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26 results

main.c

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  • Forked from card10 / firmware
    Source project has a limited visibility.
    main.c 3.44 KiB
    #include <stdio.h>
    #include <stdlib.h>
    
    #include <ff.h>
    
    #include "max32665.h"
    #include "uart.h"
    #include "cdcacm.h"
    #include "gpio.h"
    
    #include "card10.h"
    #include "pmic.h"
    #include "leds.h"
    #include "api/dispatcher.h"
    #include "l0der/l0der.h"
    #include "modules/modules.h"
    #include "modules/log.h"
    #include "modules/stream.h"
    #include "modules/filesystem.h"
    #include "api/interrupt-sender.h"
    
    #include "Heart.h"
    #include "gfx.h"
    #include "display.h"
    #include "card10-version.h"
    
    #include "FreeRTOS.h"
    #include "task.h"
    
    TaskHandle_t dispatcher_task_id;
    
    void vBleTask(void *pvParameters);
    
    int main(void)
    {
    	LOG_INFO("startup", "Epicardium startup ...");
    	LOG_INFO("startup", "Version " CARD10_VERSION);
    
    	hardware_early_init();
    
    #ifdef CARD10_DEBUG_CORE1
    	LOG_WARN("startup", "Core 1 Debugger Mode");
    	static const gpio_cfg_t swclk = {
    		PORT_0,
    		PIN_7,
    		GPIO_FUNC_ALT3,
    		GPIO_PAD_NONE,
    	};
    	static const gpio_cfg_t swdio = {
    		PORT_0,
    		PIN_6,
    		GPIO_FUNC_ALT3,
    		GPIO_PAD_NONE,
    	};
    
    	GPIO_Config(&swclk);
    	GPIO_Config(&swdio);
    #endif /* CARD10_DEBUG_CORE1 */
    
    	gfx_copy_region_raw(
    		&display_screen, 0, 0, 160, 80, 2, (const void *)(Heart)
    	);
    	gfx_update(&display_screen);
    
    	/* TODO: Move this to its own function */
    	SCB->SCR |= SCB_SCR_SEVONPEND_Msk;
    
    	if (cdcacm_init() < 0) {
    		LOG_ERR("startup", "USB-Serial unavailable");
    	}
    
    	fatfs_init();
    	api_interrupt_init();
    	stream_init();
    
    	LOG_INFO("startup", "Initializing tasks ...");
    
    	/* Serial */
    	if (xTaskCreate(
    		    vSerialTask,
    		    (const char *)"Serial",
    		    configMINIMAL_STACK_SIZE,
    		    NULL,
    		    tskIDLE_PRIORITY + 1,
    		    NULL) != pdPASS) {
    		LOG_CRIT("startup", "Failed to create %s task!", "Serial");
    		abort();
    	}
    
    	/* PMIC */
    	if (xTaskCreate(
    		    vPmicTask,
    		    (const char *)"PMIC",
    		    configMINIMAL_STACK_SIZE,
    		    NULL,
    		    tskIDLE_PRIORITY + 1,
    		    NULL) != pdPASS) {
    		LOG_CRIT("startup", "Failed to create %s task!", "PMIC");
    		abort();
    	}
    
    	/* API */
    	if (xTaskCreate(
    		    vApiDispatcher,
    		    (const char *)"API Dispatcher",
    		    configMINIMAL_STACK_SIZE * 16,
    		    NULL,
    		    tskIDLE_PRIORITY + 2,
    		    &dispatcher_task_id) != pdPASS) {
    		LOG_CRIT(
    			"startup",
    			"Failed to create %s task!",
    			"API Dispatcher"
    		);
    		abort();
    	}
    
    	/* BLE */
    	if (xTaskCreate(
    		    vBleTask,
    		    (const char *)"BLE",
    		    configMINIMAL_STACK_SIZE * 10,
    		    NULL,
    		    tskIDLE_PRIORITY + 1,
    		    NULL) != pdPASS) {
    		LOG_CRIT("startup", "Failed to create %s task!", "BLE");
    		abort();
    	}
    
    	LOG_INFO("startup", "Initializing dispatcher ...");
    	api_dispatcher_init();
    
    	/* light sensor */
    	LOG_INFO("startup", "starting light sensor ...");
    	epic_light_sensor_run();
    
    	core1_boot();
    
    	/*
    	 * See if there's a l0dable.elf to run. If not, run pycardium.
    	 * This is temporary until epicardium gets a l0dable API from pycardium.
    	 */
    	const char *l0dable = "l0dable.elf";
    	if (f_stat(l0dable, NULL) == FR_OK) {
    		LOG_INFO("startup", "Running %s ...", l0dable);
    		struct l0dable_info info;
    		int res = l0der_load_path(l0dable, &info);
    		if (res != 0) {
    			LOG_ERR("startup", "l0der failed: %d\n", res);
    		} else {
    			LOG_INFO(
    				"startup", "Starting %s on core1 ...", l0dable
    			);
    			core1_load(info.isr_vector, "");
    		}
    	} else {
    		LOG_INFO("startup", "Starting pycardium on core 1 ...");
    		core1_load((void *)0x10080000, "main.py");
    	}
    
    	hardware_init();
    
    	LOG_INFO("startup", "Starting FreeRTOS ...");
    	vTaskStartScheduler();
    
    	LOG_CRIT("startup", "FreeRTOS did not start due to unknown error!");
    	abort();
    }