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909402ae23
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@69 ebee16cc-31ac-478f-84a7-5cbb03baadba
71 lines
3.0 KiB
C
71 lines
3.0 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) 2009.
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* @brief Sets up ans 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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/* Local Variables */
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/* Local Functions */
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/**
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* OpenPilot Main function
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*/
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void OpenPilotInit(void)
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{
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/* Initialise Logging */
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OP_Logging_Init();
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/* Possible task setup:
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-> Supervisor: Monitors mainly which state the system should be in, starts/stops Manual/ARC/HARC tasks
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-> Manual: Simply passes servo inputs to servo outputs, maybe some logging too
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-> ARC: Assisted RC, fancy name for stabilisation only (aka. Auto1)
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-> HARC: Higly Assisted RC, fancy name for full autonomous (aka. Auto2)
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-> GPS: Simply parses incomming GPS data and puts it into the GPS struct, also set states of FIX/NOFIX etc.
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-> Gatekeepers: Tasks which use queue's to access shared resources
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-> MicroSD: Simply logs data to the MicroSD card
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-> Telemetry: Sends telemetry using a queue
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- Supervisor should have highest possibly priority (Idle + 14) We only have 5 task levels, as long as it yeilds that is fine.
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- Supervisor should also act as the warnings system, low batter etc)
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- Supervisor should handle all telemetry inputs (not outputs), and act accordingly
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- ARC and HARC tasks should be split into two parts, gathering sensor data and acting on sensor data.
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- Sub tasks of the supervisor should have a priority just lower than the supervisor (Idle + 12?)
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- Sub tasks of the supervisor shoud ONLY be pre-empted by system interrupts such as UART, I2C etc
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- Gatekeepers should sit in a blocked state while there is nothing on the que, with a low priority
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- With the low priority of gatekeepers, they should only be running while the supervisor tasks are not working
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- I2C module sending and receiving needs to be included in here somwhere. Inputs would be interrupt triggered.
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- Task to check inbuilt preasure sensor every second and update GCS
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*/
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}
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