/** get initial parameters (only when node starts). */
void getInitParams(void)
{
nh_.param("modulation_freq", modulation_freq_, -1);
std::string default_addr("");
nh_.param("ether_addr", ether_addr_, default_addr);
cinfo_ = new camera_info_manager::CameraInfoManager(nh_);
nh_.param("camera_name", camera_name_, std::string("swissranger"));
nh_.param("use_filter", use_filter_, static_cast<bool>(USE_FILTER));
dynamic_reconfigure::Server<swissranger_camera::SwissRangerConfig >::CallbackType f
= boost::bind(&SRNode::reconfig, this, _1, _2);
dynsrv.setCallback(f);
}
void main()
{
delay_ms(100);
// Setup ADC's and Timers
setup_peripherals();
// Initializes and reads external EEPROM. Loads default DEVICE_CONFIG if necessary
device_boot();
// Reset amplifier and DSP then load values into DSP
softboot();
// Enable/disable interrupts based on DEVICE_CONFIG parameters
setup_interrupts();
if(DEBUG) {
fprintf(RS232,"[DEBUG] Saving addresses into FLASH [R&D only]...");
}
default_addr();
FLASH_ADDR_WRITE(14);
if(DEBUG) {
fprintf(RS232,"Done!\r\n");
}
if(DEBUG) {
fprintf(RS232,"[DEBUG] Disabling 100Hz High-Pass since we're a DSP 4x4...");
}
send_prefixed_dsp_command(DSP_ADDRESS_WRITE_PREFIX,SEVENTYVHP_BYPASS,0x00000001);
if(DEBUG) {
fprintf(RS232,"Done!\r\n");
}
while(true)
{
//if(IS_USB_CONNECTED) {
process_usb_data();
//}
if(rs232_data_available) {
process_rs232_data();
}
}
}
