int main(void)
{
static unsigned int tmp = 0;
SET_OUTPUT(LED_R);
SET_OUTPUT(LED_G);
SET_OUTPUT(LED_B);
RESET_LED(LED_R);
RESET_LED(LED_G);
RESET_LED(LED_B);
#ifdef DCDCCTRL
SET_OUTPUT(DCDCCTRL);
RESET(DCDCCTRL);
#endif
battery_state = 0;
slave_init();
//uart_init();
timer_init();
mcan_init();
spi_init();
spi_adc_init();
relai_init();
adc_init();
sei();
if( (GPIOR0 & (1<<WDRF)) == (1<<WDRF) )
{
status("WDTRST ");
}
else if( (GPIOR0 & (1<<BORF)) == (1<<BORF) )
{
status("BORRST ");
}
else if( (GPIOR0 & (1<<EXTRF)) == (1<<EXTRF) )
{
status("START EX");
}
else if( (GPIOR0 & (1<<PORF)) == (1<<PORF) )
{
status("START PO");
}
else if( (GPIOR0 & (1<<JTRF)) == (1<<JTRF) )
{
status("START JT");
}
else
{
status("START ");
}
WDTCR = (1<<WDCE) | (1<<WDE);
WDTCR = (1<<WDE) | (1<<WDP2) | (1<<WDP1) | (1<<WDP0);
SET_LED(LED_G);
while (1)
{
__asm__ __volatile__ ("wdr");
if( battery_state & STATE_INTERMEDIATE )
{
intermediate_loop();
}
else if( battery_state & STATE_TRACTIVE )
{
tractive_loop();
}
else if( battery_state & STATE_CHARGING )
{
charge_loop();
}
else if( battery_state & STATE_BALANCING )
{
balancing_loop();
}
else
{
// standby mode
if( (tmp = mcan_check()) && !(battery_state & STATE_ERROR) )
{
switch(tmp)
{
case CAN_TRACTIVE_ENABLE: // CAN_TRACTIVE_ENABLE == 0x2F0
{
if( relai_volt < VCC_RELAI_MIN || vcc_volt < VCC_MIN )
{
status("NO VCC");
break;
}
// enable hv
intermediate_init();
dspace_heartbeat = 0;
battery_state |= STATE_TRACTIVE;
}
break;
case CAN_CHARGE_ENABLE: // CAN_CHARGE_ENABLE == 0x2FA
{
if( relai_volt < VCC_RELAI_MIN || vcc_volt < VCC_MIN )
{
status("NO VCC");
break;
}
// start charging
intermediate_init();
battery_state |= STATE_CHARGING;
}
break;
case CAN_BALANCING_ENABLE:
{
balancing_start();
battery_state |= STATE_BALANCING;
}
break;
}
}
}
slave_loop();
mcan_send_loop();
adc_loop();
}
return 0;
}
void main(void){
//Initialize the clock to run the microprocessor
ARC_setup_lv();//sets up initializes the clocks and should be called at the beginning of main
//initCLK();//this is now set up in ARC_setup
//Initialize the uart to talk with terra term
P4DIR |= BIT1|BIT2|BIT3|BIT5|BIT6|BIT7;//LIGHT UP LED'S AS OUTPUTS
P4OUT &= ~(BIT1|BIT2|BIT3|BIT5|BIT6|BIT7);
//P4OUT |= BIT5;
VREGinit();//INITALIZE THE VOLTAGE REGULATOR
//initUART();//initalize when using TxChar(ch)
//setup I2C for use of UCB1
initI2C();
//set up timer
init_timerA(); // some of the set up is now started in ARC_setup
mmcInit_msp_off();
setup_launch_detect();
//setup_orbit_start();
UnusedPinSetup();//drive all unused pins to outputs
GyroOff();
SENSORSoff();
MAGoff();
ACCoff();
RESET_LED();
//Initialize the main task
initARCbus_pd(BUS_ADDR_LEDL);
// initARCbus(BUS_ADDR_LEDL);
//run MSP test
/*
MSPtest();
//RUN Oscillator Test
OscillatorTest();
//Turn temperature sensor/gyro/SD card on
SENSORSon();
//Turn temperature sensor/gyro/SD card off
SENSORSoff();
//Turn accelerometers on
ACCon();
//turn accelerometers off
ACCoff();
//Turn magnetometers on
MAGon();
//Turn magnetometers off
MAGoff();
*/
//Test the ADC functionality
//ADC_test();
//logging data for launch
//launch_data_log();
//test finished
//printf("YOU ARE FINISHED!!!\n\r");
memset(stack1,0xcd,sizeof(stack1));//function memset, sets all values(array stack1, everything equals this value,
//size of array so everything is changed)
stack1[0]=stack1[sizeof(stack1)/sizeof(stack1[0])-1]=0xfeed;//put marker values at the words before/after the stack.
