void init(void) {
// set up watchdog
wd_init();
// set up serial
serial_init();
// set up inputs and outputs
io_init();
// set up timers
timer_init();
// read PID settings from EEPROM
heater_init();
// set up default feedrate
current_position.F = startpoint.F = next_target.target.F = SEARCH_FEEDRATE_Z;
// start up analog read interrupt loop, if anything uses analog as determined by ANALOG_MASK in your config.h
analog_init();
// set up temperature inputs
temp_init();
// enable interrupts
sei();
// reset watchdog
wd_reset();
// say hi to host
serial_writestr_P(PSTR("Start\nok\n"));
}
//------------------------------------------------------------------------------
// void TaskRcv (void)
//
// DESCRIPTION:
// Task that periodically checks to receive a packet
//------------------------------------------------------------------------------
void TaskRcv()
{
uint8_t len;
int8_t rssi;
uint8_t *local_rx_buf;
// widom init must be in a task
wd_init (WD_CHANNEL);
// This sets the next RX buffer.
// This can be called at anytime before releasing the packet
// if you wish to do a zero-copy buffer switch
wd_rx_pkt_set_buffer (rx_buf, RF_MAX_PAYLOAD_SIZE);
while(1) {
nrk_led_toggle(GREEN_LED);
if (wd_wait_until_rx_packet() == NRK_OK) {
// Get the RX packet
local_rx_buf = wd_rx_pkt_get (&len, &rssi);
printf ("Rx Packet len=%u, prio=%u\r\n", len, local_rx_buf[1]);
//
// do something with packet here ...
//
//for (i = 0; i < len; i++)
// printf ("%c", rx_buf[i]);
//printf ("]\r\n");
wd_rx_pkt_release();
}
nrk_wait_until_next_period();
}
}
/*
* Driver ioctl handler
*/
static int
wd_ioctl (struct ifnet *ifp, ioctl_command_t command, caddr_t data)
{
struct wd_softc *sc = ifp->if_softc;
int error = 0;
switch (command) {
case SIOCGIFADDR:
case SIOCSIFADDR:
ether_ioctl (ifp, command, data);
break;
case SIOCSIFFLAGS:
switch (ifp->if_flags & (IFF_UP | IFF_RUNNING)) {
case IFF_RUNNING:
wd_stop (sc);
break;
case IFF_UP:
wd_init (sc);
break;
case IFF_UP | IFF_RUNNING:
wd_stop (sc);
wd_init (sc);
break;
default:
break;
}
break;
case SIO_RTEMS_SHOW_STATS:
wd_stats (sc);
break;
/*
* FIXME: All sorts of multicast commands need to be added here!
*/
default:
error = EINVAL;
break;
}
return error;
}
/// Startup code, run when we come out of reset
void init(void) {
halInit();
chSysInit();
#if defined(PORT_LED1) && defined(PIN_LED1)
palSetPadMode(PORT_LED1, PIN_LED1, PAL_MODE_OUTPUT_PUSHPULL);
#endif
#if defined(PORT_LED2) && defined(PIN_LED2)
palSetPadMode(PORT_LED2, PIN_LED2, PAL_MODE_OUTPUT_PUSHPULL);
#endif
// set up watchdog
wd_init();
// set up serial
serial_init();
// set up G-code parsing
gcode_init();
// set up inputs and outputs
io_init();
// set up timers
timer_init();
// read PID settings from EEPROM
heater_init();
// set up dda
dda_init();
// start up analog read interrupt loop,
// if any of the temp sensors in your config.h use analog interface
analog_init();
// set up temperature inputs
temp_init();
// enable interrupts
enable_irq();
// reset watchdog
wd_reset();
// say hi to host
serial_writestr_P(PSTR("start\nok\n"));
}
int
main(int argc, char *argv[])
{
int rtn;
signal(SIGCHLD, SIG_DFL);
signal(SIGHUP, SIG_IGN);
signal(SIGINT, wd_exit);
signal(SIGQUIT, wd_exit);
signal(SIGTERM, wd_exit);
signal(SIGPIPE, SIG_IGN);
mypid = getpid();
rtn = pool_init_config();
pool_config->recovery_user = "******";
pool_config->trusted_servers = "paris";
pool_config->delegate_IP = "192.168.100.99";
pool_config->pgpool2_hostname = "vm1";
pool_config->port = 5432;
pool_config->wd_port = 9999;
pool_config->other_wd->num_wd = 2;
strcpy(pool_config->other_wd->wd_info[0].hostname, "vm2");
