void main(void) {
OS_Init(); // OS System init
ADC_init(); // Should be done first
PWM_init(); // Beware pwm ports go together with ANALOG in
setPortBIO(0x04); // Set port B in output mode
setPortDIO(0x00); // Set port D in output mode
XLCDInit(); // initialize the LCD module
XLCDClear();
// Push een kleine lijst
//push(2);
//push(1);
//push(3);
OS_Task_Create(0, Task_Server); // BT Connection
OS_Task_Create(1, Task_Hartbeat); // Show I am alive (called by scheduler)//
OS_Task_Create(1, Task_Run); // Run me through the maze (called by scheduler)//
OS_Task_Create(2, Task_Display); // be called by scheduler
OS_Run(); // Run scheduler
}
void main()
{
CNC_INITIALIZE(); // Init periphery
OS_Init(); // Init OS
OS_Task_Create(1,CNC_CONTROL);
OS_Task_Create(2,STEPPER_CONTROL);
OS_EI(); // Enable interrupts
OS_Run();
}
int main (void)
{
Init(); // Init periphery
OS_Init(); // Init OS
OS_Task_Create(0, Task_Rolling); // Create tasks.
OS_Task_Create(0, Task_SetSpeed); //
OS_Task_Create(0, Task_Button); //
m_cPosition = 0; // rotation phase
m_cDirection = 1; // direction
OS_EI(); // Enable interrupts
OS_Run(); // Running scheduler
}
void main(void)
{
clock_int_48MHz();
PIC_Init(); // Configurações gerais do PIC
OS_Init();
TRISB=0b00000000;
TRISA=0b00000000;
OS_Task_Create(1,Task_1); // Criando uma tarefa, prioridade 1
OS_Task_Create(2,Task_2); // Criando uma tarefa, prioridade 2
OS_Task_Create(3,Task_3); // Criando uma tarefa, prioridade 3
//OS_Task_Create(4,Task_4); // Criando uma tarefa, prioridade 4
OS_EI(); // Habilita interrupcoes
OS_Run(); // Executa o RTOS
}
//****************************************************************************
//**** main
//****************************************************************************
void main(void){
Inicio();
OS_Init(); // Init OS
OS_Task_Define(USB); // Define tasks.
OS_Task_Define(Gla);
OS_Task_Define(Glc_PIDdiscreto);
OS_Task_Define(MotorX);
OS_Task_Define(MotorY);
OS_Task_Define(MotorZ);
OS_Task_Define(MotorE);
// Create tasks. // if 0 = no priorities
OS_Task_Create(0, USB);
OS_Task_Create(0, Gla);
OS_Task_Create(0, Glc_PIDdiscreto);
OS_Task_Create(0, MotorX);
OS_Task_Create(0, MotorY);
OS_Task_Create(0, MotorZ);
OS_Task_Create(0, MotorE);
// Create tasks, Task priority. Allowed values from 0(highest) to 7(lowest)
/*OS_Task_Create(0, USB);
OS_Task_Create(7, Gla);
OS_Task_Create(1, Glc_PIDdiscreto);
OS_Task_Create(2, MotorX);
OS_Task_Create(2, MotorY);
OS_Task_Create(2, MotorZ);
OS_Task_Create(2, MotorE);
OS_Bsem_Set(BS_GLAGLC_FREE);*/
OS_EI(); // Enable interrupts
OS_Run(); // Running scheduler
}
int main(int argc, char **argv)
{
int c, test_config = 0,run_foreground = 0;
int uid = 0,gid = 0;
const char *dir = DEFAULTDIR;
const char *user = MAILUSER;
const char *group = GROUPGLOBAL;
const char *cfg = DEFAULTCPATH;
/* Mail Structure */
MailConfig mail;
/* Setting the name */
OS_SetName(ARGV0);
while((c = getopt(argc, argv, "Vdhtfu:g:D:c:")) != -1){
switch(c){
case 'V':
print_version();
break;
case 'h':
help_maild();
break;
case 'd':
nowDebug();
break;
case 'f':
run_foreground = 1;
break;
case 'u':
if(!optarg)
ErrorExit("%s: -u needs an argument",ARGV0);
user=optarg;
break;
case 'g':
if(!optarg)
ErrorExit("%s: -g needs an argument",ARGV0);
group=optarg;
break;
case 'D':
if(!optarg)
ErrorExit("%s: -D needs an argument",ARGV0);
dir=optarg;
break;
case 'c':
if(!optarg)
ErrorExit("%s: -c needs an argument",ARGV0);
cfg = optarg;
break;
case 't':
test_config = 1;
break;
default:
help_maild();
break;
}
}
/* Starting daemon */
debug1(STARTED_MSG,ARGV0);
/*Check if the user/group given are valid */
uid = Privsep_GetUser(user);
gid = Privsep_GetGroup(group);
if((uid < 0)||(gid < 0))
ErrorExit(USER_ERROR,ARGV0,user,group);
/* Reading configuration */
if(MailConf(test_config, cfg, &mail) < 0)
ErrorExit(CONFIG_ERROR, ARGV0, cfg);
/* Reading internal options */
mail.strict_checking = getDefine_Int("maild",
"strict_checking",
0, 1);
/* Get groupping */
mail.groupping = getDefine_Int("maild",
"groupping",
0, 1);
/* Getting subject type */
mail.subject_full = getDefine_Int("maild",
"full_subject",
0, 1);
#ifdef GEOIP
/* Get GeoIP */
mail.geoip = getDefine_Int("maild",
"geoip",
0, 1);
#endif
/* Exit here if test config is set */
if(test_config)
exit(0);
if(!run_foreground)
{
nowDaemon();
goDaemon();
}
/* Privilege separation */
if(Privsep_SetGroup(gid) < 0)
ErrorExit(SETGID_ERROR,ARGV0,group);
/* chrooting */
if(Privsep_Chroot(dir) < 0)
ErrorExit(CHROOT_ERROR,ARGV0,dir);
nowChroot();
/* Changing user */
if(Privsep_SetUser(uid) < 0)
ErrorExit(SETUID_ERROR,ARGV0,user);
debug1(PRIVSEP_MSG,ARGV0,dir,user);
/* Signal manipulation */
StartSIG(ARGV0);
/* Creating PID files */
if(CreatePID(ARGV0, getpid()) < 0)
ErrorExit(PID_ERROR, ARGV0);
/* Start up message */
verbose(STARTUP_MSG, ARGV0, (int)getpid());
/* the real daemon now */
OS_Run(&mail);
}
