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Code Issues Releases Activity

LP-537 Changes startup code on GPSV9 to call PIOS_Board_Init after scheduler start.

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This commit is contained in:
Brian Webb 2017-06-24 15:28:04 -07:00
parent b47a3ad393
commit 081fda25a1
2 changed files with 17 additions and 19 deletions
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10
flight/modules/gpsp/gpsdsysmod.c
View File

@ -44,6 +44,7 @@
#include "inc/gps9flashhandler.h"
#include "inc/gps9protocol.h"
#include "pios_board_info.h"
#include "pios_board_init.h"
extern uint32_t pios_com_main_id;
@ -107,9 +108,17 @@ static void gpspSystemTask(__attribute__((unused)) void *parameters)
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_UpdateFlag(PIOS_WDG_SYSTEM);
#endif
/* board driver init */
PIOS_Board_Init();
/* Initialize all modules */
MODULE_INITIALISE_ALL;
while (!initTaskDone) {
vTaskDelay(10);
}
#ifndef PIOS_INCLUDE_WDG
// if no watchdog is enabled, don't reset watchdog in MODULE_TASKCREATE_ALL loop
#define PIOS_WDG_Clear()
@ -127,6 +136,7 @@ static void gpspSystemTask(__attribute__((unused)) void *parameters)
#if defined(PIOS_INCLUDE_IAP)
PIOS_IAP_WriteBootCount(0);
#endif
/* Right now there is no configuration and uart speed is fixed at 57600.
* TODO:
* 1) add a tiny ubx parser on gps side to intercept CFG-RINV and use that for config storage;

26
flight/targets/boards/gpsplatinum/firmware/gpsp.c
View File

@ -42,6 +42,7 @@
/* Global Variables */
extern void Stack_Change(void);
extern void GPSPSystemModStart(void);
/**
* OpenPilot Main function:
@ -54,32 +55,19 @@ extern void Stack_Change(void);
*/
int main()
{
/* NOTE: Do NOT modify the following start-up sequence */
/* Any new initialization functions should be added in OpenPilotInit() */
/* Brings up System using CMSIS functions, enables the LEDs. */
PIOS_SYS_Init();
/* Architecture dependant Hardware and
* core subsystem initialisation
* (see pios_board.c for your arch)
* */
PIOS_Board_Init();
/*
* Initialize the system module, which configures the board and
* starts the other modules.
*/
GPSPSystemModStart();
/* Initialize modules */
MODULE_INITIALISE_ALL
/* swap the stack to use the IRQ stack */
Stack_Change();
/* Start the FreeRTOS scheduler, which should never return.
*
* NOTE: OpenPilot runs an operating system (FreeRTOS), which constantly calls
* (schedules) function files (modules). These functions never return from their
* while loops, which explains why each module has a while(1){} segment. Thus,
* the OpenPilot software actually starts at the vTaskStartScheduler() function,
* even though this is somewhat obscure.
*
*/
/* Start the FreeRTOS scheduler */
vTaskStartScheduler();
/* If all is well we will never reach here as the scheduler will now be running. */