pool_config->other_wd->wd_info[0].pgpool_port = 5432;
pool_config->other_wd->wd_info[0].wd_port = 9999;
pool_config->other_wd->wd_info[0].status = WD_INIT;
strcpy(pool_config->other_wd->wd_info[1].hostname, "paris");
pool_config->other_wd->wd_info[1].pgpool_port = 5432;
pool_config->other_wd->wd_info[1].wd_port = 9999;
pool_config->other_wd->wd_info[1].status = WD_INIT;
pool_config->ping_path = "/bin";
pool_config->ifconfig_path = "/sbin";
pool_config->if_up_cmd = "ifconfig eth0:0 inet $_IP_$ netmask 255.255.255.0";
pool_config->if_down_cmd = "ifconfig eth0:0 down";
pool_config->wd_interval = 3;
pool_config->wd_life_point = 1;
wd_init();
wd_child(1);
for (;;)
{
wdlist_dump();
sleep(5);
}
}
static boolean init(void)
{
int error;
char *fullname;
xw_get(NULL, WF_WORKXYWH, &screen_info.dsk);
if ((fullname = xshel_find(optname, &error)) != NULL)
{
free(optname);
optname = fullname;
}
else
{
if ((error == EFILNF) && ((fullname = x_fullname(optname, &error)) != NULL))
{
free(optname);
optname = fullname;
}
if (error != 0)
{
xform_error(error);
return TRUE;
}
}
if (dsk_init() == TRUE)
return TRUE;
ft_init();
icnt_init();
app_init();
prg_init();
wd_init();
menu_bar(menu, 1);
x_setpath("\\");
load_options();
return FALSE;
}
/// Startup code, run when we come out of reset
void init(void) {
// set up watchdog
wd_init();
// set up serial
serial_init();
// set up G-code parsing
gcode_init();
// set up inputs and outputs
io_init();
// set up timers
timer_init();
// read PID settings from EEPROM
heater_init();
// set up dda
dda_init();
// start up analog read interrupt loop,
// if any of the temp sensors in your config.h use analog interface
analog_init();
// set up temperature inputs
temp_init();
// enable interrupts
sei();
// reset watchdog
wd_reset();
// prepare the power supply
power_init();
// say hi to host
serial_writestr_P(PSTR("start\nok\n"));
}
int main(void)
{
RCC_Configuration();
init_GPIO();
delay_init();
NVIC_cfg();//配置中断
MBRTU_ini(0x01);
//Tim3初始化
init_TIM3();
wd_init();
TM7711_init();
init_serial();//串口初始化
// TIM3_Start(0);
MeasurePoll_init();
while(1)
{
MBRTUPoll();
MeasurePoll();
}
}
int main ()
{
nrk_setup_ports();
nrk_setup_uart(UART_BAUDRATE_115K2);
nrk_init();
printf( "Starting up... (NODE_ADDR=%d)\r\n", NODE_ADDR);
nrk_led_clr(ORANGE_LED);
nrk_led_clr(BLUE_LED);
nrk_led_set(GREEN_LED);
nrk_led_clr(RED_LED);
// widom init (must be in main unless wd_timer_cpu_clk.h uses timer/counter1)
wd_init(WD_CHANNEL);
#ifdef CONTINUOUS_SEND
// Testing purposes only; The node will try to access the medium
// continuously, acting like it is always backlogged.
// defined in widom.h
// put just two bytes of payload in the packet...
tx_buf[0]=0xCB;
tx_buf[1]=MSG_PRIO; // put MSG_PRIO in the payload also
// This function transmits packets in a non-blocking manner
wd_tx_packet_enqueue (tx_buf, 2, MSG_PRIO);
while (1);
#endif
nrk_time_set(0,0);
nrk_create_taskset();
nrk_start();
return 0;
}
pid_t
wd_main(int fork_wait_time)
{
int i;
if (!pool_config->use_watchdog)
return 0;
/* check pool_config data */
wd_check_config();
/* initialize */
wd_init();
wd_ppid = getpid();
/* launch child process */
child_pid = wd_child(1);
if (!strcmp(pool_config->wd_lifecheck_method, MODE_HEARTBEAT))
{
for (i = 0; i < pool_config->num_hb_if; i++)
{
/* heartbeat receiver process */
hb_receiver_pid[i] = wd_hb_receiver(1, &(pool_config->hb_if[i]));
/* heartbeat sender process */
hb_sender_pid[i] = wd_hb_sender(1, &(pool_config->hb_if[i]));
}
}
/* fork lifecheck process*/
lifecheck_pid = fork_a_lifecheck(fork_wait_time);
return lifecheck_pid;
}
pid_t
wd_main(int fork_wait_time)
