int main( void )
{
uint8_t init_cpt;
/* init peripherals */
timer_init();
modem_init();
adc_init();
#ifdef CTL_BRD_V1_1
adc_buf_channel(ADC_CHANNEL_BAT, &buf_bat);
#endif
spi_init();
link_fbw_init();
gps_init();
nav_init();
ir_init();
estimator_init();
# ifdef PAPABENCH_SINGLE
fbw_init();
# endif
/* start interrupt task */
//sei(); /*Fadia*/
/* Wait 0.5s (for modem init ?) */
init_cpt = 30;
_Pragma("loopbound min 31 max 31")
while (init_cpt) {
if (timer_periodic())
init_cpt--;
}
/* enter mainloop */
#ifndef NO_MAINLOOP
while( 1 ) {
#endif
if(timer_periodic()) {
periodic_task();
# if PAPABENCH_SINGLE
fbw_schedule();
# endif
}
if (gps_msg_received)
{
/*receive_gps_data_task()*/
parse_gps_msg();
send_gps_pos();
send_radIR();
send_takeOff();
}
if (link_fbw_receive_complete) {
link_fbw_receive_complete = FALSE;
radio_control_task();
}
#ifndef NO_MAINLOOP
}
#endif
return 0;
}
STATIC_INLINE void main_init( void ) {
mcu_init();
electrical_init();
stateInit();
actuators_init();
#if USE_MOTOR_MIXING
// motor_mixing_init();
// servo_mixing_init();
set_servo_init();
#endif
radio_control_init();
baro_init();
imu_init();
autopilot_init();
nav_init();
guidance_h_init();
guidance_v_init();
stabilization_init();
ahrs_aligner_init();
ahrs_init();
ins_init();
#if USE_GPS
gps_init();
#endif
modules_init();
settings_init();
mcu_int_enable();
#if DATALINK == XBEE
xbee_init();
#endif
#if DATALINK == UDP
udp_init();
#endif
// register the timers for the periodic functions
main_periodic_tid = sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
modules_tid = sys_time_register_timer(1./MODULES_FREQUENCY, NULL);
radio_control_tid = sys_time_register_timer((1./60.), NULL);
failsafe_tid = sys_time_register_timer(0.05, NULL);
electrical_tid = sys_time_register_timer(0.1, NULL);
baro_tid = sys_time_register_timer(1./BARO_PERIODIC_FREQUENCY, NULL);
telemetry_tid = sys_time_register_timer((1./TELEMETRY_FREQUENCY), NULL);
}
void autopilot_init(void)
{
autopilot_motors_on = false;
kill_throttle = ! autopilot_motors_on;
autopilot_in_flight = false;
autopilot_in_flight_counter = 0;
autopilot_mode_auto2 = MODE_AUTO2;
autopilot_ground_detected = false;
autopilot_detect_ground_once = false;
autopilot_flight_time = 0;
autopilot_rc = true;
autopilot_power_switch = false;
#ifdef POWER_SWITCH_GPIO
gpio_setup_output(POWER_SWITCH_GPIO);
gpio_clear(POWER_SWITCH_GPIO); // POWER OFF
#endif
// init GNC stack
// TODO this should be done in modules init
nav_init();
guidance_h_init();
guidance_v_init();
stabilization_init();
stabilization_none_init();
#if USE_STABILIZATION_RATE
stabilization_rate_init();
#endif
stabilization_attitude_init();
// call implementation init
// it will set startup mode
#if USE_GENERATED_AUTOPILOT
autopilot_generated_init();
#else
autopilot_static_init();
#endif
// register messages
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_AUTOPILOT_VERSION, send_autopilot_version);
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ALIVE, send_alive);
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ROTORCRAFT_STATUS, send_status);
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ATTITUDE, send_attitude);
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ENERGY, send_energy);
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ROTORCRAFT_FP, send_fp);
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ROTORCRAFT_FP_MIN, send_fp_min);
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ROTORCRAFT_CMD, send_rotorcraft_cmd);
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_DL_VALUE, send_dl_value);
#ifdef ACTUATORS
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ACTUATORS, send_actuators);
#endif
#ifdef RADIO_CONTROL
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_RC, send_rc);
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ROTORCRAFT_RADIO_CONTROL, send_rotorcraft_rc);
#endif
}
void autopilot_init(void)
{
