static thread_pool_t sys_init()
{
thread_pool_t pool;
size_t num = system_getcpucount();
pool = thread_pool_create(num*2, num, num*128);
// init timer
systimer_init(pool);
// init socket
socket_init();
return pool;
}
/**
* @brief Low level HAL driver initialization.
*
* @notapi
*/
void hal_lld_init(void) {
systimer_init();
}
int main (void)
{
sei();
uart_init(UART_BAUD_SELECT(9600, F_CPU));
uart_puts("\r\n\r\nTHIS PROGRAM USES 57600 BAUD - PLEASE CHANGE\r\n\r\n");
_delay_ms(100);
uart_init(UART_BAUD_SELECT(57600, F_CPU));
cmd_clear();
uart_puts_P("\n\n\n\n\r");
uart_puts_P("--------------------------\r\n");
uart_puts_P("System [OK]\r\n");
systimer_init();
uart_puts_P("System Timer [OK]\r\n");
/* SD Karte Initilisieren */
cmd_init();
uart_puts_P("--------------------------\r\n\r\n");
_delay_ms(100);
char input[50]={0};
static char parameters[10][32];
while(1)
{
for (uint8_t i = 0; i<=10; *parameters[++i]=0x00);
// Input
uart_puts_P("> ");
uart_input(input);
// Process Input
getparams(input, 10, 32, parameters);
char *cmd = parameters[0];
// Call Functions
if (strings_equal(cmd, "ls"))
{
uint32_t cluster = 0;
if (parameters[1][0] != 0x00)
cluster = str2num(parameters[1], 16);
cmd_ls(cluster);
}
else if (strings_equal(cmd, "cat"))
{
if (parameters[1][0] == 0x00 || parameters[2][0] == 0x00)
cmd_help("cat");
else
{
uint64_t cluster = str2num(parameters[1], 16);
uint64_t size = str2num(parameters[2], 16);
cmd_cat(cluster, size);
}
}
else if (strings_equal(cmd, "readtest"))
{
if (parameters[1][0] == 0x00 || parameters[2][0] == 0x00)
cmd_help("readtest");
else
{
uint64_t cluster = str2num(parameters[1], 16);
uint64_t size = str2num(parameters[2], 16);
cmd_readtest(cluster, size);
}
}
else if (strings_equal(cmd, "write"))
{
if (parameters[1][0] == 0x00 || parameters[2][0] == 0x00)
cmd_help("write");
else
{
uint64_t cluster = str2num(parameters[1], 16);
uint8_t adcport = str2num(parameters[2], 10);
uint64_t maxsize = str2num(parameters[3], 16);
uint8_t speed = str2num(parameters[4], 10);
if (parameters[3][0] == 0x00)
maxsize = 512;
if (parameters[4][0] == 0x00)
speed = 50;
cmd_write(cluster, adcport, maxsize, speed);
}
}
else if (strings_equal(cmd, "clear"))
cmd_clear();
else if (strings_equal(cmd, "time"))
cmd_time();
else if (strings_equal(cmd, "init"))
cmd_init();
else if (strings_equal(cmd, "help"))
cmd_help(parameters[1]);
else
uart_puts_P("Error: Command not found\n\r");
}
while (1);
return (1);
}
/******************************************************************************
* 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 */
}
}
}
