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3780de8d3e
LibrePilot/flight/OpenPilot/System/openpilot.c
Mathieu Rondonneau 3780de8d3e OP-423 port to OP (heap2) the previous changes done in CC (heap1) (see c95b199166) 
I managed to test CC with heap2 changes and the init stack claimed back to heap once scheduler starts.

the changes of this commit are OP related (just cleanup on CC side):
Arch specific stuff (in reset vector) to hide this from portable code:
     - switch back to MSP stack before starting the scheduler so that the sheduler can use the IRQ stack (when/if needed).
     - call the C portable function in heap2 to claim some stack back (the number to claim is taken from linker file).
     - start the scheduler from reset vector (I move this here from main because it make sense to not go back to C (so that I don't need to copy the rolled stack in case the sheduler returns). This make it more clean.
     - Also I have added the call to the mem manager if sheduler return. that way, we don't reset indefinitely if memory runs out. We will go to this handler and figure things out (right now, it's just looping but at least not rebooting. Probably trap NMI would be better (later improvement).
2011-06-14 20:10:53 -07:00

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/**
******************************************************************************
* @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
*/
/* OpenPilot Includes */
#include "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
FILEINFO File;
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 generated InitModules() function */
extern void InitModules(void);
/* Prototype of PIOS_Board_Init() function */
extern void PIOS_Board_Init(void);
/**
* OpenPilot Main function:
*
* Initialize PiOS<BR>
* Create the "System" task (SystemModInitializein Modules/System/systemmod.c) <BR>
* Start FreeRTOS Scheduler (vTaskStartScheduler)<BR>
* If something goes wrong, blink LED1 and LED2 every 100ms
*
*/
int main()
{
/* 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();
/* Initialize the system thread */
SystemModInitialize();
/* only do this for posix and win32 since the caller will take care
* of starting the scheduler and increase the heap and swith back to
* MSP stack. (all arch specific is hidden from here and take care by reset handler)
* LED blinking in case of scheduler returning back should be handled in NMI or other
* appropriate handlers like mem manager.
*/
#if defined(ARCH_POSIX) || defined(ARCH_WIN32)
/* Start the FreeRTOS scheduler which never returns.*/
vTaskStartScheduler();
/* If all is well we will never reach here as the scheduler will now be running. */
/* If we do get here, it will most likely be because we ran out of heap space. */
PIOS_LED_Off(LED1);
PIOS_LED_Off(LED2);
for(;;) {
PIOS_LED_Toggle(LED1);
PIOS_LED_Toggle(LED2);
PIOS_DELAY_WaitmS(100);
}
#endif
return 0;
}
/**
* Initialize the hardware, libraries and modules (called by the System thread in systemmod.c)
*/
void OpenPilotInit()
{
/* Architecture dependant Hardware and
* core subsystem initialisation
* (see pios_board.c for your arch)
* */
PIOS_Board_Init();
/* Initialize modules */
InitModules();