/* mode is finally set at end of init if MODE_STARTUP is not KILL */
autopilot_mode = AP_MODE_KILL;
autopilot_motors_on = false;
kill_throttle = ! autopilot_motors_on;
autopilot_in_flight = false;
autopilot_in_flight_counter = 0;
autopilot_mode_auto2 = MODE_AUTO2;
autopilot_ground_detected = false;
autopilot_detect_ground_once = false;
autopilot_flight_time = 0;
autopilot_rc = true;
autopilot_power_switch = false;
#ifdef POWER_SWITCH_GPIO
gpio_setup_output(POWER_SWITCH_GPIO);
gpio_clear(POWER_SWITCH_GPIO); // POWER OFF
#endif
autopilot_arming_init();
nav_init();
guidance_h_init();
guidance_v_init();
stabilization_init();
stabilization_none_init();
#if USE_STABILIZATION_RATE
stabilization_rate_init();
#endif
stabilization_attitude_init();
/* set startup mode, propagates through to guidance h/v */
autopilot_set_mode(MODE_STARTUP);
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_AUTOPILOT_VERSION, send_autopilot_version);
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ALIVE, send_alive);
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ROTORCRAFT_STATUS, send_status);
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ATTITUDE, send_attitude);
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ENERGY, send_energy);
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ROTORCRAFT_FP, send_fp);
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ROTORCRAFT_FP_MIN, send_fp_min);
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ROTORCRAFT_CMD, send_rotorcraft_cmd);
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_DL_VALUE, send_dl_value);
#ifdef ACTUATORS
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ACTUATORS, send_actuators);
#endif
#ifdef RADIO_CONTROL
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_RC, send_rc);
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ROTORCRAFT_RADIO_CONTROL, send_rotorcraft_rc);
#endif
}
void autopilot_init(void)
{
/* mode is finally set at end of init if MODE_STARTUP is not KILL */
autopilot_mode = AP_MODE_KILL;
autopilot_motors_on = FALSE;
kill_throttle = ! autopilot_motors_on;
autopilot_in_flight = FALSE;
autopilot_in_flight_counter = 0;
autopilot_mode_auto2 = MODE_AUTO2;
autopilot_ground_detected = FALSE;
autopilot_detect_ground_once = FALSE;
autopilot_flight_time = 0;
autopilot_rc = TRUE;
autopilot_power_switch = FALSE;
#ifdef POWER_SWITCH_GPIO
gpio_setup_output(POWER_SWITCH_GPIO);
gpio_clear(POWER_SWITCH_GPIO); // POWER OFF
#endif
autopilot_arming_init();
nav_init();
guidance_h_init();
guidance_v_init();
stabilization_init();
stabilization_none_init();
stabilization_rate_init();
stabilization_attitude_init();
/* set startup mode, propagates through to guidance h/v */
autopilot_set_mode(MODE_STARTUP);
register_periodic_telemetry(DefaultPeriodic, "AUTOPILOT_VERSION", send_autopilot_version);
register_periodic_telemetry(DefaultPeriodic, "ALIVE", send_alive);
register_periodic_telemetry(DefaultPeriodic, "ROTORCRAFT_STATUS", send_status);
register_periodic_telemetry(DefaultPeriodic, "ATTITUDE", send_attitude);
register_periodic_telemetry(DefaultPeriodic, "ENERGY", send_energy);
register_periodic_telemetry(DefaultPeriodic, "ROTORCRAFT_FP", send_fp);
register_periodic_telemetry(DefaultPeriodic, "ROTORCRAFT_CMD", send_rotorcraft_cmd);
register_periodic_telemetry(DefaultPeriodic, "DL_VALUE", send_dl_value);
#ifdef ACTUATORS
register_periodic_telemetry(DefaultPeriodic, "ACTUATORS", send_actuators);
#endif
#ifdef RADIO_CONTROL
register_periodic_telemetry(DefaultPeriodic, "RC", send_rc);
register_periodic_telemetry(DefaultPeriodic, "ROTORCRAFT_RADIO_CONTROL", send_rotorcraft_rc);
#endif
}
STATIC_INLINE void main_init( void ) {
#ifndef NO_FUCKING_STARTUP_DELAY
#ifndef RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT
/* IF THIS IS NEEDED SOME PERHIPHERAL THEN PLEASE MOVE IT THERE */
for (uint32_t startup_counter=0; startup_counter<2000000; startup_counter++){
__asm("nop");
}
#endif
#endif
mcu_init();
