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97 lines
3.4 KiB
C
97 lines
3.4 KiB
C
/**
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******************************************************************************
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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 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 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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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* 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
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*/
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#include "inc/openpilot.h"
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#include <systemmod.h>
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/* Task Priorities */
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/* Global Variables */
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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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* Initialize PiOS<BR>
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* Create the "System" task (SystemModInitializein Modules/System/systemmod.c) <BR>
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* Start FreeRTOS Scheduler (vTaskStartScheduler) (Now handled by caller)
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* If something goes wrong, blink LED1 and LED2 every 100ms
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*
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*/
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int main()
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{
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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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/* Brings up System using CMSIS functions, enables the LEDs. */
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PIOS_SYS_Init();
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SystemModStart();
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/* swap the stack to use the IRQ stack */
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Stack_Change();
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/* Start the FreeRTOS scheduler, which should never return.
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*
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* NOTE: OpenPilot runs an operating system (FreeRTOS), which constantly calls
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* (schedules) function files (modules). These functions never return from their
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* while loops, which explains why each module has a while(1){} segment. Thus,
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* the OpenPilot software actually starts at the vTaskStartScheduler() function,
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* even though this is somewhat obscure.
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*
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* In addition, there are many main() functions in the OpenPilot firmware source tree
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* This is because each main() refers to a separate hardware platform. Of course,
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* C only allows one main(), so only the relevant main() function is compiled when
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* making a specific firmware.
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*
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*/
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vTaskStartScheduler();
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/* If all is well we will never reach here as the scheduler will now be running. */
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/* Do some indication to user that something bad just happened */
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while (1) {
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#if defined(PIOS_LED_HEARTBEAT)
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PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
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#endif /* PIOS_LED_HEARTBEAT */
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PIOS_DELAY_WaitmS(100);
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}
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return 0;
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}
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/**
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* @}
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* @}
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*/
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