main.c

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/**
 *****************************************************************************
 * @file        main.c
 * @author      Michael Riedel
 * @author      Marc Kossmann
 * @version     v2.0.0
 * @date        18.11.2014
 * @brief       Main-Routine for Stepper-Motor-Control
 *****************************************************************************
 * @par History:
 * @details     v0.1.0 22.10.2014 Riedel & Kossmann
 *              - first draft for milestone 1b
 * @details     v0.1.1 29.10.2014 Kossmann
 *              - edited ISRs inits to work with new pio access concept
 * @details     v0.1.2 30.10.2014 Kossmann
 *              - adopted error handling to new makro call
 *              - moved all flagsgroups to main and added creating them
 * @details     v1.0.0 31.10.2014 Riedel & Kossmann
 *              - moved hardwareTest() and initial printouts into userInputTask
 *                because the need OS running
 * @details     v1.0.1 14.11.2014 Kossmann
 *              - finished motor isr registration
 *              - moved init IPC global var to main
 * @details     v2.0.0 18.11.2014 Riedel & Kossmann
 *              - adapted function call init_outputTaskDataTxRx
 *              @see auxilaryFunctions.h
 *              - verified functionality -> release MS2
 *****************************************************************************
 */

#include "../INC/main.h"

extern OS_FLAG_GRP *userInputTaskFlagsGrp;
extern OS_FLAG_GRP *heartbeatTaskFlagsGrp;
extern OS_FLAG_GRP *userOutputTaskFlagsGrp;

/** @brief Variable for ISR-Context
 * @details Not used in this program
 */
uint32_t ISRcontext;

int main(void) {
  uint8_t err;
  init_term();

  // -------------------- Flags creation--------------------------------
  userInputTaskFlagsGrp = OSFlagCreate(0x0000, &err);
  if (OS_NO_ERR != err) {
    error("INPUT_FLAG_CREATE_ERR: %i\n", err);
  }
  heartbeatTaskFlagsGrp = OSFlagCreate(0x0000, &err);
  if (OS_NO_ERR != err) {
    error("HEARTBEAT_FLAG_CREATE_ERR: %i\n", err);
  }
  userOutputTaskFlagsGrp = OSFlagCreate(0x0000, &err);
  if (OS_NO_ERR != err) {
    error("OUTPUT_FLAG_CREATE_ERR: %i\n", err);
  }
  // -------------------- Tasks ----------------------------------------
  err = OSTaskCreateExt(UserInputTask, NULL,
                        (void *) &UserInputTask_Stk[TASK_STACKSIZE - 1],
                        USER_INPUT_TASK_PRIORITY, USER_INPUT_TASK_PRIORITY,
                        UserInputTask_Stk, TASK_STACKSIZE, NULL, 0);
  if (OS_NO_ERR != err) {
    error("Err creating UserInputTask: %i\n", err);
  }

  err = OSTaskCreateExt(UserOutputTask, NULL,
                        (void *) &UserOutputTask_Stk[TASK_STACKSIZE - 1],
                        USER_OUTPUT_TASK_PRIORITY, USER_OUTPUT_TASK_PRIORITY,
                        UserOutputTask_Stk, TASK_STACKSIZE, NULL, 0);
  if (OS_NO_ERR != err) {
    error("Err creating UserInputTask: %i\n", err);
  }

  err = OSTaskCreateExt(HeartbeatTask, NULL,
                        (void *) &HeartbeatTask_Stk[TASK_STACKSIZE - 1],
                        HEARTBEAT_TASK_PRIORITY, HEARTBEAT_TASK_PRIORITY,
                        HeartbeatTask_Stk, TASK_STACKSIZE, NULL, 0);
  if (OS_NO_ERR != err) {
    error("Err creating HeartbeatTask: %i\n", err);
  }

  //init keys ISR
  alt_ic_isr_register(PIO_KEY_IRQ_INTERRUPT_CONTROLLER_ID, PIO_KEY_IRQ,
                      keysIRQhandler, (void *) &ISRcontext, NULL);
  alt_ic_irq_enable(PIO_KEY_IRQ_INTERRUPT_CONTROLLER_ID, PIO_KEY_IRQ);
  //Enable Interrupt in PIO component
  PIO_KEY_SetIRMsk(
    PIO_KEY_RS_IR0_MSK | PIO_KEY_MINUS_IR2_MSK | PIO_KEY_PLUS_IR3_MSK);
  //Clear captured edges
  PIO_KEY_ClearEdgeCptBits(0xF);

  //init switches ISR
  alt_ic_isr_register(PIO_SW_IRQ_INTERRUPT_CONTROLLER_ID, PIO_SW_IRQ,
                      switchesIRQhandler, (void *) &ISRcontext, NULL);
  alt_ic_irq_enable(PIO_SW_IRQ_INTERRUPT_CONTROLLER_ID, PIO_SW_IRQ);
  //Enable Interrupt in PIO component
  PIO_SW_SetIRMsk(
    PIO_SW_LR_MSK | PIO_SW_MODE_MSK | PIO_SW_DEBUG_MSK);
  PIO_KEY_ClearEdgeCptBits(
    PIO_SW_LR_MSK | PIO_SW_MODE_MSK | PIO_SW_DEBUG_MSK);

  //init motor ISR
  alt_ic_isr_register(REGISTERS_IRQ_INTERRUPT_CONTROLLER_ID, REGISTERS_IRQ,
      motorIRQhandler, (void *) &ISRcontext, NULL);
  alt_ic_irq_enable(REGISTERS_IRQ_INTERRUPT_CONTROLLER_ID, REGISTERS_IRQ);

  //initialize global var and mutex
  err = init_outputTaskDataTxRx();
  if (OS_NO_ERR != err) {
    error("IPC_GLOB_VAR_ERR: %i\n", err);
  } else {
    OSStart();
  }
  return 0;
}