sys_time_init();
electrical_init();
actuators_init();
radio_control_init();
#if DATALINK == XBEE
xbee_init();
#endif
baro_init();
imu_init();
autopilot_init();
nav_init();
guidance_h_init();
guidance_v_init();
stabilization_init();
ahrs_aligner_init();
ahrs_init();
ins_init();
#ifdef USE_GPS
gps_init();
#endif
modules_init();
settings_init();
mcu_int_enable();
}
STATIC_INLINE void main_init( void ) {
#ifndef RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT
/* IF THIS IS NEEDED SOME PERHIPHERAL THEN PLEASE MOVE IT THERE */
for (uint32_t startup_counter=0; startup_counter<2000000; startup_counter++){
__asm("nop");
}
#endif
hw_init();
sys_time_init();
actuators_init();
radio_control_init();
booz2_analog_init();
baro_init();
#if defined USE_CAM || USE_DROP
booz2_pwm_init_hw();
#endif
battery_init();
imu_init();
// booz_fms_init(); // FIXME
autopilot_init();
nav_init();
guidance_h_init();
guidance_v_init();
stabilization_init();
ahrs_aligner_init();
ahrs_init();
ins_init();
#ifdef USE_GPS
booz_gps_init();
#endif
modules_init();
int_enable();
}
STATIC_INLINE void main_init( void ) {
mcu_init();
electrical_init();
actuators_init();
radio_control_init();
#if DATALINK == XBEE
xbee_init();
#endif
imu_init();
autopilot_init();
nav_init();
guidance_h_init();
guidance_v_init();
stabilization_init();
ahrs_aligner_init();
ahrs_init();
baro_init();
ins_init();
#if USE_GPS
gps_init();
#endif
modules_init();
settings_init();
mcu_int_enable();
// register the timers for the periodic functions
main_periodic_tid = sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
radio_control_tid = sys_time_register_timer((1./60.), NULL);
failsafe_tid = sys_time_register_timer(0.05, NULL);
electrical_tid = sys_time_register_timer(0.1, NULL);
baro_tid = sys_time_register_timer(0.02, NULL);
telemetry_tid = sys_time_register_timer((1./60.), NULL);
}
//-----------------------------------------------------------------------------
// Program start
//-----------------------------------------------------------------------------
int main()
{
dev_init(); // Initializes hardware
nav_init(); // initializes navigation
// Print boot message
uart_xbee_print("\n\rINITIALIZATION COMPLETED\r\n");
LED1 = 0;
LED2 = 0;
while (1)
{
delay_ms(500);
LED2 ^= 1;
}
return 0;
}
void vPapabenchInit()
{
mode = MODE_AUTO;
pprz_mode = PPRZ_MODE_HOME;
timer_init();
modem_init();
adc_init();
#ifdef CTL_BRD_V1_1
adc_buf_channel(uint8_t adc_channel, struct adc_buf *s);
#endif
spi_init();
link_fbw_init();
gps_init();
nav_init();
ir_init();
estimator_init();
#ifdef PAPABENCH_SINGLE
fbw_init();
#endif
}
static inline void main_init(void) {
hw_init();
sys_time_init();
imu_init();
baro_init();
radio_control_init();
actuators_init();
overo_link_init();
cscp_init();
adc_init();
#ifdef PASSTHROUGH_CYGNUS
autopilot_init();
nav_init();
guidance_h_init();
guidance_v_init();
stabilization_init();
ahrs_aligner_init();
ahrs_init();
ins_init();
#endif
adc_buf_channel(0, &adc0_buf, 8);
adc_buf_channel(1, &adc1_buf, 8);
adc_buf_channel(2, &adc2_buf, 8);
adc_buf_channel(3, &adc3_buf, 8);
cscp_register_callback(CSC_VANE_MSG_ID, on_vane_msg, (void *)&csc_vane_msg);
new_radio_msg = FALSE;
new_baro_diff = FALSE;
new_baro_abs = FALSE;
new_vane = FALSE;
new_adc = FALSE;
overo_link.up.msg.imu_tick = 0;
}
void init_ap( void )
{
#ifndef SINGLE_MCU /** init done in main_fbw in single MCU */
mcu_init();
#endif /* SINGLE_MCU */
/************* Sensors initialization ***************/
#if USE_GPS
gps_init();
#endif
#ifdef USE_GPIO
GpioInit();
#endif
#if USE_IMU
imu_init();
#endif
#if USE_AHRS_ALIGNER
ahrs_aligner_init();
#endif
#if USE_AHRS
ahrs_init();
#endif
#if USE_BAROMETER
baro_init();
#endif
ins_init();
stateInit();
/************* Links initialization ***************/
#if defined MCU_SPI_LINK || defined MCU_UART_LINK
link_mcu_init();
#endif
#if USE_AUDIO_TELEMETRY
audio_telemetry_init();
#endif
/************ Internal status ***************/
