int main(void)
{
void *rw_hash;
hardware_init();
debug_printf("%s started\n",
is_ro_mode() ? "RO" : "RW");
/* the RO partition protection is not enabled : do it */
if (!flash_physical_is_permanently_protected())
flash_physical_permanent_protect();
/*
* calculate the hash of the RW partition
*
* Also pre-cache it so we can answer Discover Identity VDM
* fast enough (in less than 30ms).
*/
rw_hash = flash_hash_rw();
/* Verify RW firmware and use it if valid */
if (is_ro_mode() && check_rw_valid(rw_hash))
jump_to_rw();
/* background loop for PD events */
pd_task();
debug_printf("EXIT!\n");
/* we should never reach that point */
system_reset(0);
return 0;
}
int main(void)
{
hardware_init();
debug_printf("Power supply started ... %s\n",
is_ro_mode() ? "RO" : "RW");
/* Verify RW firmware and use it if valid */
if (is_ro_mode() && check_rw_valid())
jump_to_rw();
/* background loop for PD events */
pd_task();
debug_printf("background loop exited !\n");
/* we should never reach that point */
cpu_reset();
return 0;
}
int main(void) {
init_menu();
clear();
init_motor();
init_timers();
encoders_init(IO_D2, IO_D3, IO_C4, IO_C5);
sei();
while (1)
{
if(g_pd_release) {
pd_task();
g_pd_release = 0;
}
if(g_velocity_release) {
velocity_task();
g_velocity_release = 0;
}
if(g_encoder_release) {
encoder_task();
g_encoder_release = 0;
}
if(g_log_release) {
log_task();
g_log_release = 0;
}
if(g_interpolate_release) {
interoplate_task();
g_interpolate_release = 0;
}
serial_check();
check_for_new_bytes_received();
}
}
