mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-30 08:24:11 +01:00
340 lines
11 KiB
C
340 lines
11 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 "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 PIOS_Board_Init() function */
|
|
extern void PIOS_Board_Init(void);
|
|
extern void Stack_Change(void);
|
|
static void Stack_Change_Weak () __attribute__ ((weakref ("Stack_Change")));
|
|
|
|
/**
|
|
* 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();
|
|
|
|
/* Architecture dependant Hardware and
|
|
* core subsystem initialisation
|
|
* (see pios_board.c for your arch)
|
|
* */
|
|
PIOS_Board_Init();
|
|
|
|
/* Initialize modules */
|
|
MODULE_INITIALISE_ALL
|
|
|
|
#if INCLUDE_TEST_TASKS
|
|
/* 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);
|
|
#endif
|
|
|
|
/* swap the stack to use the IRQ stack (does nothing in sim mode) */
|
|
Stack_Change_Weak();
|
|
|
|
/* 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;
|
|
}
|
|
|
|
|
|
#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_SBUS)
|
|
PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u,%u,%u,%u,%u,%u,%u,%u\r", PIOS_SBUS_Get(0), PIOS_SBUS_Get(1), PIOS_SBUS_Get(2), PIOS_SBUS_Get(3), PIOS_SBUS_Get(4), PIOS_SBUS_Get(5), PIOS_SBUS_Get(6), PIOS_SBUS_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
|
|
/**
|
|
* @}
|
|
* @}
|
|
*/
|
|
|