Ejemplo n.º 1
0
int main(void)
{
	// There are a lot of dependencies in the order of these inits.
	// Don't change the ordering unless you understand this.
	// Inits can assume that all memory has been zeroed by either 
	// a hardware reset or a watchdog timer reset.

	cli();

	// system and drivers
	sys_init();			// system hardware setup 			- must be first
	rtc_init();			// real time counter
	xio_init();			// xmega io subsystem
	sig_init();			// signal flags
	st_init(); 			// stepper subsystem 				- must precede gpio_init()
	gpio_init();		// switches and parallel IO
	pwm_init();			// pulse width modulation drivers	- must follow gpio_init()

	// application structures
	tg_init(STD_INPUT);	// tinyg controller (controller.c)	- must be first app init; reqs xio_init()
	cfg_init();			// config records from eeprom 		- must be next app init
	mp_init();			// motion planning subsystem
	cm_init();			// canonical machine				- must follow cfg_init()
	sp_init();			// spindle PWM and variables

	// now bring up the interupts and get started
	PMIC_SetVectorLocationToApplication(); // as opposed to boot ROM
	PMIC_EnableHighLevel();			// all levels are used, so don't bother to abstract them
	PMIC_EnableMediumLevel();
	PMIC_EnableLowLevel();
	sei();							// enable global interrupts
	rpt_print_system_ready_message();// (LAST) announce system is ready

	_unit_tests();					// run any unit tests that are enabled
	tg_canned_startup();			// run any pre-loaded commands

	while (true) {
//		if (tg.network == NET_MASTER) { 
//			tg_repeater();
//		} else if (tg.network == NET_SLAVE) { 
//			tg_receiver();
//		} else {
			tg_controller();		// NET_STANDALONE
//		}
	}
}
Ejemplo n.º 2
0
void tg_application_startup(void)
{
	tg_canned_startup();			// pre-load input buffers (for test)
}