int main(void)
{
DO_TEST_HARNESS_SETUP();
WD_DISABLE();
setupIO();
readTestMode();
setupTimers();
smIndex = setupStateMachine();
TS_Setup();
Threshold_Init();
Filter_Init();
Flush_Reset();
COMMS_Init();
sei();
runNormalApplication();
}
int main(void)
{
SysTick_init();
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
uart_init(115200);
Struct_Init();
Pid_Init();
MotoPwm_Init();
OLED_Init();
Key_Init();
I2cMaster_Init();
mpu_dmp_init();
GPIO_Config();
Filter_Init();
// NRF_Usart_Pin_Init();//无线初始化
// NRF_Read_Live_Init();//无线在线传输
// ReadData_Init();
Scheduler_Init();
while(1)
{
Scheduler_Loop();
}
}
int main(int argc, char *argv[]) {
IBhandle_t fd;
Mai_t in_mai;
Filter_t filter;
Status_t status;
uint32_t port;
uint32_t dev=0;
if (argc != 2)
{
fprintf(stderr, "usage: qp1sink <port>\n");
exit(-1);
}
port = strtoul(argv[1], NULL, 0);
//
// Initialize the MAI subsystem and open the port.
//
mai_init();
status=ib_init_devport(&dev, &port, NULL);
if (status)
{
printf("ib_init_devport failed, %d\n",status);
exit(1);
}
status = mai_open(1, 0, port, &fd);
if (status != VSTATUS_OK) {
fprintf(stderr, "Can't open MAI (%d)\n", status);
exit(0);
}
//
// Create the filter so we can receive the reply to our request.
//
Filter_Init(&filter, MAI_ACT_FMASK, MAI_TYPE_EXTERNAL);
filter.value.tid = 0xF002030405060708ull;
filter.mask.tid = 0xF000000000000000ull;
status = mai_filter_create(fd, &filter, VFILTER_SHARE);
if (status != VSTATUS_OK) {
fprintf(stderr, "Can't create a filter (%d)\n", status);
mai_close(fd);
exit(1);
}
while (1)
{
//
// Wait five second for an answer.
//
status = mai_recv(fd, &in_mai, 1000000);
if (status != VSTATUS_OK) {
fprintf(stderr, "Didn't receive a MAD (%d)\n", status);
continue;
}
//
// Display the MAD that came in.
//
dumpit(&in_mai);
}
//
// Delete the filter.
//
status = mai_filter_delete(fd, &filter, VFILTER_SHARE);
if (status != VSTATUS_OK) {
fprintf(stderr, "Can't delete a filter (%d)\n", status);
mai_close(fd);
exit(1);
}
mai_close(fd);
exit(0);
}
static
Status_t
stl_get_portinfo(IBhandle_t handle, STL_PORT_INFO * pip, uint8_t user_port,
int16_t dev, uint8_t port, uint32_t qpn)
{
Status_t rc, saved_rc;
Filter_t filter;
int i;
uint64_t tid;
uint32_t datalen;
uint8_t path[2];
DRStlSmp_t *drp;
Mai_t out_mad, in_mad;
IB_ENTER(__func__, handle, pip, user_port, 0);
rc = mai_init_portinfo(dev, port);
if (rc != VSTATUS_OK) {
IB_LOG_WARNRC("Error in mai_init_portinfo; rc:", rc);
return(VSTATUS_BAD);
}
memset(path, 0, sizeof(path));
mai_alloc_tid(mai_portinfo_fd, MAD_CV_SUBN_DR, &tid);
// create MAD
Mai_Init(&out_mad);
out_mad.dev = dev;
out_mad.port = port;
out_mad.qp = 0;
out_mad.active |= (MAI_ACT_DEV | MAI_ACT_PORT | MAI_ACT_QP);
AddrInfo_Init(&out_mad, PERMISSIVE_LID, PERMISSIVE_LID, SMI_MAD_SL, mai_get_default_pkey(), MAI_SMI_QP, MAI_SMI_QP, 0);
DRStlMad_Init(&out_mad, MAD_CM_GET, tid, STL_MCLASS_ATTRIB_ID_PORT_INFO, 0x01000000 | user_port, 0, path);
datalen = STL_SMP_DR_HDR_LEN;
// create MAI filter
Filter_Init(&filter, 0, 0);
filter.active |= MAI_ACT_ADDRINFO;
filter.active |= MAI_ACT_BASE;
filter.active |= MAI_ACT_TYPE;
filter.active |= MAI_ACT_DATA;
filter.active |= MAI_ACT_DEV;
filter.active |= MAI_ACT_PORT;
filter.active |= MAI_ACT_QP;
filter.active |= MAI_ACT_FMASK;
filter.type = MAI_TYPE_EXTERNAL;
filter.dev = dev;
filter.port = (port == 0) ? MAI_TYPE_ANY : port;
filter.qp = 0;
filter.value.bversion = STL_BASE_VERSION;
filter.value.cversion = STL_SM_CLASS_VERSION;
filter.value.mclass = MAD_CV_SUBN_DR;
filter.value.method = MAD_CM_GET_RESP;
filter.value.aid = STL_MCLASS_ATTRIB_ID_PORT_INFO;
filter.value.amod = 0x01000000 | user_port;
filter.value.tid = tid;
filter.mask.bversion = 0xff;
filter.mask.cversion = 0xff;
filter.mask.mclass = 0xff;
filter.mask.method = 0xff;
filter.mask.aid = 0xffff;
filter.mask.amod = 0xffffffff;
filter.mask.tid = 0xffffffffffffffffull;
MAI_SET_FILTER_NAME(&filter, "stl_get_portinfo");
rc = mai_filter_create(mai_portinfo_fd, &filter, VFILTER_SHARE | VFILTER_PURGE);
if (rc != VSTATUS_OK) {
IB_LOG_WARNRC("Error creating MAI filter; rc:", rc);
return VSTATUS_BAD;
}
// do send/recv
for (i = 0; i < MAD_RETRIES; i++) {
rc = mai_send_stl_timeout(mai_portinfo_fd, &out_mad, &datalen, VTIMER_1S/4);
if (rc != VSTATUS_OK) {
IB_LOG_WARNRC("Error on send; rc:", rc);
break;
}
rc = mai_recv(mai_portinfo_fd, &in_mad, VTIMER_1S/4);
if (rc == VSTATUS_OK) {
break;
} else if (rc != VSTATUS_TIMEOUT) {
IB_LOG_WARNRC("Error on receive; rc:", rc);
break;
}
}
// remove the MAI filter
saved_rc = rc;
rc = mai_filter_delete(mai_portinfo_fd, &filter, VFILTER_SHARE | VFILTER_PURGE);
if (rc != VSTATUS_OK) {
IB_LOG_WARNRC("Error deleting MAI filter; rc:", rc);
IB_EXIT(__func__, VSTATUS_BAD);
return VSTATUS_BAD;
}
// did send/receive work?
if (saved_rc != VSTATUS_OK) {
IB_EXIT(__func__, saved_rc);
return saved_rc;
}
// confirm MAD status
if ((in_mad.base.status & MAD_STATUS_MASK) != 0) {
IB_LOG_WARN("Bad MAD status:", in_mad.base.status);
IB_EXIT(__func__, VSTATUS_BAD);
return VSTATUS_BAD;
}
// extract the PortInfo record
drp = (DRStlSmp_t *)in_mad.data;
(void)memcpy((void *)pip, (void *)drp->SMPData, sizeof(STL_PORT_INFO));
(void)BSWAP_STL_PORT_INFO(pip);
IB_EXIT(__func__, VSTATUS_OK);
return VSTATUS_OK;
}