/**
* Tau Labs Main function:
*
* Initialize PiOS<BR>
* Create the "System" task (SystemModInitializein Modules/System/systemmod.c) <BR>
* Start FreeRTOS Scheduler (vTaskStartScheduler)<BR>
* If something goes wrong, blink LED1 and LED2 every 100ms
*
*/
int main()
{
int result;
/* NOTE: Do NOT modify the following start-up sequence */
/* Any new initialization functions should be added in OpenPilotInit() */
vPortInitialiseBlocks();
/* Brings up System using CMSIS functions, enables the LEDs. */
PIOS_SYS_Init();
/* For Revolution we use a FreeRTOS task to bring up the system so we can */
/* always rely on FreeRTOS primitive */
result = xTaskCreate(initTask, (const signed char *)"init",
INIT_TASK_STACK, NULL, INIT_TASK_PRIORITY,
&initTaskHandle);
PIOS_Assert(result == pdPASS);
/* Start the FreeRTOS scheduler */
vTaskStartScheduler();
/* If all is well we will never reach here as the scheduler will now be running. */
/* Do some PIOS_LED_HEARTBEAT to user that something bad just happened */
PIOS_LED_Off(PIOS_LED_HEARTBEAT); \
for(;;) { \
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT); \
PIOS_DELAY_WaitmS(100); \
};
return 0;
}
void MPU_vPortInitialiseBlocks( void )
{
portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
vPortInitialiseBlocks();
portRESET_PRIVILEGE( xRunningPrivileged );
}
void MPU_vPortInitialiseBlocks( void )
{
BaseType_t xRunningPrivileged = prvRaisePrivilege();
vPortInitialiseBlocks();
portRESET_PRIVILEGE( xRunningPrivileged );
}
void MPU_vPortInitialiseBlocks( void )
{
BaseType_t xRunningPrivileged = xPortRaisePrivilege();
vPortInitialiseBlocks();
vPortResetPrivilege( xRunningPrivileged );
}
/* Creates the tasks, then starts the scheduler. */
void main( void )
{
/* Initialise the required hardware. */
vParTestInitialise();
vPortInitialiseBlocks();
/* Send a character so we have some visible feedback of a reset. */
xSerialPortInitMinimal( mainBAUD_RATE, mainCOMMS_QUEUE_LENGTH );
xSerialPutChar( NULL, 'X', mainNO_BLOCK );
/* Start the standard LED flash tasks as defined in demo/common/minimal. */
vStartLEDFlashTasks( mainLED_FLASH_PRIORITY );
/* Start the check task defined in this file. */
xTaskCreate( vCalculationTask, "Check", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
/* Start the scheduler. */
vTaskStartScheduler();
}
/* Creates the tasks, then starts the scheduler. */
void main( void )
{
/* Initialise the required hardware. */
vParTestInitialise();
vPortInitialiseBlocks();
/* Send a character so we have some visible feedback of a reset. */
xSerialPortInitMinimal( mainBAUD_RATE, mainCOMMS_QUEUE_LENGTH );
xSerialPutChar( NULL, 'X', mainNO_BLOCK );
/* Start the standard demo tasks found in the demo\common directory. */
vStartIntegerMathTasks( tskIDLE_PRIORITY );
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
/* Start the check task defined in this file. */
xTaskCreate( vErrorChecks, ( const char * const ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
/* Start the scheduler. Will never return here. */
vTaskStartScheduler();
}
/* Creates the tasks, then starts the scheduler. */
void main( void )
{
/* Initialise the required hardware. */
vParTestInitialise();
/* Initialise the block memory allocator. */
vPortInitialiseBlocks();
/* Start the standard comtest tasks as defined in demo/common/minimal. */
vAltStartComTestTasks( mainCOMM_TEST_PRIORITY, mainBAUD_RATE, mainCOMM_TX_RX_LED );
/* Start the standard 32bit calculation task as defined in
demo/common/minimal. */
vStartIntegerMathTasks( tskIDLE_PRIORITY );
/* Start the check task defined in this file. */
xTaskCreate( vErrorChecks, ( const char * const ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
/* Start the scheduler. This will never return. */
vTaskStartScheduler();
}
