main.h File Reference

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Macros
#define	FAILURE   -1
	Main includes. More...
#define	SUCCESS   1
#define	TASK1_PERIOD   100000

Functions
int	main (void)
static void	main_task (int signo)
	Main Periodic Task. More...
static void	ui_task ()
static void	control_task ()
static void	ui_hook (int signo)
static void	control_hook (int signo)
int	reset_timer (void)
void	exit_program (void)
	Internal function to end program. More...

Macro Definition Documentation

#define FAILURE   -1

Main includes.

Author

Rafael Lima

Definition at line 9 of file main.h.

#define SUCCESS   1

Definition at line 10 of file main.h.

Function Documentation

static void control_hook ( int  signo )

static

static void control_task ( )

static

void exit_program

(

void

)

Internal function to end program.

Definition at line 180 of file main.c.

                       {
  quittask = 1;
  return;
}

int main

(

void

)

Definition at line 42 of file main.c.

              {
  int return_value = SUCCESS;

/*Setting config values:*/
  // Parameters for IMU
  imu_param.acc.full_res=1;
  imu_param.acc.rate=100;
  imu_param.acc.range=16;
  imu_param.gyr.rate=100;
  imu_param.gyr.lpf_bw=188;
  imu_param.gyr.clk_source='Z';
  imu_param.gyr.act="XYZ";
  imu_param.mag.rate=75;
  imu_param.mag.range=0;
  imu_param.mag.samples_avg=8;
  imu_param.mag.meas_mode=0;
  imu_param.mag.op_mode=0;

  // Parameters for SPI
  spi_param.mode=0;
  spi_param.speed=375000;
  spi_param.cs=0;

  // Periodic task :
  timer_new_task(&task_ui,ui_task);
  timer_new_task(&task_control,control_task);
  
/*Initialization:*/
  if(devices_init(&imu_param,&spi_param,&mra_data)!=SUCCESS){
    perror("Unsuccesful devices initialization");
    return FAILURE;
  }

  if(ui_init()!=SUCCESS){
    perror("Unsuccesful user interface initialization");
    return FAILURE;
  }

  //timer_start_task(&task1,TASK1_PERIOD);
  timer_start_task(&task_ui,ui_hook,TASK_UI_PERIOD);
  timer_start_task(&task_control,control_hook,TASK_CONTROL_PERIOD);

/* Main loop: */
  while(quittask == 0){
    //ui_task(0);
  }

/*Shutting Down:*/
  timer_stop_task(&task_ui);
  timer_stop_task(&task_control);
  usleep(2000);

  if(ui_close()==FAILURE){
    return_value = FAILURE;
  }

  devices_close(&imu_param, &spi_param, &mra_data);

  return return_value;
}

static void main_task ( int  signo )

static

Main Periodic Task.

Parameters

signo

int reset_timer

(

void

)

Definition at line 160 of file main.c.

{
    t0 = task_control.t_global;
    return SUCCESS;
}

static void ui_hook ( int  signo )

static

static void ui_task ( )

static