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LP-97 - Move the common Init process within the System module (coptercontrol/revolution)
This commit is contained in:
Alessio Morale
a*morale
parent
3eaf1ef3c3
commit
b88681c69f
@ -1,12 +1,13 @@
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/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @addtogroup LibrePilotModules LibrePilot Modules
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* @{
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* @addtogroup SystemModule System Module
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* @{
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*
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* @file systemmod.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
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* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief System module
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*
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* @see The GNU Public License (GPL) Version 3
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@ -30,6 +31,6 @@
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#ifndef SYSTEMMOD_H
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#define SYSTEMMOD_H
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int32_t SystemModInitialize(void);
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int32_t SystemModStart(void);
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#endif // SYSTEMMOD_H
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@ -1,7 +1,7 @@
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/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @brief The OpenPilot Modules do the majority of the control in OpenPilot. The
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* @addtogroup LibrePilotModules LibrePilot Modules
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* @brief The LibrePilot Modules do the majority of the control in LibrePilot. The
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* @ref SystemModule "System Module" starts all the other modules that then take care
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* of all the telemetry and control algorithms and such. This is done through the @ref PIOS
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* "PIOS Hardware abstraction layer" which then contains hardware specific implementations
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@ -16,7 +16,8 @@
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* @{
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*
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* @file systemmod.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
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* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2015.
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* @brief System module
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*
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* @see The GNU Public License (GPL) Version 3
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@ -119,6 +120,7 @@ static void systemTask(void *parameters);
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static void updateI2Cstats();
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static void updateWDGstats();
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#endif
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extern void PIOS_Board_Init(void);
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extern uintptr_t pios_uavo_settings_fs_id;
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extern uintptr_t pios_user_fs_id;
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@ -134,8 +136,6 @@ int32_t SystemModStart(void)
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mallocFailed = false;
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// Create system task
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xTaskCreate(systemTask, "System", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &systemTaskHandle);
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// Register task
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PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_SYSTEM, systemTaskHandle);
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return 0;
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}
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@ -169,8 +169,6 @@ int32_t SystemModInitialize(void)
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return -1;
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}
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SystemModStart();
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return 0;
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}
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@ -180,6 +178,12 @@ MODULE_INITCALL(SystemModInitialize, 0);
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*/
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static void systemTask(__attribute__((unused)) void *parameters)
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{
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/* board driver init */
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PIOS_Board_Init();
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/* Initialize all modules */
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MODULE_INITIALISE_ALL;
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while (!initTaskDone) {
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vTaskDelay(10);
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}
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@ -190,6 +194,9 @@ static void systemTask(__attribute__((unused)) void *parameters)
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/* start the delayed callback scheduler */
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PIOS_CALLBACKSCHEDULER_Start();
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// Register task
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PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_SYSTEM, systemTaskHandle);
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if (mallocFailed) {
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/* We failed to malloc during task creation,
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* system behaviour is undefined. Reset and let
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@ -529,6 +536,7 @@ static uint16_t GetFreeIrqStackSize(void)
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static void updateStats()
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{
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SystemStatsData stats;
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// Get stats and update
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SystemStatsGet(&stats);
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stats.FlightTime = xTaskGetTickCount() * portTICK_RATE_MS;
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@ -7,7 +7,8 @@
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* @{
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*
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* @file pios_initcall.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
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* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
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* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2015
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* @brief Initcall header
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* @see The GNU Public License (GPL) Version 3
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*
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@ -55,6 +56,7 @@ extern volatile int initTaskDone;
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extern void InitModules();
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extern void StartModules();
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extern int32_t SystemModInitialize(void);
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#define MODULE_INITCALL(ifn, sfn)
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@ -56,9 +56,6 @@ void PIOS_Board_Init(void)
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/* Flash 2 wait state */
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FLASH_SetLatency(FLASH_Latency_2);
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/* Delay system */
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PIOS_DELAY_Init();
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const struct pios_board_info *bdinfo = &pios_board_info_blob;
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#if defined(PIOS_INCLUDE_LED)
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@ -1,17 +1,18 @@
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/**
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******************************************************************************
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* @addtogroup OpenPilotSystem OpenPilot System
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* @brief These files are the core system files of OpenPilot.
