inline
udp_sock udp_host(const std::string& serverport = SERVERPORT)
{
networking_init();
int sockfd;
struct addrinfo hints, *servinfo, *p;
int rv;
memset(&hints, 0, sizeof hints);
hints.ai_family = AF_INET; // set to AF_INET to force IPv4
hints.ai_socktype = SOCK_DGRAM;
hints.ai_flags = AI_PASSIVE; // use my IP
if ((rv = getaddrinfo(NULL, serverport.c_str(), &hints, &servinfo)) != 0) {
fprintf(stderr, "getaddrinfo: %s\n", gai_strerror(rv));
exit(1);
}
// loop through all the results and bind to the first we can
for(p = servinfo; p != NULL; p = p->ai_next) {
if ((sockfd = socket(p->ai_family, p->ai_socktype,
p->ai_protocol)) == -1) {
perror("listener: socket");
continue;
}
if (bind(sockfd, p->ai_addr, p->ai_addrlen) == -1) {
CLOSE(sockfd);
perror("listener: bind");
continue;
}
break;
}
if (p == NULL) {
fprintf(stderr, "listener: failed to bind socket\n");
udp_sock bad;
bad.make_invalid();
return bad;
}
freeaddrinfo(servinfo);
return udp_sock(sockfd);
}
int main(void) {
// Set the system clock to the full 120MHz
uint32_t sysClkFreq = SysCtlClockFreqSet(SYSCTL_XTAL_25MHZ | SYSCTL_OSC_MAIN | SYSCTL_USE_PLL | SYSCTL_CFG_VCO_480, 120000000);
debug_init(sysClkFreq);
status_led_init();
network_driver_init(sysClkFreq);
networking_init();
telemetry_init();
transducer_init();
thermocouple_init();
solenoid_init();
debug_print("Initialization complete. starting main loop.\r\n");
// Set up the SysTick timer and its interrupts
SysTickPeriodSet(6000); // 40 kHz
SysTickIntRegister(sys_tick);
SysTickIntEnable();
SysTickEnable();
uint32_t loopIterations = 0;
uint32_t frame_start = systick_clock;
while(1) {
status_led_periodic();
network_driver_periodic();
telemetry_periodic();
solenoid_periodic();
// debug_print_u32(systick_clock);
//count loop iterations per second
loopIterations++;
if(systick_clock - frame_start >= 1000) {
loops_per_second = loopIterations;
loopIterations = 0;
frame_start = systick_clock;
}
}
}
