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// Main starting point for micro-controller code running on linux systems
//
// Copyright (C) 2017 Kevin O'Connor <kevin@koconnor.net>
//
// This file may be distributed under the terms of the GNU GPLv3 license.
#include <sched.h> // sched_setscheduler sched_get_priority_max
#include <stdio.h> // fprintf
#include <string.h> // memset
#include <unistd.h> // getopt
#include <sys/mman.h> // mlockall MCL_CURRENT MCL_FUTURE
#include "board/misc.h" // console_sendf
#include "command.h" // DECL_CONSTANT
#include "internal.h" // console_setup
#include "sched.h" // sched_main
DECL_CONSTANT_STR("MCU", "linux");
/****************************************************************
* Real-time setup
****************************************************************/
static int
realtime_setup(void)
{
struct sched_param sp;
memset(&sp, 0, sizeof(sp));
sp.sched_priority = sched_get_priority_max(SCHED_FIFO) / 2;
int ret = sched_setscheduler(0, SCHED_FIFO, &sp);
if (ret < 0) {
report_errno("sched_setscheduler", ret);
return -1;
}
// Lock ourselves into memory
ret = mlockall(MCL_CURRENT | MCL_FUTURE);
if (ret) {
report_errno("mlockall", ret);
return -1;
}
return 0;
}
/****************************************************************
* Restart
****************************************************************/
static char **orig_argv;
void
command_config_reset(uint32_t *args)
{
if (! sched_is_shutdown())
shutdown("config_reset only available when shutdown");
int ret = execv(orig_argv[0], orig_argv);
report_errno("execv", ret);
}
DECL_COMMAND_FLAGS(command_config_reset, HF_IN_SHUTDOWN, "config_reset");
/****************************************************************
* Startup
****************************************************************/
int
main(int argc, char **argv)
{
// Parse program args
orig_argv = argv;
int opt, watchdog = 0, realtime = 0;
char *serial = "/tmp/kutter_host_mcu";
while ((opt = getopt(argc, argv, "wrI:")) != -1) {
switch (opt) {
case 'w':
watchdog = 1;
break;
case 'r':
realtime = 1;
break;
case 'I':
serial = optarg;
break;
default:
fprintf(stderr, "Usage: %s [-w] [-r] [-I path]\n", argv[0]);
return -1;
}
}
// Initial setup
if (realtime) {
int ret = realtime_setup();
if (ret)
return ret;
}
int ret = console_setup(serial);
if (ret)
return -1;
if (watchdog) {
int ret = watchdog_setup();
if (ret)
return ret;
}
// Main loop
sched_main();
return 0;
}
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