{
int status = WD_INIT;
int i;
if (!pool_config->use_watchdog)
{
return 0;
}
/* check pool_config data */
status = wd_check_config();
if (status != WD_OK)
{
pool_error("watchdog: wd_check_config failed");
return 0;
}
/* initialize */
status = wd_init();
if (status != WD_OK)
{
pool_error("watchdog: wd_init failed");
return 0;
}
wd_ppid = getpid();
/* launch child process */
child_pid = wd_child(1);
if (child_pid < 0 )
{
pool_error("launch wd_child failed");
return 0;
}
if (!strcmp(pool_config->wd_lifecheck_method, MODE_HEARTBEAT))
{
for (i = 0; i < pool_config->num_hb_if; i++)
{
/* heartbeat receiver process */
hb_receiver_pid[i] = wd_hb_receiver(1, pool_config->hb_if[i]);
if (hb_receiver_pid[i] < 0 )
{
pool_error("launch wd_hb_receiver failed");
return hb_receiver_pid[i];
}
/* heartbeat sender process */
hb_sender_pid[i] = wd_hb_sender(1, pool_config->hb_if[i]);
if (hb_sender_pid[i] < 0 )
{
pool_error("launch wd_hb_sender failed");
return hb_sender_pid[i];
}
}
}
/* fork lifecheck process*/
lifecheck_pid = fork_a_lifecheck(fork_wait_time);
if (lifecheck_pid < 0 )
{
pool_error("launch lifecheck process failed");
return 0;
}
return lifecheck_pid;
}
int main(void)
{
unsigned char ch;
unsigned char prev_ch=0;
unsigned char chr_nl=0;
unsigned char msgparsestate;
unsigned char cksum=0;
unsigned char seqnum=0;
int msglen=0;
int i=0;
uart_init();
wd_init();
LED_INIT;
LED_OFF;
sei();
msgparsestate=MSG_IDLE;
// default values:
CONFIG_PARAM_SW_MINOR=D_CONFIG_PARAM_SW_MINOR;
CONFIG_PARAM_SW_MAJOR=D_CONFIG_PARAM_SW_MAJOR;
if (eeprom_read_byte((uint8_t *)EEPROM_MAGIC) == 20){
// ok magic number matches accept values
CONFIG_PARAM_SW_MINOR=eeprom_read_byte(EEPROM_MINOR);
CONFIG_PARAM_SW_MAJOR=eeprom_read_byte(EEPROM_MAJOR);
}
while(1){
if (msgparsestate==MSG_IDLE){
ch=uart_getchar(1);
}else{
ch=uart_getchar(0);
}
// parse message according to appl. note AVR068 table 3-1:
if (msgparsestate==MSG_IDLE && ch == MESSAGE_START){
msgparsestate=MSG_WAIT_SEQNUM;
cksum = ch^0;
continue;
}
// The special avrusb500 terminal mode.
// Just connect a serial terminal and press enter twice.
// Both Windows and Linux send normally \r (=0xd) as the
// only line end character. It is however possible to configure
// \r\n as line end in some serial terminals. Therefore we
// must handle it.
if (msgparsestate==MSG_IDLE && (ch == '\r'||ch == '\n')){
i++;
if(chr_nl ==0 && ch=='\n' && prev_ch== '\r'){
// terminal sends \r\n for new line
chr_nl=1;
}
prev_ch=ch;
if (chr_nl){
// wait for \r\n \r\n
if (i==4){
terminalmode(1);
i=0;
}
}else{
// Linux wait for \n\n
if (i==2){
terminalmode(0);
i=0;
}
}
continue;
}
if (msgparsestate==MSG_WAIT_SEQNUM){
seqnum=ch;
cksum^=ch;
msgparsestate=MSG_WAIT_SIZE1;
continue;
}
if (msgparsestate==MSG_WAIT_SIZE1){
cksum^=ch;
msglen=ch<<8;
msgparsestate=MSG_WAIT_SIZE2;
continue;
}
if (msgparsestate==MSG_WAIT_SIZE2){
cksum^=ch;
msglen|=ch;
msgparsestate=MSG_WAIT_TOKEN;
continue;
}
if (msgparsestate==MSG_WAIT_TOKEN){
cksum^=ch;
if (ch==TOKEN){
msgparsestate=MSG_WAIT_MSG;
i=0;
}else{
msgparsestate=MSG_IDLE;
}
continue;
}
if (msgparsestate==MSG_WAIT_MSG && i<msglen && i<280){
cksum^=ch;
msg_buf[i]=ch;
i++;
wdt_reset(); //wd_kick();
if (i==msglen){
msgparsestate=MSG_WAIT_CKSUM;
}
continue;
}
if (msgparsestate==MSG_WAIT_CKSUM){
if (ch==cksum && msglen > 0){
// message correct, process it
wdt_reset(); //wd_kick();
programcmd(seqnum);
}else{
msg_buf[0] = ANSWER_CKSUM_ERROR;
msg_buf[1] = STATUS_CKSUM_ERROR;
transmit_answer(seqnum,2);
}
// no continue here, set state=MSG_IDLE
}
msgparsestate=MSG_IDLE;
msglen=0;
seqnum=0;
prev_ch=0;
i=0;
}
return(0);
}
