mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-11 19:24:10 +01:00
99 lines
2.9 KiB
C
99 lines
2.9 KiB
C
/**
|
|
******************************************************************************
|
|
* @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 "hwsettings.h"
|
|
#include "systemmod.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);
|
|
|
|
/**
|
|
* 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()
|
|
{
|
|
/* 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();
|
|
|
|
/* Architecture dependant Hardware and
|
|
* core subsystem initialisation
|
|
* (see pios_board.c for your arch)
|
|
* */
|
|
PIOS_Board_Init();
|
|
|
|
/* Initialize modules */
|
|
MODULE_INITIALISE_ALL
|
|
|
|
/* swap the stack to use the IRQ stack */
|
|
Stack_Change();
|
|
|
|
/* 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(LED1); \
|
|
for(;;) { \
|
|
PIOS_LED_Toggle(LED1); \
|
|
PIOS_DELAY_WaitmS(100); \
|
|
};
|
|
|
|
return 0;
|
|
}
|
|
|
|
/**
|
|
* @}
|
|
* @}
|
|
*/
|
|
|