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https://bitbucket.org/librepilot/librepilot.git
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66fa56a1da
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@630 ebee16cc-31ac-478f-84a7-5cbb03baadba
339 lines
10 KiB
C
339 lines
10 KiB
C
/**
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******************************************************************************
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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 "telemetry.h"
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#include "GPS.h"
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#include "systemmod.h"
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#include "examplemodevent.h"
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#include "examplemodperiodic.h"
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#include "examplemodthread.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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static uint8_t sdcard_available;
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FILEINFO File;
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char Buffer[1024];
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uint32_t Cache;
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/* Function Prototypes */
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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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int32_t CONSOLE_Parse(COMPortTypeDef port, char c);
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void OP_ADC_NotifyChange(uint32_t pin, uint32_t pin_value);
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/**
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* OpenPilot Main function
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*/
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int main()
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{
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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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/* Brings up System using CMSIS functions, enables the LEDs. */
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PIOS_SYS_Init();
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/* Initialize the system thread */
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SystemModInitialize();
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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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/* If we do get here, it will most likely be because we ran out of heap space. */
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PIOS_LED_Off(LED1);
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PIOS_LED_Off(LED2);
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for(;;) {
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PIOS_LED_Toggle(LED1);
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PIOS_LED_Toggle(LED2);
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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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* Initialize the hardware, libraries and modules (called by the System thread in systemmod.c)
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*/
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void OpenPilotInit()
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{
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/* Delay system */
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PIOS_DELAY_Init();
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/* SPI Init */
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PIOS_SPI_Init();
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/* Enable and mount the SDCard */
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PIOS_SDCARD_Init();
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PIOS_SDCARD_MountFS(0);
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/* Initialize UAVObject libraries */
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EventDispatcherInitialize();
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UAVObjInitialize();
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UAVObjectsInitializeAll();
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/* Initialize the alarms library */
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AlarmsInitialize();
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/* Initialize the PiOS library */
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PIOS_COM_Init();
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PIOS_Servo_Init();
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PIOS_ADC_Init();
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PIOS_GPIO_Init();
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#if defined(PIOS_INCLUDE_SPEKTRUM)
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PIOS_SPEKTRUM_Init();
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#endif
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#if defined(PIOS_INCLUDE_PWM)
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PIOS_PWM_Init();
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#endif
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#if defined(PIOS_INCLUDE_PPM)
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PIOS_PPM_Init();
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#endif
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PIOS_USB_Init(0);
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PIOS_I2C_Init();
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/* Initialize modules */
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TelemetryInitialize();
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ExampleModPeriodicInitialize();
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//ExampleModThreadInitialize();
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//ExampleModEventInitialize();
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GpsInitialize();
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/* Create test tasks */
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//xTaskCreate(TaskTesting, (signed portCHAR *)"Testing", configMINIMAL_STACK_SIZE , NULL, 4, NULL);
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xTaskCreate(TaskHIDTest, (signed portCHAR *)"HIDTest", configMINIMAL_STACK_SIZE , NULL, 3, NULL);
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//xTaskCreate(TaskServos, (signed portCHAR *)"Servos", configMINIMAL_STACK_SIZE , NULL, 3, NULL);
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//xTaskCreate(TaskSDCard, (signed portCHAR *)"SDCard", configMINIMAL_STACK_SIZE, NULL, (tskIDLE_PRIORITY + 2), NULL);
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}
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static void TaskTesting(void *pvParameters)
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{
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portTickType xDelay = 250 / portTICK_RATE_MS;
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portTickType xTimeout = 10 / portTICK_RATE_MS;
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//PIOS_BMP085_Init();
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for(;;)
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{
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/* This blocks the task until the BMP085 EOC */
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/*
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PIOS_BMP085_StartADC(TemperatureConv);
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xSemaphoreTake(PIOS_BMP085_EOC, xTimeout);
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PIOS_BMP085_ReadADC();
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PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u\r", PIOS_BMP085_GetTemperature());
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PIOS_BMP085_StartADC(PressureConv);
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xSemaphoreTake(PIOS_BMP085_EOC, xTimeout);
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PIOS_BMP085_ReadADC();
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PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u\r", PIOS_BMP085_GetPressure());
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*/
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#if defined(PIOS_INCLUDE_SPEKTRUM)
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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));
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#endif
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#if defined(PIOS_INCLUDE_PWM)
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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));
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#endif
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#if defined(PIOS_INCLUDE_PPM)
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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));
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#endif
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/* This blocks the task until there is something on the buffer */
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/*xSemaphoreTake(PIOS_USART1_Buffer, portMAX_DELAY);
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int32_t len = PIOS_COM_ReceiveBufferUsed(COM_USART1);
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for(int32_t i = 0; i < len; i++) {
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PIOS_COM_SendFormattedString(COM_DEBUG_USART, ">%c\r", PIOS_COM_ReceiveBuffer(COM_USART1));
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}*/
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//int32_t state = PIOS_USB_CableConnected();
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//PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "State: %d\r", state);
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//PIOS_I2C_Transfer(I2C_Write_WithoutStop, 0x57, (uint8_t *)50, 1);
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/* Test ADC pins */
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//temp = ((1.43 - ((Vsense / 4096) * 3.3)) / 4.3) + 25;
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//uint32_t vsense = PIOS_ADC_PinGet(0);
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//uint32_t Temp = (1.42 - vsense * 3.3 / 4096) * 1000 / 4.35 + 25;
