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main.c
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Sun, May 5, 06:04

main.c
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/*
* Copyright (C) 2017 EPFL-LSRO (Laboratoire de Systemes Robotiques).
*
* 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.
*/
#include "main.h"
#include "communication.h"
#include "torque_regulator.h"
#include "haptic_controller.h"
#include "drivers/adc.h"
#include "drivers/callback_timers.h"
#include "drivers/dac.h"
#include "drivers/debug_gpio.h"
#include "drivers/h_bridge.h"
#include "drivers/hall.h"
#include "drivers/incr_encoder.h"
#include "drivers/led.h"
#include "lib/utils.h"
/**
* @brief Main function, setups all the drivers and controllers.
*/
int main(void)
{
// Setup the GPIOs and the interrupts.
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA | RCC_AHB1Periph_GPIOB |
RCC_AHB1Periph_GPIOC | RCC_AHB1Periph_GPIOD |
RCC_AHB1Periph_GPIOE, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);
//
cbt_Init(); // Setup the timers that will call the loops functions.
adc_Init(); // Setup the ADC.
comm_Init(); // Setup the communication module.
torq_Init(); // Setup the torque (current) regulator.
hapt_Init(); // Setup the haptic controller.
enc_Init(); // Setup the incremental encoders.
hb_Init(); // Setup the H-bridge.
hb_Enable(); //
dac_Init(); // Setup the DAC.
led_Init(); // Setup the LEDs.
dio_Init();
// Delay to let the power electronics stabilize before calibrating the
// current sensor.
utils_DelayMs(200);
adc_CalibrateCurrentSens();
// Start the current loop.
torq_StartCurrentLoop();
// Init the Hall position sensor.
hall_Init(ADC_CHANNEL_9);
// End of the initialization. Lock the SyncVar list, and notify the PC that
// the board has (re)started.
comm_LockSyncVarsList();
comm_NotifyReady();
// Endless loop. The low priority functions are called here.
while(1)
{
// Update the communication.
comm_Step();
}
}

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