int init()
{
int remained_attempts = 5;
while (true) {
int can_res = can.init(config_get("can_bitrate"));
if (can_res >= 0) {
::lowsyslog("UAVCAN: CAN bitrate %u bps\n", unsigned(config_get("can_bitrate")));
break;
}
::lowsyslog("UAVCAN: CAN init failed [%i], trying default bitrate...\n", can_res);
auto descr = ::config_param();
(void)config_get_descr("can_bitrate", &descr);
can_res = can.init(descr.default_);
if (can_res >= 0) {
::lowsyslog("UAVCAN: CAN bitrate %u bps\n", unsigned(descr.default_));
break;
}
remained_attempts--;
if (remained_attempts <= 0) {
::lowsyslog("UAVCAN: CAN driver init failure: %i\n", can_res);
return -1;
}
::usleep(100000);
}
(void)node_thread.start((HIGHPRIO + NORMALPRIO) / 2);
return 0;
}
static int print_param(const char* name, bool verbose)
{
static int _max_name_len;
if (_max_name_len == 0) {
for (int i = 0;; i++) {
const char* nm = config_name_by_index(i);
if (!nm)
break;
int len = strlen(nm);
if (len > _max_name_len)
_max_name_len = len;
}
}
struct config_param par;
const int res = config_get_descr(name, &par);
if (res)
return res;
if (par.type == CONFIG_TYPE_FLOAT) {
lowsyslog("%-*s = %-12f", _max_name_len, name, config_get(name));
if (verbose) {
lowsyslog("[%f, %f] (%f)", par.min, par.max, par.default_);
}
} else {
lowsyslog("%-*s = %-12i", _max_name_len, name, (int)config_get(name));
if (verbose) {
lowsyslog("[%i, %i] (%i)", (int)par.min, (int)par.max, (int)par.default_);
}
}
puts("");
return 0;
}