/* Create test tasks */
//xTaskCreate(TaskTesting, (signed portCHAR *)"Testing", configMINIMAL_STACK_SIZE , NULL, 4, NULL);
//xTaskCreate(TaskHIDTest, (signed portCHAR *)"HIDTest", configMINIMAL_STACK_SIZE , NULL, 3, NULL);
//xTaskCreate(TaskServos, (signed portCHAR *)"Servos", configMINIMAL_STACK_SIZE , NULL, 3, NULL);
//xTaskCreate(TaskSDCard, (signed portCHAR *)"SDCard", configMINIMAL_STACK_SIZE, NULL, (tskIDLE_PRIORITY + 2), NULL);
}
#if INCLUDE_TEST_TASKS
static void TaskTesting(void *pvParameters)
{
portTickType xDelay = 250 / portTICK_RATE_MS;
portTickType xTimeout = 10 / portTICK_RATE_MS;
//PIOS_BMP085_Init();
for(;;)
{
/* This blocks the task until the BMP085 EOC */
/*
PIOS_BMP085_StartADC(TemperatureConv);
xSemaphoreTake(PIOS_BMP085_EOC, xTimeout);
PIOS_BMP085_ReadADC();
PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u\r", PIOS_BMP085_GetTemperature());
PIOS_BMP085_StartADC(PressureConv);
xSemaphoreTake(PIOS_BMP085_EOC, xTimeout);
PIOS_BMP085_ReadADC();
PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u\r", PIOS_BMP085_GetPressure());
*/
#if defined(PIOS_INCLUDE_SPEKTRUM)
PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u,%u,%u,%u,%u,%u,%u,%u\r", PIOS_SPEKTRUM_Get(0), PIOS_SPEKTRUM_Get(1), PIOS_SPEKTRUM_Get(2), PIOS_SPEKTRUM_Get(3), PIOS_SPEKTRUM_Get(4), PIOS_SPEKTRUM_Get(5), PIOS_SPEKTRUM_Get(6), PIOS_SPEKTRUM_Get(7));
#endif
#if defined(PIOS_INCLUDE_PWM)
PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u,%u,%u,%u,%u,%u,%u,%u uS\r", PIOS_PWM_Get(0), PIOS_PWM_Get(1), PIOS_PWM_Get(2), PIOS_PWM_Get(3), PIOS_PWM_Get(4), PIOS_PWM_Get(5), PIOS_PWM_Get(6), PIOS_PWM_Get(7));
#endif
#if defined(PIOS_INCLUDE_PPM)
PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u,%u,%u,%u,%u,%u,%u,%u uS\r", PIOS_PPM_Get(0), PIOS_PPM_Get(1), PIOS_PPM_Get(2), PIOS_PPM_Get(3), PIOS_PPM_Get(4), PIOS_PPM_Get(5), PIOS_PPM_Get(6), PIOS_PPM_Get(7));
#endif
/* This blocks the task until there is something on the buffer */
/*xSemaphoreTake(PIOS_USART1_Buffer, portMAX_DELAY);
int32_t len = PIOS_COM_ReceiveBufferUsed(COM_USART1);
for(int32_t i = 0; i < len; i++) {
PIOS_COM_SendFormattedString(COM_DEBUG_USART, ">%c\r", PIOS_COM_ReceiveBuffer(COM_USART1));
}*/
//int32_t state = PIOS_USB_CableConnected();
//PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "State: %d\r", state);
//PIOS_I2C_Transfer(I2C_Write_WithoutStop, 0x57, (uint8_t *)50, 1);
/* Test ADC pins */
//temp = ((1.43 - ((Vsense / 4096) * 3.3)) / 4.3) + 25;
//uint32_t vsense = PIOS_ADC_PinGet(0);
//uint32_t Temp = (1.42 - vsense * 3.3 / 4096) * 1000 / 4.35 + 25;
//PIOS_COM_SendFormattedString(COM_DEBUG_USART, "Temp: %d, CS_I: %d, CS_V: %d, 5v: %d\r", PIOS_ADC_PinGet(0), PIOS_ADC_PinGet(1), PIOS_ADC_PinGet(2), PIOS_ADC_PinGet(3));
//PIOS_COM_SendFormattedString(COM_DEBUG_USART, "AUX1: %d, AUX2: %d, AUX3: %d\r", PIOS_ADC_PinGet(4), PIOS_ADC_PinGet(5), PIOS_ADC_PinGet(6));
vTaskDelay(xDelay);
}
}
#endif
#if INCLUDE_TEST_TASKS
static void TaskHIDTest(void *pvParameters)
{
uint8_t byte;
uint8_t line_buffer[128];
uint16_t line_ix = 0;
for(;;)
{
/* HID Loopback Test */
#if 0
if(PIOS_COM_ReceiveBufferUsed(COM_USB_HID) != 0) {
byte = PIOS_COM_ReceiveBuffer(COM_USB_HID);
if(byte == '\r' || byte == '\n' || byte == 0) {
