int
main(int argc, char **argv) {
cbf_init();
//! Create controller from XML file...
struct cbf_primitive_controller c;
if (cbf_controller_create_from_file(&c, argv[1]) == 0)
{
printf("Error constructing controller. Exiting...\n");
exit(EXIT_FAILURE);
}
//! Create placeholders for holding resource values and update steps...
double *in = calloc(cbf_controller_get_resource_dim(&c), sizeof(double));
int i;
double *out = calloc(cbf_controller_get_resource_dim(&c), sizeof(double));
//! Execute controller some million times..
for (i = 0; i < MAX_NUMBER_OF_STEPS; ++i)
{
cbf_controller_step(&c, in, out);
int j;
for (j = 0; j < cbf_controller_get_resource_dim(&c); ++j)
in[j] += out[j];
}
cbf_controller_destroy(&c);
}
/**
* The main function.
*
* \return This function does never return.
*****************************************************************************/
int main(void)
{
hw_init();
i2c_init();
spi_init();
cbf_init(&rx_buf);
cbf_init(&tx_buf);
// Indicate USB not ready
UpdateStatus(Status_USBNotReady);
// Initialize Scheduler so that it can be used
Scheduler_Init();
// Initialize USB Subsystem
USB_Init();
// Scheduling - routine never returns, so put this last in the main function
Scheduler_Start();
}
