51 lines
1.5 KiB
C++
51 lines
1.5 KiB
C++
#include "logic/mm_control.h"
|
|
#include "hal/gpio.h"
|
|
#include "hal/spi.h"
|
|
|
|
/// One-time setup of HW and SW components
|
|
/// Called before entering the loop() function
|
|
void setup(){
|
|
using namespace hal;
|
|
|
|
gpio::Init(gpio::GPIO_pin(GPIOB, 3), gpio::GPIO_InitTypeDef(gpio::Mode::input, gpio::Pull::none));
|
|
gpio::Init(gpio::GPIO_pin(GPIOB, 2), gpio::GPIO_InitTypeDef(gpio::Mode::output, gpio::Level::low));
|
|
gpio::Init(gpio::GPIO_pin(GPIOB, 1), gpio::GPIO_InitTypeDef(gpio::Mode::output, gpio::Level::low));
|
|
// gpio::Init(gpio::GPIO_pin(GPIOB, 0), gpio::GPIO_InitTypeDef(gpio::Mode::output, gpio::Level::low));
|
|
|
|
// spi::SPI_InitTypeDef spi_conf = {
|
|
// .prescaler = 2, //4mhz
|
|
// };
|
|
spi::Init(SPI0, 2);
|
|
}
|
|
|
|
/// Main loop of the firmware
|
|
/// Proposed architecture
|
|
/// checkMsgs();
|
|
/// if(msg is command){
|
|
/// activate command handling
|
|
/// } else if(msg is query){
|
|
/// format response to query
|
|
/// }
|
|
/// StepCurrentCommand();
|
|
/// StepMotors();
|
|
/// StepLED();
|
|
/// StepWhateverElseNeedsStepping();
|
|
/// The idea behind the Step* routines is to keep each automaton non-blocking allowing for some “concurrency”.
|
|
/// Some FW components will leverage ISR to do their stuff (UART, motor stepping?, etc.)
|
|
void loop(){
|
|
|
|
}
|
|
|
|
int main() {
|
|
setup();
|
|
for(;;){
|
|
using namespace hal::gpio;
|
|
WritePin(GPIO_pin(GPIOB, 5), Level::low);
|
|
TogglePin(GPIO_pin(GPIOB, 6));
|
|
if (hal::gpio::ReadPin(GPIO_pin(GPIOB, 7)) == hal::gpio::Level::low)
|
|
break;
|
|
loop();
|
|
}
|
|
return 0;
|
|
}
|