kopia lustrzana https://github.com/DL7AD/pecanpico9
87 wiersze
2.0 KiB
C
87 wiersze
2.0 KiB
C
#include "ch.h"
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#include "hal.h"
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#include "debug.h"
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#include "threads.h"
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#include "padc.h"
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#include "usbcfg.h"
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#include "shell.h"
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static const ShellCommand commands[] = {
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{"debug", debugOnUSB},
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{"picture", printPicture},
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{"log", readLog},
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{"config", printConfig},
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{"command", command2Camera},
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{NULL, NULL}
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};
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static const ShellConfig shell_cfg = {
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(BaseSequentialStream*)&SDU1,
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commands
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};
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/**
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* Main routine is starting up system, runs the software watchdog (module monitoring), controls LEDs
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*/
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int main(void) {
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halInit(); // Startup HAL
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chSysInit(); // Startup RTOS
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// Voltage switching (1.8V <=> 3.0V)
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#if ACTIVATE_USB || ACTIVATE_3V
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boost_voltage(true); // Ramp up voltage to 3V
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chThdSleepMilliseconds(100);
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#endif
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/*// Clear Wakeup flag
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PWR->CR |= PWR_CR_CWUF;
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// Select STANDBY mode
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PWR->CR |= PWR_CR_PDDS;
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// Set SLEEPDEEP bit of Cortex System Control Register
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SCB->SCR |= SCB_SCR_SLEEPDEEP_Msk;
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// This option is used to ensure that store operations are completed
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#if defined ( __CC_ARM )
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__force_stores();
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#endif
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// Request Wait For Interrupt
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__WFI();
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while(1);*/
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// Init debugging (Serial debug port, LEDs)
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DEBUG_INIT();
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TRACE_INFO("MAIN > Startup");
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// Start USB
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#if ACTIVATE_USB
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sduObjectInit(&SDU1);
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sduStart(&SDU1, &serusbcfg);
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usbDisconnectBus(serusbcfg.usbp);
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chThdSleepMilliseconds(100);
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usbStart(serusbcfg.usbp, &usbcfg);
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usbConnectBus(serusbcfg.usbp);
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usb_initialized = true;
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#endif
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// Startup threads
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start_essential_threads(); // Startup required modules (tracking managemer, watchdog)
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start_user_modules(); // Startup optional modules (eg. POSITION, LOG, ...)
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while(true) {
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#if ACTIVATE_USB
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if(SDU1.config->usbp->state == USB_ACTIVE) {
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thread_t *shelltp = chThdCreateFromHeap(NULL, THD_WORKING_AREA_SIZE(512), "shell", NORMALPRIO+1, shellThread, (void*)&shell_cfg);
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chThdWait(shelltp);
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}
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#endif
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chThdSleepMilliseconds(10000);
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}
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}
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