autopilot_init();
h_ctl_init();
v_ctl_init();
nav_init();
modules_init();
settings_init();
/**** start timers for periodic functions *****/
sensors_tid = sys_time_register_timer(1./PERIODIC_FREQUENCY, NULL);
navigation_tid = sys_time_register_timer(1./NAVIGATION_FREQUENCY, NULL);
attitude_tid = sys_time_register_timer(1./CONTROL_FREQUENCY, NULL);
modules_tid = sys_time_register_timer(1./MODULES_FREQUENCY, NULL);
telemetry_tid = sys_time_register_timer(1./60, NULL);
monitor_tid = sys_time_register_timer(1.0, NULL);
/** - start interrupt task */
mcu_int_enable();
#if defined DATALINK
#if DATALINK == XBEE
xbee_init();
#endif
#if DATALINK == W5100
w5100_init();
#endif
#endif /* DATALINK */
#if defined AEROCOMM_DATA_PIN
IO0DIR |= _BV(AEROCOMM_DATA_PIN);
IO0SET = _BV(AEROCOMM_DATA_PIN);
#endif
/************ Multi-uavs status ***************/
#ifdef TRAFFIC_INFO
traffic_info_init();
#endif
}
void init_ap( void ) {
#ifndef SINGLE_MCU /** init done in main_fbw in single MCU */
mcu_init();
sys_time_init();
#endif /* SINGLE_MCU */
/************* Sensors initialization ***************/
#ifdef USE_INFRARED
infrared_init();
#endif
#ifdef USE_GYRO
gyro_init();
#endif
#ifdef USE_GPS
gps_init();
#endif
#ifdef USE_GPIO
GpioInit();
#endif
#ifdef USE_IMU
imu_init();
#endif
#ifdef USE_AHRS
ahrs_aligner_init();
ahrs_init();
#endif
/************* Links initialization ***************/
#if defined MCU_SPI_LINK
link_mcu_init();
#endif
#ifdef MODEM
modem_init();
#endif
/************ Internal status ***************/
h_ctl_init();
v_ctl_init();
estimator_init();
#ifdef ALT_KALMAN
alt_kalman_init();
#endif
nav_init();
modules_init();
settings_init();
/** - start interrupt task */
mcu_int_enable();
/** wait 0.5s (historical :-) */
sys_time_usleep(500000);
#if defined GPS_CONFIGURE
gps_configure_uart();
#endif
#if defined DATALINK
#if DATALINK == XBEE
xbee_init();
#endif
#endif /* DATALINK */
#if defined AEROCOMM_DATA_PIN
IO0DIR |= _BV(AEROCOMM_DATA_PIN);
IO0SET = _BV(AEROCOMM_DATA_PIN);
#endif
power_switch = FALSE;
/************ Multi-uavs status ***************/
#ifdef TRAFFIC_INFO
traffic_info_init();
#endif
}
void
main_init(void)
{
char errbuf[512];
hts_mutex_init(&gconf.state_mutex);
hts_cond_init(&gconf.state_cond, &gconf.state_mutex);
gconf.exit_code = 1;
asyncio_init_early();
init_group(INIT_GROUP_NET);
unicode_init();
/* Initialize property tree */
prop_init();
init_global_info();
/* Initiailize logging */
trace_init();
/* Callout framework */
callout_init();
prop_init_late();
/* Initialize htsmsg_store() */
htsmsg_store_init();
/* Notification framework */
notifications_init();
/* Initialize settings */
settings_init();
TRACE(TRACE_DEBUG, "core", "Loading resources from %s", app_dataroot());
TRACE(TRACE_DEBUG, "core", "Cache path: %s", gconf.cache_path);
/* Try to create cache path */
if(gconf.cache_path != NULL &&
fa_makedirs(gconf.cache_path, errbuf, sizeof(errbuf))) {
TRACE(TRACE_ERROR, "core", "Unable to create cache path %s -- %s",
gconf.cache_path, errbuf);
gconf.cache_path = NULL;
}
/* Initialize sqlite3 */
#if ENABLE_SQLITE
db_init();
#endif
/* Initializte blob cache */
blobcache_init();
TRACE(TRACE_DEBUG, "core", "Persistent path: %s", gconf.persistent_path);
/* Try to create settings path */
if(gconf.persistent_path != NULL &&
fa_makedirs(gconf.persistent_path, errbuf, sizeof(errbuf))) {
TRACE(TRACE_ERROR, "core",
"Unable to create path for persistent storage %s -- %s",
gconf.persistent_path, errbuf);
gconf.persistent_path = NULL;
}
/* Per-item key/value store */
kvstore_init();
/* Metadata init */
#if ENABLE_METADATA
metadata_init();
metadb_init();
decoration_init();
#endif
subtitles_init();
/* Initialize keyring */
keyring_init();
#if ENABLE_LIBAV
/* Initialize libavcodec & libavformat */
av_lockmgr_register(fflockmgr);
av_log_set_callback(fflog);
av_register_all();
TRACE(TRACE_INFO, "libav", LIBAVFORMAT_IDENT", "LIBAVCODEC_IDENT", "LIBAVUTIL_IDENT" cpuflags:0x%x", av_get_cpu_flags());
