main.c

/*
 * Race Capture Firmware
 *
 * Copyright (C) 2015 Autosport Labs
 *
 * This file is part of the Race Capture firmware suite
 *
 * This is free software: you can redistribute it and/or modify it
 * under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This software is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
 *
 * See the GNU General Public License for more details. You should
 * have received a copy of the GNU General Public License along with
 * this code. If not, see <http://www.gnu.org/licenses/>.
 */


/*
 * RaceCapture Pro main
 *	NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
 *	The processor MUST be in supervisor mode when vTaskStartScheduler is
 *	called.  The demo applications included in the FreeRTOS.org download switch
 *	to supervisor mode prior to main being called.  If you are not using one of
 *	these demo application projects then ensure Supervisor mode is used.
 */


#include "FreeRTOS.h"
#include "LED.h"
#include "OBD2_task.h"
#include "capabilities.h"
#include "connectivityTask.h"
#include "constants.h"
#include "cpu.h"
#include "fileWriter.h"
#include "gpioTasks.h"
#include "gpsTask.h"
#include "loggerHardware.h"
#include "loggerTaskEx.h"
#include "luaScript.h"
#include "luaTask.h"
#include "messaging.h"
#include "printk.h"
#include "task.h"
#include "usb_comm.h"
#include "watchdog.h"

#include <app_info.h>
#include <stdbool.h>

#define FATAL_ERROR_SCHEDULER	1
#define FATAL_ERROR_HARDWARE	2

#define FLASH_PAUSE_DELAY 	5000000
#define FLASH_DELAY 		1000000

__attribute__((aligned (4)))
static const struct app_info_block info_block = {
    .magic_number = APP_INFO_MAGIC_NUMBER,
    .info_crc = 0xDEADBEEF,
};

static void fatalError(int type)
{
    int count;

    switch (type) {
    case FATAL_ERROR_HARDWARE:
        count = 1;
        break;
    case FATAL_ERROR_SCHEDULER:
        count = 2;
        break;
    default:
        count = 3;
        break;
    }

    while(1) {
        for (int c = 0; c < count; c++) {
            LED_enable(1);
            LED_enable(2);
            for (int i=0; i<FLASH_DELAY; i++) {}
            LED_disable(1);
            LED_disable(2);
            for (int i=0; i < FLASH_DELAY; i++) {}
        }
        for (int i=0; i < FLASH_PAUSE_DELAY; i++) {}
    }
}

/*
 * Define task priorities here.  Ensure that these values are
 * all below `configMAX_PRIORITIES - 1` in the FreeRTOSConfig.h.
 * See http://www.freertos.org/RTOS-task-priority.html for more
 * info on how to best set these.  0 is lowest priority.
 */
#define TASK_PRIORITY(v)	(tskIDLE_PRIORITY + v)
#define RCP_INPUT_PRIORITY	TASK_PRIORITY(4)
#define RCP_OUTPUT_PRIORITY	TASK_PRIORITY(3)
#define RCP_LOGGING_PRIORITY	TASK_PRIORITY(2)
#define RCP_LUA_PRIORITY	TASK_PRIORITY(1)

void setupTask(void *delTask)
{
        initialize_tracks();
        initialize_logger_config();
        InitLoggerHardware();
        initMessaging();

        startUSBCommTask(RCP_INPUT_PRIORITY);
        startGPIOTasks(RCP_INPUT_PRIORITY);
        startGPSTask(RCP_INPUT_PRIORITY);
        startOBD2Task(RCP_INPUT_PRIORITY);
        startFileWriterTask(RCP_OUTPUT_PRIORITY);
        startConnectivityTask(RCP_OUTPUT_PRIORITY);
        startLoggerTaskEx(RCP_LOGGING_PRIORITY);
        startLuaTask(RCP_LUA_PRIORITY);

        /* Removes this setup task from the scheduler */
        if (delTask)
                vTaskDelete(NULL);
}


int main( void )
{
        ALWAYS_KEEP(info_block);
        cpu_init();
        pr_info("*** Start! ***\r\n");
        watchdog_init(WATCHDOG_TIMEOUT_MS);

        /*
         * Start the scheduler.
         *
         * NOTE : Tasks run in system mode and the scheduler runs in
         * Supervisor mode. The processor MUST be in supervisor mode
         * when vTaskStartScheduler is called.  The demo applications
         * included in the FreeRTOS.org download switch to supervisor
         * mode prior to main being called.  If you are not using one
         * of these demo application projects then ensure Supervisor
         * mode is used here.
         */

        if (TASK_TASK_INIT) {
                xTaskCreate(setupTask,(signed portCHAR*) "Hardware Init",
                            configMINIMAL_STACK_SIZE + 500, (void *) true,
                            tskIDLE_PRIORITY, NULL);
        } else {
                setupTask((void *) false);
        }

        vTaskStartScheduler();
        fatalError(FATAL_ERROR_SCHEDULER);

        return 0;
}