int main(int argc, char *argv[]) {
uint8_t buf[1024];
size_t n;
#ifdef FRSKY
frsky_state_t fs;
#endif
telemetry_data_t td;
telemetry_init(&td);
render_init();
long long prev_time = current_timestamp();
while(1) {
FD_ZERO(&set);
FD_SET(STDIN_FILENO, &set);
timeout.tv_sec = 0;
//read 100ms
timeout.tv_usec = 100*1000;
n = select(STDIN_FILENO + 1, &set, NULL, NULL, &timeout);
//printf("%d\n",n);
if(n > 0) {
n = read(STDIN_FILENO, buf, sizeof(buf));
if(n == 0) {
// break; //EOF
}
if(n<0) {
perror("read");
exit(-1);
}
#ifdef FRSKY
frsky_parse_buffer(&fs, &td, buf, n);
#elif defined(LTM)
ltm_read(&td, buf, n);
#elif defined(MAVLINK)
mavlink_read(&td, buf, n);
#endif
}
#ifdef DEBUG
prev_time = current_timestamp();
render(&td);
long long took = current_timestamp() - prev_time;
printf("Render took %lldms to execute.\n", took);
#else
render(&td);
#endif
}
return 0;
}
int main(void) {
// leds:
led_init();
// init clock sources:
clocksource_init();
// init ios
io_init();
// init debug
debug_init();
// init wdt timer
wdt_init();
// enable timeout routines
timeout_init();
// init storage
storage_init();
// init frsky core
frsky_init();
// init adc
adc_init();
// init output
#ifdef SBUS_ENABLED
sbus_init();
#else // SBUS_ENABLED
ppm_init();
#endif // SBUS_ENABLED
// init failsafe
failsafe_init();
// init telemetry
telemetry_init();
// run main
debug("main: init done\n");
// frsky_frame_sniffer();
frsky_main();
debug("main: frsky main ended?! THIS SHOULD NOT HAPPEN!");
while (1) {}
}
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;
}
}
}
// Create temp dir
char template[] = "/tmp/tmpdir.XXXXXX";
char *tmp_dirname = mkdtemp(template);
assert(tmp_dirname);
char testpath[30];
strcpy(testpath, tmp_dirname);
strcat(testpath, "/path/to/dir");
char mvpath[33];
strcpy(mvpath, tmp_dirname);
strcat(mvpath, "/path/to/mv_dir");
char touchpath[38];
strcpy(touchpath, mvpath);
strcat(touchpath, "/test");
Telemetry telemetry = telemetry_init(&host);
Directory dir = directory_new(&host, &testpath);
assert(!directory_exists(&dir, &host));
DirectoryOpts opts = { .do_recursive = true };
directory_create(&dir, &host, &opts);
assert(directory_exists(&dir, &host));
char create_check_cmd[33];
strcpy(create_check_cmd, "ls ");
strcat(create_check_cmd, testpath);
int create_check = system(create_check_cmd);
assert(create_check != -1 && WEXITSTATUS(create_check) == 0);
directory_mv(&dir, &host, &);
void
kernel_bootstrap(void)
{
kern_return_t result;
thread_t thread;
char namep[16];
printf("%s\n", version); /* log kernel version */
#define kernel_bootstrap_kprintf(x...) /* kprintf("kernel_bootstrap: " x) */
if (PE_parse_boot_argn("-l", namep, sizeof (namep))) /* leaks logging */
turn_on_log_leaks = 1;
PE_parse_boot_argn("trace", &new_nkdbufs, sizeof (new_nkdbufs));
PE_parse_boot_argn("trace_wake", &wake_nkdbufs, sizeof (wake_nkdbufs));
/* i386_vm_init already checks for this ; do it aagin anyway */
if (PE_parse_boot_argn("serverperfmode", &serverperfmode, sizeof (serverperfmode))) {
serverperfmode = 1;
}
scale_setup();
kernel_bootstrap_kprintf("calling vm_mem_bootstrap\n");
vm_mem_bootstrap();
kernel_bootstrap_kprintf("calling cs_init\n");
cs_init();
kernel_bootstrap_kprintf("calling vm_mem_init\n");
vm_mem_init();
machine_info.memory_size = (uint32_t)mem_size;
machine_info.max_mem = max_mem;
machine_info.major_version = version_major;
machine_info.minor_version = version_minor;
#if CONFIG_TELEMETRY
kernel_bootstrap_kprintf("calling telemetry_init\n");
telemetry_init();
#endif
kernel_bootstrap_kprintf("calling stackshot_lock_init\n");
stackshot_lock_init();
kernel_bootstrap_kprintf("calling sched_init\n");
sched_init();
kernel_bootstrap_kprintf("calling wait_queue_bootstrap\n");
wait_queue_bootstrap();
kernel_bootstrap_kprintf("calling ipc_bootstrap\n");
ipc_bootstrap();
#if CONFIG_MACF
mac_policy_init();
#endif
kernel_bootstrap_kprintf("calling ipc_init\n");
ipc_init();
/*
* As soon as the virtual memory system is up, we record
* that this CPU is using the kernel pmap.
