xyFC/src/main.c

/*
 * main() method
 */

#ifndef DEBUG
// Only use without Arduino Bootloader!
#define ENABLE_WATCHDOG
#endif

#ifdef __AVR__
#include <avr/interrupt.h>
#include <avr/wdt.h>
#endif

#include "spi.h"
#include "timer.h"
#include "cppm.h"
#include "rx.h"
#include "main.h"

#ifdef __AVR__
#ifdef ENABLE_WATCHDOG
void watchdogBoot(void) __attribute__((naked)) __attribute__((section(".init3")));
void watchdogBoot(void) {
    MCUSR = 0;
    wdt_disable();
}
#endif
#endif

#ifdef DEBUG_UART_MENU
void uartMenu(void) {
    if (!serialHasChar(0))  {
        return;
    }

    uint8_t c = serialGet(0);
    time_t time = timerGet();
    switch (c) {
    case 't': case 'T':
        debugWrite("Uptime: ");
        debugUnsigned64(time);
        debugWrite("us / ");
        debugUnsigned64(time / 1000000);
        debugWrite("s\n");
        break;

#ifdef ENABLE_WATCHDOG
    case 'q': case 'Q':
        debugWrite("Resetting...\n\n");
        wdt_enable(WDTO_2S);
        for (;;) { }
        break;
#endif

    default:
        debugWrite("Unknown command: '");
        debugChar(c);
        debugWrite("'\n");

    case 'h': case 'H': case '?':
        debugWrite("Available commands:\n");
        debugWrite("  h - Help\n");
        debugWrite("  t - Time\n");
#ifdef ENABLE_WATCHDOG
        debugWrite("  q - Reset\n");
#endif
        break;
    }
}
#endif

void main(void) {
    //cppmInit();
    timerInit();

#ifdef DEBUG
#if defined(__AVR__)
    serialInit(0, BAUD(38400, F_CPU));
#else
    serialInit(0, BAUD(230400, F_CPU));
#endif
#endif

#ifdef __AVR__
    sei(); // Enable interrupts (required for timer)

#ifdef ENABLE_WATCHDOG
    //wdt_enable(WDTO_250MS); // Trigger Watchdog after 250ms
    wdt_enable(WDTO_2S); // Trigger Watchdog after 2s
#endif
#endif

    //debugWrite("RX reset.\n");

    spiInit();
    rxInit();

    //debugWrite("RX ready!\n");

    for(;;) {
#ifdef __AVR__
        wdt_reset();
#endif

        rxReceivePacket();

#ifdef DEBUG_UART_MENU
        uartMenu();
#endif
    }
}