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267 lines
5.4 KiB
267 lines
5.4 KiB
/*
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* Copyright (c) 2019-2021, Erich Styger
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*
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* SPDX-License-Identifier: BSD-3-Clause
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*/
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#include "platform.h"
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#include "McuLib.h"
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#include "McuWait.h"
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#include "McuUtility.h"
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#include "McuGPIO.h"
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#include "McuLED.h"
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#include "McuRTOS.h"
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#include "McuArmTools.h"
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#include "McuRTT.h"
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#include "McuShellUart.h"
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#include "McuCriticalSection.h"
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#include "McuSystemView.h"
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#include "McuI2CSpy.h"
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/* application modules: */
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#include "i2clib.h"
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#include "leds.h"
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#include "buttons.h"
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#include "Shell.h"
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#include "fsl_clock.h"
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#if PL_CONFIG_USE_LINE_SENSOR
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#include "Reflectance.h"
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#endif
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#include "Buzzer.h"
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#include "Trigger.h"
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#include "Timer.h"
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#include "Motor.h"
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#include "QuadCounter.h"
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#include "PID.h"
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#include "Identify.h"
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#include "McuESP32.h"
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#if PL_CONFIG_USE_USB_CDC
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#include "virtual_com.h"
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#endif
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#include "fsl_port.h"
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#include "gui.h"
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#include "oled.h"
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#include "toaster.h"
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#include "Drive.h"
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#include "Turn.h"
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#include "Tacho.h"
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#if PL_CONFIG_APP_SUMO
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#include "Sumo.h"
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#endif
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#include "NVM_Config.h"
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#include "AdoptToHW.h"
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#if PL_CONFIG_APP_LINE_FOLLOWING || PL_CONFIG_APP_LINE_MAZE
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#include "LineFollow.h"
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#endif
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#include "Event.h"
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#include "Remote.h"
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#if PL_CONFIG_USE_RS485
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#include "rs485.h"
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#endif
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#include "Battery.h"
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#if PL_CONFIG_HAS_ACCEL
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#include "Accel.h"
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#endif
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#if PL_CONFIG_HAS_NVM_CONFIG
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static void InitNVMCValues(void) {
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const NVMC_RobotData *ptr;
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NVMC_RobotData data;
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uint8_t res;
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#define NVMC_VERSION 0x01
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ptr = NVMC_GetRobotData();
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if (ptr==NULL || ptr->version != NVMC_VERSION) {
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data.version = NVMC_VERSION;
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data.MazeLeftHandOnTheWall = TRUE;
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res = NVMC_SaveRobotData(&data);
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if (res!=ERR_OK) {
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for(;;); /* error */
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}
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}
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}
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#endif
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void PL_Init(void) {
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/* SDK: */
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CLOCK_EnableClock(kCLOCK_PortA); /* PTA13 (LED_R), PTA14 (SW2) */
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CLOCK_EnableClock(kCLOCK_PortB); /* PTB2 (I2C SCL), PTB3 (I2C SDA) */
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CLOCK_EnableClock(kCLOCK_PortC); /* PTC3 (Buzzer), PTC4/5 (motor) */
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CLOCK_EnableClock(kCLOCK_PortD); /* PTD0 (LED_L), PTD1 (IR_ON), PTD2-7: IR1-6 */
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CLOCK_EnableClock(kCLOCK_PortE); /* shield V1.0 uses PTE3 for the TTGO */
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/* McuLib modules: */
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McuLib_Init();
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McuRTOS_Init();
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McuArmTools_Init();
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McuWait_Init();
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McuUtility_Init();
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McuLED_Init();
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McuGPIO_Init();
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McuRTT_Init();
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#if configUSE_SEGGER_SYSTEM_VIEWER_HOOKS
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McuSystemView_Init();
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#endif
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#if PL_CONFIG_USE_EVENTS
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EVNT_Init();
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#endif
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#if PL_CONFIG_USE_UART_SHELL
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McuShellUart_Init();
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#endif
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McuCriticalSection_Init();
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/* I2C and related modules. Note that if using HW I2C with interrupts, this requires interrupts enabled */
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#if PL_CONFIG_USE_I2C
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McuGenericI2C_Init();
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#if PL_CONFIG_USE_HW_I2C
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I2CLIB_Init();
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#else
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McuGenericSWI2C_Init();
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#endif
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#if PL_CONFIG_USE_I2C_SPY
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McuI2CSpy_Init();
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#endif
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#if PL_CONFIG_USE_OLED && !PL_CONFIG_USE_GUI
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McuWait_Waitms(100); /* display needs some time to power up */
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McuSSD1306_Init(); /* requires I2C interrupts enabled if using HW I2C! */
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OLED_Init(); /* initializes the needed McuLib components for the OLED */
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#elif PL_CONFIG_USE_GUI
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GUI_Init(); /* requires interrupts enabled if using HW I2C */