#endif
init_group(INIT_GROUP_GRAPHICS);
#if ENABLE_GLW
glw_settings_init();
#endif
/* Global keymapper */
keymapper_init();
/* Initialize media subsystem */
media_init();
/* Service handling */
service_init();
/* Initialize backend content handlers */
backend_init();
/* Initialize navigator */
nav_init();
/* Initialize audio subsystem */
audio_init();
/* Initialize plugin manager */
plugins_init(gconf.devplugins);
/* Start software installer thread (plugins, upgrade, etc) */
hts_thread_create_detached("swinst", swthread, NULL, THREAD_PRIO_BGTASK);
/* Internationalization */
i18n_init();
/* Video settings */
video_settings_init();
/* Various interprocess communication stuff (D-Bus on Linux, etc) */
init_group(INIT_GROUP_IPC);
/* Service discovery. Must be after ipc_init() (d-bus and threads, etc) */
if(!gconf.disable_sd)
sd_init();
/* Initialize various external APIs */
init_group(INIT_GROUP_API);
/* Asynchronous IO (Used by HTTP server, etc) */
asyncio_start();
runcontrol_init();
TRACE(TRACE_DEBUG, "SYSTEM", "Hashed device ID: %s", gconf.device_id);
if(gconf.device_type[0])
TRACE(TRACE_DEBUG, "SYSTEM", "Device type: %s", gconf.device_type);
}
void init_ap( void ) {
#ifndef SINGLE_MCU /** init done in main_fbw in single MCU */
mcu_init();
#endif /* SINGLE_MCU */
/****** initialize and reset state interface ********/
stateInit();
/************* Sensors initialization ***************/
#if USE_GPS
gps_init();
#endif
#if USE_IMU
imu_init();
#if USE_IMU_FLOAT
imu_float_init();
#endif
#endif
#if USE_AHRS_ALIGNER
ahrs_aligner_init();
#endif
#if USE_AHRS
ahrs_init();
#endif
#if USE_AHRS && USE_IMU
register_periodic_telemetry(DefaultPeriodic, "STATE_FILTER_STATUS", send_fliter_status);
#endif
air_data_init();
#if USE_BARO_BOARD
baro_init();
#endif
ins_init();
/************* Links initialization ***************/
#if defined MCU_SPI_LINK || defined MCU_UART_LINK
link_mcu_init();
#endif
#if USE_AUDIO_TELEMETRY
audio_telemetry_init();
#endif
/************ Internal status ***************/
autopilot_init();
h_ctl_init();
v_ctl_init();
nav_init();
modules_init();
settings_init();
/**** start timers for periodic functions *****/
sensors_tid = sys_time_register_timer(1./PERIODIC_FREQUENCY, NULL);
navigation_tid = sys_time_register_timer(1./NAVIGATION_FREQUENCY, NULL);
attitude_tid = sys_time_register_timer(1./CONTROL_FREQUENCY, NULL);
modules_tid = sys_time_register_timer(1./MODULES_FREQUENCY, NULL);
telemetry_tid = sys_time_register_timer(1./TELEMETRY_FREQUENCY, NULL);
monitor_tid = sys_time_register_timer(1.0, NULL);
/** - start interrupt task */
mcu_int_enable();
#if defined DATALINK
#if DATALINK == XBEE
xbee_init();
#endif
#if DATALINK == W5100
w5100_init();
#endif
#endif /* DATALINK */
#if defined AEROCOMM_DATA_PIN
IO0DIR |= _BV(AEROCOMM_DATA_PIN);
IO0SET = _BV(AEROCOMM_DATA_PIN);
#endif
/************ Multi-uavs status ***************/
#ifdef TRAFFIC_INFO
traffic_info_init();
#endif
/* set initial trim values.
* these are passed to fbw via inter_mcu.
*/
ap_state->command_roll_trim = COMMAND_ROLL_TRIM;
ap_state->command_pitch_trim = COMMAND_PITCH_TRIM;
ap_state->command_yaw_trim = COMMAND_YAW_TRIM;
}
void init_ap( void ) {
#ifndef SINGLE_MCU /** init done in main_fbw in single MCU */
hw_init();
sys_time_init();
#ifdef LED
led_init();
#endif
#ifdef ADC
adc_init();
#endif
#endif /* SINGLE_MCU */
/************* Sensors initialization ***************/
#ifdef USE_INFRARED
ir_init();
#endif
#ifdef USE_GYRO
gyro_init();
#endif
#ifdef USE_GPS
gps_init();
#endif
#ifdef USE_UART0
Uart0Init();
#endif
#ifdef USE_UART1
Uart1Init();
#endif
#ifdef USE_UART2
Uart2Init();
#endif
#ifdef USE_UART3
Uart3Init();
#endif
#ifdef USE_USB_SERIAL
VCOM_init();
#endif
#ifdef USE_GPIO
GpioInit();
#endif
#ifdef USE_I2C0
i2c0_init();
#endif
#ifdef USE_I2C1
i2c1_init();
#endif
#ifdef USE_I2C2
i2c2_init();
#endif
/************* Links initialization ***************/
