main.c

/**
 * Race Capture Pro Firmware
 *
 * Copyright (C) 2015 Autosport Labs
 *
 * This file is part of the Race Capture Pro fimrware 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>

#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 OBD2_TASK_PRIORITY			( tskIDLE_PRIORITY + 2 )
#define GPS_TASK_PRIORITY 			( tskIDLE_PRIORITY + 5 )
#define CONNECTIVITY_TASK_PRIORITY 	( tskIDLE_PRIORITY + 4 )
#define LOGGER_TASK_PRIORITY		( tskIDLE_PRIORITY + 6 )
#define FILE_WRITER_TASK_PRIORITY	( tskIDLE_PRIORITY + 4 )
#define LUA_TASK_PRIORITY			( tskIDLE_PRIORITY + 2 )
#define USB_COMM_TASK_PRIORITY		( tskIDLE_PRIORITY + 6 )
#define GPIO_TASK_PRIORITY 			( tskIDLE_PRIORITY + 4 )


void vApplicationStackOverflowHook(xTaskHandle pxTask, signed char *pcTaskName)
{
    (void)pxTask;
    (void)pcTaskName;
}

void setupTask(void *params)
{
    (void)params;

    initialize_tracks();
    initialize_logger_config();
    initialize_script();
    InitLoggerHardware();
    initMessaging();

    startGPIOTasks			( GPIO_TASK_PRIORITY );
    startUSBCommTask		( USB_COMM_TASK_PRIORITY );
    startLuaTask			( LUA_TASK_PRIORITY );
    startFileWriterTask		( FILE_WRITER_TASK_PRIORITY );
    startConnectivityTask	( CONNECTIVITY_TASK_PRIORITY );
    startGPSTask			( GPS_TASK_PRIORITY );
    startOBD2Task			( OBD2_TASK_PRIORITY);
    startLoggerTaskEx		( LOGGER_TASK_PRIORITY );

    /* Removes this setup task from the scheduler */
    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,
                    NULL,
                    tskIDLE_PRIORITY + 4,
                    NULL);
    } else {
        setupTask(NULL);
    }

    vTaskStartScheduler();
    fatalError(FATAL_ERROR_SCHEDULER);

    return 0;
}