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98 lines
3.0 KiB
98 lines
3.0 KiB
/**************************************************************************** |
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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> |
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#include <stdbool.h> |
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#include <fcntl.h> |
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#include <unistd.h> |
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#include <debug.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 <nuttx/clock.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 "px4io.h" |
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__EXPORT int user_start(int argc, char *argv[]); |
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struct sys_state_s system_state; |
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int user_start(int argc, char *argv[]) |
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{ |
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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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/* print some startup info */ |
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lib_lowprintf("\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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lib_lowprintf("free %u largest %u\n", minfo.mxordblk, minfo.fordblks); |
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/* we're done here, go run the communications loop */ |
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comms_main(); |
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} |