static void sram_action(Server *server, char **tokens, uint8_t count)
{
static PROGMEM prog_char text[] = "+OK Free SRAM is ";
write_pgmspace(text);
Serial.print(StackCount());
write_pgmspace(crlf_text);
}
int main()
{
int i = 0;
Stack st;
ElemType e;
InitStack(&st);
printf("Stack Count : %d\n",StackCount(st));
for(i=0;i<10;i++)
Push(&st,i);
for(i=0;i<10;i++)
{
Pop(&st,&e);
printf("%d ",e);
}
return 0;
}
int main(void){
//while(1);
wdt_disable();
///Configure the Torquer
configure_torquer();
char buf[100];
uint16_t v;
int ao;
for(ao=0;ao<1;ao++)
_delay_ms(1000);
/// Initialise Interfaces - UART of Magnetometer and GPS and the SPI bus
init_UART_MM();
init_UART_GPS();
init_SPI();
init_TWI();
send_preflight("Master\r", 7);
///Set Preflight pin as input
cbi(DDR_PF, PIN_PF);
///* Switch on Global interrupts
sei();
///Check if Preflight Pin is high
while(1){
///* * Reset timer for 2 seconds
timer_reset_two_sec();
//get_HM_data();
//send_preflight("Power\r", 6);
///* Preflight Checks
if(0){
///* * Set the mode as preflight
Mode = PREFLIGHT;
/*slave_send(HM_DATA, "Hello", 5);
_delay_ms(10);
slave_send (BEGIN_TX_GS, NULL, 0);
//power_up_peripheral(PCC);
_delay_ms(10);
ao = init_CC1020();
if(ao)
send_preflight("CC Init\r", 8);
else
send_preflight("No Init\r", 8);
while(1);*/
/*power_up_peripheral(PGPS);
while(1) {
read_GPS();
while(UCSR0B & _BV(RXCIE0));
copy_gps_reading();
sprintf(buf,"%ld %ld %ld\r", Current_state.gps.x/1000, Current_state.gps.y/1000, Current_state.gps.z/1000);
send_preflight(buf, strlen(buf));
sprintf(buf,"%ld %ld %ld\r", Current_state.gps.v_x/1000, Current_state.gps.v_y/1000, Current_state.gps.v_z/1000);
send_preflight(buf, strlen(buf));
_delay_ms(1000);
}*/
///* * Magnetometer and Torquer test
///* * Reading with one torquer on at once
/*Current_state.pwm.x_dir = 0;
Current_state.pwm.x = 10000;
Current_state.pwm.y_dir = 0;
Current_state.pwm.y = 30000;
Current_state.pwm.z_dir = 1;
Current_state.pwm.z = 20000;
send_preflight("Read\r", 5);
set_PWM();*/
while(1) {
read_SS();
//send_preflight((char *)&Current_state.ss, sizeof(struct SS_reading));
for(v = 0; v < 6; v++)
{
sprintf(buf,"%u\r", (uint16_t)(((float)Current_state.ss.reading[v])*1.6*100/4096));
send_preflight(buf, strlen(buf));
sprintf(buf,"%x\r", Current_state.ss.reading[v]);
send_preflight(buf, strlen(buf));
}
_delay_ms(1000);
}
///* * Set Torquer values to zero
reset_PWM();
while(1)
read_MM();
read_GPS();
send_preflight((char *)&Current_state.gps, sizeof(struct GPS_reading));
///* * Sunsensor test
read_SS();
send_preflight((char *)&Current_state.ss, sizeof(struct SS_reading));
///* Health Montoring
get_HM_data();
send_preflight((char *)&Current_state.hm, sizeof(struct HM_data));
///Communication Task
comm();
///* * Wait for 2 seconds to get over
timer_wait_reset();
}
///Normal Mode
else{
///* Set default mode of Satellite
Mode = DETUMBLING;
///* initialise Timer
Time = 0;
///Loop begins
while(1){
//Fuses Pain, Nominal Mode checking
send_preflight("Loop\r", 5);
control();
send_preflight("Control\r", 8);
//power();
comm();
send_preflight("Comm\r", 5);
v = StackCount();
sprintf(buf, "Stack = %d\r", v);
send_preflight(buf, strlen(buf));
v = get_free_memory();
sprintf(buf, "Stack(Method 2) = %d\r", v);
send_preflight(buf, strlen(buf));
Time += FRAME_TIME;
timer_wait_reset();
}
}
}
return 0;
}
