main.c

/*
 * File:   main.c
 * Author: M91406
 *
 * Created on July 8, 2019, 1:52 PM
 */
 
#include <xc.h> // include processor files - each processor file is guarded.  
#include <stdint.h> // include standard integer types header file
#include <stdbool.h> // include standard boolean types header file
 
#include "main.h"
 
volatile bool run_main = true; // Flag allowing to terminate the main loop and restart the CPU
 
#define  TMR1_TIMEOUT 30000   // Timeout protection for Timer1 interrupt flag bit
volatile bool LOW_PRIORITY_GO = false;  // Flag allowing low priority tasks to be executed
 
/* PRIVATE FUNCTION CALL PROTOTYPES */
volatile uint16_t sysLowPriorityTasks_Execute(void);
volatile uint16_t __attribute__((always_inline)) sysHighPriorityTasks_Execute(void);
 
 
int main(void) {
 
    volatile uint16_t retval=1;
    volatile uint16_t timeout = 0;
    
    // Initialize basic system configuration
    retval &= SYSTEM_Initialize();
    
    // Initialize special, application-specific peripherals 
    retval &= sysUserPeriperhals_Initialize();
 
    // Initialize software modules
    retval &= sysUserTasks_Initialize();
 
    // Enable OS Timer
    retval &= sysOsTimer_Enable(true, 1);
    
    // Last line of defense:
    // when configuration of any block failed...
    if (!retval)
        CPU_RESET();        // reset the CPU and try again
 
    // Main program execution
    while (run_main) {
 
        // wait for Timer1 to overrun and the high-priority task interrupt to 
        // be executed
        while ((!LOW_PRIORITY_GO) && (timeout++ < TMR1_TIMEOUT));
        LOW_PRIORITY_GO = false;
        timeout = 0;    // Reset timeout counter
 
        // ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
        // Execute non-time critical, low-priority tasks
            
        retval &= sysLowPriorityTasks_Execute();
            
        // ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
    }
 
    CPU_RESET();    // if the firmware ever ends up here, reset the CPU
    
    return (0);
}
 
 
volatile uint16_t sysLowPriorityTasks_Execute(void)
{
    volatile uint16_t retval=1;
    
    // (no low priority tasks)
    
    return(retval);
}
 
 
 
volatile uint16_t sysHighPriorityTasks_Execute(void)
{
    volatile uint16_t retval=1;
    
    // Execute high priority, time critical tasks
    retval &= appPowerSupply_Execute();   // Execute power supply state machine
    retval &= appFaultMonitor_Execute();  // Execute fault handler
    
    return(retval);
}
 
 
 
void __attribute__((__interrupt__, context, no_auto_psv)) _OsTimerInterrupt(void)
{
    volatile uint16_t retval=1;
 
    #ifdef DBGPIN2_Set
    DBGPIN2_Set();              // Set the CPU debugging pin HIGH
    #endif
 
    retval &= sysHighPriorityTasks_Execute(); // Execute list of high priority tasks
    
    LOW_PRIORITY_GO = true; // Set GO trigger for low priority tasks
    _OSTIMER_IF = 0; // Reset the interrupt flag bit
 
    #ifdef DBGPIN2_Set
    DBGPIN2_Clear();            // Clear the CPU debugging pin
    #endif
    
    return;
}
 
// ______________________________________
// end of file