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Code Issues Releases Activity

Improved comment message, aimed at beginners.

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This commit is contained in:
Laura Sebesta 2012-04-20 17:10:16 -04:00
parent 79940287dc
commit 6feb198437
2 changed files with 28 additions and 2 deletions
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15
flight/CopterControl/System/coptercontrol.c
View File

@ -84,7 +84,20 @@ int main()
/* swap the stack to use the IRQ stack */ /* swap the stack to use the IRQ stack */
Stack_Change(); Stack_Change();
/* Start the FreeRTOS scheduler which should never returns.*/ /* 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.
*
* In addition, there are many main() functions in the OpenPilot firmware source tree
* This is because each main() refers to a separate hardware platform. Of course,
* C only allows one main(), so only the relevant main() function is compiled when
* making a specific firmware.
*
*/
vTaskStartScheduler(); vTaskStartScheduler();
/* If all is well we will never reach here as the scheduler will now be running. */ /* If all is well we will never reach here as the scheduler will now be running. */

15
flight/OpenPilot/System/openpilot.c
View File

@ -104,7 +104,20 @@ int main()
/* swap the stack to use the IRQ stack (does nothing in sim mode) */ /* swap the stack to use the IRQ stack (does nothing in sim mode) */
Stack_Change_Weak(); Stack_Change_Weak();
/* Start the FreeRTOS scheduler which should never returns.*/ /* 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.
*
* In addition, there are many main() functions in the OpenPilot firmware source tree
* This is because each main() refers to a separate hardware platform. Of course,
* C only allows one main(), so only the relevant main() function is compiled when
* making a specific firmware.
*
*/
vTaskStartScheduler(); vTaskStartScheduler();
/* If all is well we will never reach here as the scheduler will now be running. */ /* If all is well we will never reach here as the scheduler will now be running. */