#define ONBOARDDEVFILENAME "/dev/rtdm/onBoard"

int err;

bzero(&usRegInputValue , sizeof(usRegInputValue ));

bzero(&usRegHoldingValue , sizeof(usRegHoldingValue ));

bzero(&ubCoilValue , sizeof(ubCoilValue ));

bzero(&ubRegDiscreteValue, sizeof(ubRegDiscreteValue));

bzero(&mbRtuSlaveDev , sizeof(mbRtuSlaveDev ));

bzero(&mbRtuDevTim , sizeof(mbRtuDevTim ));

#ifdef ONBOARD_I2C

bzero(&onBoardReadBuf , sizeof(onBoardReadBuf_t ));

bzero(&onBoardWriteBuf , sizeof(onBoardWriteBuf_t ));

bzero(&onBoardBusInit , sizeof(onBoardBusInit_t ));

onBoardBusInit.common_ticktime__ = common_ticktime__;

#define onBoardDev (onBoardBusInit.onBoardDev)

#endif /* ONBOARD_I2C */

%(init_code)s

#ifdef CAN0_EN_GPIO_0_21

CAN0_EN_dev = gpio_open(21);

gpio_set_pin_value(CAN0_EN_dev, 0);

#endif /* CAN0_EN_GPIO_0_21 */

#ifdef CAN1_EN_GPIO_0_17

CAN1_EN_dev = gpio_open(17);

gpio_set_pin_value(CAN1_EN_dev, 0);

#endif /* CAN1_EN_GPIO_0_17 */

RTU_GPIO_dev = gpio_open(111);

if (!RTU_GPIO_dev) {

fprintf(stderr, "Error while initializing RTU GPIO.\n");

return 1;

}

if((err = rt_mutex_create (&RTU_BuffMutex, "RTU_BuffMutex")))

return err;

if((err = rt_task_create(&RTU_UART_task, "RTU_UART_task", 0, 50, T_JOINABLE)))

return err;

mbmrtu_init(mbBaudRate, mbParity);

if((err = rt_task_create(&RTU_task, "RTU_task", 0, 50, T_JOINABLE)))

return err;

if(rt_task_start(&RTU_task, mbmrtu_BusUpdate_proc, NULL))

return err;

#ifdef ONBOARD_I2C

unsigned char i;

for(i=0; i<MAX_ONBOARD_DEVICES; i++) {

switch(onBoardDev[i][1]) {

case 1:

/* OnBoard I2C bus */

onboardbusfd = open(ONBOARDDEVFILENAME, 0);

if(onboardbusfd < 0) {

printf("can't open %%s rtdm device, %%s\n", ONBOARDDEVFILENAME,

strerror(-onboardbusfd));

return onboardbusfd;

}

err = ioctl(onboardbusfd, RTSMT_ONBOARD_RTIOC_INIT, &onBoardBusInit);

if(err) {

printf("error while RTSMT_ONBOARD_RTIOC_INIT, %%s\n", strerror(-err));

close(onboardbusfd);

return err;

}

break;

default:

break;

}

}

#endif /* ONBOARD_I2C */

#if defined RUN_LED_GPIO_1_13

RUN_LED_dev = gpio_open(45);

#elif defined RUN_LED_GPIO_1_31

RUN_LED_dev = gpio_open(63);

#endif /* RUN LED GPIO_1_13/GPIO_1_31 */

gpio_set_pin_value(RUN_LED_dev, 0);