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//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));
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//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));
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vTaskDelay(xDelay);
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}
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}
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static void TaskHIDTest(void *pvParameters)
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{
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uint8_t byte;
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uint8_t line_buffer[128];
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uint16_t line_ix;
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for(;;)
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{
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/* HID Loopback Test */
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/*if(PIOS_COM_ReceiveBufferUsed(COM_USB_HID) != 0) {
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byte = PIOS_COM_ReceiveBuffer(COM_USB_HID);
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if(byte == '\r' || byte == '\n' || byte == 0) {
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PIOS_COM_SendFormattedString(COM_USB_HID, "RX: %s\r", line_buffer);
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PIOS_COM_SendFormattedString(COM_DEBUG_USART, "RX: %s\r", line_buffer);
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line_ix = 0;
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} else if(line_ix < (64 - 1)) {
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line_buffer[line_ix++] = byte;
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line_buffer[line_ix] = 0;
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}
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}*/
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/* HID Loopback Test */
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if(PIOS_COM_ReceiveBufferUsed(COM_USART2) != 0) {
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byte = PIOS_COM_ReceiveBuffer(COM_USART2);
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/*if(byte == '\r' || byte == '\n' || byte == 0) {
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PIOS_COM_SendFormattedString(COM_DEBUG_USART, "RX: %s\r", line_buffer);
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line_ix = 0;
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} else if(line_ix < (128 - 1)) {
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line_buffer[line_ix++] = byte;
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line_buffer[line_ix] = 0;
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}*/
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PIOS_COM_SendChar(COM_DEBUG_USART, (char)byte);
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}
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}
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}
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static void TaskServos(void *pvParameters)
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{
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/* For testing servo outputs */
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portTickType xDelay;
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/* Used to test servos, cycles all servos from one side to the other */
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for(;;) {
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/*xDelay = 250 / portTICK_RATE_MS;
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PIOS_Servo_Set(1, 2000);
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vTaskDelay(xDelay);
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PIOS_Servo_Set(2, 2000);
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vTaskDelay(xDelay);
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PIOS_Servo_Set(3, 2000);
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vTaskDelay(xDelay);
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PIOS_Servo_Set(4, 2000);
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vTaskDelay(xDelay);
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PIOS_Servo_Set(5, 2000);
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vTaskDelay(xDelay);
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PIOS_Servo_Set(6, 2000);
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vTaskDelay(xDelay);
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PIOS_Servo_Set(7, 2000);
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vTaskDelay(xDelay);
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PIOS_Servo_Set(8, 2000);
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vTaskDelay(xDelay);
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PIOS_Servo_Set(8, 1000);
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vTaskDelay(xDelay);
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PIOS_Servo_Set(7, 1000);
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vTaskDelay(xDelay);
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PIOS_Servo_Set(6, 1000);
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vTaskDelay(xDelay);
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PIOS_Servo_Set(5, 1000);
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vTaskDelay(xDelay);
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PIOS_Servo_Set(4, 1000);
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vTaskDelay(xDelay);
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PIOS_Servo_Set(3, 1000);
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vTaskDelay(xDelay);
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PIOS_Servo_Set(2, 1000);
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vTaskDelay(xDelay);
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PIOS_Servo_Set(1, 1000);
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vTaskDelay(xDelay);*/
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xDelay = 1 / portTICK_RATE_MS;
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for(int i = 1000; i < 2000; i++) {
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PIOS_Servo_Set(1, i);
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PIOS_Servo_Set(2, i);
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PIOS_Servo_Set(3, i);
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PIOS_Servo_Set(4, i);
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PIOS_Servo_Set(5, i);
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PIOS_Servo_Set(6, i);
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PIOS_Servo_Set(7, i);
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PIOS_Servo_Set(8, i);
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vTaskDelay(xDelay);
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}
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for(int i = 2000; i > 1000; i--) {
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PIOS_Servo_Set(1, i);
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PIOS_Servo_Set(2, i);
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PIOS_Servo_Set(3, i);
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PIOS_Servo_Set(4, i);
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PIOS_Servo_Set(5, i);
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PIOS_Servo_Set(6, i);
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PIOS_Servo_Set(7, i);
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PIOS_Servo_Set(8, i);
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vTaskDelay(xDelay);
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}
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}
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}
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static void TaskSDCard(void *pvParameters)
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{
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uint16_t second_delay_ctr = 0;
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portTickType xLastExecutionTime;
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/* Initialise the xLastExecutionTime variable on task entry */
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xLastExecutionTime = xTaskGetTickCount();
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for(;;) {
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vTaskDelayUntil(&xLastExecutionTime, 1 / portTICK_RATE_MS);
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/* Each second: */
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/* Check if SD card is available */
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/* High-speed access if SD card was previously available */
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if(++second_delay_ctr >= 1000) {
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second_delay_ctr = 0;
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uint8_t prev_sdcard_available = sdcard_available;
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sdcard_available = PIOS_SDCARD_CheckAvailable(prev_sdcard_available);
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if(sdcard_available && !prev_sdcard_available) {
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/* SD Card has been connected! */
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/* Switch to mass storage device */
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MSD_Init(0);
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} else if(!sdcard_available && prev_sdcard_available) {
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/* Re-init USB for HID */
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PIOS_USB_Init(1);
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/* SD Card disconnected! */
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}
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}
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/* Each millisecond: */
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/* Handle USB access if device is available */
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if(sdcard_available) {
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MSD_Periodic_mS();
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}
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}
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}
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