/******************************************************************************
* File: main.c
* Author: Kevin Day
* Date: February, 2005
* Description:
* Main program for audi radio interface
*
* Copyright (c) 2005 Kevin Day
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*******************************************************************************/
#include <avr/interrupt.h>
#include <avr/pgmspace.h>
#include <avr/io.h>
#include <avr/wdt.h>
#include "types.h"
#include "tasks.h"
#include "comms_generic.h"
#include "timers.h"
#include "adc.h"
#include "persist.h"
#include "hcms.h"
#include "gpsavr.h"
#include "hud.h"
#include "spimaster.h"
#include "avrcan.h"
#include "avrms2.h"
#include "swuart.h"
#include "hwi2c.h"
#include "adcgauges.h"
#include "miscgpio.h"
#include "sensors.h"
#define LED_PORT PORTG
#define LED_DIR DDRG
#define LED_PIN PING
#define LED_BIT 0
#define ANT_PORT PORTB
#define ANT_DIR DDRB
#define ANT_PIN PINB
#define ANT_BIT 2
void debug_led(u8 val);
static inline void start_blink_timer();
void bufferpool_init();
task_t* comms_task_create();
task_t *radio_input_task_create();
#define STACK_CANARY 0xC5
void StackPaint(void) __attribute__ ((naked)) __attribute__ ((section (".init1")));
void StackPaint(void)
{
#if 0
uint8_t *p = &_end;
while(p <= &__stack)
{
*p = STACK_CANARY;
p++;
}
#else
__asm volatile (" ldi r30,lo8(_end)\n"
" ldi r31,hi8(_end)\n"
" ldi r24,lo8(0xc5)\n" /* STACK_CANARY = 0xc5 */
" ldi r25,hi8(__stack)\n"
" rjmp .cmp\n"
".loop:\n"
" st Z+,r24\n"
".cmp:\n"
" cpi r30,lo8(__stack)\n"
" cpc r31,r25\n"
" brlo .loop\n"
" breq .loop"::);
#endif
}
extern uint8_t __heap_start; /* not _end because of .bufferpool */
extern uint8_t __stack;
uint16_t StackCount(void)
{
const uint8_t *p = &__heap_start;
uint16_t c = 0;
while(*p == STACK_CANARY && p <= &__stack)
{
p++;
c++;
}
return c;
}
#define ADC_CONTEXTS 8
adc_context_t adc_context[ADC_CONTEXTS];
u8 num_adc;
u16 stack_high;
#define DISPAVR_RESET_PIN 4 /* on port B */
int main()
{
u8 mcusr_rst = MCUSR;
MCUSR = 0;
wdt_disable();
wdt_enable(WDTO_2S);
/* Disable JTAG so the ADC pins are available.
* Don't do this if the JTAG reset flag is set --
* presumably the jtag pod is connected in that
* case. */
if (! (mcusr_rst & (1<<JTRF)))
{
MCUCR |= (1<<JTD);
}
/* Assert remote AVR reset */
PORTB &= ~(1<<DISPAVR_RESET_PIN);
DDRB |= (1<<DISPAVR_RESET_PIN);
bufferpool_init();
init_persist_data();
systimer_init();
//fuel_gauge_init(&adc_context[num_adc++]);
num_adc = sensors_init(&adc_context[num_adc], num_adc);
adc_init_adc(ADC_DIV128, num_adc, adc_context);
/* Deassert remote AVR reset */
PORTB |= (1<<DISPAVR_RESET_PIN);
spimaster_init();
init_avrms2();
// swuart_init();
/* Enable interrupts */
sei();
/* Populate the tasklist in priority order */
tasklist[num_tasks++] = comms_task_create();
tasklist[num_tasks++] = gps_task_create();
tasklist[num_tasks++] = can_task_create();
tasklist[num_tasks++] = hud_task_create();
// tasklist[num_tasks++] = i2c_task_create();
tasklist[num_tasks++] = gpio_task_create();
//
start_blink_timer();
/* non-preemptive static priority scheduler */
while(1)
{
wdt_reset();
u8 taskidx;
u8 r;
for(taskidx=0; taskidx<num_tasks; taskidx++)
{
r = tasklist[taskidx]->taskfunc();
if (r)
break;
}
if (r == 0)
{
stack_high = StackCount(); /* only run this after all tasks run */
}
}
}
