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d923117c25
This module will periodically update values of stabilization PID settings depending on configured input control channels. New values of stabilization settings are not saved to flash, but updated in RAM. It is expected that the module will be enabled only for tuning. When desired values are found, they can be read via GCS and saved permanently. Then this module should be disabled again.
112 lines
3.4 KiB
C
112 lines
3.4 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilotSystem OpenPilot System
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* @brief These files are the core system files of OpenPilot.
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* They are the ground layer just above PiOS. In practice, OpenPilot actually starts
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* in the main() function of openpilot.c
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* @{
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* @addtogroup OpenPilotCore OpenPilot Core
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* @brief This is where the OP firmware starts. Those files also define the compile-time
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* options of the firmware.
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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 "hwsettings.h"
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#include "camerastab.h"
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#include "txpid.h"
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#include "systemmod.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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/* Prototype of PIOS_Board_Init() function */
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extern void PIOS_Board_Init(void);
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extern void Stack_Change(void);
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/**
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* OpenPilot Main function:
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*
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* Initialize PiOS<BR>
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* Create the "System" task (SystemModInitializein Modules/System/systemmod.c) <BR>
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* Start FreeRTOS Scheduler (vTaskStartScheduler) (Now handled by caller)
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* If something goes wrong, blink LED1 and LED2 every 100ms
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*
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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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/* Architecture dependant Hardware and
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* core subsystem initialisation
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* (see pios_board.c for your arch)
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* */
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PIOS_Board_Init();
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/* Initialize modules */
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MODULE_INITIALISE_ALL
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/* Optional module initialization. This code might want to go somewhere else as
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* it grows */
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uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
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HwSettingsOptionalModulesGet(optionalModules);
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if(optionalModules[HWSETTINGS_OPTIONALMODULES_CAMERASTABILIZATION] == HWSETTINGS_OPTIONALMODULES_ENABLED) {
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CameraStabInitialize();
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}
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if(optionalModules[HWSETTINGS_OPTIONALMODULES_TXPID] == HWSETTINGS_OPTIONALMODULES_ENABLED) {
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TxPIDInitialize();
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}
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/* swap the stack to use the IRQ stack */
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Stack_Change();
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/* Start the FreeRTOS scheduler which should never returns.*/
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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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/* Do some indication to user that something bad just happened */
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PIOS_LED_Off(LED1); \
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for(;;) { \
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PIOS_LED_Toggle(LED1); \
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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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* @}
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* @}
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*/
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