int main(void)
{
PWM_init();
CF_init(&alpha, &beta);
PID_init(&pid_x, &pid_y);
Flags_init();
Timer1_init();
Twi_init();
Usart_init();
deviceInit_adc();
deviceInit_rc();
if(!deviceInit() || !Flags_getBit(flags_deviceAdcInitialised) || !Flags_getBit(flags_deviceRcInitialised))
{
_exit();
}
// todo: workaround for slave initialization
deviceInitialize(deviceID_slave, _true);
// todo: workaround for gps initialization
deviceInitialize(deviceID_gps, _true);
//enable interrupts
_enableInterrupts();
while(1);
}
int32_t main(int argc, char **argv)
{
int32_t i = 0;
pthread_t vPollcmd;
pthread_t vPipecmd;
_gCurrentState=STATE_INIT;
for(i = 0; i < argc; i++)
{
if(0 == memcmp("-d", argv[i], 2))
{
if(i+1 < argc)
{
_gDebugFlagMask = strtol(argv[i+1], NULL, 0);
i++;
}
else
{
_gDebugFlagMask=0xFF;
}
printf("enable debug, mask = 0x%04X\n", _gDebugFlagMask);
_gDebugFlag=1;
}
else if(0 == memcmp("-t", argv[i], 2))
{
_gTestMode=1;
}
}
_gQuitHandler = signal( SIGQUIT, exit_handler );
_gKillHandler = signal( SIGKILL, exit_handler );
_gTermHandler = signal( SIGTERM, exit_handler );
_gTermHandler = signal( SIGINT, exit_handler );
#if(_DEBUG_ == 1 && _DEBUG_TO_FILE_ == 1)
if(gDebugToFile == 1)
util_debug_file_init();
#endif
pipe_init();
if(0 != i2c_init())
return -1;
#ifdef STATUS_LED
LED_init();
#endif
#ifdef PUBLIC_GPIO
GPIO_init();
#endif
Flags_init();
sysinfo_update_init();
menu_init();
signal( SIG_PROC_CMD, cmd_queue_handler );
signal( SIG_PROC_MENU, menu_queue_handler );
sigemptyset(&_gSigMask);
pthread_create(&vPollcmd, NULL, timer_main, NULL);
pthread_create(&vPipecmd, NULL, pipecmd, NULL);
pthread_join( vPollcmd, NULL);
pthread_join( vPipecmd, NULL);
return (0);
}
