forked from Archive/PX4-Autopilot
125 lines
3.7 KiB
C
125 lines
3.7 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file px4io.c
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* Top-level logic for the PX4IO module.
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*/
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#include <nuttx/config.h>
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#include <stdio.h> // required for task_create
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#include <stdbool.h>
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#include <stdlib.h>
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#include <errno.h>
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#include <string.h>
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#include <poll.h>
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#include <drivers/drv_pwm_output.h>
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#include <drivers/drv_hrt.h>
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#include <systemlib/perf_counter.h>
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#include <stm32_uart.h>
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#define DEBUG
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#include "px4io.h"
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__EXPORT int user_start(int argc, char *argv[]);
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extern void up_cxxinitialize(void);
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struct sys_state_s system_state;
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static struct hrt_call serial_dma_call;
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int user_start(int argc, char *argv[])
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{
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/* run C++ ctors before we go any further */
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up_cxxinitialize();
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/* reset all to zero */
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memset(&system_state, 0, sizeof(system_state));
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/* configure the high-resolution time/callout interface */
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hrt_init();
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/*
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* Poll at 1ms intervals for received bytes that have not triggered
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* a DMA event.
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*/
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hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
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/* print some startup info */
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debug("\nPX4IO: starting\n");
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/* default all the LEDs to off while we start */
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LED_AMBER(false);
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LED_BLUE(false);
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LED_SAFETY(false);
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/* turn on servo power */
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POWER_SERVO(true);
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/* start the safety switch handler */
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safety_init();
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/* configure the first 8 PWM outputs (i.e. all of them) */
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up_pwm_servo_init(0xff);
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/* start the flight control signal handler */
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task_create("FCon",
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SCHED_PRIORITY_DEFAULT,
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1024,
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(main_t)controls_main,
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NULL);
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struct mallinfo minfo = mallinfo();
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debug("free %u largest %u\n", minfo.mxordblk, minfo.fordblks);
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/* start the i2c handler */
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i2c_init();
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/* add a performance counter for mixing */
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perf_counter_t mixer_perf = perf_alloc(PC_ELAPSED, "mix");
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/* run the mixer at 100Hz (for now...) */
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/* XXX we should use CONFIG_IDLE_CUSTOM and take over the idle thread instead of running two additional tasks */
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for (;;) {
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poll(NULL, 0, 10);
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perf_begin(mixer_perf);
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mixer_tick();
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perf_end(mixer_perf);
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}
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} |