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* They are the ground layer just above PiOS. In practice, OpenPilot actually starts
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* in the main() function of openpilot.c
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* @addtogroup LibrePilotSystem LibrePilot System
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* @brief These files are the core system files for CopterControl.
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* They are the ground layer just above PiOS. In practice, CopterControl actually starts
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* in the main() function of coptercontrol.c
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* @{
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* @addtogroup OpenPilotCore OpenPilot Core
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* @brief This is where the OP firmware starts. Those files also define the compile-time
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* @addtogroup LibrePilotCore LibrePilot Core
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* @brief This is where the LP firmware starts. Those files also define the compile-time
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* options of the firmware.
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* @{
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* @file openpilot.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Sets up and runs main OpenPilot tasks.
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* @file coptercontrol.c
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* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
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* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2015
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* @brief Sets up and runs main tasks.
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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@ -32,18 +33,11 @@
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*/
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#include "inc/openpilot.h"
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#include <uavobjectsinit.h>
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#include <hwsettings.h>
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#include <systemmod.h>
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/* Task Priorities */
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#define PRIORITY_TASK_HOOKS (tskIDLE_PRIORITY + 3)
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/* Global Variables */
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/* Prototype of PIOS_Board_Init() function */
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extern void PIOS_Board_Init(void);
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extern void Stack_Change(void);
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/**
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* OpenPilot Main function:
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*
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@ -61,24 +55,9 @@ int main()
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/* Brings up System using CMSIS functions, enables the LEDs. */
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PIOS_SYS_Init();
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/* Architecture dependant Hardware and
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* core subsystem initialisation
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* (see pios_board.c for your arch)
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* */
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PIOS_Board_Init();
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#ifdef ERASE_FLASH
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PIOS_Flash_Jedec_EraseChip();
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#if defined(PIOS_LED_HEARTBEAT)
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PIOS_LED_Off(PIOS_LED_HEARTBEAT);
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#endif /* PIOS_LED_HEARTBEAT */
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while (1) {
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;
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}
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#endif
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SystemModStart();
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/* Initialize modules */
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MODULE_INITIALISE_ALL
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/* swap the stack to use the IRQ stack */
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Stack_Change();
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@ -4,10 +4,9 @@
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* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
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* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012
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*
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* @addtogroup OpenPilotSystem OpenPilot System
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* @addtogroup LibrePilotSystem LibrePilot System
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* @{
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* @addtogroup OpenPilotCore OpenPilot Core
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* @addtogroup LibrePilotCore LibrePilot Core
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* @{
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* @brief Defines board specific static initializers for hardware for the CopterControl board.
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*****************************************************************************/
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@ -156,8 +155,6 @@ static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
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int32_t init_test;
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void PIOS_Board_Init(void)
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{
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/* Delay system */
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PIOS_DELAY_Init();
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const struct pios_board_info *bdinfo = &pios_board_info_blob;
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@ -1,17 +1,18 @@
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/**
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******************************************************************************
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* @addtogroup OpenPilotSystem OpenPilot System
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* @brief These files are the core system files of OpenPilot.
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* They are the ground layer just above PiOS. In practice, OpenPilot actually starts
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* in the main() function of openpilot.c
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* @addtogroup LibrePilotSystem LibrePilot System
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* @brief These files are the core system files for Revolution.
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* They are the ground layer just above PiOS. In practice, Revolution actually starts
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* in the main() function of revolution.c
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* @{
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* @addtogroup OpenPilotCore OpenPilot Core
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* @brief This is where the OP firmware starts. Those files also define the compile-time
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* @addtogroup LibrePilotCore LibrePilot Core
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* @brief This is where the LP firmware starts. Those files also define the compile-time
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* options of the firmware.
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* @{
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* @file openpilot.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Sets up and runs main OpenPilot tasks.
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* @file revolution.cpp
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* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
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* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2015
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* @brief Sets up and runs main tasks.
