int user_start(int argc, char *argv[])
{
/* run C++ ctors before we go any further */
up_cxxinitialize();
/* reset all to zero */
memset(&system_state, 0, sizeof(system_state));
/* default to 50 Hz PWM outputs */
system_state.servo_rate = 50;
/* configure the high-resolution time/callout interface */
hrt_init();
/* print some startup info */
lib_lowprintf("\nPX4IO: starting\n");
/* default all the LEDs to off while we start */
LED_AMBER(false);
LED_BLUE(false);
LED_SAFETY(false);
/* turn on servo power */
POWER_SERVO(true);
/* start the safety switch handler */
safety_init();
/* configure the first 8 PWM outputs (i.e. all of them) */
up_pwm_servo_init(0xff);
/* start the flight control signal handler */
task_create("FCon",
SCHED_PRIORITY_DEFAULT,
1024,
(main_t)controls_main,
NULL);
struct mallinfo minfo = mallinfo();
lib_lowprintf("free %u largest %u\n", minfo.mxordblk, minfo.fordblks);
/* we're done here, go run the communications loop */
comms_main();
}
int main(int argc, char **argv)
{
pthread_t timer_thread;
pthread_t comms_thread;
pthread_attr_t pthread_custom_attr;
char buf[1024];
FILE *f;
int c;
extern byte action;
extern byte action_value;
extern int act_after;
if (argc == 1) {
action = ACT_NONE;
exitAfter = 10;
} else if (argc == 5) {
act_after = atoi(argv[1]);
action = atoi(argv[2]);
action_value = atoi(argv[3]);
exitAfter = atoi(argv[4]);
} else {
fprintf(stderr, "Usage: ./master action_after action action_val exit\n");
exit(1);
}
switch(fork()) {
case -1:
perror("Fork failed");
exit(1);
case 0:
f = popen("./slave", "r");
while(fgets(buf, 1024, f)) {
printf(buf);
fflush(stdout);
}
pclose(f);
exit(1);
}
printf("Starting master\n");
fflush(stdout);
alarm(10);
address = 0;
rfd = open("0", O_RDONLY);
wfd = open("1", O_WRONLY | O_NONBLOCK);
pthread_attr_init(&pthread_custom_attr);
pthread_create(&timer_thread, &pthread_custom_attr, timer, NULL);
pthread_create(&comms_thread, &pthread_custom_attr, comms, NULL);
comms_main();
pthread_join(timer_thread, NULL);
pthread_join(comms_thread, NULL);
return 0;
}
