- */
- Sensor_Init();
- Actuator_Init();
- //Sensor_StartAll("test");
- //Actuator_StartAll("test");
- const char *ret;
- if ((ret = Control_SetMode(CONTROL_START, "test")) != NULL)
- Fatal("Control_SetMode failed with '%s'", ret);
+ struct sched_param param;
+ param.sched_priority = 49;
+ if (sched_setscheduler(0, SCHED_FIFO, ¶m) < 0)
+ Fatal("sched_setscheduler failed - %s", strerror(errno));
+ if (mlockall(MCL_CURRENT | MCL_FUTURE) == -1)
+ Fatal("mlockall failed - %s", strerror(errno));
+ stack_prefault();
+ #endif //REALTIME_VERSION
+
+
+
+ Pin_Init();
+
+ // Try and start things
+
+ //const char *ret;
+ //if ((ret = Control_SetMode(CONTROL_START, "test")) != NULL)
+ // Fatal("Control_SetMode failed with '%s'", ret);
+