diff options
| -rw-r--r-- | software/mpu/heartbeat.c | 1 | ||||
| -rw-r--r-- | software/mpu/main.c | 43 |
2 files changed, 27 insertions, 17 deletions
diff --git a/software/mpu/heartbeat.c b/software/mpu/heartbeat.c index 21a3375..5838c11 100644 --- a/software/mpu/heartbeat.c +++ b/software/mpu/heartbeat.c @@ -50,6 +50,7 @@ static msg_t Heartbeat(void *arg) palSetPad(GPIOA, GPIOA_LED); chThdSleepMilliseconds(850); } + return 0; /* Never executed.*/ } void heartbeatInit(void) diff --git a/software/mpu/main.c b/software/mpu/main.c index a737d9b..9224531 100644 --- a/software/mpu/main.c +++ b/software/mpu/main.c @@ -47,6 +47,28 @@ static void reset2bootloader(void) /* TODO: not just reset but go to bootloader */ } +static void shutdown(void) +{ + /* Safely stop critical threads, aka call shutdown functions of all subsystems */ + /* nothing here. */ + + /* Invoke the xxxStop() method on all the active device drivers */ + /* nothing here. */ + + chSysDisable(); + + /* Stop the system timer whose service routine invokes chSysTimerHandlerI(). */ + SysTick->CTRL &= ~(SysTick_CTRL_ENABLE_Msk); + + /* Disable any other interrupt source that may invoke OS APIs */ + /* nothing here. */ + + /* Perform any application related de-initialization. */ + /* nothing here. */ + + chSysEnable(); +} + /* * Application entry point. */ @@ -61,28 +83,15 @@ int main(void) */ halInit(); chSysInit(); + /* the base os is ready now */ + /* call init functions of all subsystems which should spawn threads for their task */ heartbeatInit(); - int8_t ret = usbCDCShellRun(); + int8_t ret = usbCDCShellRun(); /* the debug shell returned - we have to halt, reboot or goto bootloader */ - /* Safely stop critical threads */ - /* nothing here. */ - - /* Invoke the xxxStop() method on all the active device drivers */ - chSysDisable(); - - /* Stop the system timer whose service routine invokes chSysTimerHandlerI(). */ - SysTick->CTRL &= ~(SysTick_CTRL_ENABLE_Msk); - - /* Disable any other interrupt source that may invoke OS APIs */ - /* nothing here. */ - - /* Perform any application related de-initialization. */ - /* nothing here. */ - - chSysEnable(); + shutdown(); /* the OS is stopped now */ switch(ret) { |