static void imu_update_task(void *params)
{
(void)params;
int res;
struct i2c_dev *i2c1 = i2c_get_device(I2C_1);
i2c_init(i2c1, 400000);
res = is9150_init(i2c1, IS_9150_ADDR << 1);
pr_info("IMU: init res=");
pr_info_int(res);
pr_info("\r\n");
(void)res;
/* Clear the sensor data structures */
memset(sensor_data, 0x00, sizeof(struct is9150_all_sensor_data) * 2);
while(1) {
res = is9150_read_all_sensors(fill_buf);
if (!res)
imu_update_buf_ptrs();
vTaskDelay(1);
}
}
int CAN_device_init(uint8_t channel, uint32_t baud)
{
pr_info("Initializing CAN");
pr_info_int(channel);
pr_info_int_msg(" with baud rate ", baud);
if (!initQueues()) {
pr_info("CAN init queues failed\r\n");
return 0;
}
switch (channel) {
case 0:
CAN_device_init_1(baud);
break;
case 1:
CAN_device_init_2(baud);
break;
default:
pr_info("CAN init device failed\r\n");
return 0;
}
/* Clear out all filter values except 0. It accepts all. */
CAN_device_set_filter(channel, 0, 1, 0, 0, true);
for (size_t i = 1; i < CAN_FILTER_COUNT; ++i)
CAN_device_set_filter(channel, i, 0, 0, 0, false);
pr_info("CAN init success!\r\n");
return 1;
}
void updateSampleRates(LoggerConfig *loggerConfig, int *loggingSampleRate,
int *telemetrySampleRate, int *timebaseSampleRate)
{
*loggingSampleRate = getHighestSampleRate(loggerConfig);
*timebaseSampleRate = *loggingSampleRate;
*timebaseSampleRate = getHigherSampleRate(BACKGROUND_SAMPLE_RATE, *timebaseSampleRate);
*telemetrySampleRate = calcTelemetrySampleRate(loggerConfig, *loggingSampleRate);
pr_info("timebase/logging/telemetry sample rate: ");
pr_info_int(decodeSampleRate(*timebaseSampleRate));
pr_info("/");
pr_info_int(decodeSampleRate(*loggingSampleRate));
pr_info("/");
pr_info_int(decodeSampleRate(*telemetrySampleRate));
pr_info("\r\n");
}
void WriteScriptPage(Serial *serial, unsigned int argc, char **argv){
if (argc < 2){
put_commandError(serial, ERROR_CODE_INVALID_PARAM);
return;
}
unsigned int page = modp_atoi(argv[1]);
char *scriptPage = "";
if (argc >= 3) scriptPage = argv[2];
if (page >=0 && page < SCRIPT_PAGES){
if (argc >= 2) unescape(scriptPage);
lockLua();
vPortEnterCritical();
pr_info_int(strlen(scriptPage));
pr_info("=");
pr_info(scriptPage);
pr_info("\r\n");
int result = flashScriptPage(page, scriptPage);
vPortExitCritical();
unlockLua();
if (result == 0){
put_commandOK(serial);
}
else{
put_commandError(serial, result);
}
}
else{
put_commandError(serial, ERROR_CODE_INVALID_PARAM);
}
}
int CAN_device_init(uint8_t channel, uint32_t baud)
{
pr_info("CAN");
pr_info_int(channel);
pr_info(" init @ ");
pr_info_int(baud);
if (initQueues()) {
switch (channel) {
case 0:
CAN_device_init_1(baud);
break;
}
pr_info(" win\r\n");
return 1;
} else {
pr_info(" fail\r\n");
return 0;
}
}
int main(int argc, char* argv[])
{
LoggerConfig *config = getWorkingLoggerConfig();
initApi();
initialize_logger_config();
setupMockSerial();
imu_init(config);
resetPredictiveTimer();
int pt;
pt = open("/dev/ptmx", O_RDWR | O_NOCTTY);
if (pt < 0)
{
perror("open /dev/ptmx");
return 1;
}
grantpt(pt);
unlockpt(pt);
fprintf(stderr, "RaceCapture/Pro simulator on: %s\n", ptsname(pt));
char line[LINE_BUFFER_SIZE];
memset(line, 0, LINE_BUFFER_SIZE);
int messageCount = 0;
while(1){
size_t count = 0;
line[0] = '\0';
while (count < LINE_BUFFER_SIZE){
char c;
read(pt, &c, 1);
line[count] = c;
count++;
if (c == '\r'){
line[count] = '\0';
break;
}
}
printf("rx: (%zu): %s\r\n", strlen(line), line);
mock_resetTxBuffer();
process_api(getMockSerial(), line, strlen(line));
char *txBuffer = mock_getTxBuffer();
printf("tx:(%zu) %s\r\n", strlen(txBuffer), txBuffer);
write(pt, txBuffer, strlen(txBuffer));
pr_info_int(++messageCount);
pr_info(" messages\r\n");
}
return 0;
}
