int main (/* TODO: add args */)
{
int i;
// Set up the eight magazine threads
magInit();
// TODO: Test that the threads started.
// Sequence streams of packets into VBI fields
i=piThreadCreate(Stream);
if (i != 0)
{
// printf ("Stream thread! It didn't start\n");
return 1;
}
// Copy VBI to stdout
i=piThreadCreate(OutputStream);
if (i != 0)
{
// printf ("OutputStream thread! It didn't start\n");
return 1;
}
while (1)
{
}
puts("Finished\n"); // impossible to get here
return 1;
}
//======================== compass ===================
uint8_t compassInit(void)
{ int ret1,ret2,ret3;
ret1=gyroInit();
ret2=accInit();
ret3=magInit();
//
return ret3;
}
int main (int argc, char** argv)
{
int i;
char filename[MAXPATH];
if(argc > 2){
if(!strcmp(argv[1],"--dir")){
#ifdef _DEBUG_
fprintf(stderr,"got directory %s from command line\n",argv[2]);
#endif
strncpy(pagesPath, argv[2], MAXPATH-1); /* copy directory string to global */
}
}
// construct default config file filename from pages directory and default config file name
// TODO: allow specifying any file from command line
strncpy(filename,pagesPath,MAXPATH-1);
i = filename[(strlen(filename)-1)];
if (i != '/' && i != '\\' && strlen(filename) + 1 < MAXPATH)
strcat(filename, "/"); // append missing trailing slash
i = strlen(filename) + strlen(CONFIGFILE);
if (i < MAXPATH){
strncat(filename,CONFIGFILE, i);
}
#ifdef _DEBUG_
fprintf(stderr,"using config file %s\n",filename);
#endif
i = readConfigFile(filename); // read in config from config file
switch (i){
case NOCONFIG:
fprintf(stderr,"No config file found. Using default settings.\n");
break;
case BADCONFIG:
fprintf(stderr,"Config file contains invalid setting: %s\n",configErrorString);
return 1;
}
/* initialize the mutexes we're going to use! */
init_mutex(0);
init_mutex(1);
InitNu4(); // Prepare the buffers used by Newfor subtitles
// Start the network port (commands and subtitles)
i=piThreadCreate(runClient);
//while(1);
// Set up the eight magazine threads
magInit();
// TODO: Test that the threads started.
// Sequence streams of packets into VBI fields
i=piThreadCreate(Stream);
if (i != 0)
{
// printf ("Stream thread! It didn't start\n");
return 1;
}
// Copy VBI to stdout
i=piThreadCreate(OutputStream);
if (i != 0)
{
// printf ("OutputStream thread! It didn't start\n");
return 1;
}
while (1)
{
}
fputs("Finished\n",stderr); // impossible to get here
return 1;
}
//Initialize all sensors on the IMU board
void IMUinit() {
//Initialize the I2C bus
i2cInit();
//Disable interrupts while everything is being set up
CRITICAL_SECTION_START;
//Initialize the gyro
if(gyroInit(GYRO_RANGE_250DPS)) {
theFlags.gyroEnabled = TRUE;
//Set the pin as input
cbi(DDRE, DDE4);
//Disable the pullup on the relevant pin
cbi(PORTE, PORTE4);
//Attach the DRDY interrupt
sbi(EICRB, ISC40); //Writing 1 to ISC40 and ISC41 sets interrupt on rising edge
sbi(EICRB, ISC41);
sbi(EIMSK, INT4); //Setting INT4 in EIMSK enables the interrupt (if they are globally enabled (but they are cause i2cinit did that))
//Now wait for DRDY to go low and reenmable it to start everything off
while(inb(PINE) & _BV(PINE4)) {
; //Wait for the port to go low
}
gyroEnableDrdy();
} else {
#ifdef IMU_DEBUG
printf("Error intitializing the gyro!\r\n");
#endif
theFlags.gyroEnabled = FALSE;
}
//Intialize the accelerometer
if(accelInit()) {
theFlags.accelEnabled = TRUE;
//Set the pin as input
cbi(DDRD, DDD2);
//Disable the pullup on the relevant pin
cbi(PORTD, PORTD2);
//Attach the DRDY interrupt
sbi(EICRA, ISC20); //Writing 1 to ISC20 and ISC21 sets interrupt on rising edge
sbi(EICRA, ISC21);
sbi(EIMSK, INT2); //Setting INT2 in EIMSK enables the interrupt (if they are globally enabled (but they are cause i2cinit did that))
//Now wait for DRDY to go low and reenable it to start everything off
while(inb(PINB) & _BV(PINB2)) {
; //Wait for the port to go low
}
accelEnableDrdy();
} else {
#ifdef IMU_DEBUG
printf("Error intitializing the accelerometer!\r\n");
#endif
theFlags.accelEnabled = FALSE;
}
//Initialize the magnetometer
if(magInit()) {
theFlags.magEnabled = TRUE;
//Set the pin as input
cbi(DDRD, DDD3);
//Disable the pullup on the DRDY pin
cbi(PORTD, PORTD3);
//Attach the DRDY interrupt
sbi(EICRA, ISC30); //Writing 1 to ISC30 and ISC31 sets interrupt on rising edge
sbi(EICRA, ISC31);
sbi(EIMSK, INT3); //Setting INT3 in EIMSK enables the interrupt (if they are globally enabled (but they are cause i2cinit did that))
} else {
#ifdef IMU_DEBUG
printf("Error intitializing the magnetometer!\r\n");
#endif
theFlags.magEnabled = FALSE;
}
//Initialize the BMP180 pressure/temp sensor
if(bmpInit()) {
theFlags.bmpEnabled = TRUE;
//Attach the interrupt handler for the timer ticks
timerSetInterruptCallback( imuTimerTick );
//Start a temperature measurrement to set everything off
const u08 toSend[2] = {BMP180_REGISTER_CONTROL, BMP180_REGISTER_READTEMPCMD};
i2cMasterSendNI(BMP180_ADDRESS, 2, (u08*)&toSend);
myBmpState = TEMPERATURE_MEASURING;
bmpLastStateChange = millis();
} else {
#ifdef IMU_DEBUG
printf("Error intitializing the BMP180!\r\n");
#endif
theFlags.bmpEnabled = FALSE;
}
//Attach the custom stop handler after all sensors are initialized
i2cSetStopHandler( customStopHandler );
//Re-enable the interrupts
CRITICAL_SECTION_END;
}
