// #if 0
int main(int argc, char *argv[])
{
int opt;
int ret;
char *menu[] =
{
"con_mng -p port -n listen_num\n",
NULL
};
if(argc < 4)
{
help(menu);
return -1;
}
while((opt = getopt(argc, argv, "p:n:")) != -1)
{
switch(opt)
{
case 'p':
cm.cm_port = atoi(optarg);
case 'n':
cm.listen_num = atoi(optarg);
break;
case ':':
printf("option needs a value\n");
break;
case '?':
printf("unknown option: %c\n", optopt);
break;
}
}
init_log(NULL, NULL);
log_msg(__FUNCTION__);
init_err_msg();
init_cmd_handler();
init_cm();
ret = cm_build_server(cm.cm_port, cm.listen_num);
if(ret != 0)
{
log_msg("cm_build_server() failed");
return -1;
}
cm_set_timer(CM_TIMER_SEC, CM_TIMER_USEC);
return 0;
}
/**
* Starts the initialization, the tasks and then the scheduler.
*/
int main(void)
{
/* disable ETM at very first */
PINSEL10 &= ~((unsigned int)(1 << 3));
/* Initialize BMC hardware */
global_data.bmc_resetcause = 0x00;
/* IPMI message sequence counter */
global_data.seq_counter = 0x00;
/* site number used for entity instance */
global_data.bmc_siteno = 0x00;
/* reset sdr list */
sdr_list.sdr_count = 0;
/* init PLL */
init_clock();
/* init interrupts */
init_irq();
/* get reset cause */
init_resetcause();
/* init port pins */
init_portpins();
/* CUSTOM BOARD INIT CODE LOCATION 1 */
custom_init_1();
/* get HW and IPMB address */
custom_get_hw_ipmb_address();
uptime_init();
/* init RTC */
rtc_init();
/* create the FreeRTOS queues */
create_queues();
uart_init(UART_DEBUG_CONNECTOR, 115200);
uart_printf("Firmware started...\n");
/* init SPI/SSP controllers */
spi_init();
/* init SPI FLASH */
spi_flash_init_devices();
spi_flash_init(&spi_flash);
#ifdef CFG_MMC_I2C_MASTER
/* init BMC master I2C bus */
master_i2c_init(MASTER_BUS_I2C);
#endif
/* init EEPROM file system */
//spi_eeprom_init(&spi_eeprom);
#ifdef CFG_FS
if (fs_init(&efs, &spi_eeprom) != 0)
{
uart_printf("\nEEPROM not accesable!\n");
/* reboot bmc */
lpc_watchdog_start(CFG_BL_WATCHDOG_TIMEOUT, WD_RESET_MODE);
while (1);
}
#endif
/* init leds */
//led_init();
#ifndef CFG_ONCHIP_FLASH_GLOBAL_CONF
/* check EEPROM areas */
//eeprom_integrity_check_areas();
#endif
/* init CLI (and debug console) */
cli_uart_init(115200);
/* handle reset type warm/cold? */
//fru_handle_reset_type();
#ifdef CFG_CM
cm_fru_get_last_known_state();
#endif
#ifdef CFG_EXT_INT
/* init external interrupts */
external_interrupt_init();
#endif
#ifdef CFG_HELPER
/* init the helper task */
helper_init();
#endif
#ifdef CFG_BIOS_FLASH
/* init BIOS FLASH */
spi_flash_init(&bios_flash);
/* init FPGA BIOS flash selection */
bios_restore_active_flash_from_eeprom();
#endif
/* CUSTOM BOARD INIT CODE LOCATION 2 */
//custom_init_2();
/* get global configuration from EEPROM */
global_config();
/* CUSTOM BOARD INIT CODE LOCATION 3 */
//custom_init_3();
/* parse FRU */
fru_init(0);
#if defined (CFG_CM) || defined (CFG_MMC) || defined (CFG_IRTM) || defined(CFG_MCMC)
/* init the IPMB-L interface(s) */
ipmbl_init();
#endif
#ifdef CFG_LAN
/* read and set ncsi mac address from fru */
custom_set_ncsi_mac();
#endif
/* create message pool for IPMI messages */
message_pool_init();
/* init board task */
board_init();
/* init the BMC task */
bmc_init();
#ifdef CFG_PI_SERIAL_BASIC
/* init the payload interface */
pi_uart_b_init(CFG_PI_PORT_RATE);
#endif /* CFG_PI_SERIAL_BASIC */
#ifdef CFG_PI_SERIAL_TERMINAL
/* init the payload interface */
pi_uart_t_init(CFG_PI_PORT_RATE);
#endif /* CFG_PI_SERIAL_TERMINAL */
#ifdef CFG_PI_KCS
/* initialise kcs interface */
kcs_init();
#endif /* CFG_PI_KCS */
#ifdef CFG_ATCA
if (global_conf.operation_mode == OPERATION_MODE_STANDALONE)
{
