/*
* Inicializálja a mikrovezérlõ I/O portjait, a perifériáit és az alkalmazást
* a hozzá kapcsolódó összes modullal együtt.
*/
void Application_initialize() {
/* Minden I/O port standard jelváltozási sebességû digitális kimenetre
konfigurálása, és a hozzájuk tartozó tárolók törlése. */
TRISA = TRISB = TRISC = TRISD = TRISE = 0xFF;
ANSELA = ANSELB = ANSELC = ANSELD = ANSELE = 0x00;
SLRCON = LATA = LATB = LATC = LATD = LATE = 0x00;
/* Az A/D átalakítók és a komparátorok kikapcsolása. */
ADCON0 = ADCON1 = ADCON2 = 0x00;
C1ON_bit = C2ON_bit = false;
/* Az alkalmazás moduljainak inicializálása. */
Display_initialize();
Alarm_initialize();
Timer_initialize();
Sensor_initialize(3.3f);
Storage_initialize();
Serial_initialize(BAUD_9600);
}
//******************************************************************
void main (void)
{
//XAInit(); //* XA Configuration
OSInit(); //* Initialize uC/OS-II, The Real-Time Kernel
BnPrintfWait = OSSemCreate(0);
OSTaskCreate( AnPrintf,
(void *)0,
(void *)&AnPrintfStk[TASK_STK_SIZE-1],
0x01);
OSTaskCreate( BnPrintf,
(void *)0,
(void *)&BnPrintfStk[TASK_STK_SIZE-1],
0x02);
TimeTickConfig();
Serial_initialize();
OSStart();
}
int main(int argc, char **argv)
{
int ret;
baseRateInfo_t info;
pthread_attr_t attr;
pthread_t baseRateThread;
size_t stackSize;
unsigned long cpuMask = 0x1;
unsigned int len = sizeof(cpuMask);
printf("**starting the model**\n");
fflush(stdout);
rtmSetErrorStatus(Serial_M, 0);
rtExtModeParseArgs(argc, (const char_T **)argv, NULL);
/* All threads created by this process must run on a single CPU */
ret = sched_setaffinity(0, len, (cpu_set_t *) &cpuMask);
CHECK_STATUS(ret, "sched_setaffinity");
/* Initialize semaphore used for thread synchronization */
ret = sem_init(&stopSem, 0, 0);
CHECK_STATUS(ret, "sem_init:stopSem");
/* Create threads executing the Simulink model */
pthread_attr_init(&attr);
ret = pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED);
CHECK_STATUS(ret, "pthread_attr_setinheritsched");
ret = pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_DETACHED);
CHECK_STATUS(ret, "pthread_attr_setdetachstate");
/* PTHREAD_STACK_MIN is the minimum stack size required to start a thread */
stackSize = 64000 + PTHREAD_STACK_MIN;
ret = pthread_attr_setstacksize(&attr, stackSize);
CHECK_STATUS(ret, "pthread_attr_setstacksize");
/* Block signal used for timer notification */
info.period = 0.05;
info.signo = SIGRTMIN;
sigemptyset(&info.sigMask);
MW_blockSignal(info.signo, &info.sigMask);
signal(SIGTERM, MW_exitHandler); /* kill */
signal(SIGHUP, MW_exitHandler); /* kill -HUP */
signal(SIGINT, MW_exitHandler); /* Interrupt from keyboard */
signal(SIGQUIT, MW_exitHandler); /* Quit from keyboard */
Serial_initialize();
/* External mode */
rtSetTFinalForExtMode(&rtmGetTFinal(Serial_M));
rtExtModeCheckInit(2);
{
boolean_T rtmStopReq = false;
rtExtModeWaitForStartPkt(Serial_M->extModeInfo, 2, &rtmStopReq);
if (rtmStopReq) {
rtmSetStopRequested(Serial_M, true);
}
}
rtERTExtModeStartMsg();
/* Create base rate task */
ret = pthread_create(&baseRateThread, &attr, (void *) baseRateTask, (void *)
&info);
CHECK_STATUS(ret, "pthread_create");
pthread_attr_destroy(&attr);
/* Wait for a stopping condition. */
MW_sem_wait(&stopSem);
/* Received stop signal */
printf("**stopping the model**\n");
if (rtmGetErrorStatus(Serial_M) != NULL) {
printf("\n**%s**\n", rtmGetErrorStatus(Serial_M));
}
/* External mode shutdown */
rtExtModeShutdown(2);
/* Disable rt_OneStep() here */
/* Terminate model */
Serial_terminate();
return 0;
}
