void APP_Run(void) {
appState = APP_STATE_INIT;
MOT_Init();
SHELL_Init();
#if PL_HAS_LINE_SENSOR
REF_Init();
LF_Init();
TURN_Init();
#endif
#if PL_HAS_ULTRASONIC
US_Init();
#endif
#if PL_HAS_BUZZER
BUZ_Init();
#endif
#if PL_HAS_EVENTS
EVNT_Init();
#endif
#if PL_HAS_RADIO
RADIO_Init();
#endif
#if PL_HAS_REMOTE
REMOTE_Init();
#endif
#if PL_HAS_QUEUE
QUEUE_Init();
#endif
if (FRTOS1_xTaskCreate(MainTask, (signed portCHAR *)"Main", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY+1, NULL) != pdPASS) {
for(;;){} /* error */
}
FRTOS1_vTaskStartScheduler();
}
void APP_Run(void) {
SHELL_Init();
US_Init();
INF_Init();
FRTOS1_vTaskStartScheduler();
}
void APP_Run(void) {
appState = APP_STATE_INIT;
REF_Init();
MOT_Init();
SHELL_Init();
LF_Init();
TURN_Init();
#if 0
US_Init();
#endif
#if PL_HAS_BUZZER
BUZ_Init();
#endif
if (FRTOS1_xTaskCreate(MainTask, (signed portCHAR *)"Main", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY+1, NULL) != pdPASS) {
for(;;){} /* error */
}
FRTOS1_vTaskStartScheduler();
}
/**\fn US_Main(void)
* \brief Main task loop for US sensors
*
* Main task loop for Ultrasonic sensors
*/
void US_Main(void)
{
uint16_t microseconds, distance, tMessage = 0;
US_Init();
/* delay for 1/4 second to allow other sensors to init */
FRTOS1_vTaskDelay(250/portTICK_RATE_MS);
US_Message message;
for(;;)
{
/* check for a temperature message and update temperature */
if(xQueueReceive(musQueueHandle, &tMessage, (portTickType)1))
{
temperature = tMessage;
}
/* Loop through each sensor, measure, and send off to the queue */
for (usCounter = 0; usCounter < 4; usCounter++)
{
usDevices.currentDevice = usCounter;
microseconds = US_Measure_us(usCounter);
if (microseconds > 0)
{
distance = US_usToMM(microseconds, temperature);
}
else
{
distance = 0; /* overflowed */
}
message.sensor = usCounter;
message.distance = distance;
xQueueSend(usQueueHandle, (void*)&message, (portTickType)5); /*send the message, block up to 5 ticks if queue isn't free */
FRTOS1_vTaskDelay(10/portTICK_RATE_MS);
}
}
}
void PL_Init(void) {
#if PL_CONFIG_HAS_LED
LED_Init();
#endif
#if PL_CONFIG_HAS_EVENTS
EVNT_Init();
#endif
#if PL_CONFIG_HAS_TIMER
TMR_Init();
#endif
#if PL_CONFIG_HAS_TRIGGER
TRG_Init();
#endif
#if PL_CONFIG_HAS_BUZZER
BUZ_Init();
#endif
#if PL_CONFIG_HAS_RTOS
RTOS_Init();
#endif
#if PL_CONFIG_HAS_SHELL
SHELL_Init();
#endif
#if PL_CONFIG_HAS_SHELL_QUEUE
SQUEUE_Init();
#endif
#if PL_CONFIG_HAS_MOTOR
MOT_Init();
#endif
#if PL_CONFIG_HAS_LINE_SENSOR
REF_Init();
#endif
#if PL_CONFIG_HAS_MOTOR_TACHO
TACHO_Init();
#endif
#if PL_CONFIG_HAS_MCP4728
MCP4728_Init();
#endif
#if PL_CONFIG_HAS_ULTRASONIC
US_Init();
#endif
#if PL_CONFIG_HAS_PID
PID_Init();
#endif
#if PL_CONFIG_HAS_DRIVE
DRV_Init();
#endif
#if PL_CONFIG_HAS_TURN
TURN_Init();
#endif
#if PL_CONFIG_HAS_LINE_FOLLOW
LF_Init();
#endif
#if PL_CONFIG_HAS_RADIO
RNETA_Init();
#endif
#if PL_CONFIG_HAS_REMOTE
REMOTE_Init();
#endif
#if PL_CONFIG_HAS_IDENTIFY
ID_Init();
#endif
#if PL_CONFIG_HAS_LINE_MAZE
MAZE_Init();
#endif
}
