDevcon = SYS_DEVCON_Initialize(SYS_DEVCON_INDEX_0, (SYS_MODULE_INIT*)&sysDevconInit);
SYS_DEVCON_PerformanceConfig(SYS_CLK_SystemFrequencyGet());
SYS_DEVCON_JTAGDisable();
SYS_PORTS_Initialize();
/* Initialize Drivers */
/*Initialize TMR0 */
DRV_TMR0_Initialize();
/*Initialize TMR1 */
DRV_TMR1_Initialize();
/*Initialize TMR2 */
DRV_TMR2_Initialize();
/*Initialize TMR3 */
DRV_TMR3_Initialize();
DRV_USART0_Initialize();
DRV_USART1_Initialize();
/*Initialize OC0 */
DRV_OC0_Initialize();
/*Initialize OC1 */
DRV_OC1_Initialize();
/* Initialize System Services */
SYS_INT_Initialize();
/*Setup the INT_SOURCE_EXTERNAL_1 and Enable it*/
SYS_INT_VectorPrioritySet(INT_VECTOR_INT1, INT_PRIORITY_LEVEL1);
SYS_INT_VectorSubprioritySet(INT_VECTOR_INT1, INT_SUBPRIORITY_LEVEL0);
SYS_INT_ExternalInterruptTriggerSet(INT_EXTERNAL_INT_SOURCE1,INT_EDGE_TRIGGER_RISING);
SYS_INT_SourceEnable(INT_SOURCE_EXTERNAL_1);
/*Setup the INT_SOURCE_EXTERNAL_2 and Enable it*/
SYS_INT_VectorPrioritySet(INT_VECTOR_INT2, INT_PRIORITY_LEVEL1);
SYS_INT_VectorSubprioritySet(INT_VECTOR_INT2, INT_SUBPRIORITY_LEVEL0);
SYS_INT_ExternalInterruptTriggerSet(INT_EXTERNAL_INT_SOURCE2,INT_EDGE_TRIGGER_RISING);
SYS_INT_SourceEnable(INT_SOURCE_EXTERNAL_2);
/* Initialize Middleware */
initDebugU();
/* Initialize the Application */
COMMUNICATION_Initialize();
MOTOR_Initialize();
}
// Main program
int main(void) {
// Initialize modules
COMMON_Initialize();
SIGNAL_Initialize();
MEASUREMENT_Initialize();
MOTOR_Initialize();
TASK_Initialize();
MEMORY_Initialize();
COMMUNICATION_Initialize();
//LOGGING_Initialize();
// Activate measurements
MEASUREMENT_ActivateAnalogConverter();
MEASUREMENT_ActivatePositionSensor();
// Wait for stabilized measurements
COMMON_Delay(5);
// Calibrate controller temperature sensor
if (MEMORY_CheckFlag(FLAG_TEMPERATURE_SENSOR_CALIBRATION)) {
// Reset flag for controller temperature sensor calibration
MEMORY_ResetFlag(FLAG_TEMPERATURE_SENSOR_CALIBRATION);
// Calibrate controller temperature sensor
MEASUREMENT_CalibrateTemperatureSensor();
}
// Initialize state observer and control
OBSERVER_Initialize();
TRAJECTORY_GENERATION_Initialize();
CONTROL_Initialize();
// Activate signal
SIGNAL_Activate();
// Activate task management
TASK_Activate();
// Activate watchdog timer
COMMON_ActivateWatchdog();
// Clear communication status register
COMMUNICATION_ClearStatusRegister();
while (1) {
// Observer task
if (TASK_CheckTask(TASK_OBSERVER)) {
// Update estimation
OBSERVER_UpdateEstimation();
// Reset observer task
TASK_ResetTask(TASK_OBSERVER);
}
// Control task
if (TASK_CheckTask(TASK_CONTROL)) {
// Update control signal
CONTROL_UpdateControlSignal();
// Reset control task
TASK_ResetTask(TASK_CONTROL);
}
// Signal task
if (TASK_CheckTask(TASK_SIGNAL)) {
// Update signal
SIGNAL_Update();
// Reset signal task
TASK_ResetTask(TASK_SIGNAL);
}
// Logging update task
if (TASK_CheckTask(TASK_LOGGING_UPDATE)) {
// Update logging values
/*LOGGING_UpdateEndurance();
if (MEMORY_CheckError(ERROR_CURRENT_LIMIT)) {
LOGGING_UpdateOvercurrentTime();
}
if (MEMORY_CheckError(ERROR_MOTOR_TEMPERATURE_LIMIT)) {
LOGGING_UpdateOvertemperatureTime();
}*/
// Reset logging update task
TASK_ResetTask(TASK_LOGGING_UPDATE);
}
// Logging saving task
if (TASK_CheckTask(TASK_LOGGING_SAVING) && (EEPROM0_GetStatus() != EEPROM_BUSY)) {
// Save logging values
//LOGGING_Save();
// Reset logging saving task
TASK_ResetTask(TASK_LOGGING_SAVING);
}
// Status return delay timer
if (TASK_CheckTimer(TIMER_STATUS_RETURN_DELAY)) {
// Process end of status return delay
COMMUNICATION_ProcessStatusReturnDelay();
// Reset status return delay timer
TASK_ResetTimer(TIMER_STATUS_RETURN_DELAY);
}
// Reception timeout timer
if (TASK_CheckTimer(TIMER_RECEPTION_TIMEOUT)) {
// Process reception timeout
COMMUNICATION_ProcessReceptionTimeout();
// Reset reception timeout timer
TASK_ResetTimer(TIMER_RECEPTION_TIMEOUT);
}
// Synchronized read timeout timer
if (TASK_CheckTimer(TIMER_SYNCHRONIZED_READ_TIMEOUT)) {
// Process synchronized read timeout
COMMUNICATION_PROTOCOL_ProcessSynchronizedReadTimeout();
// Reset synchronized read timeout timer
TASK_ResetTimer(TIMER_SYNCHRONIZED_READ_TIMEOUT);
}
// Process communication packets
if (COMMUNICATION_CheckPacketStatus() == COMMUNICATION_PROCESS) {
// Process communication packet
COMMUNICATION_PROTOCOL_ProcessPacket();
}
// Reload watchdog timer
COMMON_ReloadWatchdog();
}
}