/* configure IPMB-A and IPMB-B as master only in stanalone mode */
master_i2c_init(IPMB0A_I2C);
master_i2c_init(IPMB0B_I2C);
/* enable IPMB-0 pull ups and buffer */
ipmb0_bus_ctrl(IPMB0_A, IPMB_ENABLE);
ipmb0_bus_ctrl(IPMB0_B, IPMB_ENABLE);
}
else
{
/* init the IPMB-0 interface */
ipmb0_init();
}
#endif
#ifdef CFG_LAN_PLUS
sol_init();
#endif
#ifdef CFG_LAN
/* init ethernet hardware and Task */
eth_start();
#endif
/* init the SDR task */
/* PORT_NOTE: Needs to be started AFTER BMC task because of Semaphore dependency */
sdr_init();
/* parse all PICMG Records in FRU data and store relevant information */
//fru_parse_picmg();
/* init the IPMI message hub */
msg_hub_init();
/* init the event task */
event_init();
#ifdef CFG_CM
/* init the CM task */
init_cm();
#endif
#ifdef CFG_COOLING_MANAGER
cool_init();
#endif
/* do all post tests */
//post_test();
/* needs to be done after sdr initialization */
//hpm_check_bl_flags();
#ifdef CFG_BIOS_FLASH
/* collect BIOS/NVRAM version info (if payload power is off) */
if (!(signal_read(&sig_payload_power_enable)))
{
bios_redundancy_get_versions();
}
#endif
#ifdef CFG_WATCHDOG
/* start the FW watchdog */
lpc_watchdog_start(CFG_FW_WATCHDOG_TIMEOUT, WD_RESET_MODE);
#endif
/* set desired debug output mode before starting scheduler */
global_debug_uart_enabled = CFG_GLOBAL_DEBUG_UART;
/* all tasks have been initialized, start the scheduler */
vTaskStartScheduler();
/* Should never reach here! */
while (1);
}
void* azelComm(void* arg)
{
int ser_attempts = 0; // number of attempts to open port
int init_attempts = 0; // number of attempts to initialize motor
nameThread("AzEl");
bprintf(startup, "Starting serial thread for motors.");
/* initialize values in the motor info structs */
azinfo.fd = 0;
azinfo.open = 0;
azinfo.init = 0;
azinfo.closing = 0;
//azinfo.ref = az_enc;
strncpy(azinfo.motorstr, "az", 3);
elinfo.fd = 0;
elinfo.open = 0;
elinfo.init = 0;
elinfo.closing = 0;
//elinfo.ref = el_enc;
strncpy(elinfo.motorstr, "el", 3);
/* try to open the ports */
while (azinfo.open == 0) {
open_cm(AZ_DEVICE, &azinfo);
if (ser_attempts == 10) {
bputs(err, "Unable to open az motor port after 10 attempts.\n");
}
ser_attempts++;
if (azinfo.open == 1) {
bprintf(info, "Opened the az motor port on attempt %i", ser_attempts);
} else sleep(1);
}
ser_attempts = 0;
while (elinfo.open == 0) {
open_cm(EL_DEVICE, &elinfo);
if (ser_attempts == 10) {
bputs(err, "Unable to open el motor port after 10 attempts.\n");
}
ser_attempts++;
if (elinfo.open == 1) {
bprintf(info, "Opened the el motor port on attempt %i", ser_attempts);
} else sleep(1);
}
/* initialize motor internal parameters */
bprintf(info, "Initializing az motor");
while (azinfo.init == 0) {
init_cm(&azinfo);
if (init_attempts == 10) {
bputs(err, "Could not initalize the az motor after 10 attempts.\n");
}
init_attempts++;
if (azinfo.init == 1) {
bprintf(info, "Initialized the az motor on attempt %i", init_attempts);
} else sleep(1);
}
init_attempts = 0;
bprintf(info, "Initializing el motor");
while (elinfo.init == 0) {
init_cm(&elinfo);
if (init_attempts == 10) {
bputs(err, "Could not initalize the el motor after 10 attempts.\n");
}
init_attempts++;
if (elinfo.init == 1) {
bprintf(info, "Initialized the el motor on attempt %i", init_attempts);
} else sleep(1);
}
while (1) {
/* TODO: NEED SOME KIND OF CHECKING OF ERROR STATES HERE */
if (azinfo.closing == 1) {
close_cm(&azinfo);
usleep(10000);
}
if (elinfo.closing == 1) {
close_cm(&elinfo);
usleep(10000);
} else {
AzElScan();
usleep(10000);
/* TODO - sjb: probably want, "too many errors, reconnecting logic here */
}
}
return NULL;
}
