/**
 ******************************************************************************
 * @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 OpenPilotCore OpenPilot Core
 * @brief This is where the OP 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.
 * @see        The GNU Public License (GPL) Version 3
 *
 *****************************************************************************/
/*
 * 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
 * (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
 * 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.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */

#include "inc/openpilot.h"
#include <uavobjectsinit.h>
#include <hwsettings.h>
#include <pios_board_init.h>

/* Task Priorities */
#define PRIORITY_TASK_HOOKS (tskIDLE_PRIORITY + 3)

/* Global Variables */

extern void Stack_Change(void);
extern void GPSPSystemModStart(void);

/**
 * OpenPilot Main function:
 *
 * Initialize PiOS<BR>
 * Create the "System" task (SystemModInitializein Modules/System/systemmod.c) <BR>
 * Start FreeRTOS Scheduler (vTaskStartScheduler) (Now handled by caller)
 * If something goes wrong, blink LED1 and LED2 every 100ms
 *
 */
int main()
{
    /* Brings up System using CMSIS functions, enables the LEDs. */
    PIOS_SYS_Init();

    /*
     * Initialize the system module, which configures the board and
     * starts the other modules.
     */
    GPSPSystemModStart();

    /* swap the stack to use the IRQ stack */
    Stack_Change();

    /* Start the FreeRTOS scheduler */
    vTaskStartScheduler();

    /* If all is well we will never reach here as the scheduler will now be running. */

    /* Do some indication to user that something bad just happened */
    while (1) {
#if defined(PIOS_LED_HEARTBEAT)
        PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
#endif /* PIOS_LED_HEARTBEAT */
        PIOS_DELAY_WaitmS(100);
    }

    return 0;
}

/**
 * @}
 * @}
 */