void fi_init(void) {
m_active = false;
memset(m_probes, 0, sizeof(m_probes));
terminal_register_command_callback(
"fi_set_enabled",
"Enable or disable fault injection.\n"
" 0 - Disabled\n"
" 1 - Enabled",
"[enabled]",
cmd_terminal_set_enabled);
terminal_register_command_callback(
"fi_add_fault",
"Add fault to probe",
"[probe_id] [type] [param] [start_it] [duration]",
cmd_terminal_add_fault);
terminal_register_command_callback(
"fi_clear_faults",
"Clear all faults",
0,
cmd_terminal_clear_faults);
terminal_register_command_callback(
"fi_print_faults",
"Print all active faults",
0,
cmd_terminal_print_faults);
terminal_register_command_callback(
"fi_reset_cnt",
"Reset all probe iteration counters",
0,
cmd_terminal_reset_cnt);
}
void icm20948_init(ICM20948_STATE *s, i2c_bb_state *i2c_state, int ad0_val,
stkalign_t *work_area, size_t work_area_size) {
s->i2cs = i2c_state;
s->i2c_address = ad0_val ? 0x69 : 0x68;
s->read_callback = 0;
if (reset_init_icm(s)) {
chThdCreateStatic(work_area, work_area_size, NORMALPRIO, icm_thread, s);
}
// Only register terminal command for the first instance of this driver.
if (m_terminal_state == 0) {
m_terminal_state = s;
terminal_register_command_callback(
"icm_read_reg",
"Read register of the ICM-20948",
"[bank] [reg]",
terminal_read_reg);
}
}
