int main(int argc, char** argv) {
OptParse(argv);
if(InitGL()) return -1;
Render();
glfwTerminate();
return 0;
}
/*!
This is main function.
*/
int main(int argc, char **argv)
{
AK8963PRMS prms;
int retValue = 0;
AKMD_PATNO pat;
int16 outbit;
/* Show the version info of this software. */
Disp_StartMessage();
#if ENABLE_AKMDEBUG
/* Register signal handler */
signal(SIGINT, signal_handler);
#endif
#if ENABLE_FORMATION
RegisterFormClass(&s_formClass);
#endif
/* Open device driver. */
if (AKD_InitDevice() != AKD_SUCCESS) {
retValue = ERROR_INITDEVICE;
goto THE_END_OF_MAIN_FUNCTION;
}
/* Parse command-line options */
if (OptParse(argc, argv, &pat, &outbit) == 0) {
retValue = ERROR_OPTPARSE;
goto THE_END_OF_MAIN_FUNCTION;
}
/* Initialize parameters structure. */
InitAK8963PRMS(&prms);
/* Put argument to PRMS. */
prms.m_layout = pat;
prms.m_outbit = outbit;
/* Read Fuse ROM */
if (ReadAK8963FUSEROM(&prms) != AKRET_PROC_SUCCEED) {
retValue = ERROR_FUSEROM;
goto THE_END_OF_MAIN_FUNCTION;
}
/* Here is the Main Loop */
if (g_opmode) {
/*** Console Mode *********************************************/
while (AKD_TRUE) {
/* Select operation */
switch (Menu_Main()) {
case MODE_FctShipmntTestBody:
FctShipmntTest_Body(&prms);
break;
case MODE_MeasureSNG:
/* Read Parameters from file. */
if (LoadParameters(&prms) == 0) {
SetDefaultPRMS(&prms);
}
/* Reset flag */
g_stopRequest = 0;
/* Measurement routine */
MeasureSNGLoop(&prms);
/* Write Parameters to file. */
SaveParameters(&prms);
break;
case MODE_Quit:
goto THE_END_OF_MAIN_FUNCTION;
break;
default:
AKMDEBUG(DBG_LEVEL0, "Unknown operation mode.\n");
break;
}
}
} else {
/*** Daemon Mode *********************************************/
while (g_mainQuit == AKD_FALSE) {
int st = 0;
/* Wait until device driver is opened. */
if (AKD_GetOpenStatus(&st) != AKD_SUCCESS) {
retValue = ERROR_GETOPEN_STAT;
goto THE_END_OF_MAIN_FUNCTION;
}
if (st == 0) {
ALOGI("Suspended.");
} else {
ALOGI("Compass Opened.");
/* Read Parameters from file. */
if (LoadParameters(&prms) == 0) {
SetDefaultPRMS(&prms);
}
/* Reset flag */
g_stopRequest = 0;
/* Start measurement thread. */
if (startClone(&prms) == 0) {
retValue = ERROR_STARTCLONE;
goto THE_END_OF_MAIN_FUNCTION;
}
/* Wait until device driver is closed. */
if (AKD_GetCloseStatus(&st) != AKD_SUCCESS) {
retValue = ERROR_GETCLOSE_STAT;
g_mainQuit = AKD_TRUE;
}
/* Wait thread completion. */
g_stopRequest = 1;
pthread_join(s_thread, NULL);
ALOGI("Compass Closed.");
/* Write Parameters to file. */
SaveParameters(&prms);
}
}
}
THE_END_OF_MAIN_FUNCTION:
/* Close device driver. */
AKD_DeinitDevice();
/* Show the last message. */
Disp_EndMessage(retValue);
return retValue;
}
int main(int argc, char **argv)
{
int retValue = 0;
AKMPRMS prms;
AKFS_PATNO pat;
uint8 regs[3];
/* Show the version info of this software. */
Disp_StartMessage();
#if ENABLE_AKMDEBUG
/* Register signal handler */
signal(SIGINT, signal_handler);
#endif
/* Open device driver */
if(AKD_InitDevice() != AKD_SUCCESS) {
retValue = ERROR_INITDEVICE;
goto MAIN_QUIT;
}
/* Parse command-line options */
/* This function calls device driver function to get layout */
if (OptParse(argc, argv, &pat) == 0) {
retValue = ERROR_OPTPARSE;
goto MAIN_QUIT;
}
/* Self Test */
/*
if (g_opmode & OPMODE_FST){
if (AKFS_SelfTest() != AKD_SUCCESS) {
retValue = ERROR_SELF_TEST;
goto MAIN_QUIT;
}
}*/
/* OK, then start */
if (AKFS_ReadConf(regs) != AKM_SUCCESS) {
retValue = ERROR_READ_FUSE;
goto MAIN_QUIT;
}
/* Initialize library. */
if (AKFS_Init(&prms, pat, regs) != AKM_SUCCESS) {
retValue = ERROR_INIT;
goto MAIN_QUIT;
}
/* Start console mode */
if (g_opmode & OPMODE_CONSOLE) {
ConsoleMode((void *)&prms);
goto MAIN_QUIT;
}
/*** Start Daemon ********************************************/
while (g_mainQuit == AKD_FALSE) {
int st = 0;
/* Wait until device driver is opened. */
if (AKD_GetOpenStatus(&st) != AKD_SUCCESS) {
retValue = ERROR_GETOPEN_STAT;
goto MAIN_QUIT;
}
if (st == 0) {
AKMDEBUG(AKMDATA_LOOP, "Suspended.");
} else {
AKMDEBUG(AKMDATA_LOOP, "Compass Opened.");
/* Reset flag */
g_stopRequest = 0;
/* Start measurement thread. */
if (startClone((void *)&prms) == 0) {
retValue = ERROR_STARTCLONE;
goto MAIN_QUIT;
}
/* Wait until device driver is closed. */
if (AKD_GetCloseStatus(&st) != AKD_SUCCESS) {
retValue = ERROR_GETCLOSE_STAT;
g_mainQuit = AKD_TRUE;
}
/* Wait thread completion. */
g_stopRequest = 1;
pthread_join(s_thread, NULL);
AKMDEBUG(AKMDATA_LOOP, "Compass Closed.");
}
}
MAIN_QUIT:
/* Release library */
AKFS_Release(&prms);
/* Close device driver. */
AKD_DeinitDevice();
/* Show the last message. */
Disp_EndMessage(retValue);
return retValue;
}
/*!
