int
main(int argc, char **argv)
{
struct cmdline *cl;
int ret;
ret = rte_eal_init(argc, argv);
if (ret < 0)
return -1;
rte_timer_subsystem_init();
argc -= ret;
argv += ret;
prgname = argv[0];
#ifndef RTE_EXEC_ENV_BAREMETAL
if ((recursive_call = getenv(RECURSIVE_ENV_VAR)) != NULL)
return do_recursive_call();
#endif
cl = cmdline_stdin_new(main_ctx, "RTE>>");
if (cl == NULL) {
return -1;
}
cmdline_interact(cl);
cmdline_stdin_exit(cl);
return 0;
}
int main(void)
{
int ret;
struct cmdline *cl;
int param_num = 8;
char *param[] = {"anscli",
"-c",
"1",
"-n",
"1",
"--no-pci",
"--socket-mem=1",
"--proc-type=secondary",
NULL};
rte_set_log_level(RTE_LOG_ERR);
ret = rte_eal_init(param_num, param);
if (ret < 0)
rte_panic("Cannot init EAL\n");
ret = anscli_ring_init();
if(ret != 0)
rte_panic("Cannot init ring\n");
cl = cmdline_stdin_new(ip_main_ctx, "ans> ");
if (cl == NULL)
rte_panic("Cannot create ans cmdline instance\n");
cmdline_interact(cl);
cmdline_stdin_exit(cl);
return 0;
}
int
main(int argc, char **argv)
{
#ifdef RTE_LIBRTE_CMDLINE
struct cmdline *cl;
#endif
int ret;
ret = rte_eal_init(argc, argv);
if (ret < 0)
return -1;
#ifdef RTE_LIBRTE_TIMER
rte_timer_subsystem_init();
#endif
if (commands_init() < 0)
return -1;
argv += ret;
prgname = argv[0];
#ifndef RTE_EXEC_ENV_BAREMETAL
if ((recursive_call = getenv(RECURSIVE_ENV_VAR)) != NULL)
return do_recursive_call();
#endif
#ifdef RTE_LIBEAL_USE_HPET
if (rte_eal_hpet_init(1) < 0)
#endif
RTE_LOG(INFO, APP,
"HPET is not enabled, using TSC as default timer\n");
#ifdef RTE_LIBRTE_CMDLINE
cl = cmdline_stdin_new(main_ctx, "RTE>>");
if (cl == NULL) {
return -1;
}
cmdline_interact(cl);
cmdline_stdin_exit(cl);
#endif
return 0;
}
int main(int argc, char **argv)
{
int ret;
struct cmdline *cl;
ret = rte_eal_init(argc, argv);
if (ret < 0)
rte_panic("Cannot init EAL\n");
cl = cmdline_stdin_new(main_ctx, "example> ");
if (cl == NULL)
rte_panic("Cannot create cmdline instance\n");
cmdline_interact(cl);
cmdline_stdin_exit(cl);
return 0;
}
int MAIN(int argc, char **argv)
{
int ret;
struct cmdline *cl;
rte_set_log_level(RTE_LOG_INFO);
ret = rte_eal_init(argc, argv);
if (ret < 0)
rte_exit(EXIT_FAILURE, "Cannot initialize EAL\n");
setup_shared_variables();
cl = cmdline_stdin_new(qwctl_ctx, "qwctl> ");
if (cl == NULL)
rte_exit(EXIT_FAILURE, "Cannot create cmdline instance\n");
cmdline_interact(cl);
cmdline_stdin_exit(cl);
return 0;
}
static int
pipeline_run(void *pipeline)
{
struct pipeline_master *p = (struct pipeline_master *) pipeline;
int status;
if (p->script_file_done == 0) {
struct app_params *app = p->app;
int fd = open(app->script_file, O_RDONLY);
if (fd < 0)
printf("Cannot open CLI script file \"%s\"\n",
app->script_file);
else {
struct cmdline *file_cl;
printf("Running CLI script file \"%s\" ...\n",
app->script_file);
file_cl = cmdline_new(p->cl->ctx, "", fd, 1);
cmdline_interact(file_cl);
close(fd);
}
p->script_file_done = 1;
}
status = cmdline_poll(p->cl);
if (status < 0)
rte_panic("CLI poll error (%" PRId32 ")\n", status);
else if (status == RDLINE_EXITED) {
cmdline_stdin_exit(p->cl);
rte_exit(0, "Bye!\n");
}
return 0;
}
int main(void)
{
#ifndef HOST_VERSION
/* brake */
BRAKE_DDR();
BRAKE_OFF();
/* CPLD reset on PG3 */
DDRG |= 1<<3;
PORTG &= ~(1<<3); /* implicit */
/* LEDS */
DDRJ |= 0x0c;
DDRL = 0xc0;
LED1_OFF();
LED2_OFF();
LED3_OFF();
LED4_OFF();
#endif
memset(&gen, 0, sizeof(gen));
memset(&mainboard, 0, sizeof(mainboard));
mainboard.flags = DO_ENCODERS | DO_CS | DO_RS |
