int main(void)
{
SetupHardware();
/* Create a regular character stream for the interface so that it can be used with the stdio.h functions */
CDC_Device_CreateStream(&VirtualSerial_CDC_Interface, &USBSerialStream);
GlobalInterruptEnable();
while(1)
{
DebounceUpdate();
EncoderUpdate();
LedUpdate();
SendSerial();
/* Must throw away unused bytes from the host, or it will lock up while waiting for the device */
CDC_Device_ReceiveByte(&VirtualSerial_CDC_Interface);
CDC_Device_USBTask(&VirtualSerial_CDC_Interface);
HID_Device_USBTask(&Mouse_HID_Interface);
HID_Device_USBTask(&Keyboard_HID_Interface);
USB_USBTask();
}
}
void SystemInitialize(void) {
cli();
#if defined(USE_MU)
// Setting for Receive Data
CtrlDataInitialize(); // RCReceive.c
// Initialize for MU
MuInitialize(); // Mu.c
#endif
#if defined(USE_ENCODER)
// Initialize for Encoder
EncoderInitialize(); // Encoder.c
#endif
#if defined(USE_SWITCH)
// Initialize for Switch
SwitchInitialize(); // Switch.c
#endif
#if defined(USE_DIP_SWITCH)
DipSwitchInitialize(); // Switch.c
#endif
#if defined(USE_SENSOR)
SensorInitialize();
#endif
#if defined(USE_AIR)
// Initialize for Air Actuator
AirInitialize(); // Air.c
AirUpdate(); // Air.c
#endif
#if defined(USE_BUZZER)
// Initialize for Buzzer Actuator
BuzzerInitialize(); // Buzzer.c
BuzzerUpdate(); // Buzzer.c
#endif
#if defined(USE_LED)
// Initialize for LED
LedInitialize(); // Led.c
LedUpdate(); // Led.c
#endif
#if defined(USE_MOTOR)
// Initialize for Motor Actuator
MotorInitialize(); // Motor.c
MotorUpdate(); // Motor.c
#endif
#if defined(USE_SERVO)
// Initialize for Servo Motor Actuator
ServoInitialize(); // Servo.c
ServoUpdate(); // Servo.c
#endif
#if defined(USE_SAFETY)
// Initialize for Safety Function
SafetyInitialize[SAFETY_TIMER_NO](); // Safety.c
#endif
#if defined(USE_HUB)
#if defined(USE_RS485)
RS485Initialize(12);
#endif
#endif
#if defined(WDT_RESET)
WDTInitialize();
#endif
// Initialize Process Job
ProcessJobInitialize(); // Process.c
}
/*----------------------------------------------------------------------------------------------------------------------
Function: LedInitialize
Description:
Initialization of LED system paramters and visual LED check.
Requires:
- G_u32SystemTime1ms ticking
- All LEDs already initialized to LED_NORMAL_MODE mode ON
Promises:
- All LEDs in LED_NORMAL_MODE mode with OFF
*/
void LedInitialize(void)
{
u32 u32Timer;
// u8* pu8Parser;
u32 u32Buzzer1Frequency = 4000;
u32 u32Buzzer2Frequency = 500;
u32 u32StepSize = (u32Buzzer1Frequency - u32Buzzer2Frequency) / 20;
static u8 au8LedStartupMsg[] = "LED functions ready\n\r";
#if MPGL2
/* Test code for checking LEDs */
#if 0
LedOn(RED0);
LedOn(RED1);
LedOn(RED2);
LedOn(RED3);
LedOn(BLUE0);
LedOn(BLUE1);
LedOn(BLUE2);
LedOn(BLUE3);
LedOn(GREEN0);
LedOn(GREEN1);
LedOn(GREEN2);
LedOn(GREEN3);
#endif
#endif /* MPGL2 */
/* Turn all LEDs on full, then fade them out over a few seconds */
for(u8 i = 20; i > 0; i--)
{
#if STARTUP_SOUND
/* Configure Buzzers to provide some audio during start up */
PWMAudioSetFrequency(BUZZER1, u32Buzzer1Frequency);
PWMAudioOn(BUZZER1);
#ifdef MPGL1
PWMAudioSetFrequency(BUZZER2, u32Buzzer2Frequency);
PWMAudioOn(BUZZER2);
#endif /* MPGL1 */
#endif /* STARTUP_SOUND */
/* Spend 40ms in each level of intensity */
for(u16 j = 40; j > 0; j--)
{
u32Timer = G_u32SystemTime1ms;
while( !IsTimeUp(&u32Timer, 1) );
LedUpdate();
}
/* Pause for a bit on the first iteration to show the LEDs on for little while */
if(i == 20)
{
while( !IsTimeUp(&u32Timer, 1500) );
}
/* Set the LED intensity for the next iteration */
for(u8 j = 0; j < TOTAL_LEDS; j++)
{
Leds_asLedArray[j].eRate = (LedRateType)(i - 1);
}
/* Set the buzzer frequency for the next iteration */
u32Buzzer1Frequency -= u32StepSize;
u32Buzzer2Frequency += u32StepSize;
}
/* Final update to set last state, hold for a short period */
LedUpdate();
while( !IsTimeUp(&u32Timer, 200) );
#if STARTUP_SOUND
/* Turn off the buzzers */
PWMAudioOff(BUZZER1);
#ifdef MPGL1
PWMAudioOff(BUZZER2);
#endif /* MPGL1 */
#endif /* STARTUP_SOUND */
/* Exit with Leds off, NORMAL mode, and the backlight on (white) */
for(u8 i = 0; i < TOTAL_LEDS; i++)
{
Leds_asLedArray[0].eMode = LED_NORMAL_MODE;
}
#ifdef MPGL1
LedOn(LCD_RED);
LedOn(LCD_GREEN);
LedOn(LCD_BLUE);
#endif
#ifdef MPGL2
LedOn(LCD_BL);
#endif
/* Final setup and report that LED system is ready */
G_u32ApplicationFlags |= _APPLICATION_FLAGS_LED;
DebugPrintf(au8LedStartupMsg);
} /* end LedInitialize() */
void main(void)
{
G_u32SystemFlags |= _SYSTEM_INITIALIZING;
/* Low level initialization */
WatchDogSetup(); /* During development, set to not reset processor if timeout */
ClockSetup();
GpioSetup();
InterruptSetup();
SysTickSetup();
/* Driver initialization */
MessagingInitialize();
UartInitialize();
DebugInitialize();
/* Debug messages through DebugPrintf() are available from here */
SspInitialize();
TWIInitialize();
LcdInitialize();
LedInitialize();
ButtonInitialize();
CapTouchInitialize();
AntInitialize();
/* Application initialization */
UserAppInitialize();
/* Exit initialization */
SystemStatusReport();
G_u32SystemFlags &= ~_SYSTEM_INITIALIZING;
/* Super loop */
while(1)
{
WATCHDOG_BONE();
/* Drivers */
LedUpdate();
ButtonRunActiveState();
UartRunActiveState();
SspRunActiveState();
TWIRunActiveState();
CapTouchRunActiveState(); /* This function violates 1ms loop timing every 25ms */
MessagingRunActiveState();
DebugRunActiveState();
LcdRunActiveState();
AntRunActiveState();
/* Applications */
UserAppRunActiveState();
/* System sleep*/
HEARTBEAT_OFF();
SystemSleep();
HEARTBEAT_ON();
} /* end while(1) main super loop */
} /* end main() */
