mirror of
https://bitbucket.org/librepilot/librepilot.git
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143 lines
4.2 KiB
C
143 lines
4.2 KiB
C
/**
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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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* @{
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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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* 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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* @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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/* OpenPilot Includes */
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#include "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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* 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)<BR>
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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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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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/* 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, (const signed char *)"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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/* Start the FreeRTOS scheduler */
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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 PIOS_LED_HEARTBEAT to user that something bad just happened */
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PIOS_LED_Off(PIOS_LED_HEARTBEAT); \
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for(;;) { \
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PIOS_LED_Toggle(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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* 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
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initTask(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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* @}
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*/
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