void bato_init(void) { accelero_init(); initGirouette(); interrupt_init(); /* GPIO Config */ RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE); GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_10MHz; GPIO_Init(GPIOC, &GPIO_InitStructure); // border_voile_init(); }
int main(void) { // Check we are on the sensorboard: if (UID != SENSORBOARD_UID) return EXIT_FAILURE; hardware_init(); gyroscope_init(tskIDLE_PRIORITY + 4); accelero_init(tskIDLE_PRIORITY + 4); vLEDsInit(); uart_init(); vCANInit(); token_t tokens[2]; tokens[0].command = 'c'; tokens[0].handler = &process_control_cmd; tokens[1].command = 'd'; tokens[1].handler = &process_debug_cmd; vInterpreterInit("sensorboard", tokens, 2, tskIDLE_PRIORITY + 4); xVMutex = xSemaphoreCreateMutex(); xTaskCreate(prvComputeTask, (signed portCHAR*)"Compute Task", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 1, NULL); xTaskCreate(prvCanVitalRxTask, (signed portCHAR*)"Can Vital Rx Task", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 3, NULL); xTaskCreate(prvCanRxTask, (signed portCHAR*)"Can Rx Task", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 2, NULL); xTaskCreate(prvBtTask, (signed portCHAR*)"Bluetooth Task", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 2, NULL); vInterpreterStart(); vTaskStartScheduler(); return EXIT_SUCCESS; }