//*****************************************************************************
//
// The main entry point for the qs-autonomous example. It initializes the
// system, then eners a forever loop where it runs the scheduler. The
// scheduler then periodically calls all the tasks in the example to keep
// the program running.
//
//*****************************************************************************
int
main (void)
{
//
// Set the system clock to run at 50MHz from the PLL
//
ROM_SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN |
SYSCTL_XTAL_16MHZ);
//
// Enable UART0, to be used as a serial console.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_UART0);
ROM_GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);
//
// Initialize the UART standard I/O.
//
UARTStdioInit(0);
UARTprintf("EVALBOT starting\n");
//
// Initialize the simple scheduler to use a tick rate of 100 Hz.
//
SchedulerInit(100);
//
// Initialize all the tasks used in the example.
//
DriveInit();
DisplayTaskInit();
LEDTaskInit();
SoundTaskInit();
AutoTaskInit();
//
// Enter a forever loop and call the scheduler. The scheduler will
// periodically call all the tasks in the system according to the timeout
// value of each task.
//
for(;;)
{
SchedulerRun();
}
}
//*****************************************************************************
//
// Initialize SafeRTOS and start the initial set of tasks.
//
//*****************************************************************************
int
main(void)
{
tContext sContext;
tRectangle sRect;
//
// Set the clocking to run at 80 MHz from the PLL.
//
ROM_SysCtlClockSet(SYSCTL_SYSDIV_2_5 | SYSCTL_USE_PLL | SYSCTL_XTAL_16MHZ |
SYSCTL_OSC_MAIN);
//
// Initialize the device pinout appropriately for this board.
//
PinoutSet();
//
// Initialize the display driver.
//
Kitronix320x240x16_SSD2119Init();
//
// Initialize the graphics context.
//
GrContextInit(&sContext, &g_sKitronix320x240x16_SSD2119);
//
// Fill the top 24 rows of the screen with blue to create the banner.
//
sRect.sXMin = 0;
sRect.sYMin = 0;
sRect.sXMax = GrContextDpyWidthGet(&sContext) - 1;
sRect.sYMax = 23;
GrContextForegroundSet(&sContext, ClrDarkBlue);
GrRectFill(&sContext, &sRect);
//
// Put a white box around the banner.
//
GrContextForegroundSet(&sContext, ClrWhite);
GrRectDraw(&sContext, &sRect);
//
// Put the application name in the middle of the banner.
//
GrContextFontSet(&sContext, g_pFontCm20);
GrStringDrawCentered(&sContext, "safertos-demo", -1,
GrContextDpyWidthGet(&sContext) / 2, 10, 0);
//
// Set the location and size of the system stack.
//
g_sSafeRTOSPortInit.pulSystemStackLocation =
(unsigned portLONG *)(*(unsigned long *)0);
g_sSafeRTOSPortInit.ulSystemStackSizeBytes = 128 * 4;
//
// Set the location of the vector table.
//
g_sSafeRTOSPortInit.pulVectorTableBase =
(unsigned portLONG *)HWREG(NVIC_VTABLE);
//
// Initialize the SafeRTOS kernel.
//
vTaskInitializeScheduler((signed portCHAR *)g_pulIdleTaskStack,
sizeof(g_pulIdleTaskStack), 0,
&g_sSafeRTOSPortInit);
//
// Create the display task.
//
if(DisplayTaskInit() != 0)
{
GrContextForegroundSet(&sContext, ClrRed);
GrStringDrawCentered(&sContext, "Failed to create display task!", -1,
GrContextDpyWidthGet(&sContext) / 2,
(((GrContextDpyHeightGet(&sContext) - 24) / 2) +
24), 0);
while(1)
{
}
}
//
// Create the spider task.
//
if(SpiderTaskInit() != 0)
{
GrContextForegroundSet(&sContext, ClrRed);
GrStringDrawCentered(&sContext, "Failed to create spider task!", -1,
GrContextDpyWidthGet(&sContext) / 2,
(((GrContextDpyHeightGet(&sContext) - 24) / 2) +
24), 0);
while(1)
{
}
}
//
// Create the LED task.
//
if(LEDTaskInit() != 0)
{
GrContextForegroundSet(&sContext, ClrRed);
GrStringDrawCentered(&sContext, "Failed to create LED task!", -1,
GrContextDpyWidthGet(&sContext) / 2,
(((GrContextDpyHeightGet(&sContext) - 24) / 2) +
24), 0);
while(1)
{
}
}
//
// Create the lwIP tasks.
