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Construct the object tree outside of the comms task

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2019-09-23 01:42:22 -04:00
parent 4a65702066
commit f5a1235038
4 changed files with 37 additions and 29 deletions
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Firmware/MotorControl/main.cpp
+27 -24
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@@ -96,29 +96,8 @@ void enter_dfu_mode() {
}
}
extern "C" {
int odrive_main(void);
void vApplicationStackOverflowHook(xTaskHandle *pxTask, signed portCHAR *pcTaskName) {
for (;;); // TODO: safe action
}
void vApplicationIdleHook(void) {
if (system_stats_.fully_booted) {
system_stats_.uptime = xTaskGetTickCount();
system_stats_.min_heap_space = xPortGetMinimumEverFreeHeapSize();
system_stats_.min_stack_space_comms = uxTaskGetStackHighWaterMark(comm_thread) * sizeof(StackType_t);
system_stats_.min_stack_space_axis0 = uxTaskGetStackHighWaterMark(axes[0]->thread_id_) * sizeof(StackType_t);
system_stats_.min_stack_space_axis1 = uxTaskGetStackHighWaterMark(axes[1]->thread_id_) * sizeof(StackType_t);
system_stats_.min_stack_space_usb = uxTaskGetStackHighWaterMark(usb_thread) * sizeof(StackType_t);
system_stats_.min_stack_space_uart = uxTaskGetStackHighWaterMark(uart_thread) * sizeof(StackType_t);
system_stats_.min_stack_space_usb_irq = uxTaskGetStackHighWaterMark(usb_irq_thread) * sizeof(StackType_t);
system_stats_.min_stack_space_startup = uxTaskGetStackHighWaterMark(defaultTaskHandle) * sizeof(StackType_t);
}
}
}
int odrive_main(void) {
#if HW_VERSION_MAJOR == 3 && HW_VERSION_MINOR >= 3
extern "C" int construct_objects(){
#if HW_VERSION_MAJOR == 3 && HW_VERSION_MINOR >= 3
if (board_config.enable_i2c_instead_of_can) {
// Set up the direction GPIO as input
GPIO_InitTypeDef GPIO_InitStruct;
@@ -172,7 +151,31 @@ int odrive_main(void) {
axes[i] = new Axis(i, hw_configs[i].axis_config, axis_configs[i],
*encoder, *sensorless_estimator, *controller, *motor, *trap);
}
initTree();
return 0;
}
extern "C" {
int odrive_main(void);
void vApplicationStackOverflowHook(xTaskHandle *pxTask, signed portCHAR *pcTaskName) {
for (;;); // TODO: safe action
}
void vApplicationIdleHook(void) {
if (system_stats_.fully_booted) {
system_stats_.uptime = xTaskGetTickCount();
system_stats_.min_heap_space = xPortGetMinimumEverFreeHeapSize();
system_stats_.min_stack_space_comms = uxTaskGetStackHighWaterMark(comm_thread) * sizeof(StackType_t);
system_stats_.min_stack_space_axis0 = uxTaskGetStackHighWaterMark(axes[0]->thread_id_) * sizeof(StackType_t);
system_stats_.min_stack_space_axis1 = uxTaskGetStackHighWaterMark(axes[1]->thread_id_) * sizeof(StackType_t);
system_stats_.min_stack_space_usb = uxTaskGetStackHighWaterMark(usb_thread) * sizeof(StackType_t);
system_stats_.min_stack_space_uart = uxTaskGetStackHighWaterMark(uart_thread) * sizeof(StackType_t);
system_stats_.min_stack_space_usb_irq = uxTaskGetStackHighWaterMark(usb_irq_thread) * sizeof(StackType_t);
system_stats_.min_stack_space_startup = uxTaskGetStackHighWaterMark(defaultTaskHandle) * sizeof(StackType_t);
}
}
}
int odrive_main(void) {
// Start ADC for temperature measurements and user measurements
start_general_purpose_adc();