static GObject *
odccm_device_manager_constructor (GType type, guint n_props,
GObjectConstructParam *props)
{
GObject *obj;
OdccmDeviceManagerPrivate *priv;
obj = G_OBJECT_CLASS (odccm_device_manager_parent_class)->
constructor (type, n_props, props);
priv = ODCCM_DEVICE_MANAGER_GET_PRIVATE (obj);
priv->server = gnet_server_new (NULL, 990, client_connected_cb, obj);
#ifdef ENABLE_LEGACY_SUPPORT
priv->legacy_server = gnet_server_new (NULL, 5679, client_connected_cb, obj);
#endif
dbus_g_connection_register_g_object (_odccm_get_dbus_conn (),
DEVICE_MANAGER_OBJECT_PATH, obj);
init_hal (ODCCM_DEVICE_MANAGER (obj));
init_udev (ODCCM_DEVICE_MANAGER (obj));
return obj;
}
void init_driver() {
init_hal();
init_timer();
init_tty();
init_ide();
init_ramdisk();
hal_list();
}
static int
init_uhvm(void)
{
DBusError error;
dbus_error_init(&error);
if (init_dbus(&error) < 0) {
if (dbus_error_is_set(&error)) {
syslog(LOG_ERR, "%s:%d: %s:%s", __FILE__, __LINE__,
error.name, error.message);
dbus_error_free(&error);
return -1;
}
}
return init_hal();
}
int main(int argc, char **argv)
{
bindtextdomain("tray_eject", LOCALE_DIR);
textdomain("tray_eject");
gtk_init(&argc, &argv);
count = 0;
dev = g_hash_table_new_full(g_str_hash, g_str_equal, key_destroy,
value_destroy);
icon = (GtkStatusIcon *)
gtk_status_icon_new_from_file(ICON_PATH "dev1.png");
update_status();
menu = gtk_menu_new();
item = gtk_menu_item_new_with_label(_("Safely remove all"));
gtk_widget_show(item);
gtk_menu_shell_append(GTK_MENU_SHELL(menu), item);
g_signal_connect(G_OBJECT(item), "activate", G_CALLBACK(eject), NULL);
sep = gtk_separator_menu_item_new();
gtk_widget_show(sep);
gtk_menu_shell_append(GTK_MENU_SHELL(menu), sep);
g_signal_connect(G_OBJECT(icon), "popup-menu",
G_CALLBACK(popup), NULL);
if (init_hal() < 0)
return 1;
dialog = gtk_dialog_new_with_buttons("Error", NULL,
GTK_DIALOG_MODAL | GTK_DIALOG_DESTROY_WITH_PARENT,
GTK_STOCK_OK, NULL);
gtk_window_set_icon_from_file(GTK_WINDOW(dialog), ICON_PATH "error.png", NULL);
msg = gtk_label_new(_("Unable to unmount this device. Some\napplication is likely to be using it.\nPlease close the offending application\nand try again."));
gtk_box_pack_start(GTK_BOX(GTK_DIALOG(dialog)->vbox), msg, TRUE, TRUE, 10);
gtk_widget_show(msg);
gtk_main();
return 0;
}
/* The function called at load/unload. */
static int
event_handler(module_t module, int event, void *arg)
{
struct visibility_plugin *plugin;
int e = 0; /* Error, 0 for normal return status */
switch (event) {
case MOD_LOAD:
sdev = make_dev(&wtap_cdevsw,0,UID_ROOT,
GID_WHEEL,0600,(const char *)"wtapctl");
hal = (struct wtap_hal *)malloc(sizeof(struct wtap_hal),
