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;
}
}
}
/**
* This API checks the new GNI against the system view to decide what really
* needs to be done.
* For MIDONET VPC mode, all is done in this driver API.
* @param pConfig [in] a pointer to eucanetd system-wide configuration
* @param pGni [in] a pointer to the Global Network Information structure
* @param pGniApplied [in] a pointer to the previously successfully implemented GNI
* @return A bitmask indicating what needs to be done. The following bits are
* the ones to look for: EUCANETD_RUN_NETWORK_API, EUCANETD_RUN_SECURITY_GROUP_API
* and EUCANETD_RUN_ADDRESSING_API.
*/
static u32 network_driver_system_scrub(eucanetdConfig *pConfig, globalNetworkInfo *pGni, globalNetworkInfo *pGniApplied) {
int rc = 0;
u32 ret = EUCANETD_RUN_NO_API;
struct timeval tv;
eucanetd_timer(&tv);
// Make sure midoname buffer is available
midonet_api_cache_midos_init();
// Need a valid global network view
if (!pConfig || !pGni) {
LOGERROR("Failed to scrub the system for '%s' network driver. Invalid parameters provided.\n", DRIVER_NAME());
return (ret);
}
int config_changed = cmp_gni_config(pGni, pGniApplied);
if (!IS_INITIALIZED() || (pGni && config_changed)) {
LOGINFO("(re)initializing %s driver.\n", DRIVER_NAME());
if (pMidoConfig) {
free_mido_config(pMidoConfig);
gInitialized = FALSE;
} else {
LOGERROR("failed to (re)initialize config options: VPCMIDO driver not initialized\n");
return (EUCANETD_RUN_ERROR_API);
}
rc = network_driver_init(pConfig, pGni);
if (rc) {
LOGERROR("failed to (re)initialize config options\n");
return (EUCANETD_RUN_ERROR_API);
}
pGniApplied = NULL;
}
if (config_changed & GNI_CONFIG_DIFF_MIDONODES) {
pMidoConfig->midotz_ok = FALSE;
}
LOGTRACE("euca VPCMIDO system state: %s\n", midonet_api_system_changed == 0 ? "CLEAN" : "DIRTY");
rc = do_midonet_update(pGni, pGniApplied, pMidoConfig);
if (rc != 0) {
LOGERROR("failed to update midonet: check log for details\n");
switch (rc) {
case -2:
// Accept errors in instances/interface implementation.
ret = EUCANETD_VPCMIDO_IFERROR;
break;
case -1:
// Accept errors in gateway(s) implementation.
ret = EUCANETD_VPCMIDO_GWERROR;
break;
default:
ret = EUCANETD_RUN_ERROR_API;
}
} else {
LOGTRACE("Networking state sync: updated successfully in %.2f ms\n", eucanetd_timer_usec(&tv) / 1000.0);
pMidoConfig->config->mido_arptable_config_changed = FALSE;
}
return (ret);
}
