// --- Main Program ----------------------------------
int main(void) {
//init PortC
//Pins C.1 to C.3 for controlling sonars
//Pins C.5, C.6 and C.7 for front, left and right motors respectively
DDRC = 0xff;
//init ADC
adc_init();
//init the UART -- trt_uart_init() is in trtUart.c
trt_uart_init();
stdout = stdin = stderr = &uart_str;
fprintf(stdout,"\n\r Start TRT\n\r\n\r");
// start TRT
trtInitKernel(80); // 80 bytes for the idle task stack
// --- create semaphores ----------
trtCreateSemaphore(SEM_RANGE, 1) ; // protect ranging
// --- create tasks ----------------
trtCreateTask(readSonar1, 500, SECONDS2TICKS(0.1), SECONDS2TICKS(0.1), &(args[0]));
trtCreateTask(readSonar2, 500, SECONDS2TICKS(0.1), SECONDS2TICKS(0.1), &(args[1]));
trtCreateTask(readSonar3, 500, SECONDS2TICKS(0.1), SECONDS2TICKS(0.1), &(args[2]));
trtCreateTask(navLogic, 400, SECONDS2TICKS(0.1), SECONDS2TICKS(0.1), &(args[3]));
trtCreateTask(sonar3Feedback, 400, SECONDS2TICKS(0.1), SECONDS2TICKS(0.1), &(args[0]));
// --- Idle task --------------------------------------
while (1)
{
// Do Nothing
}
}
int main(void)
{
initialize();
trt_uart_init();
/* Print a statement to the serial communication terminal when the system is reset. */
stdout = stdin = stderr = &uart_str;
fprintf(stdout,"TinyRealTime: 2/9/09\n\r");
/* Sets up the kernel data structures.
* The parameter is the desired starck size of the idle task.
* For a null idle task, a stack size of 80 should be sufficient. */
trtInitKernel(80);
/* Creates semaphores with identifer semnumber and initial values initval. */
trtCreateSemaphore(SEM_RX_ISR_SIGNAL, 0);
trtCreateSemaphore(SEM_STRING_DONE , 0);
trtCreateSemaphore(SEM_S , 1);
trtCreateSemaphore(SEM_P , 1);
trtCreateSemaphore(SEM_I , 1);
trtCreateSemaphore(SEM_D , 1);
/* Identifies the three functions to the kernel as threads.
* The parameters specify pointers to the functions, the
* desired stack size, the initial release time, the initial deadline time,
* and an abitrary data input structure */
trtCreateTask(serialTask , 200, SECONDS2TICKS(0.1), SECONDS2TICKS(0.2 ), &(args[0]));
trtCreateTask(motorTask , 200, SECONDS2TICKS(0.3), SECONDS2TICKS(0.32), &(args[1]));
/* Choose our preferred sleep mode */
set_sleep_mode(SLEEP_MODE_IDLE);
/* Set sleep enable (SE) bit */
sleep_enable();
/* Sleep the CPU when a task isn't running. */
while (1) {
sleep_cpu();
}
}
