SocketCanPump::SocketCanPump(double nominal_frequency,
double bitrate, size_t channels,
size_t nominal_pump_size, bool virtual_can) :
CanPump(nominal_frequency, bitrate, channels, nominal_pump_size)
{
initialize_devices(virtual_can);
}
static void PLATFORM_main_task(void* pvParameters) {
subsystem_t *ss = pvParameters;
g_previous_mode = SM_OFF;
g_mode = g_next_mode = SM_BOOTING;
retval_t rv;
initialize_nvram();
increment_reboot_counter();
saved_last_boot_reason = nvram.platform.last_boot_reason;
PLATFORM_save_boot_reason("Unexpected reboot");
rv = board_init_scheduler_running();
FUTURE_HOOK_1(PM_board_init_failure, &rv);
if (rv != RV_SUCCESS) {
/* XXX save in subsystem status, report in beacons */
}
display_boot_banner();
initialize_devices();
PLATFORM_ss_is_ready(ss);
PLATFORM_ss_expect_heartbeats(ss, HEARTBEAT_MAIN_TASK);
start_ss_tasks();
if (!wait_all_ss_ready(PM_SS_BOOT_TIMEOUT_MS / portTICK_RATE_MS)) {
report_ss_states_and_hang(true);
}
while (1) {
PLATFORM_ss_is_alive(ss, HEARTBEAT_MAIN_TASK);
if (g_mode != g_next_mode) {
FUTURE_HOOK_3(platform_mode_change, ss, &g_mode, &g_next_mode);
mode_change_synchronous(g_next_mode, PM_SS_MODE_CHANGE_TIMEOUT_MS);
PLATFORM_ss_is_ready(ss);
}
switch (PLATFORM_current_satellite_mode()) {
case SM_BOOTING:
PLATFORM_request_mode_change(SM_INITIALIZING);
break;
case SM_INITIALIZING:
if (are_all_vital_ready()) {
PLATFORM_request_mode_change(SM_SURVIVAL);
} else {
/* Do nothing. Ground Control will decide what to do */
}
default:
break;
}
check_and_update_heartbeat_watchdog();
vTaskDelay(PM_MODE_CHANGE_DETECT_TIME_SLOT_MS / portTICK_RATE_MS);
}
}
bool initialize_system(void)
{
if (!initialize_ports() ||
!initialize_devices() ||
!initialize_interrupts() ||
!initialize_timers() ||
!initialize_menu_tree())
return (false);
return (true);
}
int main()
{
initialize_devices();
while (true)
do_background_task();
}