M_WTAP, M_NOWAIT | M_ZERO);
bzero(hal, sizeof(struct wtap_hal));
init_hal(hal);
/* Setting up a simple plugin */
plugin = (struct visibility_plugin *)malloc
(sizeof(struct visibility_plugin), M_WTAP_PLUGIN,
M_NOWAIT | M_ZERO);
plugin->base.wp_hal = hal;
plugin->base.init = visibility_init;
plugin->base.deinit = visibility_deinit;
plugin->base.work = visibility_work;
register_plugin(hal, (struct wtap_plugin *)plugin);
printf("Loaded wtap wireless simulator\n");
break;
case MOD_UNLOAD:
destroy_dev(sdev);
deregister_plugin(hal);
deinit_hal(hal);
free(hal, M_WTAP);
printf("Unloading wtap wireless simulator\n");
break;
default:
e = EOPNOTSUPP; /* Error, Operation Not Supported */
break;
}
return(e);
}
static void
plugin_init(OhmPlugin * plugin)
{
DBusConnection *c = ohm_plugin_dbus_get_connection();
(void) plugin;
if (!OHM_DEBUG_INIT(hal))
g_warning("Failed to initialize HAL plugin debugging.");
OHM_DEBUG(DBG_HAL, "> HAL plugin init");
/* should we ref the connection? */
hal_plugin_p = init_hal(c, DBG_HAL, DBG_FACTS);
if ((sys_conn = dbus_bus_get(DBUS_BUS_SYSTEM, NULL)) == NULL) {
OHM_ERROR("Failed to get connection to system D-BUS.");
return;
}
watch_dbus_addr(HALD_DBUS_NAME, TRUE, hald_change, NULL);
OHM_DEBUG(DBG_HAL, "< HAL plugin init");
return;
}
int main(void)
{
// Relocate interrupt vectors
//
extern void *g_pfnVectors;
SCB->VTOR = (uint32_t)&g_pfnVectors;
float period = 0.0;
int last_start = 0;
int start = 0;
int end = 0;
setup();
init_hal();
set_comp_type("foo"); // default pin for mem errors
HAL_PIN(bar) = 0.0;
//feedback comps
#include "comps/adc.comp"
#include "comps/res.comp"
#include "comps/enc_fb.comp"
#include "comps/encm.comp"
#include "comps/encs.comp"
#include "comps/yaskawa.comp"
//TODO: hyperface
//command comps
#include "comps/sserial.comp"
#include "comps/sim.comp"
#include "comps/enc_cmd.comp"
#include "comps/en.comp"
//PID
#include "comps/stp.comp"
#include "comps/rev.comp"
#include "comps/rev.comp"
#include "comps/vel.comp"
#include "comps/vel.comp"
#include "comps/cauto.comp"
#include "comps/pid.comp"
#include "comps/pmsm_t2c.comp"
#include "comps/curpid.comp"
#include "comps/pmsm.comp"
#include "comps/pmsm_limits.comp"
#include "comps/idq.comp"
#include "comps/dq.comp"
#include "comps/hv.comp"
//other comps
#include "comps/fault.comp"
#include "comps/term.comp"
#include "comps/io.comp"
set_comp_type("net");
HAL_PIN(enable) = 0.0;
HAL_PIN(cmd) = 0.0;
HAL_PIN(fb) = 0.0;
HAL_PIN(fb_error) = 0.0;
HAL_PIN(cmd_d) = 0.0;
HAL_PIN(fb_d) = 0.0;
HAL_PIN(core_temp0) = 0.0;
HAL_PIN(core_temp1) = 0.0;
HAL_PIN(motor_temp) = 0.0;
HAL_PIN(rt_calc_time) = 0.0;
HAL_PIN(frt_calc_time) = 0.0;
