Complete startup

//====================================================================================================================//
// File:          cbl_main.c                                                                                          //
// Description:   Template for CANopen FD Bootloader protocol stack                                                   //
//                                                                                                                    //
// Copyright (C) MicroControl GmbH & Co. KG                                                                           //
// 53844 Troisdorf - Germany                                                                                          //
// www.microcontrol.net                                                                                               //
//                                                                                                                    //
//--------------------------------------------------------------------------------------------------------------------//
// The copyright to the computer program(s) herein is the property of MicroControl GmbH & Co. KG, Germany.            //
// The program(s) may be used and/or copied only with the written permission of MicroControl GmbH & Co. KG or         //
// in accordance with the terms and conditions stipulated in the agreement/contract under which the program(s)        //
// have been supplied.                                                                                                //
//                                                                                                                    //
//====================================================================================================================//
 
 
/*--------------------------------------------------------------------------------------------------------------------*\
** Include files                                                                                                      **
**                                                                                                                    **
\*--------------------------------------------------------------------------------------------------------------------*/
 
//------------------------------------------------------------------------------------------------------
// CANopen Bootloader Protocol Stack header files
//
#include "cbl_led.h"
#include "cbl_mgr.h"
#include "cbl_nmt.h"
#include "cbl_objs.h"
#include "cbl_time.h"
 
//------------------------------------------------------------------------------------------------------
// HAL header files
//
#include "mc_cpu.h"
#include "mc_flash.h"
#include "mc_iap.h"
#include "mc_tmr.h"
#include "mc_wdt.h"
 
//------------------------------------------------------------------------------------------------------
// CANopen Bootloader demo application
//
#include "cbl_demo_app.h"
 
 
/*--------------------------------------------------------------------------------------------------------------------*\
** Definitions                                                                                                        **
**                                                                                                                    **
\*--------------------------------------------------------------------------------------------------------------------*/
 
//------------------------------------------------------------------------------------------------------
// Specific configuration of CANopen Bootloader Protocol Stack
//
#ifndef  TMPL_CBL_CONFIG
#define  TMPL_CBL_CONFIG       0
#endif
 
//------------------------------------------------------------------------------------------------------
// Run CANopen Bootloader Protocol Stack for internal testing if > 0
//
#ifndef  TMPL_CBL_TEST_MAIN
#define  TMPL_CBL_TEST_MAIN    0
#endif
 
//------------------------------------------------------------------------------------------------------
// Select physical CAN interface for CANopen Bootloader Protocol Stack
//
#ifndef  TMPL_CBL_USE_CAN_IF
#define  TMPL_CBL_USE_CAN_IF   eCP_CHANNEL_1
#endif
 
 
 
//--------------------------------------------------------------------------------------------------------------------//
// main()                                                                                                             //
//                                                                                                                    //
//--------------------------------------------------------------------------------------------------------------------//
int main(void)
{
   int32_t  slBitrateSelT;          // selected CANopen bit-rate
   uint8_t  ubNodeIdT;              // selected CANopen Node-ID
 
 
   //---------------------------------------------------------------------------------------------------
   // Initialize the target CPU
   //
   McCpuInit();
 
 
   //---------------------------------------------------------------------------------------------------
   // Initialize the timer resource on the target CPU
   //
   McTmrInit();
 
   //---------------------------------------------------------------------------------------------------
   // Initialize flash driver
   //
   McFlashInit();
 
   //---------------------------------------------------------------------------------------------------
   // Initialize the CANopen Bootloader demo application, this is individual for every target
   //
   CblDemoAppInit();
 
   //---------------------------------------------------------------------------------------------------
   // Initialize the CANopen bootloader
   //
   CblMgrInit(TMPL_CBL_USE_CAN_IF, TMPL_CBL_CONFIG);
 
   //---------------------------------------------------------------------------------------------------
   // Try to jump to application. This has to be made after calling CblMgrInit(), because several 
   // global variables are initialized in the CblMgrInit() call.
   //
   // We check if the application is valid and the boot-lock is disabled.
   //
 
   //---------------------------------------------------------------------------------------------------
   // Check if the bootloader is locked
   //
   if (McIapIsBootLocked() == false)   
   {
 
      //-------------------------------------------------------------------------------------------
      // Start application if it is marked with the "autostart" flag
      //
      if (McIapIsAppValid() == eIAP_APP_AUTOSTART)
      {
         //-----------------------------------------------------------------------------------
         // Jump to the application: this function never returns
         //
         McIapJumpToApp();
      }
   }
 
 
   //---------------------------------------------------------------------------------------------------
   // execute the CblTmrEvent() every 1 ms
   //
   McTmrFunctionInit(CblTmrEvent, McTmrTimeToTicks(1000), eTMR_CTRL_START);
 
 
   //---------------------------------------------------------------------------------------------------
   // read the actual bit-rate setting
   //
   slBitrateSelT = CblMgrGetBitrate();
 
 
   //---------------------------------------------------------------------------------------------------
   // read the actual node ID setting
   //
   ubNodeIdT  = CblMgrGetNodeId();
 
 
   //---------------------------------------------------------------------------------------------------
   // start the CANopen slave stack
   //
   CblMgrStart(slBitrateSelT, ubNodeIdT);
 
   
   //---------------------------------------------------------------------------------------------------
   // this is the main loop of the embedded application
   //
   while (1)
   {
 
      //-------------------------------------------------------------------------------------------
      // check the result of the CANopen manager call
      //
      if (CblMgrProcess() == eCblErr_NODE_RESET)
      {
         //-----------------------------------------------------------------------------------
         // Release all CAN resources and restart the application
         //
         CblMgrRelease();
         McCpuReset();
      }
 
      //-------------------------------------------------------------------------------------------
      // The following code is for automatic testing only
      //
      #if TMPL_CBL_TEST_MAIN > 0
      static uint32_t ulTestMainCounterS = TMPL_CBL_TEST_MAIN;
      if (ulTestMainCounterS == 0) break;
      ulTestMainCounterS--;
      #endif
 
   }  // end while (1)
 
   return(0);
}