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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@ -34,46 +35,12 @@
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extern "C" {
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#include "inc/openpilot.h"
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#include <uavobjectsinit.h>
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#include <systemmod.h>
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/* Task Priorities */
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#define PRIORITY_TASK_HOOKS (tskIDLE_PRIORITY + 3)
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/* Global Variables */
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/* Local Variables */
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#define INCLUDE_TEST_TASKS 0
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#if INCLUDE_TEST_TASKS
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static uint8_t sdcard_available;
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#endif
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char Buffer[1024];
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uint32_t Cache;
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/* Function Prototypes */
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#if INCLUDE_TEST_TASKS
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static void TaskTick(void *pvParameters);
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static void TaskTesting(void *pvParameters);
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static void TaskHIDTest(void *pvParameters);
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static void TaskServos(void *pvParameters);
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static void TaskSDCard(void *pvParameters);
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#endif
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int32_t CONSOLE_Parse(uint8_t port, char c);
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void OP_ADC_NotifyChange(uint32_t pin, uint32_t pin_value);
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/* Prototype of PIOS_Board_Init() function */
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extern void PIOS_Board_Init(void);
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extern void Stack_Change(void);
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static void Stack_Change_Weak() __attribute__((weakref("Stack_Change")));
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/* Local Variables */
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#define INIT_TASK_PRIORITY (tskIDLE_PRIORITY + configMAX_PRIORITIES - 1) // max priority
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#define INIT_TASK_STACK (1024 / 4) // XXX this seems excessive
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static xTaskHandle initTaskHandle;
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/* Function Prototypes */
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static void initTask(void *parameters);
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/* Prototype of generated InitModules() function */
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extern void InitModules(void);
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}
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/**
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@ -87,8 +54,6 @@ extern void InitModules(void);
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*/
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int main()
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{
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int result;
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/* NOTE: Do NOT modify the following start-up sequence */
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/* Any new initialization functions should be added in OpenPilotInit() */
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vPortInitialiseBlocks();
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@ -96,12 +61,7 @@ int main()
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/* Brings up System using CMSIS functions, enables the LEDs. */
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PIOS_SYS_Init();
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/* For Revolution we use a FreeRTOS task to bring up the system so we can */
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/* always rely on FreeRTOS primitive */
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result = xTaskCreate(initTask, "init",
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INIT_TASK_STACK, NULL, INIT_TASK_PRIORITY,
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&initTaskHandle);
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PIOS_Assert(result == pdPASS);
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SystemModStart();
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/* Start the FreeRTOS scheduler */
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vTaskStartScheduler();
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@ -117,22 +77,7 @@ int main()
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return 0;
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}
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/**
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* Initialisation task.
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*
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* Runs board and module initialisation, then terminates.
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*/
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void initTask(__attribute__((unused)) void *parameters)
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{
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/* board driver init */
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PIOS_Board_Init();
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/* Initialize modules */
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MODULE_INITIALISE_ALL;
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/* terminate this task */
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vTaskDelete(NULL);
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}
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/**
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* @}
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@ -1,17 +1,18 @@
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/**
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******************************************************************************
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* @addtogroup OpenPilotSystem OpenPilot System
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* @brief These files are the core system files of OpenPilot.
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* They are the ground layer just above PiOS. In practice, OpenPilot actually starts
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* in the main() function of openpilot.c
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* @addtogroup LibrePilotSystem LibrePilot System
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* @brief These files are the core system files for Revolution.
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* They are the ground layer just above PiOS. In practice, Revolution actually starts
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* in the main() function of revolution.c
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* @{
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* @addtogroup OpenPilotCore OpenPilot Core
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* @brief This is where the OP firmware starts. Those files also define the compile-time
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* @addtogroup LibrePilotCore LibrePilot Core
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* @brief This is where the LP firmware starts. Those files also define the compile-time
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* options of the firmware.
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* @{
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* @file openpilot.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Sets up and runs main OpenPilot tasks.
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* @file revolution.cpp
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* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
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* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2015
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* @brief Sets up and runs main tasks.