PIOS_COM_SendFormattedString(COM_USB_HID, "RX: %s\r", line_buffer);
PIOS_COM_SendFormattedString(COM_DEBUG_USART, "RX: %s\r", line_buffer);
line_ix = 0;
} else if(line_ix < sizeof(line_buffer)) {
line_buffer[line_ix++] = byte;
line_buffer[line_ix] = 0;
}
}
#endif
/* HID Loopback Test */
if(PIOS_COM_ReceiveBufferUsed(COM_USART2) != 0) {
byte = PIOS_COM_ReceiveBuffer(COM_USART2);
#if 0
if(byte == '\r' || byte == '\n' || byte == 0) {
PIOS_COM_SendFormattedString(COM_DEBUG_USART, "RX: %s\r", line_buffer);
line_ix = 0;
} else if(line_ix < sizeof(line_buffer)) {
line_buffer[line_ix++] = byte;
line_buffer[line_ix] = 0;
}
#endif
PIOS_COM_SendChar(COM_DEBUG_USART, (char)byte);
}
}
}
#endif
#if INCLUDE_TEST_TASKS
static void TaskServos(void *pvParameters)
{
/* For testing servo outputs */
portTickType xDelay;
/* Used to test servos, cycles all servos from one side to the other */
for(;;) {
/*xDelay = 250 / portTICK_RATE_MS;
PIOS_Servo_Set(0, 2000);
vTaskDelay(xDelay);
PIOS_Servo_Set(1, 2000);
vTaskDelay(xDelay);
PIOS_Servo_Set(2, 2000);
vTaskDelay(xDelay);
PIOS_Servo_Set(3, 2000);
vTaskDelay(xDelay);
PIOS_Servo_Set(4, 2000);
vTaskDelay(xDelay);
PIOS_Servo_Set(5, 2000);
vTaskDelay(xDelay);
PIOS_Servo_Set(6, 2000);
vTaskDelay(xDelay);
PIOS_Servo_Set(7, 2000);
vTaskDelay(xDelay);
PIOS_Servo_Set(7, 1000);
vTaskDelay(xDelay);
PIOS_Servo_Set(6, 1000);
vTaskDelay(xDelay);
PIOS_Servo_Set(5, 1000);
vTaskDelay(xDelay);
PIOS_Servo_Set(4, 1000);
vTaskDelay(xDelay);
PIOS_Servo_Set(3, 1000);
vTaskDelay(xDelay);
PIOS_Servo_Set(2, 1000);
vTaskDelay(xDelay);
PIOS_Servo_Set(1, 1000);
vTaskDelay(xDelay);
PIOS_Servo_Set(0, 1000);
vTaskDelay(xDelay);*/
xDelay = 1 / portTICK_RATE_MS;
for(int i = 1000; i < 2000; i++) {
PIOS_Servo_Set(0, i);
PIOS_Servo_Set(1, i);
PIOS_Servo_Set(2, i);
PIOS_Servo_Set(3, i);
PIOS_Servo_Set(4, i);
PIOS_Servo_Set(5, i);
PIOS_Servo_Set(6, i);
PIOS_Servo_Set(7, i);
vTaskDelay(xDelay);
}
for(int i = 2000; i > 1000; i--) {
PIOS_Servo_Set(0, i);
PIOS_Servo_Set(1, i);
PIOS_Servo_Set(2, i);
PIOS_Servo_Set(3, i);
PIOS_Servo_Set(4, i);
PIOS_Servo_Set(5, i);
PIOS_Servo_Set(6, i);
PIOS_Servo_Set(7, i);
vTaskDelay(xDelay);
}
}
}
#endif
#if INCLUDE_TEST_TASKS
static void TaskSDCard(void *pvParameters)
{
uint16_t second_delay_ctr = 0;
portTickType xLastExecutionTime;
/* Initialise the xLastExecutionTime variable on task entry */
xLastExecutionTime = xTaskGetTickCount();
for(;;) {
vTaskDelayUntil(&xLastExecutionTime, 1 / portTICK_RATE_MS);
/* Each second: */
/* Check if SD card is available */
/* High-speed access if SD card was previously available */
if(++second_delay_ctr >= 1000) {
second_delay_ctr = 0;
uint8_t prev_sdcard_available = sdcard_available;
sdcard_available = PIOS_SDCARD_CheckAvailable(prev_sdcard_available);
if(sdcard_available && !prev_sdcard_available) {
/* SD Card has been connected! */
/* Switch to mass storage device */
MSD_Init(0);
} else if(!sdcard_available && prev_sdcard_available) {
/* Re-init USB for HID */
PIOS_USB_Init(1);
/* SD Card disconnected! */
}
}
/* Each millisecond: */
/* Handle USB access if device is available */
if(sdcard_available) {
MSD_Periodic_mS();
}
}
}
#endif
/**
* @}
* @}
*/
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