mirror of https://github.com/ArduPilot/ardupilot
30 lines
499 B
C++
30 lines
499 B
C++
|
|
#include <AP_HAL_SMACCM.h>
|
|
#include <AP_HAL_SMACCM_Main.h>
|
|
#include <FreeRTOS.h>
|
|
#include <task.h>
|
|
|
|
static xTaskHandle g_main_task;
|
|
|
|
// These must be defined in the main ".pde" file.
|
|
extern const AP_HAL::HAL& hal;
|
|
extern void setup();
|
|
extern void loop();
|
|
|
|
static void main_task(void *arg)
|
|
{
|
|
hal.init(0, NULL);
|
|
setup();
|
|
for (;;)
|
|
loop();
|
|
}
|
|
|
|
void SMACCM::hal_main()
|
|
{
|
|
xTaskCreate(main_task, (signed char *)"main", 1024, NULL, 0, &g_main_task);
|
|
vTaskStartScheduler();
|
|
|
|
for (;;)
|
|
;
|
|
}
|