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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@ -34,29 +35,12 @@
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extern "C" {
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#include "inc/openpilot.h"
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#include <uavobjectsinit.h>
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#include <systemmod.h>
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/* Task Priorities */
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#define PRIORITY_TASK_HOOKS (tskIDLE_PRIORITY + 3)
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/* Global Variables */
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/* Local Variables */
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/* Prototype of PIOS_Board_Init() function */
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extern void PIOS_Board_Init(void);
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extern void Stack_Change(void);
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static void Stack_Change_Weak() __attribute__((weakref("Stack_Change")));
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/* Local Variables */
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#define INIT_TASK_PRIORITY (tskIDLE_PRIORITY + configMAX_PRIORITIES - 1) // max priority
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#define INIT_TASK_STACK (1024 / 4) // XXX this seems excessive
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static xTaskHandle initTaskHandle;
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/* Function Prototypes */
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static void initTask(void *parameters);
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/* Prototype of generated InitModules() function */
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extern void InitModules(void);
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}
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/**
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@ -70,8 +54,6 @@ extern void InitModules(void);
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*/
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int main()
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{
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int result;
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/* NOTE: Do NOT modify the following start-up sequence */
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/* Any new initialization functions should be added in OpenPilotInit() */
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vPortInitialiseBlocks();
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@ -79,12 +61,7 @@ int main()
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/* Brings up System using CMSIS functions, enables the LEDs. */
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PIOS_SYS_Init();
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/* For Revolution we use a FreeRTOS task to bring up the system so we can */
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/* always rely on FreeRTOS primitive */
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result = xTaskCreate(initTask, "init",
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INIT_TASK_STACK, NULL, INIT_TASK_PRIORITY,
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&initTaskHandle);
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PIOS_Assert(result == pdPASS);
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SystemModStart();
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/* Start the FreeRTOS scheduler */
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vTaskStartScheduler();
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@ -100,22 +77,7 @@ int main()
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return 0;
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}
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/**
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* Initialisation task.
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*
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* Runs board and module initialisation, then terminates.
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*/
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void initTask(__attribute__((unused)) void *parameters)
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{
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/* board driver init */
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PIOS_Board_Init();
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/* Initialize modules */
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MODULE_INITIALISE_ALL;
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/* terminate this task */
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vTaskDelete(NULL);
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}
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/**
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* @}
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@ -1,17 +1,18 @@
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/**
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******************************************************************************
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* @addtogroup OpenPilotSystem OpenPilot System
|
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* @brief These files are the core system files of OpenPilot.
|
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* They are the ground layer just above PiOS. In practice, OpenPilot actually starts
|
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* in the main() function of openpilot.c
|
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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.c
|
||||
* @{
|
||||
* @addtogroup OpenPilotCore OpenPilot Core
|
||||
* @brief This is where the OP firmware starts. Those files also define the compile-time
|
||||
* @addtogroup LibrePilotCore LibrePilot Core
|
||||
* @brief This is where the LP firmware starts. Those files also define the compile-time
|
||||
* options of the firmware.
|
||||
* @{
|
||||
* @file openpilot.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief Sets up and runs main OpenPilot tasks.
|
||||
* @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.
