Tinymovr

//  * This file is part of the Tinymovr-Firmware distribution
//  * (https://github.com/yconst/tinymovr-firmware).
//  * Copyright (c) 2020-2023 Ioannis Chatzikonstantinou.
//  * 
//  * This program is free software: you can redistribute it and/or modify  
//  * it under the terms of the GNU General Public License as published by  
//  * the Free Software Foundation, version 3.
//  *
//  * This program is distributed in the hope that it will be useful, but 
//  * WITHOUT ANY WARRANTY; without even the implied warranty of 
//  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 
//  * General Public License for more details.
//  *
//  * You should have received a copy of the GNU General Public License 
//  * along with this program. If not, see <http://www.gnu.org/licenses/>.


#include "src/common.h"
#include "src/system/system.h"
#include "src/uart/uart_lowlevel.h"
#include <src/sensor/sensor.h>
#include "src/observer/observer.h"
#include "src/adc/adc.h"
#include "src/motor/motor.h"
#include "src/controller/controller.h"
#include "src/gatedriver/gatedriver.h"
#include "src/timer/timer.h"
#include "src/can/can.h"
#include "src/nvm/nvm.h"
#include "src/watchdog/watchdog.h"

int main(void)
{
  	__disable_irq();
    system_init();
    UART_Init(); // Keep UART init before config load for now
    if (!nvm_load_config())
    {
        sensors_init_with_defaults();
        observers_init_with_defaults();
    }
    ADC_init();
    CAN_init();
    timers_init();
    Watchdog_init();
    __enable_irq();

    Controller_ControlLoop();
}