LibrePilot/flight/targets/boards/osd/firmware/osd.c

/**
 ******************************************************************************
 *
 * @file       main.c
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
 * @brief      Main modem functions
 * @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
 */


// *****************************************************************************

// #define USE_WATCHDOG                    // comment this out if you don't want to use the watchdog

// *****************************************************************************

#include "inc/openpilot.h"
#include <string.h>

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

/* Global Variables */

/* 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")));


/* Function Prototypes */
static void initTask(void *parameters);
/* 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;

// *****************************************************************************
// Global Variables

// *****************************************************************************
// Local Variables

#if defined(USE_WATCHDOG)
volatile uint16_t watchdog_timer;
uint16_t watchdog_delay;
#endif

// *****************************************************************************

#if defined(USE_WATCHDOG)

void processWatchdog(void)
{
    // random32 = UpdateCRC32(random32, IWDG->SR);

    if (watchdog_timer < watchdog_delay) {
        return;
    }

    // the watchdog needs resetting

    watchdog_timer = 0;

    watchdog_Clear();
}

void enableWatchdog(void)
{ // enable a watchdog
    watchdog_timer = 0;
    watchdog_delay = watchdog_Init(1000); // 1 second watchdog timeout
}

#endif /* if defined(USE_WATCHDOG) */

// *****************************************************************************

void sequenceLEDs(void)
{
    for (int i = 0; i < 2; i++) {
        // USB_LED_ON;
        PIOS_DELAY_WaitmS(100);
        // USB_LED_OFF;
        PIOS_DELAY_WaitmS(100);

         #if defined(USE_WATCHDOG)
        processWatchdog(); // process the watchdog
        #endif
    }
}

// *****************************************************************************
// find out what caused our reset and act on it

void processReset(void)
{
    if (RCC_GetFlagStatus(RCC_FLAG_IWDGRST) != RESET) { // Independant Watchdog Reset
        #if defined(PIOS_COM_DEBUG_CONSOLE)
        DEBUG_PRINTF(0, "\r\nINDEPENDANT WATCHDOG CAUSED A RESET\r\n");
        #endif

        // all led's ON
        // USB_LED_ON;


        PIOS_DELAY_WaitmS(500); // delay a bit

        // all led's OFF
        // USB_LED_OFF;
    }
/*
        if (RCC_GetFlagStatus(RCC_FLAG_WWDGRST) != RESET)
        {	// Window Watchdog Reset

                DEBUG_PRINTF(0, "\r\nWINDOW WATCHDOG CAUSED A REBOOT\r\n");

                // all led's ON
                USB_LED_ON;
                LINK_LED_ON;
                RX_LED_ON;
                TX_LED_ON;

                PIOS_DELAY_WaitmS(500);	// delay a bit

                // all led's OFF
                USB_LED_OFF;
                LINK_LED_OFF;
                RX_LED_OFF;
                TX_LED_OFF;
        }
 */
    if (RCC_GetFlagStatus(RCC_FLAG_PORRST) != RESET) { // Power-On Reset
        #if defined(PIOS_COM_DEBUG)
        DEBUG_PRINTF(0, "\r\nPOWER-ON-RESET\r\n");
        #endif
    }

    if (RCC_GetFlagStatus(RCC_FLAG_SFTRST) != RESET) { // Software Reset
        #if defined(PIOS_COM_DEBUG)
        DEBUG_PRINTF(0, "\r\nSOFTWARE RESET\r\n");
        #endif
    }

    if (RCC_GetFlagStatus(RCC_FLAG_LPWRRST) != RESET) { // Low-Power Reset
        #if defined(PIOS_COM_DEBUG)
        DEBUG_PRINTF(0, "\r\nLOW POWER RESET\r\n");
        #endif
    }

    if (RCC_GetFlagStatus(RCC_FLAG_PINRST) != RESET) { // Pin Reset
        #if defined(PIOS_COM_DEBUG)
        DEBUG_PRINTF("0, \r\nPIN RESET\r\n");
        #endif
    }

    // Clear reset flags
    // RCC_ClearFlag();
}

int main()
{
    int result;

    // *************
    // init various variables
    // *************
    /* NOTE: Do NOT modify the following start-up sequence */
    /* Any new initialization functions should be added in OpenPilotInit() */
    vPortInitialiseBlocks();

    // Bring 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, (const signed char *)"init",
                         INIT_TASK_STACK, NULL, INIT_TASK_PRIORITY,
                         &initTaskHandle);
    PIOS_Assert(result == pdPASS);

    /* Start the FreeRTOS scheduler which should never returns.*/
    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 */
    PIOS_LED_Off(PIOS_LED_HEARTBEAT); \
    for (;;) { \
        PIOS_LED_Toggle(PIOS_LED_HEARTBEAT); \
        PIOS_DELAY_WaitmS(100); \
    }
    ;

    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);
}

// *****************************************************************************