flight/targets/boards/revonano/firmware/revolution.cpp

   1 /**
   2  ******************************************************************************
   3  * @addtogroup LibrePilotSystem LibrePilot System
   4  * @brief These files are the core system files for Revolution.
   5  * They are the ground layer just above PiOS. In practice, Revolution actually starts
   6  * in the main() function of revolution.cpp
   7  * @{
   8  * @addtogroup LibrePilotCore LibrePilot Core
   9  * @brief This is where the LP firmware starts. Those files also define the compile-time
  10  * options of the firmware.
  11  * @{
  12  * @file       revolution.cpp
  13  * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
  14  *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2015
  15  * @brief      Sets up and runs main tasks.
  16  * @see        The GNU Public License (GPL) Version 3
  17  *
  18  *****************************************************************************/
  19 /*
  20  * This program is free software; you can redistribute it and/or modify
  21  * it under the terms of the GNU General Public License as published by
  22  * the Free Software Foundation; either version 3 of the License, or
  23  * (at your option) any later version.
  24  *
  25  * This program is distributed in the hope that it will be useful, but
  26  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  27  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  28  * for more details.
  29  *
  30  * You should have received a copy of the GNU General Public License along
  31  * with this program; if not, write to the Free Software Foundation, Inc.,
  32  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  33  */
  34
  35 extern "C" {
  36 #include "inc/openpilot.h"
  37 #include <uavobjectsinit.h>
  38 #include <systemmod.h>
  39
  40
  41 /* Global Variables */
  42
  43 /* Local Variables */
  44 }
  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)<BR>
  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     vPortInitialiseBlocks();
  60
  61     /* Brings up System using CMSIS functions, enables the LEDs. */
  62     PIOS_SYS_Init();
  63
  64     SystemModStart();
  65
  66     /* Start the FreeRTOS scheduler */
  67     vTaskStartScheduler();
  68
  69     /* If all is well we will never reach here as the scheduler will now be running. */
  70     /* Do some PIOS_LED_HEARTBEAT to user that something bad just happened */
  71     PIOS_LED_Off(PIOS_LED_HEARTBEAT); \
  72     for (;;) { \
  73         PIOS_LED_Toggle(PIOS_LED_HEARTBEAT); \
  74         PIOS_DELAY_WaitmS(100); \
  75     }
  76     ;
  77
  78     return 0;
  79 }
  80
  81
  82 /**
  83  * @}
  84  * @}
  85  */