diff options
Diffstat (limited to 'main.cpp')
| -rw-r--r-- | main.cpp | 126 |
1 files changed, 126 insertions, 0 deletions
diff --git a/main.cpp b/main.cpp new file mode 100644 index 0000000..38b6a1b --- /dev/null +++ b/main.cpp @@ -0,0 +1,126 @@ +/*-----------------------------------------------------------------------------*/
+/* */
+/* Copyright (c) James Pearman */
+/* 2013 */
+/* All Rights Reserved */
+/* */
+/*-----------------------------------------------------------------------------*/
+/* */
+/* Module: vexmain.c */
+/* Author: James Pearman */
+/* Created: 7 May 2013 */
+/* */
+/* Revisions: */
+/* V1.00 04 July 2013 - Initial release */
+/* */
+/*-----------------------------------------------------------------------------*/
+/* */
+/* The author is supplying this software for use with the VEX cortex */
+/* control system. This file can be freely distributed and teams are */
+/* authorized to freely use this program , however, it is requested that */
+/* improvements or additions be shared with the Vex community via the vex */
+/* forum. Please acknowledge the work of the authors when appropriate. */
+/* Thanks. */
+/* */
+/* Licensed under the Apache License, Version 2.0 (the "License"); */
+/* you may not use this file except in compliance with the License. */
+/* You may obtain a copy of the License at */
+/* */
+/* http://www.apache.org/licenses/LICENSE-2.0 */
+/* */
+/* Unless required by applicable law or agreed to in writing, software */
+/* distributed under the License is distributed on an "AS IS" BASIS, */
+/* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. */
+/* See the License for the specific language governing permissions and */
+/* limitations under the License. */
+/* */
+/* The author can be contacted on the vex forums as jpearman */
+/* or electronic mail using jbpearman_at_mac_dot_com */
+/* Mentor for team 8888 RoboLancers, Pasadena CA. */
+/* */
+/*-----------------------------------------------------------------------------*/
+
+
+#include <string.h>
+
+#include "ch.h"
+#include "hal.h"
+#include "chprintf.h"
+#include "vex.h"
+
+/*-----------------------------------------------------------------------------*/
+/* Command line related. */
+/*-----------------------------------------------------------------------------*/
+
+#define SHELL_WA_SIZE THD_WA_SIZE(512)
+
+// Shell command
+static const ShellCommand commands[] = {
+ {"adc", vexAdcDebug },
+ {"spi", vexSpiDebug },
+ {"motor", vexMotorDebug},
+ {"lcd", vexLcdDebug},
+ {"enc", vexEncoderDebug},
+ {"son", vexSonarDebug},
+ {"ime", vexIMEDebug},
+ {"test", vexTestDebug},
+ {NULL, NULL}
+};
+
+// configuration for the shell
+static const ShellConfig shell_cfg1 = {
+ (vexStream *)SD_CONSOLE,
+ commands
+};
+
+/*-----------------------------------------------------------------------------*/
+// Application entry point. */
+/*-----------------------------------------------------------------------------*/
+
+int main(void)
+{
+ Thread *shelltp = NULL;
+ short timeout = 0;
+
+ // System initializations.
+ // - HAL initialization, this also initializes the configured device drivers
+ // and performs the board-specific initializations.
+ // - Kernel initialization, the main() function becomes a thread and the
+ // RTOS is active.
+ halInit();
+ chSysInit();
+
+ // Init the serial port associated with the console
+ vexConsoleInit();
+
+ // init VEX
+ vexCortexInit();
+
+ // wait for good spi comms
+ while( vexSpiGetOnlineStatus() == 0 )
+ {
+ // wait for a while
+ chThdSleepMilliseconds(100);
+ // dump after 5 seconds
+ if(timeout++ == 50)
+ break;
+ }
+
+ // Shell manager initialization.
+ shellInit();
+
+ // spin in loop monitoring the shell
+ while (TRUE)
+ {
+ if (!shelltp)
+ shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO);
+ else
+ if (chThdTerminated(shelltp))
+ {
+ chThdRelease(shelltp); /* Recovers memory of the previous shell. */
+ shelltp = NULL; /* Triggers spawning of a new shell. */
+ }
+
+ chThdSleepMilliseconds(50);
+ }
+}
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