92 lines
1.7 KiB
C
92 lines
1.7 KiB
C
#include "factory.h"
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//the factory object containing all objects of our system
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static Factory theFactory;
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//all the getters
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LED* l1() {
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return &theFactory.l1_;
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}
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LED* l2() {
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return &theFactory.l2_;
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}
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LED* l3() {
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return &theFactory.l3_;
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}
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LED* l4() {
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return &theFactory.l4_;
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}
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LED* l5() {
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return &theFactory.l5_;
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}
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LED* l6() {
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return &theFactory.l6_;
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}
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LED* l7() {
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return &theFactory.l7_;
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}
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LED* l8() {
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return &theFactory.l8_;
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}
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WATCHDOG* WDcontroller(){
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return &theFactory.WDcontroller_;
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}
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//initialize all objects
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void Factory_init() {
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LED_init(l1(), 1);
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LED_init(l2(), 2);
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LED_init(l3(), 3);
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LED_init(l4(), 4);
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LED_init(l5(), 5);
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LED_init(l6(), 6);
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LED_init(l7(), 7);
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LED_init(l8(), 8);
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LED_initHW(l1());
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LED_initHW(l2());
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LED_initHW(l3());
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LED_initHW(l4());
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LED_initHW(l5());
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LED_initHW(l6());
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LED_initHW(l7());
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LED_initHW(l8());
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CAN_init();
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CAN_setSender(1);
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LED_off(l1());
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// TODO init EPROM interface
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// TODO init watchdog with EPROM CST
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WATCHDOG_init(WDcontroller());
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CAR_CST.CONTROL_ALIVE_TIME = 10;
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WATCHDOG_setTime(WDcontroller(), CAR_CST.CONTROL_ALIVE_TIME);
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}
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void foo(uint8_t a, uint8_t b, uint32_t c){
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if(b){
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LED_on(l1());
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} else {
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LED_off(l1());
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}
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CAN_Send(a, b, c);
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}
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//connect objects if required
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void Factory_build() {
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ECAN_SetRXBnInterruptHandler(CAN_newMsg);
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CAN_onReceiveCan(foo);
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WATCHDOG_onAlive(WDcontroller(), CM_controller_alive, NULL);
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}
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//start all state machines
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void Factory_start() {
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CAN_startBehaviour();
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WATCHDOG_startBehaviour(WDcontroller());
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}
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