#if defined USE_SPI
spi_init();
#endif
#if defined MCU_SPI_LINK
link_mcu_init();
#endif
#ifdef MODEM
modem_init();
#endif
/************ Internal status ***************/
h_ctl_init();
v_ctl_init();
estimator_init();
#ifdef ALT_KALMAN
alt_kalman_init();
#endif
nav_init();
modules_init();
/** - start interrupt task */
int_enable();
/** wait 0.5s (historical :-) */
sys_time_usleep(500000);
#if defined GPS_CONFIGURE
gps_configure_uart();
#endif
#if defined DATALINK
#if DATALINK == XBEE
xbee_init();
#endif
#endif /* DATALINK */
#if defined AEROCOMM_DATA_PIN
IO0DIR |= _BV(AEROCOMM_DATA_PIN);
IO0SET = _BV(AEROCOMM_DATA_PIN);
#endif
power_switch = FALSE;
/************ Multi-uavs status ***************/
#ifdef TRAFFIC_INFO
traffic_info_init();
#endif
}
void
showtime_init(void)
{
int r;
hts_mutex_init(&gconf.state_mutex);
hts_cond_init(&gconf.state_cond, &gconf.state_mutex);
gconf.exit_code = 1;
unicode_init();
/* Initialize property tree */
prop_init();
init_global_info();
/* Initiailize logging */
trace_init();
/* Callout framework */
callout_init();
/* Initialize htsmsg_store() */
htsmsg_store_init();
/* Notification framework */
notifications_init();
/* Initialize settings */
settings_init();
TRACE(TRACE_DEBUG, "core", "Loading resources from %s", showtime_dataroot());
/* Try to create cache path */
if(gconf.cache_path != NULL &&
(r = makedirs(gconf.cache_path)) != 0) {
TRACE(TRACE_ERROR, "cache", "Unable to create cache path %s -- %s",
gconf.cache_path, strerror(r));
gconf.cache_path = NULL;
}
/* Initialize sqlite3 */
db_init();
/* Initializte blob cache */
blobcache_init();
/* Try to create settings path */
if(gconf.persistent_path != NULL &&
(r = makedirs(gconf.persistent_path)) != 0) {
TRACE(TRACE_ERROR, "settings",
"Unable to create path for persistent storage %s -- %s",
gconf.persistent_path, strerror(r));
gconf.persistent_path = NULL;
}
/* Metadata init */
metadata_init();
metadb_init();
kvstore_init();
/* Metadata decoration init */
decoration_init();
/* Initialize keyring */
keyring_init();
#if ENABLE_LIBAV
/* Initialize libavcodec & libavformat */
av_lockmgr_register(fflockmgr);
av_log_set_callback(fflog);
av_register_all();
TRACE(TRACE_INFO, "libav", LIBAVFORMAT_IDENT", "LIBAVCODEC_IDENT", "LIBAVUTIL_IDENT);
#endif
/* Freetype */
#if ENABLE_LIBFREETYPE
freetype_init();
rasterizer_ft_init();
#endif
#if ENABLE_GLW
glw_settings_init();
#endif
fontstash_init();
/* Global keymapper */
keymapper_init();
/* Initialize media subsystem */
media_init();
/* Service handling */
service_init();
/* Initialize backend content handlers */
backend_init();
/* Initialize navigator */
nav_init();
/* Initialize audio subsystem */
audio_init();
/* Initialize plugin manager */
plugins_init(gconf.devplugin);
/* Start software installer thread (plugins, upgrade, etc) */
hts_thread_create_detached("swinst", swthread, NULL, THREAD_PRIO_LOW);
/* Internationalization */
i18n_init();
/* Video settings */
video_settings_init();
if(gconf.load_jsfile)
js_load(gconf.load_jsfile);
/* Various interprocess communication stuff (D-Bus on Linux, etc) */
init_group(INIT_GROUP_IPC);
/* Service discovery. Must be after ipc_init() (d-bus and threads, etc) */
if(!gconf.disable_sd)
sd_init();
/* Initialize various external APIs */
init_group(INIT_GROUP_API);
/* HTTP server and UPNP */
#if ENABLE_HTTPSERVER
http_server_init();
if(!gconf.disable_upnp)
upnp_init();
#endif
runcontrol_init();
}
/**
* Showtime main
*/
int
main(int argc, char **argv)
{
struct timeval tv;
const char *settingspath = NULL;
const char *uiargs[16];
const char *argv0 = argc > 0 ? argv[0] : "showtime";
const char *forceview = NULL;
int nuiargs = 0;
int can_standby = 0;
int can_poweroff = 0;
int r;
trace_level = TRACE_INFO;
gettimeofday(&tv, NULL);
srand(tv.tv_usec);
arch_set_default_paths(argc, argv);
/* We read options ourselfs since getopt() is broken on some (nintento wii)
targets */
argv++;
argc--;
while(argc > 0) {
