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LibrePilot/flight/targets/boards/revolution/firmware/revolution.cpp

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/**
******************************************************************************
* @addtogroup LibrePilotSystem LibrePilot System
* @brief These files are the core system files for Revolution.
* They are the ground layer just above PiOS. In practice, Revolution actually starts
* in the main() function of revolution.cpp
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* @{
* @addtogroup LibrePilotCore LibrePilot Core
* @brief This is where the LP firmware starts. Those files also define the compile-time
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* options of the firmware.
* @{
* @file revolution.cpp
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2015
* @brief Sets up and runs main tasks.
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* @see The GNU Public License (GPL) Version 3
*
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*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
extern "C" {
#include "inc/openpilot.h"
#include <uavobjectsinit.h>
#include <systemmod.h>
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/* Global Variables */
/* Local Variables */
}
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/**
* OpenPilot Main function:
*
* Initialize PiOS<BR>
* Create the "System" task (SystemModInitializein Modules/System/systemmod.c) <BR>
* Start FreeRTOS Scheduler (vTaskStartScheduler)<BR>
* If something goes wrong, blink LED1 and LED2 every 100ms
*
*/
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int main()
{
/* NOTE: Do NOT modify the following start-up sequence */
/* Any new initialization functions should be added in OpenPilotInit() */
vPortInitialiseBlocks();
/* Brings up System using CMSIS functions, enables the LEDs. */
PIOS_SYS_Init();
SystemModStart();
/* Start the FreeRTOS scheduler */
vTaskStartScheduler();
/* If all is well we will never reach here as the scheduler will now be running. */
/* Do some PIOS_LED_HEARTBEAT to user that something bad just happened */
PIOS_LED_Off(PIOS_LED_HEARTBEAT); \
for (;;) { \
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT); \
PIOS_DELAY_WaitmS(100); \
}
;
return 0;
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}
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/**
* @}
* @}
*/