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
@ -34,46 +35,12 @@
|
||||
extern "C" {
|
||||
#include "inc/openpilot.h"
|
||||
#include <uavobjectsinit.h>
|
||||
#include <systemmod.h>
|
||||
|
||||
/* Task Priorities */
|
||||
#define PRIORITY_TASK_HOOKS (tskIDLE_PRIORITY + 3)
|
||||
|
||||
/* Global Variables */
|
||||
|
||||
/* Local Variables */
|
||||
#define INCLUDE_TEST_TASKS 0
|
||||
#if INCLUDE_TEST_TASKS
|
||||
static uint8_t sdcard_available;
|
||||
#endif
|
||||
char Buffer[1024];
|
||||
uint32_t Cache;
|
||||
|
||||
/* Function Prototypes */
|
||||
#if INCLUDE_TEST_TASKS
|
||||
static void TaskTick(void *pvParameters);
|
||||
static void TaskTesting(void *pvParameters);
|
||||
static void TaskHIDTest(void *pvParameters);
|
||||
static void TaskServos(void *pvParameters);
|
||||
static void TaskSDCard(void *pvParameters);
|
||||
#endif
|
||||
int32_t CONSOLE_Parse(uint8_t port, char c);
|
||||
void OP_ADC_NotifyChange(uint32_t pin, uint32_t pin_value);
|
||||
|
||||
/* Prototype of PIOS_Board_Init() function */
|
||||
extern void PIOS_Board_Init(void);
|
||||
extern void Stack_Change(void);
|
||||
static void Stack_Change_Weak() __attribute__((weakref("Stack_Change")));
|
||||
|
||||
/* Local Variables */
|
||||
#define INIT_TASK_PRIORITY (tskIDLE_PRIORITY + configMAX_PRIORITIES - 1) // max priority
|
||||
#define INIT_TASK_STACK (1024 / 4) // XXX this seems excessive
|
||||
static xTaskHandle initTaskHandle;
|
||||
|
||||
/* Function Prototypes */
|
||||
static void initTask(void *parameters);
|
||||
|
||||
/* Prototype of generated InitModules() function */
|
||||
extern void InitModules(void);
|
||||
}
|
||||
|
||||
/**
|
||||
@ -87,8 +54,6 @@ extern void InitModules(void);
|
||||
*/
|
||||
int main()
|
||||
{
|
||||
int result;
|
||||
|
||||
/* NOTE: Do NOT modify the following start-up sequence */
|
||||
/* Any new initialization functions should be added in OpenPilotInit() */
|
||||
vPortInitialiseBlocks();
|
||||
@ -96,12 +61,7 @@ int main()
|
||||
/* Brings up System using CMSIS functions, enables the LEDs. */
|
||||
PIOS_SYS_Init();
|
||||
|
||||
/* For Revolution we use a FreeRTOS task to bring up the system so we can */
|
||||
/* always rely on FreeRTOS primitive */
|
||||
result = xTaskCreate(initTask, "init",
|
||||
INIT_TASK_STACK, NULL, INIT_TASK_PRIORITY,
|
||||
&initTaskHandle);
|
||||
PIOS_Assert(result == pdPASS);
|
||||
SystemModStart();
|
||||
|
||||
/* Start the FreeRTOS scheduler */
|
||||
vTaskStartScheduler();
|
||||
@ -117,22 +77,7 @@ int main()
|
||||
|
||||
return 0;
|
||||
}
|
||||
/**
|
||||
* Initialisation task.
|
||||
*
|
||||
* Runs board and module initialisation, then terminates.
|
||||
*/
|
||||
void initTask(__attribute__((unused)) void *parameters)
|
||||
{
|
||||
/* board driver init */
|
||||
PIOS_Board_Init();
|
||||
|
||||
/* Initialize modules */
|
||||
MODULE_INITIALISE_ALL;
|
||||
|
||||
/* terminate this task */
|
||||
vTaskDelete(NULL);
|
||||
}
|
||||
|
||||
/**
|
||||
* @}
|
||||
|
||||
@ -2,6 +2,7 @@
|
||||
#
|
||||
# TODO: This file should be reworked. It will be done as a part of sim target refactoring.
|
||||
#
|
||||
# Copyright (c) 2015 The LibrePilot Project, http://www.librepilot.org
|
||||
# The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2009.
|
||||
#
|
||||
#
|
||||
|
||||
@ -1,17 +1,18 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup OpenPilotSystem OpenPilot System
|
||||
* @brief These files are the core system files of OpenPilot.
|
||||
* They are the ground layer just above PiOS. In practice, OpenPilot actually starts
|
||||
* in the main() function of openpilot.c
|
||||
* @addtogroup LibrePilotSystem LibrePilot System
|
||||
* @brief These files are the core system files for Simposix.
|
||||
* They are the ground layer just above PiOS. In practice, Simposix actually starts
|
||||
* in the main() function of simposix.c
|
||||
* @{
|
||||
* @addtogroup OpenPilotCore OpenPilot Core
|
||||
* @brief This is where the OP firmware starts. Those files also define the compile-time
|
||||
* @addtogroup LibrePilotCore LibrePilot Core
|
||||
* @brief This is where the LP firmware starts. Those files also define the compile-time
|
||||
* options of the firmware.
|
||||
* @{
|
||||
* @file openpilot.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief Sets up and runs main OpenPilot tasks.
|
||||
* @file simposix.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.
