int main(void)
{
halInit();
chSysInit();
sdStart(&STDOUT_SD, NULL);
watchdogInit(WATCHDOG_TIMEOUT_MS);
const int wdid = watchdogStart();
restoreConfig();
magnetInit();
consoleInit();
int res = canasctlInit();
if (res)
{
TRACE("init", "CANAS NOT INITED (%d), FIX CONFIG AND RESTART", res);
while (1)
{
ledOn();
watchdogReset(wdid);
chThdSleepMilliseconds(100);
}
}
#if RELEASE
TRACE("init", "debug port will be disabled %d sec later", DEBUG_PORT_DISABLE_DEADLINE_SEC);
#endif
bool debug_port_disabled = false;
while (1)
{
const bool
feedback = magnetReadFeedback(),
requested = magnetGetRequestedState();
ledOn();
if (feedback != requested)
{
chThdSleepMilliseconds(70);
ledOff();
chThdSleepMilliseconds(70);
}
else if (feedback)
{
chThdSleepMilliseconds(500);
ledOff();
chThdSleepMilliseconds(500);
}
else
{
chThdSleepMilliseconds(70);
ledOff();
chThdSleepMilliseconds(930);
}
if (!debug_port_disabled)
{
if (sysTimestampMicros() / 1000000 > DEBUG_PORT_DISABLE_DEADLINE_SEC)
{
#if RELEASE
debugPortDisable();
#endif
debug_port_disabled = true;
}
}
watchdogReset(wdid);
}
return 0;
}
static void watchdogTimerCb(void *x) {
watchdogStart(WATCHDOG_EXPIRE_1000MS);
alarmSchedule(&watchdogTimer, 500);
}