//
if(lwIPTaskInit() != 0)
{
GrContextForegroundSet(&sContext, ClrRed);
GrStringDrawCentered(&sContext, "Failed to create lwIP tasks!", -1,
GrContextDpyWidthGet(&sContext) / 2,
(((GrContextDpyHeightGet(&sContext) - 24) / 2) +
24), 0);
while(1)
{
}
}
//
// Start the scheduler. This should not return.
//
xTaskStartScheduler(pdTRUE);
//
// In case the scheduler returns for some reason, print an error and loop
// forever.
//
GrContextForegroundSet(&sContext, ClrRed);
GrStringDrawCentered(&sContext, "Failed to start scheduler!", -1,
GrContextDpyWidthGet(&sContext) / 2,
(((GrContextDpyHeightGet(&sContext) - 24) / 2) + 24),
0);
while(1)
{
}
}
//*****************************************************************************
//
// Initialize FreeRTOS and start the initial set of tasks.
//
//*****************************************************************************
int
main(void)
{
tContext sContext;
//
// Run from the PLL at 120 MHz.
//
g_ui32SysClock = MAP_SysCtlClockFreqSet((SYSCTL_XTAL_25MHZ |
SYSCTL_OSC_MAIN |
SYSCTL_USE_PLL |
SYSCTL_CFG_VCO_480),
configCPU_CLOCK_HZ);
//
// Initialize the device pinout appropriately for this board.
//
PinoutSet();
//
// Initialize the display driver.
//
Kentec320x240x16_SSD2119Init(g_ui32SysClock);
//
// Initialize the graphics context.
//
GrContextInit(&sContext, &g_sKentec320x240x16_SSD2119);
//
// Draw the application frame.
//
FrameDraw(&sContext, "freertos-demo");
//
// Make sure the main oscillator is enabled because this is required by
// the PHY. The system must have a 25MHz crystal attached to the OSC
// pins. The SYSCTL_MOSC_HIGHFREQ parameter is used when the crystal
// frequency is 10MHz or higher.
//
SysCtlMOSCConfigSet(SYSCTL_MOSC_HIGHFREQ);
//
// Create the display task.
//
if(DisplayTaskInit() != 0)
{
GrContextForegroundSet(&sContext, ClrRed);
GrStringDrawCentered(&sContext, "Failed to create display task!", -1,
GrContextDpyWidthGet(&sContext) / 2,
(((GrContextDpyHeightGet(&sContext) - 24) / 2) +
24), 0);
while(1)
{
}
}
//
// Create the spider task.
//
if(SpiderTaskInit() != 0)
{
GrContextForegroundSet(&sContext, ClrRed);
GrStringDrawCentered(&sContext, "Failed to create spider task!", -1,
GrContextDpyWidthGet(&sContext) / 2,
(((GrContextDpyHeightGet(&sContext) - 24) / 2) +
24), 0);
while(1)
{
}
}
//
// Create the LED task.
//
if(LEDTaskInit() != 0)
{
GrContextForegroundSet(&sContext, ClrRed);
GrStringDrawCentered(&sContext, "Failed to create LED task!", -1,
GrContextDpyWidthGet(&sContext) / 2,
(((GrContextDpyHeightGet(&sContext) - 24) / 2) +
24), 0);
while(1)
{
}
}
//
// Create the lwIP tasks.
//
if(lwIPTaskInit() != 0)
{
GrContextForegroundSet(&sContext, ClrRed);
GrStringDrawCentered(&sContext, "Failed to create lwIP tasks!", -1,
GrContextDpyWidthGet(&sContext) / 2,
(((GrContextDpyHeightGet(&sContext) - 24) / 2) +
24), 0);
while(1)
{
}
}
//
// Start the scheduler. This should not return.
//
vTaskStartScheduler();
//
// In case the scheduler returns for some reason, print an error and loop
// forever.
//
GrContextForegroundSet(&sContext, ClrRed);
GrStringDrawCentered(&sContext, "Failed to start scheduler!", -1,
GrContextDpyWidthGet(&sContext) / 2,
(((GrContextDpyHeightGet(&sContext) - 24) / 2) + 24),
0);
while(1)
{
}
}
