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Diffstat (limited to 'app/src/main.c')
| -rw-r--r-- | app/src/main.c | 139 |
1 files changed, 139 insertions, 0 deletions
diff --git a/app/src/main.c b/app/src/main.c new file mode 100644 index 0000000..1c36984 --- /dev/null +++ b/app/src/main.c @@ -0,0 +1,139 @@ +/* + * Copyright (c) 2013 - 2016, Freescale Semiconductor, Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted provided that the following conditions are met: + * + * o Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * o Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * o Neither the name of Freescale Semiconductor, Inc. nor the names of its + * contributors may be used to endorse or promote products derived from this + * software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR + * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON + * ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/** + * This is template for main module created by New Kinetis SDK 2.x Project Wizard. Enjoy! + **/ + +#include <string.h> + +#include "board.h" +#include "pin_mux.h" +#include "clock_config.h" +#include "fsl_debug_console.h" +#include "com_task.h" +#include "can_task.h" +#include "adc_task.h" + +/* FreeRTOS kernel includes. */ +#include "FreeRTOS.h" +#include "task.h" +#include "queue.h" +#include "timers.h" + + +#if ((defined USB_HOST_CONFIG_KHCI) && (USB_HOST_CONFIG_KHCI)) +#define CONTROLLER_ID kUSB_ControllerKhci0 +#endif +#if ((defined USB_HOST_CONFIG_EHCI) && (USB_HOST_CONFIG_EHCI)) +#define CONTROLLER_ID kUSB_ControllerEhci0 +#endif + +#ifdef BOARD_USES_ADC +TaskHandle_t adc_task_handle; +TaskHandle_t tsc_task_handle; +#endif +#ifndef TESTER_BUILD +TaskHandle_t can0_task_handle; +TaskHandle_t can1_task_handle; +TaskHandle_t can_tx_notify_task_handle; +#endif +TaskHandle_t spi_task_handle; + + +/*! + * @brief Application entry point. + */ +int main(void) { + + /* Init board hardware. */ + BOARD_InitPins(); + BOARD_BootClockRUN(); +#ifndef TESTER_BUILD + BOARD_InitDebugConsole(); +#endif + PRINTF("Apalis K20 Firmware Version %d.%d\r\n", FW_MAJOR, FW_MINOR); + + /* Create RTOS task */ + if(xTaskCreate(spi_task, "SPI_task", 1000L / sizeof(portSTACK_TYPE), NULL, 4, &spi_task_handle) != pdPASS) + { + PRINTF("create SPI task error\r\n"); + } +#ifndef TESTER_BUILD + if(xTaskCreate(can0_task, "CAN0_task", 1000L / sizeof(portSTACK_TYPE), NULL, 2, &can0_task_handle) != pdPASS) + { + PRINTF("create CAN0 task error\r\n"); + } + + if(xTaskCreate(can1_task, "CAN1_task", 1000L / sizeof(portSTACK_TYPE), NULL, 2, &can1_task_handle) != pdPASS) + { + PRINTF("create CAN1 task error\r\n"); + } + + if(xTaskCreate(can_tx_notify_task, "CAN_tx_notify_task", 1000L / sizeof(portSTACK_TYPE), NULL, 3, &can_tx_notify_task_handle) != pdPASS) + { + PRINTF("create CAN TX notify task error\r\n"); + } +#endif +#ifdef BOARD_USES_ADC + if(xTaskCreate(adc_task, "ADC_task", 1000L / sizeof(portSTACK_TYPE), NULL, 2, &adc_task_handle) != pdPASS) + { + PRINTF("create ADC task error\r\n"); + } + + if(xTaskCreate(tsc_task, "TSC_task", 1000L / sizeof(portSTACK_TYPE), NULL, 2, &tsc_task_handle) != pdPASS) + { + PRINTF("create TSC task error\r\n"); + } +#endif + + NVIC_SetPriority(CAN0_ORed_Message_buffer_IRQn, 7u); + NVIC_SetPriority(CAN0_Bus_Off_IRQn, 8u); + NVIC_SetPriority(CAN0_Error_IRQn, 8u); + NVIC_SetPriority(CAN0_Tx_Warning_IRQn, 8u); + NVIC_SetPriority(CAN0_Rx_Warning_IRQn, 8u); + NVIC_SetPriority(CAN0_Wake_Up_IRQn, 8u); + NVIC_SetPriority(CAN1_ORed_Message_buffer_IRQn, 7u); + NVIC_SetPriority(CAN1_Bus_Off_IRQn, 8u); + NVIC_SetPriority(CAN1_Error_IRQn, 8u); + NVIC_SetPriority(CAN1_Tx_Warning_IRQn, 8u); + NVIC_SetPriority(CAN1_Rx_Warning_IRQn, 8u); + NVIC_SetPriority(CAN1_Wake_Up_IRQn, 8u); + NVIC_SetPriority(SPI2_IRQn, 5u); + NVIC_SetPriority(DMA0_IRQn, 6u); + vTaskStartScheduler(); + + for(;;) { /* Infinite loop to avoid leaving the main function */ + __asm("NOP"); /* something to use as a breakpoint stop while looping */ + } +} + + + |