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
@ -35,46 +36,7 @@ extern "C" {
|
||||
#include "inc/openpilot.h"
|
||||
#include <systemmod.h>
|
||||
#include <uavobjectsinit.h>
|
||||
|
||||
/* Task Priorities */
|
||||
#define PRIORITY_TASK_HOOKS (tskIDLE_PRIORITY + 3)
|
||||
|
||||
/* Global Variables */
|
||||
|
||||
/* Local Variables */
|
||||
#define INCLUDE_TEST_TASKS 0
|
||||
#if INCLUDE_TEST_TASKS
|
||||
static uint8_t sdcard_available;
|
||||
#endif
|
||||
char Buffer[1024];
|
||||
uint32_t Cache;
|
||||
|
||||
/* Function Prototypes */
|
||||
#if INCLUDE_TEST_TASKS
|
||||
static void TaskTick(void *pvParameters);
|
||||
static void TaskTesting(void *pvParameters);
|
||||
static void TaskHIDTest(void *pvParameters);
|
||||
static void TaskServos(void *pvParameters);
|
||||
static void TaskSDCard(void *pvParameters);
|
||||
#endif
|
||||
int32_t CONSOLE_Parse(uint8_t port, char c);
|
||||
void OP_ADC_NotifyChange(uint32_t pin, uint32_t pin_value);
|
||||
|
||||
/* Prototype of PIOS_Board_Init() function */
|
||||
extern void PIOS_Board_Init(void);
|
||||
extern void Stack_Change(void);
|
||||
static void Stack_Change_Weak() __attribute__((weakref("Stack_Change")));
|
||||
|
||||
/* Local Variables */
|
||||
#define INIT_TASK_PRIORITY (tskIDLE_PRIORITY + configMAX_PRIORITIES - 1) // max priority
|
||||
#define INIT_TASK_STACK (1024 / 4) // XXX this seems excessive
|
||||
static xTaskHandle initTaskHandle;
|
||||
|
||||
/* Function Prototypes */
|
||||
static void initTask(void *parameters);
|
||||
|
||||
/* Prototype of generated InitModules() function */
|
||||
extern void InitModules(void);
|
||||
#include <systemmod.h>
|
||||
}
|
||||
|
||||
/**
|
||||
@ -88,20 +50,10 @@ extern void InitModules(void);
|
||||
*/
|
||||
int main()
|
||||
{
|
||||
int result;
|
||||
|
||||
/* 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();
|
||||
|
||||
/* For Revolution we use a FreeRTOS task to bring up the system so we can */
|
||||
/* always rely on FreeRTOS primitive */
|
||||
result = xTaskCreate(initTask, "init",
|
||||
INIT_TASK_STACK, NULL, INIT_TASK_PRIORITY,
|
||||
&initTaskHandle);
|
||||
PIOS_Assert(result == pdPASS);
|
||||
SystemModStart();
|
||||
|
||||
/* Start the FreeRTOS scheduler */
|
||||
vTaskStartScheduler();
|
||||
@ -117,22 +69,6 @@ int main()
|
||||
|
||||
return 0;
|
||||
}
|
||||
/**
|
||||
* Initialisation task.
|
||||
*
|
||||
* Runs board and module initialisation, then terminates.
|
||||
*/
|
||||
void initTask(__attribute__((unused)) void *parameters)
|
||||
{
|
||||
/* board driver init */
|
||||
PIOS_Board_Init();
|
||||
|
||||
/* Initialize modules */
|
||||
MODULE_INITIALISE_ALL;
|
||||
|
||||
/* terminate this task */
|
||||
vTaskDelete(NULL);
|
||||
}
|
||||
|
||||
/**
|
||||
* @}
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user