void main(void) {
rccInit();
timerInit();
configInit();
adcInit();
fetInit();
serialInit();
runInit();
cliInit();
owInit();
runDisarm(REASON_STARTUP);
inputMode = ESC_INPUT_PWM;
fetSetDutyCycle(0);
fetBeep(200, 100);
fetBeep(300, 100);
fetBeep(400, 100);
fetBeep(500, 100);
fetBeep(400, 100);
fetBeep(300, 100);
fetBeep(200, 100);
pwmInit();
statusLed = digitalInit(GPIO_STATUS_LED_PORT, GPIO_STATUS_LED_PIN);
digitalHi(statusLed);
errorLed = digitalInit(GPIO_ERROR_LED_PORT, GPIO_ERROR_LED_PIN);
digitalHi(errorLed);
#ifdef ESC_DEBUG
tp = digitalInit(GPIO_TP_PORT, GPIO_TP_PIN);
digitalLo(tp);
#endif
// self calibrating idle timer loop
{
volatile unsigned long cycles;
volatile unsigned int *DWT_CYCCNT = (int *)0xE0001004;
volatile unsigned int *DWT_CONTROL = (int *)0xE0001000;
volatile unsigned int *SCB_DEMCR = (int *)0xE000EDFC;
*SCB_DEMCR = *SCB_DEMCR | 0x01000000;
*DWT_CONTROL = *DWT_CONTROL | 1; // enable the counter
minCycles = 0xffff;
while (1) {
idleCounter++;
NOPS_4;
cycles = *DWT_CYCCNT;
*DWT_CYCCNT = 0; // reset the counter
// record shortest number of instructions for loop
totalCycles += cycles;
if (cycles < minCycles)
minCycles = cycles;
}
}
}
void rcc_init ()
{
#ifdef HAVE_RCC
rcc_class classes[] = {
{"input", RCC_CLASS_STANDARD, NULL, NULL, "Input Encoding", 0},
{"output", RCC_CLASS_KNOWN, NULL, NULL, "Output Encoding", 0},
{NULL, 0, NULL, NULL, NULL, 0}
};
rccInit ();
rccInitDefaultContext (NULL, 0, 0, classes, 0);
rccLoad (NULL, "moc");
rccSetOption (NULL, RCC_OPTION_TRANSLATE,
RCC_OPTION_TRANSLATE_SKIP_PARRENT);
rccSetOption (NULL, RCC_OPTION_AUTODETECT_LANGUAGE, 1);
#endif /* HAVE_RCC */
}
/*
* main: initialize and start the system
*/
int main (void)
{
rccInit();
nvicInit();
stdioInit();
printf("\nWater Tower Monitor\n");
blinkyInit();
multiPointComInit();
ultrasonicRangingInit();
while (1) {
int len = readline();
if (len > 0) {
runCommand();
} else if (len < 0) {
puts("<INTERRUPT>");
}
}
}
void main(void) {
rccInit();
statusLed = digitalInit(GPIO_STATUS_LED_PORT, GPIO_STATUS_LED_PIN);
errorLed = digitalInit(GPIO_ERROR_LED_PORT, GPIO_ERROR_LED_PIN);
#ifdef ESC_DEBUG
tp = digitalInit(GPIO_TP_PORT, GPIO_TP_PIN);
digitalLo(tp);
#endif
timerInit();
configInit();
adcInit();
fetInit();
serialInit();
canInit();
runInit();
cliInit();
owInit();
runDisarm(REASON_STARTUP);
inputMode = ESC_INPUT_PWM;
fetSetDutyCycle(0);
fetBeep(200, 100);
fetBeep(300, 100);
fetBeep(400, 100);
fetBeep(500, 100);
fetBeep(400, 100);
fetBeep(300, 100);
fetBeep(200, 100);
pwmInit();
digitalHi(statusLed);
digitalHi(errorLed);
// self calibrating idle timer loop
{
uint32_t lastRunCount;
uint32_t thisCycles, lastCycles;
volatile uint32_t cycles;
volatile uint32_t *DWT_CYCCNT = (uint32_t *)0xE0001004;
volatile uint32_t *DWT_CONTROL = (uint32_t *)0xE0001000;
volatile uint32_t *SCB_DEMCR = (uint32_t *)0xE000EDFC;
*SCB_DEMCR = *SCB_DEMCR | 0x01000000;
*DWT_CONTROL = *DWT_CONTROL | 1; // enable the counter
minCycles = 0xffff;
while (1) {
idleCounter++;
if (runCount != lastRunCount && !(runCount % (RUN_FREQ / 1000))) {
if (commandMode == CLI_MODE)
cliCheck();
else
binaryCheck();
lastRunCount = runCount;
}
thisCycles = *DWT_CYCCNT;
cycles = thisCycles - lastCycles;
lastCycles = thisCycles;
// record shortest number of instructions for loop
totalCycles += cycles;
if (cycles < minCycles)
minCycles = cycles;
}
}
}
