/*
* Application entry point.
*/
int main(void) {
/*
* System initializations.
* - HAL initialization, this also initializes the configured device drivers
* and performs the board-specific initializations.
* - Kernel initialization, the main() function becomes a thread and the
* RTOS is active.
*/
halInit();
chSysInit();
/*
* Activates the serial driver 1 using the driver default configuration.
*/
sdStart(&SERIAL_DRIVER, NULL);
/*
* Activates the EXT driver.
*/
extStart(&EXTD1, &extcfg);
/*
* Activates the I2C driver.
*/
i2cStart(&I2C_DRIVER, &i2c1cfg);
/*
* Activates the SPI driver.
*/
spiStart(&SPI_DRIVER, &spi1cfg);
/*
* Activates the RTCAN driver.
*/
rtcanInit();
rtcanStart(&RTCAND1, &rtcan_config);
/*
* Creates the blinker thread.
*/
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
chThdSleepMilliseconds(100);
/*
* Creates the sensor threads.
*/
gyrotp = gyroRun(&SPI_DRIVER, NORMALPRIO);
acctp = accRun(&I2C_DRIVER, NORMALPRIO);
magtp = magRun(&I2C_DRIVER, NORMALPRIO);
/*
* Creates the publisher threads.
*/
chThdCreateFromHeap(NULL, WA_SIZE_2K, NORMALPRIO + 1, PublisherRawThread,
NULL);
chThdSleepMilliseconds(100);
remote_sub("IMURaw");
/*
* Normal main() thread activity, in this demo it does nothing except
* sleeping in a loop and check the button state.
*/
while (TRUE) {
chThdSleepMilliseconds(200);
}
}
/*
* Application entry point.
*/
int main(void) {
RTCANConfig rtcan_config = {1000000, 100, 60};
Thread *shelltp = NULL;
/*
* System initializations.
* - HAL initialization, this also initializes the configured device drivers
* and performs the board-specific initializations.
* - Kernel initialization, the main() function becomes a thread and the
* RTOS is active.
*/
halInit();
chSysInit();
/*
* Activates the serial driver 1 using the driver default configuration.
*/
sdStart(&SERIAL_DRIVER, NULL);
/*
* Shell manager initialization.
*/
shellInit();
rtcanInit();
rtcanStart (&RTCAND1, &rtcan_config);
/*
* Creates the blinker thread.
*/
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
/*
* Creates the subscriber thread #1.
*/
chThdCreateFromHeap (NULL, WA_SIZE_512B, NORMALPRIO + 1, SubscriberThread1, NULL);
/*
* Creates the subscriber thread #2.
*/
chThdCreateFromHeap (NULL, WA_SIZE_512B, NORMALPRIO + 1, SubscriberThread2, NULL);
/*
* Creates the RX thread.
*/
// chThdCreateFromHeap (NULL, WA_SIZE_512B, NORMALPRIO + 2, RxThread, NULL);
Middleware & mw = Middleware::instance();
RemotePublisher rpub("led23", sizeof(LEDDataDebug));
rpub.id((123 << 8) | 40);
mw.advertise(&rpub);
/*
* Normal main() thread activity, in this demo it does nothing except
* sleeping in a loop and check the button state.
*/
while (TRUE) {
if (!shelltp)
shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO - 1);
else if (chThdTerminated(shelltp)) {
chThdRelease(shelltp);
shelltp = NULL;
}
chThdSleepMilliseconds(200);
}
}