memset(stack2,0xcd,sizeof(stack2)); // write known values into the stack
stack2[0]=stack2[sizeof(stack2)/sizeof(stack2[0])-1]=0xfeed; // put marker values at the words before/after the stack
memset(stack3,0xcd,sizeof(stack3)); // write known values into the stack
stack3[0]=stack3[sizeof(stack3)/sizeof(stack3[0])-1]=0xfeed; // put marker values at the words before/after the stack
memset(stack5,0xcd,sizeof(stack5)); // write known values into the stack
stack5[0]=stack5[sizeof(stack5)/sizeof(stack5[0])-1]=0xfeed; // put marker values at the words before/after the stack
memset(stack6,0xcd,sizeof(stack6)); // write known values into the stack
stack6[0]=stack6[sizeof(stack6)/sizeof(stack6[0])-1]=0xfeed; // put marker values at the words before/after the stack
ctl_events_init(&handle_SDcard, 0);
//start timer A (taken from Jesse's code so that I can have an interrupt for my timer)
//start_timerA();
ctl_task_run(&Perif_SetUp,BUS_PRI_LOW,Periferial_SetUp,"ARC Bus Test Program","Periferial_SetUp",sizeof(stack2)/sizeof(stack2[0])-2,stack2+1,0);//side note, the termainal can be used in two ways by either passing the uart functin or the async function
ctl_task_run(&I2C,BUS_PRI_NORMAL,(void(*)(void*))takeI2Cdata,NULL,"takeI2Cdata",sizeof(stack3)/sizeof(stack3[0])-2,stack3+1,0);
ctl_task_run(&LaunchData,BUS_PRI_HIGH,launch_data_log,NULL,"launch_data_log",sizeof(stack1)/sizeof(stack1[0])-2,stack1+1,0);//&LaunchData takes the address
ctl_task_run(&LEDL_events,BUS_PRI_NORMAL+10,sub_events,NULL,"sub_events",sizeof(stack6)/sizeof(stack6[0])-2,stack6+1,0);//this is to run orbit code
//ctl_task_run(&LaunchDetect,4,VerifyLaunchDetect,NULL,"VerifyLaunchDetect",sizeof(stack5)/sizeof(stack5[0])-2,stack5+1,0);
//of the variable which is the task structure is ,2 is the priority,launch_data_log is the function I want to run,"launch_data_log" is
//the name when I look at the threads window to identify the task,the size of the memory stack minus the guard bits,
//first location where data is stored second element in array (first element is guard bit), the zero is a placeholder
//since the MSP doesn't support this function.
//put this here for now
ctl_task_run(&ACDS_sen_task,BUS_PRI_LOW+10,ACDS_sensor_interface,NULL,"ACDS_sensor_interface",sizeof(stack5)/sizeof(stack5[0])-2,stack5+1,0);
//Use I2C sensor function to receive data
//Stay in an infinite loop
//for(;;){// taken care of in main loop
//P5SEL |= BIT6;//OUTPUT aclk
//P5DIR |= BIT6;//output aclk
mainLoop_lp();
mainLoop();
}