This is main function.
*/
int main(int argc, char **argv)
{
AKSCPRMS prms;
int retValue = 0;
/* Show the version info of this software. */
Disp_StartMessage();
#if ENABLE_AKMDEBUG
/* Register signal handler */
signal(SIGINT, signal_handler);
#endif
#if ENABLE_FORMATION
RegisterFormClass(&s_formClass);
#endif
/* Initialize parameters structure. */
InitAKSCPRMS(&prms);
/* Parse command-line options */
if (OptParse(argc, argv, &prms.m_hlayout) == 0) {
retValue = ERROR_OPTPARSE;
goto THE_END_OF_MAIN_FUNCTION;
}
/* Open device driver. */
if (AKD_InitDevice() != AKD_SUCCESS) {
retValue = ERROR_INITDEVICE;
goto THE_END_OF_MAIN_FUNCTION;
}
/* If layout is not specified with argument, get parameter from driver */
if (prms.m_hlayout == PAT_INVALID) {
int16_t n;
if (AKD_GetLayout(&n) == AKD_SUCCESS) {
if ((PAT1 <= n) && (n <= PAT8)) {
prms.m_hlayout = (AKMD_PATNO)n;
}
}
/* Error */
if (prms.m_hlayout == PAT_INVALID) {
ALOGE("Magnetic sensor's layout is specified.");
retValue = ERROR_HLAYOUT;
goto THE_END_OF_MAIN_FUNCTION;
}
}
/* Read Fuse ROM */
if (ReadFUSEROM(&prms) != AKRET_PROC_SUCCEED) {
retValue = ERROR_FUSEROM;
goto THE_END_OF_MAIN_FUNCTION;
}
/* PDC */
LoadPDC(&prms);
/* Here is the Main Loop */
if (g_opmode & OPMODE_CONSOLE) {
/*** Console Mode *********************************************/
while (AKD_TRUE) {
/* Select operation */
switch (Menu_Main()) {
case MODE_FST:
FST_Body();
break;
case MODE_MeasureSNG:
/* Read Parameters from file. */
if (LoadParameters(&prms) == 0) {
SetDefaultPRMS(&prms);
}
/* Reset flag */
g_stopRequest = 0;
/* Measurement routine */
MeasureSNGLoop(&prms);
/* Write Parameters to file. */
SaveParameters(&prms);
break;
case MODE_OffsetCalibration:
/* Read Parameters from file. */
if (LoadParameters(&prms) == 0) {
SetDefaultPRMS(&prms);
}
/* measure offset (NOT sensitivity) */
if (SimpleCalibration(&prms) == AKRET_PROC_SUCCEED) {
SaveParameters(&prms);
}
break;
case MODE_Quit:
goto THE_END_OF_MAIN_FUNCTION;
break;
default:
AKMDEBUG(AKMDBG_DEBUG, "Unknown operation mode.\n");
break;
}
}
} else {
/*** Daemon Mode *********************************************/
while (g_mainQuit == AKD_FALSE) {
int st = 0;
/* Wait until device driver is opened. */
if (AKD_GetOpenStatus(&st) != AKD_SUCCESS) {
retValue = ERROR_GETOPEN_STAT;
goto THE_END_OF_MAIN_FUNCTION;
}
if (st == 0) {
AKMDEBUG(AKMDBG_DEBUG, "Suspended.");
} else {
AKMDEBUG(AKMDBG_DEBUG, "Compass Opened.");
/* Read Parameters from file. */
if (LoadParameters(&prms) == 0) {
SetDefaultPRMS(&prms);
}
/* Reset flag */
g_stopRequest = 0;
/* Start measurement thread. */
if (startClone(&prms) == 0) {
retValue = ERROR_STARTCLONE;
goto THE_END_OF_MAIN_FUNCTION;
}
/* Wait until device driver is closed. */
if (AKD_GetCloseStatus(&st) != AKD_SUCCESS) {
retValue = ERROR_GETCLOSE_STAT;
g_mainQuit = AKD_TRUE;
}
/* Wait thread completion. */
g_stopRequest = 1;
pthread_join(s_thread, NULL);
AKMDEBUG(AKMDBG_DEBUG, "Compass Closed.");
/* Write Parameters to file. */
SaveParameters(&prms);
}
}
}
THE_END_OF_MAIN_FUNCTION:
/* Close device driver. */
AKD_DeinitDevice();
/* Show the last message. */
Disp_EndMessage(retValue);
return retValue;
}
