File Metadata

main.c
View Options

	#include "main.h"
	#include "communication.h"
	#include "controller.h"
	#include "drivers/adc.h"
	#include "drivers/callback_timers.h"
	#include "drivers/dac.h"
	#include "drivers/h_bridge.h"
	#include "drivers/hall.h"
	#include "drivers/incr_encoder.h"
	#include "drivers/strain_gauge.h"
	#include "drivers/tachometer.h"
	#include "lib/utils.h"

	volatile uint32_t statusReg = 0x00000000; // Main state register.

	/**
	* @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);
	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.

	ctrl_Init(); // Setup the controllers.

	enc_Init(); // Incremental encoders.
	hb_Init(); // H-bridge.
	hb_Enable();

	// Delay to let the power electronics stabilize before calibrating the
	// current sensor.
	utils_DelayMs(200);

	adc_CalibrateCurrentSens();
	statusReg \|= RUN_CURRENT_LOOP;

	dac_Init();

	// Init external sensors drivers, connected to the ADC.
	hall_Init(ANIN1);
	//sg_Init(ANIN2);
	//tac_Init(ANIN2);

	comm_SendDebugMessage("Initialization finished.");

	// Endless loop. The low priority functions are called here.
	while(1)
	{
	// Update the communication.
	comm_Step();
	}
	}