forked from Archive/PX4-Autopilot
105 lines
3.2 KiB
C
105 lines
3.2 KiB
C
/****************************************************************************
|
|
*
|
|
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/**
|
|
* @file px4io.c
|
|
* Top-level logic for the PX4IO module.
|
|
*/
|
|
|
|
#include <nuttx/config.h>
|
|
#include <stdio.h>
|
|
#include <stdbool.h>
|
|
#include <fcntl.h>
|
|
#include <unistd.h>
|
|
#include <debug.h>
|
|
#include <stdlib.h>
|
|
#include <errno.h>
|
|
#include <string.h>
|
|
|
|
#include <nuttx/clock.h>
|
|
|
|
#include <drivers/drv_pwm_output.h>
|
|
#include <drivers/drv_hrt.h>
|
|
|
|
#include "px4io.h"
|
|
|
|
__EXPORT int user_start(int argc, char *argv[]);
|
|
|
|
extern void up_cxxinitialize(void);
|
|
|
|
struct sys_state_s system_state;
|
|
|
|
int user_start(int argc, char *argv[])
|
|
{
|
|
/* run C++ ctors before we go any further */
|
|
up_cxxinitialize();
|
|
|
|
/* reset all to zero */
|
|
memset(&system_state, 0, sizeof(system_state));
|
|
/* default to 50 Hz PWM outputs */
|
|
system_state.servo_rate = 50;
|
|
|
|
/* configure the high-resolution time/callout interface */
|
|
hrt_init();
|
|
|
|
/* print some startup info */
|
|
lib_lowprintf("\nPX4IO: starting\n");
|
|
|
|
/* default all the LEDs to off while we start */
|
|
LED_AMBER(false);
|
|
LED_BLUE(false);
|
|
LED_SAFETY(false);
|
|
|
|
/* turn on servo power */
|
|
POWER_SERVO(true);
|
|
|
|
/* start the safety switch handler */
|
|
safety_init();
|
|
|
|
/* configure the first 8 PWM outputs (i.e. all of them) */
|
|
up_pwm_servo_init(0xff);
|
|
|
|
/* start the flight control signal handler */
|
|
task_create("FCon",
|
|
SCHED_PRIORITY_DEFAULT,
|
|
1024,
|
|
(main_t)controls_main,
|
|
NULL);
|
|
|
|
|
|
struct mallinfo minfo = mallinfo();
|
|
lib_lowprintf("free %u largest %u\n", minfo.mxordblk, minfo.fordblks);
|
|
|
|
/* we're done here, go run the communications loop */
|
|
comms_main();
|
|
} |