flight/targets/boards/oplinkmini/firmware/oplink.c

   1 /**
   2  ******************************************************************************
   3  * @addtogroup OpenPilotSystem OpenPilot System
   4  * @brief These files are the core system files of OpenPilot.
   5  * They are the ground layer just above PiOS. In practice, OpenPilot actually starts
   6  * in the main() function of openpilot.c
   7  * @{
   8  * @addtogroup OpenPilotCore OpenPilot Core
   9  * @brief This is where the OP firmware starts. Those files also define the compile-time
  10  * options of the firmware.
  11  * @{
  12  * @file       openpilot.c
  13  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  14  * @brief      Sets up and runs main OpenPilot tasks.
  15  * @see        The GNU Public License (GPL) Version 3
  16  *
  17  *****************************************************************************/
  18 /*
  19  * This program is free software; you can redistribute it and/or modify
  20  * it under the terms of the GNU General Public License as published by
  21  * the Free Software Foundation; either version 3 of the License, or
  22  * (at your option) any later version.
  23  *
  24  * This program is distributed in the hope that it will be useful, but
  25  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  26  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  27  * for more details.
  28  *
  29  * You should have received a copy of the GNU General Public License along
  30  * with this program; if not, write to the Free Software Foundation, Inc.,
  31  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  32  */
  33
  34 #include "inc/openpilot.h"
  35 #include <uavobjectsinit.h>
  36 #include <hwsettings.h>
  37 #include <pios_board_init.h>
  38
  39 /* Task Priorities */
  40 #define PRIORITY_TASK_HOOKS (tskIDLE_PRIORITY + 3)
  41
  42 /* Global Variables */
  43
  44 extern void Stack_Change(void);
  45
  46 /**
  47  * OpenPilot Main function:
  48  *
  49  * Initialize PiOS<BR>
  50  * Create the "System" task (SystemModInitializein Modules/System/systemmod.c) <BR>
  51  * Start FreeRTOS Scheduler (vTaskStartScheduler) (Now handled by caller)
  52  * If something goes wrong, blink LED1 and LED2 every 100ms
  53  *
  54  */
  55 int main()
  56 {
  57     /* NOTE: Do NOT modify the following start-up sequence */
  58     /* Any new initialization functions should be added in OpenPilotInit() */
  59
  60     /* Brings up System using CMSIS functions, enables the LEDs. */
  61     PIOS_SYS_Init();
  62
  63     /* Architecture dependant Hardware and
  64      * core subsystem initialisation
  65      * (see pios_board.c for your arch)
  66      * */
  67     PIOS_Board_Init();
  68
  69     /* Initialize modules */
  70     MODULE_INITIALISE_ALL
  71     /* swap the stack to use the IRQ stack */
  72     Stack_Change();
  73
  74     /* Start the FreeRTOS scheduler which should never returns.*/
  75     vTaskStartScheduler();
  76
  77     /* If all is well we will never reach here as the scheduler will now be running. */
  78
  79     /* Do some indication to user that something bad just happened */
  80     while (1) {
  81 #if defined(PIOS_LED_HEARTBEAT)
  82         PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
  83 #endif /* PIOS_LED_HEARTBEAT */
  84         PIOS_DELAY_WaitmS(100);
  85     }
  86
  87     return 0;
  88 }
  89
  90 /**
  91  * @}
  92  * @}
  93  */