if(!strcmp(argv[0], "-h") || !strcmp(argv[0], "--help")) {
printf("HTS Showtime %s\n"
"Copyright (C) 2007-2010 Andreas Öman\n"
"\n"
"Usage: %s [options] [<url>]\n"
"\n"
" Options:\n"
" -h, --help - This help text.\n"
" -d - Enable debug output.\n"
" --ffmpeglog - Print ffmpeg log messages.\n"
" --with-standby - Enable system standby.\n"
" --with-poweroff - Enable system power-off.\n"
" -s <path> - Non-default Showtime settings path.\n"
" --ui <ui> - Use specified user interface.\n"
" -L <ip:host> - Send log messages to remote <ip:host>.\n"
" --syslog - Send log messages to syslog.\n"
#if ENABLE_STDIN
" --stdin - Listen on stdin for events.\n"
#endif
" -v <view> - Use specific view for <url>.\n"
" --cache <path> - Set path for cache [%s].\n"
#if ENABLE_SERDEV
" --serdev - Probe service ports for devices.\n"
#endif
"\n"
" URL is any URL-type supported by Showtime, "
"e.g., \"file:///...\"\n"
"\n",
htsversion_full,
argv0,
showtime_cache_path);
exit(0);
argc--;
argv++;
} else if(!strcmp(argv[0], "-d")) {
trace_level++;
argc -= 1;
argv += 1;
continue;
} else if(!strcmp(argv[0], "--ffmpeglog")) {
ffmpeglog = 1;
argc -= 1;
argv += 1;
continue;
} else if(!strcmp(argv[0], "--syslog")) {
trace_to_syslog = 1;
argc -= 1;
argv += 1;
continue;
} else if(!strcmp(argv[0], "--stdin")) {
listen_on_stdin = 1;
argc -= 1;
argv += 1;
continue;
#if ENABLE_SERDEV
} else if(!strcmp(argv[0], "--serdev")) {
enable_serdev = 1;
argc -= 1;
argv += 1;
continue;
#endif
} else if(!strcmp(argv[0], "--with-standby")) {
can_standby = 1;
argc -= 1;
argv += 1;
continue;
} else if(!strcmp(argv[0], "--with-poweroff")) {
can_poweroff = 1;
argc -= 1;
argv += 1;
continue;
} else if(!strcmp(argv[0], "-s") && argc > 1) {
settingspath = argv[1];
argc -= 2;
argv += 2;
continue;
} else if(!strcmp(argv[0], "--ui") && argc > 1) {
if(nuiargs < 16)
uiargs[nuiargs++] = argv[1];
argc -= 2;
argv += 2;
continue;
} else if(!strcmp(argv[0], "-L") && argc > 1) {
showtime_logtarget = argv[1];
argc -= 2;
argv += 2;
continue;
} else if (!strcmp(argv[0], "-v") && argc > 1) {
forceview = argv[1];
argc -= 2;
argv += 2;
} else if (!strcmp(argv[0], "--cache") && argc > 1) {
mystrset(&showtime_cache_path, argv[1]);
argc -= 2;
argv += 2;
#ifdef __APPLE__
/* ignore -psn argument, process serial number */
} else if(!strncmp(argv[0], "-psn", 4)) {
argc -= 1;
argv += 1;
continue;
#endif
} else
break;
}
unicode_init();
/* Initialize property tree */
prop_init();
init_global_info();
/* Initiailize logging */
trace_init();
/* Callout framework */
callout_init();
/* Notification framework */
notifications_init();
/* Architecture specific init */
arch_init();
htsmsg_store_init();
/* Try to create cache path */
if(showtime_cache_path != NULL &&
(r = makedirs(showtime_cache_path)) != 0) {
TRACE(TRACE_ERROR, "cache", "Unable to create cache path %s -- %s",
showtime_cache_path, strerror(r));
showtime_cache_path = NULL;
}
/* Initializte blob cache */
blobcache_init();
/* Try to create settings path */
if(showtime_settings_path != NULL &&
(r = makedirs(showtime_settings_path)) != 0) {
TRACE(TRACE_ERROR, "settings", "Unable to create settings path %s -- %s",
showtime_settings_path, strerror(r));
showtime_settings_path = NULL;
}
/* Initialize keyring */
keyring_init();
/* Initialize settings */
settings_init();
/* Initialize libavcodec & libavformat */
av_lockmgr_register(fflockmgr);
av_log_set_callback(fflog);
av_register_all();
/* Freetype keymapper */
#if ENABLE_LIBFREETYPE
freetype_init();
#endif
/* Global keymapper */
keymapper_init();
/* Initialize media subsystem */
media_init();
/* Service handling */
service_init();
/* Initialize backend content handlers */
backend_init();
/* Initialize navigator */
nav_init();
/* Initialize audio subsystem */
audio_init();
/* Initialize bookmarks */
bookmarks_init();
/* Initialize plugin manager and load plugins */
plugins_init();
/* Internationalization */
i18n_init();
nav_open(NAV_HOME, NULL);
