cppmain.cpp

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#include "main.h"
#include "cppmain.h"
#include "mainclass_chooser.h"
#include "flash_helpers.h"
#include "global_callbacks.h"
#include "cpp_target_config.h"
#include "cmsis_os.h"
#include "tusb.h"
 
uint32_t clkmhz = HAL_RCC_GetHCLKFreq() / 100000;
 
#ifdef HAL_IWDG_MODULE_ENABLED
extern IWDG_HandleTypeDef hiwdg; // Watchdog
#endif
 
bool running = true;
bool mainclassChosen = false;
 
uint16_t main_id = 0;
 
FFBoardMain* mainclass __attribute__((section (CCRAM_SEC)));
ClassChooser<FFBoardMain> mainchooser(class_registry);
 
 
#define USBD_STACK_SIZE     (3*configMINIMAL_STACK_SIZE/2)
StackType_t  usb_device_stack[USBD_STACK_SIZE];
StaticTask_t usb_device_taskdef;
 
 
void cppmain() {
#ifdef FW_DEVID
    if(HAL_GetDEVID() != FW_DEVID){
        while(true){ // Block forever to prevent an incorrect firmware from damaging hardware
            Error_Handler();
        }
    }
#endif
 
    // Flash init
    if(!Flash_Init()){
        Error_Handler();
    }
 
//  // Check if flash is initialized
//  uint16_t lastVersion = 0;
//  if(!Flash_Read(ADR_SW_VERSION, &lastVersion)){ // Version never written
//      Flash_Write(ADR_SW_VERSION, (SW_VERSION_INT[0]<<8) | SW_VERSION_INT[1]);
//  }
//  Flash_Read(ADR_SW_VERSION,&lastVersion);
//  if((lastVersion & 0xff00) != (SW_VERSION_INT[0]<<8)){
//      //EE_Format(); // Major version changed or could not write initial value. force a format
//      Flash_Write(ADR_SW_VERSION, (SW_VERSION_INT[0]<<8) | SW_VERSION_INT[1]);
//  }
    // Check if flash is initialized
    uint16_t lastFlashVersion = 0;
    if(!Flash_Read(ADR_FLASH_VERSION, &lastFlashVersion)){ // Version never written
        Flash_Write(ADR_FLASH_VERSION, FLASH_VERSION);
    }
    Flash_Read(ADR_FLASH_VERSION,&lastFlashVersion);
    if(lastFlashVersion != FLASH_VERSION){
        Flash_Format(); // Major version changed or could not write initial value. force a format
        Flash_Write(ADR_FLASH_VERSION, FLASH_VERSION);
    }
 
    // ------------------------
 
    startADC(); // enable ADC DMA
 
    // If switch pressed at boot select failsafe implementation
#ifdef BTNFAILSAFE
    if(HAL_GPIO_ReadPin(BUTTON_A_GPIO_Port, BUTTON_A_Pin) == 1){
        main_id = 0;
    }else
#endif
    if(!Flash_ReadWriteDefault(ADR_CURRENT_CONFIG, &main_id,DEFAULTMAIN)){
        Error_Handler();
    }
 
    PersistentStorage::restoreFlashStartupCb(); // Flash is initialized. allow restoring now
 
    mainclass = mainchooser.Create(main_id);
    if(mainclass == nullptr){ // invalid id
        mainclass = mainchooser.Create(0); // Baseclass
    }
    mainclassChosen = true;
 
    mainclass->usbInit(); // Let mainclass initialize usb
 
    while(running){
        mainclass->update();
        updateLeds();
        //external_spi.process();
        refreshWatchdog();
        taskYIELD(); // Change task if higher priority task wants to run
    }
}
 
void refreshWatchdog(){
#ifdef HAL_IWDG_MODULE_ENABLED
    HAL_IWDG_Refresh(&hiwdg); // Refresh watchdog
#endif
}
 

uint32_t micros(){
#ifdef TIM_MICROS_HALTICK
    extern TIM_HandleTypeDef TIM_MICROS_HALTICK;
    return (HAL_GetTick() * 1000) + TIM_MICROS_HALTICK.Instance->CNT;
#elif defined(TIM_MICROS)
    extern TIM_HandleTypeDef TIM_MICROS;
    return TIM_MICROS.Instance->CNT;
#else
    return DWT->CYCCNT / clkmhz;
#endif
 
}
 
 
void* malloc(size_t size)
{
    return pvPortMalloc(size);
}
 
void free(void *p)
{
    vPortFree(p);
}

unsigned long getRunTimeCounterValue(void){
    return micros();
}