int main(void)
{
/** If you look here and hope to find out how this program works,
you should look inside headerfiles for function headers to know what they do
mainly look inside the robot_config.c and inside the struct S_robot.
S_robot is is the core of everything
*/
S_robot* r = &R; // global= extern S_robot R;
INIT_clk();
INIT_leds();
r->STARTED = 0;
ROBOT_initButtons(r);
// Chose a program to run
E_lifeStyleSelector life = ROBOT_getLifeStyle(&R);
switch(life)
{
case(IAM_BUGGED_ROBOT):
main_debug(r); break;
case(IAM_SUMO_WARRIOR):
main_sumo(r); break;
case(IAM_LINE_SNIFFER):
//main_line(r); break;
default:
main_debug(r);
}
// followin' code could not ever been executed
INIT_leds();
while (1) {
gpio_toggle(PLED,LEDGREEN0|LEDORANGE1|LEDRED2|LEDBLUE3);
mswait(500);
}
return 0;
}
/*! \fn __attribute__((no_instrument_function)) void not_main(void)
* \brief The main, or not so main function.
*
* not_main is a thing i picked up from some example code online and haven't done anything with it since :S This is the entry point of the c program.
*/
__attribute__((no_instrument_function)) void not_main(void)
{
/* board initialisation */
uart_init();
spi_pin_init();
flag = 0;
struct mpu60x0_stateType mpu60x0_state[NUM_FACES];
for (int i=0; i<NUM_FACES; i++)
{
mpu60x0_state[i].gyro_rate = INV_MPU60x0_FSR_250DPS;
mpu60x0_state[i].accel_rate = INV_MPU60x0_FS_02G;
mpu60x0_state[i].filter_cutoff = INV_MPU60x0_FILTER_256HZ_NOLPF2;
}
int init_failed = 0;
/* initialise all mpu 6000 boards */
for (int i=0; i<NUM_FACES; i++)
{
if (!mpu60x0_init(shape_cs_mappings[i], &(mpu60x0_state[i])))
{
init_failed = 1;
printf("MPUDev: %d failed\n", i);
}
}
if (init_failed)
return;
//Configure SD Status LED for output
gpio_function_select(16, GPIO_FUNC_OUTPUT);
int mode = select_mode();
printf("mode is: %d\n", mode);
/* interrupt pin config */
gpio_set_interrupts();
c_enable_irq();
//assign function to handle gpio_irqs
register_irq_handler ( GPIO_INT0, gpio_irq );
register_irq_handler ( GPIO_INT1, gpio_irq );
register_irq_handler ( GPIO_INT2, gpio_irq );
register_irq_handler ( GPIO_INT3, gpio_irq );
//enable irq handling on gpio interrupts
enable_interrupt_for_irq(GPIO_INT0);
enable_interrupt_for_irq(GPIO_INT1);
enable_interrupt_for_irq(GPIO_INT2);
enable_interrupt_for_irq(GPIO_INT3);
flag = 0;
unsigned int prevTs = 0;
GPIO_OUTPUT_LEVEL prevLevel = GPIO_OUTPUT_HIGH;
switch (mode)
{
case 0:
main_readings(mpu60x0_state);
return;
case 1:
static_calibration(mpu60x0_state);
return;
case 2:
main_debug(mpu60x0_state);
return;
default:
printf("invalid mode\n");
return;
}
}
int main(int argc, char *argv[])
{
int ret = -1;
#if 1
#ifndef DEEBE_RELEASE
FILE *try_log = fopen(LOG_FILENAME, "wt");
if (NULL != try_log)
fp_log = try_log;
else
fp_log = stdout;
try_log = NULL;
#endif
#else
fp_log = stdout;
#endif
/* Signal handlers */
signal_handle_sigio = main_sigio;
signal_handle_sigrtmin = main_sigrtmin;
signal_handle_sigchld = main_sigchld;
if (0 != cmdline_init(argc, argv)) {
/* start the watchdog timer */
if (cmdline_watchdog_minutes > 0) {
/* watchdog is in seconds, for *= 60 */
long seconds = 60 * cmdline_watchdog_minutes;
if (!watchdog_init(seconds)) {
/*
* Only report this error if timer_create
* is supported. If it isn't then the watchdog
* functionality is simulated in the network
* code where read or connect delays are
* expected.
*/
#ifdef HAVE_TIMER_CREATE
fprintf(stderr, "Problem initializing watchdog timer for %ld seconds\n",
seconds);
/*
* watchdog_init does not turn on the
* the signal unless it is successful
* so we do not have to disable it
*/
#endif
}
}
if (cmdline_port_fwd > 0)
ret = main_forward();
else
ret = main_debug();
}
cmdline_cleanup();
if (fp_log) {
if (fp_log != stdout) {
fflush(fp_log);
fclose(fp_log);
fp_log = stdout;
}
}
return ret;
}
