#define ONBOARDDEVFILENAME "/dev/rtdm/onboard"

int err;

#ifdef ONBOARD_I2C

bzero(&onBoardReadBuf , sizeof(readBuf_t));

bzero(&onBoardWriteBuf, sizeof(writeBuf_t));

bzero(&onBoardBusInit , sizeof(busInit_t));

onBoardBusInit.common_ticktime__ = common_ticktime__;

#define onBoardDev (onBoardBusInit.rightI2CMod)

#endif /* ONBOARD_I2C */

%(init_code)s

#ifdef CAN0_EN_GPIO

CAN0_EN_dev = gpio_open(CAN0_EN_GPIO);

gpio_set_pin_value(CAN0_EN_dev, 0);

#endif

#ifdef CAN1_EN_GPIO

CAN1_EN_dev = gpio_open(CAN1_EN_GPIO);

gpio_set_pin_value(CAN1_EN_dev, 0);

#endif

#ifdef ONBOARD_I2C

unsigned char i;

for(i=0; i<MAX_RIGHT_MODULES; 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_RTIOC_INIT, &onBoardBusInit);

if(err) {

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

close(onboardbusfd);

return err;

}

break;

default:

break;

}

}

#endif /* ONBOARD_I2C */

#if defined RUN_LED_GPIO

RUN_LED_dev = gpio_open(RUN_LED_GPIO);

gpio_set_pin_value(RUN_LED_dev, 0);

#endif