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#endif
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#if PL_CONFIG_USE_TOASTER
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TOASTER_Init();
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#endif
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#endif
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#if PL_CONFIG_USE_USB_CDC
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USB_APPInit(); /* Initialize USB first before the UART, because this changes the clock settings! */
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#endif
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/* application modules: */
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#if PL_CONFIG_USE_LEDS
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LEDS_Init();
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#endif
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#if PL_CONFIG_USE_BUTTONS
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BTN_Init();
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#endif
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TRG_Init();
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TMR_Init();
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#if PL_CONFIG_USE_QUADRATURE
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QuadCounter_Init();
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#endif
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#if PL_CONFIG_USE_ESP32
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McuESP32_Init();
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#endif
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#if PL_CONFIG_USE_IDENTIFY
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ID_Init();
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#endif
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#if PL_CONFIG_HAS_NVM_CONFIG
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NVMC_Init();
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InitNVMCValues();
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#endif
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#if PL_CONFIG_HAS_DEBOUNCE
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KEYDBNC_Init();
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#endif
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#if PL_CONFIG_USE_MOTORS
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MOT_Init();
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#endif
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#if PL_CONFIG_USE_SHELL
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SHELL_Init();
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#endif
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#if PL_CONFIG_USE_LINE_SENSOR
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REF_Init();
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#endif
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#if PL_HAS_TURN
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TURN_Init();
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#endif
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#if PL_CONFIG_USE_PID
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PID_Init();
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#endif
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#if PL_CONFIG_APP_LINE_FOLLOWING || PL_CONFIG_APP_LINE_MAZE
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LF_Init();
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#endif
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#if PL_HAS_ULTRASONIC
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US_Init();
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#endif
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#if PL_CONFIG_USE_BUZZER
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BUZ_Init();
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#endif
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#if PL_CONFIG_USE_EVENTS
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EVNT_Init();
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#endif
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#if PL_HAS_RADIO
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RNETA_Init();
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#endif
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#if PL_CONFIG_USE_REMOTE
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REMOTE_Init();
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#endif
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#if PL_HAS_SHELL_QUEUE
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SQUEUE_Init();
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#endif
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#if PL_HAS_DISTANCE_SENSOR
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DIST_Init();
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#endif
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#if PL_CONFIG_USE_TACHO
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TACHO_Init();
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#endif
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#if PL_HAS_SHELL_TRACE
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TRACE_Init();
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#endif
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#if PL_CONFIG_APP_SUMO
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SUMO_Init();
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#endif
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#if PL_HAS_TEST
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TEST_Init();
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#endif
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#if PL_CONFIG_USE_DRIVE
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DRV_Init();
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#endif
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#if PL_CONFIG_HAS_ACCEL
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/*lint -save -e522 Highest operation, function 'ACCEL_Init', lacks side-effect. */
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ACCEL_Init();
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/*lint -restore Highest operation, function 'ACCEL_Init', lacks side-effect. */
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#endif
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#if PL_HAS_MCP4728
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MCP4728_Init();
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#endif
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#if PL_HAS_ROBO_SHIELD
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RS_Init();
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#endif
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#if PL_HAS_MUSIC_SHIELD
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MUSIC_Init();
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#endif
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#if PL_HAS_SPI
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SPI_Init();
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#endif
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#if PL_HAS_LASER
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LASER_Init();
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#endif
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#if PL_CONFIG_APP_LINE_MAZE
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MAZE_Init();
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#endif
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#if PL_HAS_MINT
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MINT_Init();
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#endif
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#if PL_HAS_MINT_REMOTE
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MINTREMOTE_Init();
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#endif
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#if PL_HAS_MINT_LED
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MINTLED_Init();
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#endif
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#if PL_HAS_TOF_SENSOR
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(void)VL6180X_Init();
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#endif
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#if PL_CONFIG_HAS_LCD
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LCD_Init();
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#endif
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#if PL_CONFIG_HAS_BATTERY_ADC
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BATT_Init();
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#endif
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#if PL_HAS_MIDI
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MM_Init();
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#endif
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#if PL_CONFIG_USE_RS485
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RS485_Init();
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#endif
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ADOPT_AdoptToHardware();
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}
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