*/
kernel_bootstrap_kprintf("calling PMAP_ACTIVATE_KERNEL\n");
PMAP_ACTIVATE_KERNEL(master_cpu);
kernel_bootstrap_kprintf("calling mapping_free_prime\n");
mapping_free_prime(); /* Load up with temporary mapping blocks */
kernel_bootstrap_kprintf("calling machine_init\n");
machine_init();
kernel_bootstrap_kprintf("calling clock_init\n");
clock_init();
ledger_init();
/*
* Initialize the IPC, task, and thread subsystems.
*/
kernel_bootstrap_kprintf("calling task_init\n");
task_init();
kernel_bootstrap_kprintf("calling thread_init\n");
thread_init();
/*
* Create a kernel thread to execute the kernel bootstrap.
*/
kernel_bootstrap_kprintf("calling kernel_thread_create\n");
result = kernel_thread_create((thread_continue_t)kernel_bootstrap_thread, NULL, MAXPRI_KERNEL, &thread);
if (result != KERN_SUCCESS) panic("kernel_bootstrap: result = %08X\n", result);
thread->state = TH_RUN;
thread_deallocate(thread);
kernel_bootstrap_kprintf("calling load_context - done\n");
load_context(thread);
/*NOTREACHED*/
}
void
kernel_bootstrap(void)
{
kern_return_t result;
thread_t thread;
char namep[16];
printf("%s\n", version); /* log kernel version */
if (PE_parse_boot_argn("-l", namep, sizeof (namep))) /* leaks logging */
turn_on_log_leaks = 1;
PE_parse_boot_argn("trace", &new_nkdbufs, sizeof (new_nkdbufs));
PE_parse_boot_argn("trace_wake", &wake_nkdbufs, sizeof (wake_nkdbufs));
PE_parse_boot_argn("trace_panic", &write_trace_on_panic, sizeof(write_trace_on_panic));
PE_parse_boot_argn("trace_typefilter", &trace_typefilter, sizeof(trace_typefilter));
scale_setup();
kernel_bootstrap_log("vm_mem_bootstrap");
vm_mem_bootstrap();
kernel_bootstrap_log("cs_init");
cs_init();
kernel_bootstrap_log("vm_mem_init");
vm_mem_init();
machine_info.memory_size = (uint32_t)mem_size;
machine_info.max_mem = max_mem;
machine_info.major_version = version_major;
machine_info.minor_version = version_minor;
#if CONFIG_TELEMETRY
kernel_bootstrap_log("telemetry_init");
telemetry_init();
#endif
#if CONFIG_CSR
kernel_bootstrap_log("csr_init");
csr_init();
#endif
kernel_bootstrap_log("stackshot_lock_init");
stackshot_lock_init();
kernel_bootstrap_log("sched_init");
sched_init();
kernel_bootstrap_log("waitq_bootstrap");
waitq_bootstrap();
kernel_bootstrap_log("ipc_bootstrap");
ipc_bootstrap();
#if CONFIG_MACF
kernel_bootstrap_log("mac_policy_init");
mac_policy_init();
#endif
kernel_bootstrap_log("ipc_init");
ipc_init();
/*
* As soon as the virtual memory system is up, we record
* that this CPU is using the kernel pmap.
*/
kernel_bootstrap_log("PMAP_ACTIVATE_KERNEL");
PMAP_ACTIVATE_KERNEL(master_cpu);
kernel_bootstrap_log("mapping_free_prime");
mapping_free_prime(); /* Load up with temporary mapping blocks */
kernel_bootstrap_log("machine_init");
machine_init();
kernel_bootstrap_log("clock_init");
clock_init();
ledger_init();
/*
* Initialize the IPC, task, and thread subsystems.
*/
#if CONFIG_COALITIONS
kernel_bootstrap_log("coalitions_init");
coalitions_init();
#endif
kernel_bootstrap_log("task_init");
task_init();
kernel_bootstrap_log("thread_init");
thread_init();
#if CONFIG_ATM
/* Initialize the Activity Trace Resource Manager. */
kernel_bootstrap_log("atm_init");
atm_init();
#endif
#if CONFIG_BANK
/* Initialize the BANK Manager. */
kernel_bootstrap_log("bank_init");
bank_init();
#endif
/* initialize the corpse config based on boot-args */
corpses_init();
/*
* Create a kernel thread to execute the kernel bootstrap.
*/
kernel_bootstrap_log("kernel_thread_create");
result = kernel_thread_create((thread_continue_t)kernel_bootstrap_thread, NULL, MAXPRI_KERNEL, &thread);
if (result != KERN_SUCCESS) panic("kernel_bootstrap: result = %08X\n", result);
thread->state = TH_RUN;
thread->last_made_runnable_time = mach_absolute_time();
thread_deallocate(thread);
kernel_bootstrap_log("load_context - done");
load_context(thread);
/*NOTREACHED*/
}