/* Open initial page */
if(argc > 0)
nav_open(argv[0], forceview);
/* Various interprocess communication stuff (D-Bus on Linux, etc) */
ipc_init();
/* Service discovery. Must be after ipc_init() (d-bus and threads, etc) */
sd_init();
/* Initialize various external APIs */
api_init();
/* HTTP server and UPNP */
#if ENABLE_HTTPSERVER
http_server_init();
upnp_init();
#endif
/* */
runcontrol_init(can_standby, can_poweroff);
TRACE(TRACE_DEBUG, "core", "Starting UI");
/* Initialize user interfaces */
ui_start(nuiargs, uiargs, argv0);
finalize();
}
void cmd_lcd_test(uint_least16_t fgcolor, uint_least16_t bgcolor)
{
uint_least8_t c=1, f_save=features;
char tmp[32];
#ifdef TP_SUPPORT
uint_least16_t x, y, z, last_x=0, last_y=0;
uint_least32_t ms=0;
tp_init();
ldr_init();
features = FEATURE_TP | FEATURE_LDR; //FEATURE_TP | FEATURE_LDR
#else
uint_least8_t sw;
int_least8_t pos=0, hpos=0, vpos=0;
enc_init();
features = FEATURE_ENC;
#endif
lcd_fillrect(0, 0, (LCD_WIDTH-1)/3, LCD_HEIGHT-1, RGB(255,0,0));
lcd_fillrect((LCD_WIDTH-1)/3, 0, ((LCD_WIDTH-1)/3)*2, LCD_HEIGHT-1, RGB(0,255,0));
lcd_fillrect(((LCD_WIDTH-1)/3)*2, 0, LCD_WIDTH-1, LCD_HEIGHT-1, RGB(0,0,255));
/*
delay_ms(1500);
lcd_clear(bgcolor);
lcd_setorientation( 0); lcd_drawrect(10, 20, 40, 40, RGB(200, 0, 0)); lcd_drawtext(15, 25, "0 ", 0, RGB(200, 0, 0), 0, 0);
lcd_setorientation( 90); lcd_drawrect(10, 20, 40, 40, RGB( 0,200, 0)); lcd_drawtext(15, 25, "90 ", 0, RGB( 0,200, 0), 0, 0);
lcd_setorientation(180); lcd_drawrect(10, 20, 40, 40, RGB( 0, 0,200)); lcd_drawtext(15, 25, "180", 0, RGB( 0, 0,200), 0, 0);
lcd_setorientation(270); lcd_drawrect(10, 20, 40, 40, RGB(200, 0,200)); lcd_drawtext(15, 25, "270", 0, RGB(200, 0,200), 0, 0);
lcd_setorientation(0);
lcd_drawline(0, LCD_WIDTH/4*1, LCD_WIDTH-1, LCD_WIDTH/4*1, RGB(120,120,120));
lcd_drawline(0, LCD_WIDTH/4*2, LCD_WIDTH-1, LCD_WIDTH/4*2, RGB(120,120,120));
lcd_drawline(0, LCD_WIDTH/4*3, LCD_WIDTH-1, LCD_WIDTH/4*3, RGB(120,120,120));
lcd_drawline(LCD_WIDTH/4*1, 0, LCD_WIDTH/4*1, LCD_HEIGHT-1, RGB(120,120,120));
lcd_drawline(LCD_WIDTH/4*2, 0, LCD_WIDTH/4*2, LCD_HEIGHT-1, RGB(120,120,120));
lcd_drawline(LCD_WIDTH/4*3, 0, LCD_WIDTH/4*3, LCD_HEIGHT-1, RGB(120,120,120));
lcd_drawcircle(LCD_WIDTH/2, LCD_HEIGHT/2, 40, RGB(120,120,120));
*/
lcd_drawtext(LCD_CENTER, LCD_HEIGHT/2-5, "v"VERSION, 0, 0, 0, 0);
lcd_drawtext(LCD_CENTER, LCD_HEIGHT/2+5, "("__DATE__")", 0, 0, 0, 0);
lcd_drawtext(LCD_CENTER, LCD_HEIGHT-10, "watterott.com", 1, 0, 0, 0);
do
{
#ifdef TP_SUPPORT
tp_read();
z = tp_getz();
if(z)
{
x = tp_getx();
y = tp_gety();
if((x!=last_x) || (y!=last_y))
{
last_x = x;
last_y = y;
lcd_fillcircle(x, y, 4, fgcolor); //lcd_drawpixel(x, y);
sprintf(tmp, "X%03i Y%03i Z%03i", x, x, z);
lcd_drawtext(5, 5, tmp, 0, fgcolor, bgcolor, 1);
}
GPIO_SETPIN(LED_PORT, LED_PIN); //LED on
}
else
{
GPIO_CLRPIN(LED_PORT, LED_PIN); //LED off
}
if(features & FEATURE_LDR)
{
if((get_ms() - ms) >= 100)
{
ms = get_ms();
x = ldr_service(100);
sprintf(tmp, "LDR %03i", x);
lcd_drawtext(5, 15, tmp, 0, fgcolor, bgcolor, 1);
}
}
#else //TP_SUPPORT
pos += enc_getdelta();
hpos += nav_gethdelta();
vpos += nav_getvdelta();
sprintf(tmp, "P%03i H%03i V%03i", pos, hpos, vpos);
lcd_drawtext(5, 5, tmp, 0, fgcolor, bgcolor, 1);
sw = enc_getsw();
sw |= nav_getsw();
if(sw)
{
GPIO_SETPIN(LED_PORT, LED_PIN); //LED on
if(sw & 0x02)
{
if(features == FEATURE_ENC)
{
sprintf(tmp, "NAV");
nav_init();
features = FEATURE_NAV;
}
else //if(features == FEATURE_NAV)
{
sprintf(tmp, "ENC");
enc_init();
features = FEATURE_ENC;
}
lcd_drawtext(5, 25, tmp, 0, fgcolor, bgcolor, 1);
delay_ms(500);
while(enc_getsw() || nav_getsw());
}
else if(sw & 0x01)
{
lcd_drawtext(5, 15, "press", 0, fgcolor, bgcolor, 1);
}
}
else
{
GPIO_CLRPIN(LED_PORT, LED_PIN); //LED off
}
#endif
if(if_available())
{
c = if_read8();
}
}while(c != 0);
GPIO_CLRPIN(LED_PORT, LED_PIN); //LED off
lcd_clear(bgcolor);
features = f_save;
return;
}