HAL_PIN(nrt_calc_time) = 0.0;
HAL_PIN(rt_period) = 0.0;
HAL_PIN(frt_period) = 0.0;
HAL_PIN(nrt_period) = 0.0;
set_comp_type("conf");
HAL_PIN(r) = 1.0;
HAL_PIN(l) = 0.01;
HAL_PIN(j) = KGCM2(0.26);
HAL_PIN(psi) = 0.05;
HAL_PIN(polecount) = 4.0;
HAL_PIN(mot_type) = 0.0;//ac sync,async/dc,2phase
HAL_PIN(out_rev) = 0.0;
HAL_PIN(high_motor_temp) = 80.0;
HAL_PIN(max_motor_temp) = 100.0;
HAL_PIN(phase_time) = 0.5;
HAL_PIN(phase_cur) = 1.0;
HAL_PIN(max_vel) = RPM(1000.0);
HAL_PIN(max_acc) = RPM(1000.0)/0.01;
HAL_PIN(max_force) = 1.0;
HAL_PIN(max_dc_cur) = 1.0;
HAL_PIN(max_ac_cur) = 2.0;
HAL_PIN(fb_type) = RES;
HAL_PIN(fb_polecount) = 1.0;
HAL_PIN(fb_offset) = 0.0;
HAL_PIN(fb_rev) = 0.0;
HAL_PIN(fb_res) = 1000.0;
HAL_PIN(autophase) = 1.0;//constant,cauto,hfi
HAL_PIN(cmd_type) = ENC;
HAL_PIN(cmd_unit) = 0.0;//pos,vel,torque
HAL_PIN(cmd_rev) = 0.0;
HAL_PIN(cmd_res) = 2000.0;
HAL_PIN(en_condition) = 0.0;
HAL_PIN(error_out) = 0.0;
HAL_PIN(pos_static) = 0.0;//track pos in disabled and error condition
HAL_PIN(sin_offset) = 0.0;
HAL_PIN(cos_offset) = 0.0;
HAL_PIN(sin_gain) = 1.0;
HAL_PIN(cos_gain) = 1.0;
HAL_PIN(max_dc_volt) = 370.0;
HAL_PIN(max_hv_temp) = 90.0;
HAL_PIN(max_core_temp) = 55.0;
HAL_PIN(max_pos_error) = M_PI / 2.0;
HAL_PIN(high_dc_volt) = 350.0;
HAL_PIN(low_dc_volt) = 12.0;
HAL_PIN(high_hv_temp) = 70.0;
HAL_PIN(fan_hv_temp) = 60.0;
HAL_PIN(fan_core_temp) = 450.0;
HAL_PIN(fan_motor_temp) = 60.0;
HAL_PIN(p) = 0.99;
HAL_PIN(pos_p) = 100.0;
HAL_PIN(vel_p) = 1.0;
HAL_PIN(acc_p) = 0.3;
HAL_PIN(acc_pi) = 50.0;
HAL_PIN(cur_p) = 0.0;
HAL_PIN(cur_i) = 0.0;
HAL_PIN(cur_ff) = 1.0;
HAL_PIN(cur_ind) = 0.0;
HAL_PIN(max_sat) = 0.2;
rt_time_hal_pin = map_hal_pin("net0.rt_calc_time");
frt_time_hal_pin = map_hal_pin("net0.frt_calc_time");
rt_period_time_hal_pin = map_hal_pin("net0.rt_period");
frt_period_time_hal_pin = map_hal_pin("net0.frt_period");
for(int i = 0; i < hal.nrt_init_func_count; i++){ // run nrt init
hal.nrt_init[i]();
}
link_pid();
if(hal.pin_errors + hal.comp_errors == 0){
start_hal();
}
else{
hal.hal_state = MEM_ERROR;
}
while(1)//run non realtime stuff
{
start = SysTick->VAL;
if(last_start < start){
last_start += SysTick->LOAD;
}
period = ((float)(last_start - start)) / RCC_Clocks.HCLK_Frequency;
last_start = start;
for(hal.active_nrt_func = 0; hal.active_nrt_func < hal.nrt_func_count; hal.active_nrt_func++){//run all non realtime hal functions
hal.nrt[hal.active_nrt_func](period);
}
hal.active_nrt_func = -1;
end = SysTick->VAL;
if(start < end){
start += SysTick->LOAD;
}
PIN(nrt_calc_time) = ((float)(start - end)) / RCC_Clocks.HCLK_Frequency;
PIN(nrt_period) = period;
Wait(2);
}
}
