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https://github.com/Klipper3d/klipper.git
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6f16e11197
Not all systems (i.e. Nix) repect the standard Linux filesystem hierarchy, instead relative paths should be used and allowing GCC to rely on it's builtin search paths. Signed-off-by: Michael 'ASAP' Weinrich <michael@a5ap.net>
108 lines
2.7 KiB
C
108 lines
2.7 KiB
C
// Main starting point for micro-controller code running on linux systems
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//
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// Copyright (C) 2017 Kevin O'Connor <kevin@koconnor.net>
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//
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// This file may be distributed under the terms of the GNU GPLv3 license.
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#include <sched.h> // sched_setscheduler sched_get_priority_max
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#include <stdio.h> // fprintf
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#include <string.h> // memset
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#include <unistd.h> // getopt
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#include <sys/mman.h> // mlockall MCL_CURRENT MCL_FUTURE
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#include "board/misc.h" // console_sendf
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#include "command.h" // DECL_CONSTANT
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#include "internal.h" // console_setup
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#include "sched.h" // sched_main
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DECL_CONSTANT_STR("MCU", "linux");
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/****************************************************************
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* Real-time setup
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****************************************************************/
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static int
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realtime_setup(void)
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{
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struct sched_param sp;
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memset(&sp, 0, sizeof(sp));
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sp.sched_priority = sched_get_priority_max(SCHED_FIFO) / 2;
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int ret = sched_setscheduler(0, SCHED_FIFO, &sp);
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if (ret < 0) {
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report_errno("sched_setscheduler", ret);
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return -1;
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}
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// Lock ourselves into memory
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ret = mlockall(MCL_CURRENT | MCL_FUTURE);
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if (ret) {
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report_errno("mlockall", ret);
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return -1;
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}
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return 0;
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}
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/****************************************************************
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* Restart
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****************************************************************/
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static char **orig_argv;
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void
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command_config_reset(uint32_t *args)
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{
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if (! sched_is_shutdown())
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shutdown("config_reset only available when shutdown");
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int ret = execv(orig_argv[0], orig_argv);
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report_errno("execv", ret);
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}
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DECL_COMMAND_FLAGS(command_config_reset, HF_IN_SHUTDOWN, "config_reset");
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/****************************************************************
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* Startup
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****************************************************************/
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int
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main(int argc, char **argv)
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{
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// Parse program args
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orig_argv = argv;
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int opt, watchdog = 0, realtime = 0;
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char *serial = "/tmp/klipper_host_mcu";
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while ((opt = getopt(argc, argv, "wrI:")) != -1) {
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switch (opt) {
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case 'w':
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watchdog = 1;
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break;
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case 'r':
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realtime = 1;
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break;
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case 'I':
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serial = optarg;
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break;
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default:
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fprintf(stderr, "Usage: %s [-w] [-r] [-I path]\n", argv[0]);
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return -1;
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}
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}
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// Initial setup
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if (realtime) {
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int ret = realtime_setup();
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if (ret)
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return ret;
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}
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int ret = console_setup(serial);
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if (ret)
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return -1;
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if (watchdog) {
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int ret = watchdog_setup();
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if (ret)
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return ret;
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}
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// Main loop
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sched_main();
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return 0;
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}
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