int main(int argc, char *argv[]) {
/* Init ROS */
ros::init(argc, argv, "obstacle_detect");
ROS_INFO("obstacle_detect started");
ros::NodeHandle n;
pub = n.advertise<roscv2::Grid>("obstacle_grid", 10);
ros::Subscriber img_sub = n.subscribe("/my_stereo/left/image_rect_color",
1, img_callback);
ros::Subscriber disp_sub = n.subscribe("/my_stereo/disparity",
1, disp_callback);
#ifdef CV_OUTPUT
init_cv();
#endif
/* Spin */
while (ros::ok()) {
loop();
cv::waitKey(1);
ros::spinOnce();
}
#ifdef CV_OUTPUT
cleanup_cv();
#endif
return 0;
}
//-------------------------------
// main function
int main(void) {
//u32 del;
// turn on execution counter
// default .crt does this for us
// __asm__ __volatile__("R0 = 0x32; SYSCFG = R0; CSYNC;":::"R0");
// initialize clocks and power
init_clocks();
// configure programmable flags
init_flags();
READY_LO;
// intialize the sdram controller
init_EBIU();
// intialize the flash controller (which, weirdly, handles gpio)
// init_flash();
/// initialize the CV dac (reset)
init_cv();
// intialize the sport0 for audio rx/tx
init_sport0();
// intialize the sport1 for cv out
init_sport1();
// intialize DMA for audio
init_DMA();
// // put the spi back in slave mode to receive param changes from avr32
init_spi_slave();
// intialize the audio processing unit (assign memory)
module_init();
// assign interrupts
init_interrupts();
// begin audio transfers
enable_DMA_sport0();
// begin cv transfers
enable_DMA_sport1();
// initialize the codec
init_1939();
// leds on
LED3_HI;
LED4_HI;
// signal the ready flag
READY_HI;
while(1) {
// fixme: everything happens in ISRs!
// ;;
/*
//// TODO / FIXME:
update a param change FIFO here?
for now, the answer is no:
instead, we are asking avr32 to hold off sending params
for as long as the ready-pin is deasserted by frame or control change processing.
*/
/// while frame processing
// ctl_next_frame();
// ctl_perform_last_change();
}
}
