int main(int argc, char** argv) {
/* Initalize event library */
event_init();
if (fms_periodic_init(main_periodic)) {
TRACE(TRACE_ERROR, "%s", "failed to start periodic generator\n");
return -1;
}
if (spi_link_init()) {
TRACE(TRACE_ERROR, "%s", "failed to open SPI link\n");
return -1;
}
/* Add our datalink event */
network = network_new(LINK_HOST, LINK_PORT, DATALINK_PORT, FMS_NETWORK_BROADCAST);
struct event datalink_event;
event_set(&datalink_event, network->socket_in, EV_READ, on_datalink_event, &datalink_event);
event_add(&datalink_event, NULL);
event_dispatch();
return 0;
}
static void main_init(void) {
TRACE(TRACE_DEBUG, "%s", "Starting initialization\n");
/* Initalize our SPI link to IO processor */
if (spi_link_init()) {
TRACE(TRACE_ERROR, "%s", "failed to open SPI link \n");
return;
}
/* Initalize the event library */
event_init();
/* Initalize our ô so accurate periodic timer */
if (fms_periodic_init(main_periodic)) {
TRACE(TRACE_ERROR, "%s", "failed to start periodic generator\n");
return;
}
/* Initialize our communications with ground segment */
fms_gs_com_init(otp.gs_gw, 4242, 4243, FALSE);
/* Initialize blaaa */
for (uint8_t i=0; i<6; i++) otp.servos_outputs_usecs[i] = 1500;
for (uint8_t i=0; i<4; i++) otp.csc_servo_outputs[i] = 1500;
TRACE(TRACE_DEBUG, "%s", "Initialization completed\n");
}
static void main_init(void) {
TRACE(TRACE_DEBUG, "%s", "Starting initialization\n");
/* Initalize the event library */
event_init();
/* Initalize our ô so accurate periodic timer */
if (fms_periodic_init(main_periodic)) {
TRACE(TRACE_ERROR, "%s", "failed to start periodic generator\n");
return;
}
signal(SIGKILL, on_kill);
signal(SIGINT, on_kill);
signal(SIGILL, on_kill);
signal(SIGHUP, on_kill);
signal(SIGQUIT, on_kill);
signal(SIGTERM, on_kill);
signal(SIGSEGV, on_kill);
if(!open_stream()) {
fprintf(stderr, "Could not open stream, sorry\n");
exit(1);
}
TRACE(TRACE_DEBUG, "%s", "Initialization completed\n");
}
int main(int argc, char *argv[])
{
portnum = 0;
if (argc > 1) {
portnum = atoi(argv[1]);
if (portnum > 10) {
printf("Port number must be <11\n");
return -1;
}
if (argc > 2) { configgps = atoi(argv[2]); }
if (configgps)
#ifdef GPS_CONFIGURE
printf("Will configure GPS.\n");
#else
printf("Rebuild with GPS configure support.\n");
#endif
}
printf("Using /dev/ttyUSB%d for GPS\n", portnum);
(void) signal(SIGINT, main_exit);
uart_init();
gps_init();
/* Initalize the event library */
event_init();
gcs_com_init();
if (fms_periodic_init(main_periodic)) {
TRACE(TRACE_ERROR, "%s", "failed to start periodic generator\n");
return -1;
}
#ifdef GPS_CONFIGURE
//periodic task is launched so we are now ready to use uart to request gps baud change...
if (configgps) { gps_configure_uart(); }
#endif
event_dispatch();
//should never occur!
printf("goodbye! (%d)\n", foo);
return 0;
}
static void main_init(void) {
uint8_t byte_idx;
TRACE(TRACE_DEBUG, "%s", "Starting initialization\n");
/* Initalize our SPI link to IO processor */
if (spi_link_init()) {
TRACE(TRACE_ERROR, "%s", "failed to open SPI link \n");
return;
}
spistream_init(&on_spistream_msg_received,
&on_spistream_msg_sent);
for(byte_idx=1; byte_idx < 123; byte_idx++) {
spistream_msg[byte_idx] = byte_idx;
}
/* Initalize the event library */
event_init();
/* Initalize our ô so accurate periodic timer */
if (fms_periodic_init(main_periodic)) {
TRACE(TRACE_ERROR, "%s", "failed to start periodic generator\n");
return;
}
signal(SIGKILL, on_kill);
signal(SIGINT, on_kill);
signal(SIGILL, on_kill);
signal(SIGHUP, on_kill);
signal(SIGQUIT, on_kill);
signal(SIGTERM, on_kill);
signal(SIGSEGV, on_kill);
signal(SIGPIPE, on_dead_pipe);
if(!open_stream()) {
fprintf(LOG_OUT, "Could not open stream, sorry\n");
exit(1);
}
TRACE(TRACE_DEBUG, "%s", "Initialization completed\n");
}
static void main_init(void) {
#if RUN_FILTER
printf("FILTER output will be in ");
#if FILTER_OUTPUT_IN_NED
printf("NED\n");
#else
printf("ECEF\n");
#endif
#else
printf("Filter wont run\n");
#endif
#if UPDATE_WITH_GRAVITY
printf("the orientation becomes UPDATED with the GRAVITY\n");
#endif
TRACE(TRACE_DEBUG, "%s", "Starting initialization\n");
/* Initalize our SPI link to IO processor */
if (spi_link_init()) {
TRACE(TRACE_ERROR, "%s", "failed to open SPI link \n");
return;
}
/* Initalize the event library */
event_init();
/* Initalize our ô so accurate periodic timer */
if (fms_periodic_init(main_periodic)) {
TRACE(TRACE_ERROR, "%s", "failed to start periodic generator\n");
return;
}
#if RUN_FILTER
init_ins_state();
set_reference_direction();
#endif
main_rawlog_init(IMU_LOG_FILE);
}
int main(int argc, char *argv[])
{
(void) signal(SIGINT, main_exit);
//set IMU neutrals
RATES_ASSIGN(imu.gyro_neutral, IMU_GYRO_P_NEUTRAL, IMU_GYRO_Q_NEUTRAL, IMU_GYRO_R_NEUTRAL);
VECT3_ASSIGN(imu.accel_neutral, IMU_ACCEL_X_NEUTRAL, IMU_ACCEL_Y_NEUTRAL, IMU_ACCEL_Z_NEUTRAL);
VECT3_ASSIGN(imu.mag_neutral, IMU_MAG_X_NEUTRAL, IMU_MAG_Y_NEUTRAL, IMU_MAG_Z_NEUTRAL);
if (spi_link_init()) {
TRACE(TRACE_ERROR, "%s", "failed to open SPI link \n");
return -1;
}
/* Initalize the event library */
event_init();
control_init();
estimator_init();
// file_logger_init("my_log.data");
gcs_com_init();
if (fms_periodic_init(main_periodic)) {
TRACE(TRACE_ERROR, "%s", "failed to start periodic generator\n");
return -1;
}
//main_parse_cmd_line(argc, argv);
event_dispatch();
//should never occur!
printf("goodbye! (%d)\n", foo);
return 0;
}
