flight/targets/boards/ccf3d/firmware/main.cpp

   1 /**
   2  ******************************************************************************
   3  * @addtogroup LibrePilotSystem LibrePilot System
   4  * @{
   5  * @addtogroup LibrePilotCore LibrePilot Core
   6  * @brief This is where the LP firmware starts. Those files also define the compile-time
   7  * options of the firmware.
   8  * @{
   9  * @file       main.cpp
  10  * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
  11  *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2015
  12  * @brief      Sets up and runs main tasks.
  13  * @see        The GNU Public License (GPL) Version 3
  14  *
  15  *****************************************************************************/
  16 /*
  17  * This program is free software; you can redistribute it and/or modify
  18  * it under the terms of the GNU General Public License as published by
  19  * the Free Software Foundation; either version 3 of the License, or
  20  * (at your option) any later version.
  21  *
  22  * This program is distributed in the hope that it will be useful, but
  23  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  24  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  25  * for more details.
  26  *
  27  * You should have received a copy of the GNU General Public License along
  28  * with this program; if not, write to the Free Software Foundation, Inc.,
  29  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  30  */
  31
  32 extern "C" {
  33 #include "inc/openpilot.h"
  34 #include <systemmod.h>
  35 /* Task Priorities */
  36
  37 /* Global Variables */
  38 extern void Stack_Change(void);
  39 } /* extern "C" */
  40
  41 /**
  42  * OpenPilot Main function:
  43  *
  44  * Initialize PiOS<BR>
  45  * Create the "System" task (SystemModInitializein Modules/System/systemmod.c) <BR>
  46  * Start FreeRTOS Scheduler (vTaskStartScheduler) (Now handled by caller)
  47  * If something goes wrong, blink LED1 and LED2 every 100ms
  48  *
  49  */
  50 int main()
  51 {
  52     /* NOTE: Do NOT modify the following start-up sequence */
  53     /* Any new initialization functions should be added in OpenPilotInit() */
  54
  55     vPortInitialiseBlocks();
  56
  57     /* Brings up System using CMSIS functions, enables the LEDs. */
  58     PIOS_SYS_Init();
  59
  60
  61     SystemModStart();
  62
  63     /* Start the FreeRTOS scheduler, which should never return.
  64      *
  65      * NOTE: OpenPilot runs an operating system (FreeRTOS), which constantly calls
  66      * (schedules) function files (modules). These functions never return from their
  67      * while loops, which explains why each module has a while(1){} segment. Thus,
  68      * the OpenPilot software actually starts at the vTaskStartScheduler() function,
  69      * even though this is somewhat obscure.
  70      *
  71      * In addition, there are many main() functions in the OpenPilot firmware source tree
  72      * This is because each main() refers to a separate hardware platform. Of course,
  73      * C only allows one main(), so only the relevant main() function is compiled when
  74      * making a specific firmware.
  75      *
  76      */
  77     vTaskStartScheduler();
  78
  79     /* If all is well we will never reach here as the scheduler will now be running. */
  80
  81     /* Do some indication to user that something bad just happened */
  82     while (1) {
  83 #if defined(PIOS_LED_HEARTBEAT)
  84         PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
  85 #endif /* PIOS_LED_HEARTBEAT */
  86         PIOS_DELAY_WaitmS(100);
  87     }
  88
  89     return 0;
  90 }
  91
  92 /**
  93  * @}
  94  * @}
  95  */