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https://bitbucket.org/librepilot/librepilot.git
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50215e75c6
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@296 ebee16cc-31ac-478f-84a7-5cbb03baadba
157 lines
3.8 KiB
C
157 lines
3.8 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 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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/*
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* I2C Test: communicate with external PCF8570 ram chip
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* For this test to function, PCF8570 chips need to be attached to the I2C port
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*
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* Blinking Blue LED: No errors detected, test continues
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* Blinking Red LED: Error detected, test stopped
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*
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*/
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/* OpenPilot Includes */
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#include "openpilot.h"
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#define USE_DEBUG_PINS
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/* Task Priorities */
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#define PRIORITY_TASK_HOOKS (tskIDLE_PRIORITY + 3)
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#ifdef USE_DEBUG_PINS
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#define DEBUG_PIN_IDLE 5
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#define DebugPinHigh(x) PIOS_DEBUG_PinHigh(x)
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#define DebugPinLow(x) PIOS_DEBUG_PinLow(x)
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#else
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#define DebugPinHigh(x)
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#define DebugPinLow(x)
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#endif
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/* Global Variables */
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/* Local Variables */
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/* Function Prototypes */
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static void TestTask(void *pvParameters);
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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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// Init
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PIOS_SYS_Init();
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PIOS_DEBUG_Init();
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PIOS_DELAY_Init();
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PIOS_COM_Init();
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PIOS_USB_Init(0);
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PIOS_I2C_Init();
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// Create task
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xTaskCreate(TestTask, (signed portCHAR *)"Test", configMINIMAL_STACK_SIZE , NULL, 1, NULL);
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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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return 0;
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}
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static void OnError(void)
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{
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PIOS_LED_Off(LED1);
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while(1)
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{
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PIOS_LED_Toggle(LED2);
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vTaskDelay(50 / portTICK_RATE_MS);
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}
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}
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static void TestTask(void *pvParameters)
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{
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int i = 0;
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portTickType xLastExecutionTime;
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// Both leds off
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PIOS_LED_Off(LED1);
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PIOS_LED_Off(LED2);
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xLastExecutionTime = xTaskGetTickCount();
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PIOS_I2C_Transfer(I2C_Write, 0x50<<1, (uint8_t*)"\x20\xB0\xB1\xB2", 4);
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for(;;)
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{
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i++;
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if (i==10)
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{
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PIOS_LED_Toggle(LED1);
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i = 0;
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}
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{
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uint8_t buf[20];
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if (PIOS_I2C_Transfer(I2C_Write, 0x50<<1, (uint8_t*)"\x10\xA0\xA1\xA2", 4) != 0)
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OnError();
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if (PIOS_I2C_Transfer(I2C_Write_WithoutStop, 0x50<<1, (uint8_t*)"\x20", 1) != 0)
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OnError();
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if (PIOS_I2C_Transfer(I2C_Read, 0x50<<1, buf, 3) != 0)
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OnError();
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if (memcmp(buf, "\xB0\xB1\xB2",3) != 0)
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OnError();
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if (PIOS_I2C_Transfer(I2C_Write_WithoutStop, 0x50<<1, (uint8_t*)"\x10", 1) != 0)
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OnError();
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if (PIOS_I2C_Transfer(I2C_Read, 0x50<<1, buf, 3) != 0)
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OnError();
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if (memcmp(buf, "\xA0\xA1\xA2",3) != 0)
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OnError();
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}
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vTaskDelayUntil(&xLastExecutionTime, 10 / portTICK_RATE_MS);
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}
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}
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/**
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* Idle hook function
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*/
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void vApplicationIdleHook(void)
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{
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/* Called when the scheduler has no tasks to run */
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DebugPinHigh(DEBUG_PIN_IDLE);
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DebugPinLow(DEBUG_PIN_IDLE);
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}
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