int main(void) {
InitLED();
RED_ON();
RED_OFF();
RED_TOGGLE();
RED_OFF();
GREEN_ON();
GREEN_OFF();
GREEN_TOGGLE();
GREEN_OFF();
BLUE_ON();
BLUE_OFF();
BLUE_TOGGLE();
BLUE_OFF();
if (xTaskCreate(
MainTask, /* pointer to the task */
(signed char *)"Main", /* task name for kernel awareness debugging */
configMINIMAL_STACK_SIZE, /* task stack size */
(void*)NULL, /* optional task startup argument */
tskIDLE_PRIORITY, /* initial priority */
(xTaskHandle*)NULL /* optional task handle to create */
) != pdPASS) {
/*lint -e527 */
for(;;){}; /* error! probably out of memory */
/*lint +e527 */
}
vTaskStartScheduler(); /* does not return */
return 0;
}
/**
* Main system entry point
*/
int main (void) {
SystemInit();
/* Initialise Pins */
CUTDOWN_OFF();
HEATER_OFF();
MBED_OFF();
GREEN_OFF();
/* Update the value of SystemCoreClock */
SystemCoreClockUpdate();
/* Initialise Interfaces */
i2c_init();
spi_init(process_imu_frame); // IMU
sd_spi_init(); // SD
uart_init(); // GPS
pwrmon_init(); // ADC
/* Initialise Sensors */
init_barometer();
/* SD Card */
if (initialise_card()) { // Initialised to something
if (disk_initialize() == 0) { // Disk initialisation was successful
sd_good = 1;
}
}
GREEN_ON();
/* Configure the SysTick */
NVIC_SetPriority(SysTick_IRQn, 0); // Highest Priority Interrupt
SysTick_Config(SystemCoreClock / RTTY_BAUD);
/* Watchdog - Disabled for debugging */
#ifndef WATCHDOG_DISABLED
init_watchdog();
#endif
struct barometer* b;
struct imu_raw ir;
struct gps_data gd;
struct gps_time gt;
double alt, ext_temp;
int tx_length; // The length of the built tx string
char tx_string[TX_STRING_LENGTH];
while (1) {
/* Grab Data */
pwrmon_start(pwrmon_callback);
b = get_barometer();
get_imu_raw_data(&ir);
get_gps_data(&gd);
get_gps_time(>);
ext_temp = get_temperature();
/* Data Processing */
if (b->valid) {
alt = pressure_to_altitude(b->pressure);
} else {
alt = -1;
b->temperature = -1;
}
/* Act on the data */
control_gsm(alt);
control_cutdown(ticks_until_cutdown, alt);
control_heater(b->temperature);
/* Create a protocol string */
int cutstat;
if (ticks_until_cutdown == 0) {
cutstat = -1;
} else {
cutstat = ticks_until_cutdown / (RTTY_BAUD*60);
}
tx_length = build_communications_frame(tx_string, TX_STRING_LENGTH,
>, b, &gd, alt, ext_temp, &ir,
cutstat, cutdown_voltage);
/* Transmit - Quietly fails if another transmission is ongoing */
rtty_set_string(tx_string, tx_length);
/* Store */
if (sd_good) {
tx_length -= 2; // Remove \n\0
tx_length += communications_frame_add_extra(tx_string + tx_length,
TX_STRING_LENGTH - tx_length, &ir);
disk_write_next_block((uint8_t*)tx_string, tx_length+1); // Include null terminator
}
/* Housekeeping */
GREEN_TOGGLE();
feed_watchdog();
}
}