DO_POS | DO_POWER | DO_BD | DO_ERRBLOCKING;
ballboard.lcob = I2C_COB_NONE;
ballboard.rcob = I2C_COB_NONE;
/* UART */
uart_init();
uart_register_rx_event(CMDLINE_UART, emergency);
#ifndef HOST_VERSION
#if CMDLINE_UART == 3
fdevopen(uart3_dev_send, uart3_dev_recv);
#elif CMDLINE_UART == 1
fdevopen(uart1_dev_send, uart1_dev_recv);
#endif
/* check eeprom to avoid to run the bad program */
if (eeprom_read_byte(EEPROM_MAGIC_ADDRESS) !=
EEPROM_MAGIC_MAINBOARD) {
int c;
sei();
printf_P(PSTR("Bad eeprom value ('f' to force)\r\n"));
c = uart_recv(CMDLINE_UART);
if (c == 'f')
eeprom_write_byte(EEPROM_MAGIC_ADDRESS, EEPROM_MAGIC_MAINBOARD);
wait_ms(100);
bootloader();
}
#endif /* ! HOST_VERSION */
/* LOGS */
error_register_emerg(mylog);
error_register_error(mylog);
error_register_warning(mylog);
error_register_notice(mylog);
error_register_debug(mylog);
#ifndef HOST_VERSION
/* SPI + ENCODERS */
encoders_spi_init(); /* this will also init spi hardware */
/* I2C */
i2c_init(I2C_MODE_MASTER, I2C_MAINBOARD_ADDR);
i2c_protocol_init();
i2c_register_recv_event(i2c_recvevent);
i2c_register_send_event(i2c_sendevent);
/* TIMER */
timer_init();
timer0_register_OV_intr(main_timer_interrupt);
/* PWM */
PWM_NG_TIMER_16BITS_INIT(1, TIMER_16_MODE_PWM_10,
TIMER1_PRESCALER_DIV_1);
PWM_NG_TIMER_16BITS_INIT(4, TIMER_16_MODE_PWM_10,
TIMER4_PRESCALER_DIV_1);
PWM_NG_INIT16(&gen.pwm1_4A, 4, A, 10, PWM_NG_MODE_SIGNED,
&PORTD, 4);
PWM_NG_INIT16(&gen.pwm2_4B, 4, B, 10, PWM_NG_MODE_SIGNED |
PWM_NG_MODE_SIGN_INVERTED, &PORTD, 5);
PWM_NG_INIT16(&gen.pwm3_1A, 1, A, 10, PWM_NG_MODE_SIGNED,
&PORTD, 6);
PWM_NG_INIT16(&gen.pwm4_1B, 1, B, 10, PWM_NG_MODE_SIGNED,
&PORTD, 7);
/* servos */
PWM_NG_TIMER_16BITS_INIT(3, TIMER_16_MODE_PWM_10,
TIMER1_PRESCALER_DIV_256);
PWM_NG_INIT16(&gen.servo1, 3, C, 10, PWM_NG_MODE_NORMAL,
NULL, 0);
PWM_NG_TIMER_16BITS_INIT(5, TIMER_16_MODE_PWM_10,
TIMER1_PRESCALER_DIV_256);
PWM_NG_INIT16(&gen.servo2, 5, A, 10, PWM_NG_MODE_NORMAL,
NULL, 0);
PWM_NG_INIT16(&gen.servo3, 5, B, 10, PWM_NG_MODE_NORMAL,
NULL, 0);
PWM_NG_INIT16(&gen.servo4, 5, C, 10, PWM_NG_MODE_NORMAL,
NULL, 0);
support_balls_deploy(); /* init pwm for servos */
#endif /* !HOST_VERSION */
/* SCHEDULER */
scheduler_init();
#ifdef HOST_VERSION
hostsim_init();
robotsim_init();
#endif
#ifndef HOST_VERSION
scheduler_add_periodical_event_priority(do_led_blink, NULL,
100000L / SCHEDULER_UNIT,
LED_PRIO);
#endif /* !HOST_VERSION */
/* all cs management */
microb_cs_init();
/* TIME */
time_init(TIME_PRIO);
/* sensors, will also init hardware adc */
sensor_init();
#ifndef HOST_VERSION
/* start i2c slave polling */
scheduler_add_periodical_event_priority(i2c_poll_slaves, NULL,
8000L / SCHEDULER_UNIT, I2C_POLL_PRIO);
#endif /* !HOST_VERSION */
/* strat */
gen.logs[0] = E_USER_STRAT;
gen.log_level = 5;
/* strat-related event */
scheduler_add_periodical_event_priority(strat_event, NULL,
25000L / SCHEDULER_UNIT,
STRAT_PRIO);
#ifndef HOST_VERSION
/* eeprom time monitor */
scheduler_add_periodical_event_priority(do_time_monitor, NULL,
1000000L / SCHEDULER_UNIT,
EEPROM_TIME_PRIO);
#endif /* !HOST_VERSION */
sei();
strat_db_init();
printf_P(PSTR("\r\n"));
printf_P(PSTR("Respect et robustesse.\r\n"));
#ifndef HOST_VERSION
{
uint16_t seconds;
seconds = eeprom_read_word(EEPROM_TIME_ADDRESS);
printf_P(PSTR("Running since %d mn %d\r\n"), seconds/60, seconds%60);
}
#endif
#ifdef HOST_VERSION
strat_reset_pos(400, COLOR_Y(400), COLOR_A(-90));
#endif
cmdline_interact();
return 0;
}
