TeslaGallery/main.c at master · antmerlino/TeslaGallery · GitHub

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#include <stdbool.h>
#include <stdint.h>

#include "timing.h"
#include "task.h"
#include "uart.h"
#include "buffer.h"
#include "subsys.h"
#include "system.h"

#include "sensor.h"
#include "midi.h"
#include "motor.h"
#include "major.h"
#include "limits.h"

#include <driverlib/eeprom.h>

version_t TESLA_VERSION;

void main (void){

	// Set the clock to 40MHz
	SysCtlClockSet(SYSCTL_SYSDIV_5 | SYSCTL_USE_PLL | SYSCTL_XTAL_16MHZ |SYSCTL_OSC_MAIN);

	TESLA_VERSION.word = 0x14081000LU;

	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);
	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);

	SysCtlPeripheralEnable(SYSCTL_PERIPH_EEPROM0);
	EEPROMInit();

	TimerInit();
	TaskInit();
	SystemInit();

	// Input on GPIO PC6 (Active Low) Disables Reset and Calibrate Functionality
	GPIOPadConfigSet(GPIO_PORTC_BASE, GPIO_PIN_6, GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPU);
	GPIOPinTypeGPIOInput(GPIO_PORTC_BASE, GPIO_PIN_6);

	DelayMs(2000);

	uint8_t type = !(GPIOPinRead(GPIO_PORTC_BASE, GPIO_PIN_6) >> 6);

	MotorsInit(type);
	MidiInit();
	SensorInit();
	MajorInit();
	LimitsInit(type);

	SubsystemInit(TESLA, MESSAGE, "TESLA", TESLA_VERSION);

	LogMsg(TESLA, MESSAGE, "Tesla System Initialized!");

	RegisterReceiverUART1(ProcessMidi);

	TaskScheduleAdd(MidiChannelUpdate, TASK_LOW_PRIORITY, 100, 1000);

	while(1){
		SystemTick();
		// We want to do this as often as possible without doing it every step
		LimitsCheck();
	}
}