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

   1 /**
   2  ******************************************************************************
   3  * @addtogroup LibrePilotSystem LibrePilot System
   4  * @brief These files are the core system files for LibrePilot.
   5  * They are the ground layer just above PiOS. In practice, LibrePilot actually starts
   6  * in the main() function of main.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       main.cpp
  13  * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015-2017.
  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 <systemmod.h>
  38 /* Task Priorities */
  39
  40 /* Global Variables */
  41 extern void Stack_Change(void);
  42 } /* extern "C" */
  43
  44 /**
  45  * OpenPilot Main function:
  46  *
  47  * Initialize PiOS<BR>
  48  * Create the "System" task (SystemModInitializein Modules/System/systemmod.c) <BR>
  49  * Start FreeRTOS Scheduler (vTaskStartScheduler) (Now handled by caller)
  50  * If something goes wrong, blink LED1 and LED2 every 100ms
  51  *
  52  */
  53 int main()
  54 {
  55     /* NOTE: Do NOT modify the following start-up sequence */
  56     /* Any new initialization functions should be added in OpenPilotInit() */
  57
  58     vPortInitialiseBlocks();
  59
  60     /* Brings up System using CMSIS functions, enables the LEDs. */
  61     PIOS_SYS_Init();
  62
  63
  64     SystemModStart();
  65
  66     /* Start the FreeRTOS scheduler, which should never return.
  67      *
  68      * NOTE: OpenPilot runs an operating system (FreeRTOS), which constantly calls
  69      * (schedules) function files (modules). These functions never return from their
  70      * while loops, which explains why each module has a while(1){} segment. Thus,
  71      * the OpenPilot software actually starts at the vTaskStartScheduler() function,
  72      * even though this is somewhat obscure.
  73      *
  74      * In addition, there are many main() functions in the OpenPilot firmware source tree
  75      * This is because each main() refers to a separate hardware platform. Of course,
  76      * C only allows one main(), so only the relevant main() function is compiled when
  77      * making a specific firmware.
  78      *
  79      */
  80     vTaskStartScheduler();
  81
  82     /* If all is well we will never reach here as the scheduler will now be running. */
  83
  84     /* Do some indication to user that something bad just happened */
  85     while (1) {
  86 #if defined(PIOS_LED_HEARTBEAT)
  87         PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
  88 #endif /* PIOS_LED_HEARTBEAT */
  89         PIOS_DELAY_WaitmS(100);
  90     }
  91
  92     return 0;
  93 }
  94
  95 /**
  96  * @}
  97  * @}
  98  */