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/*-----------------------------------------------------------------------------*/
/* */
/* 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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