int main()
{
/* Semaphore creation */
vSemaphoreCreateBinary(ahrs_task_semaphore);
vSemaphoreCreateBinary(flight_control_task_semaphore);
/* Peripheral initialization */
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);
led_init();
debug_port_init();
usart3_init(57600);
i2c1_init();
spi1_init();
timer1_init();
pwm_timer4_init();
pwm_timer5_init();
pwm_capture_timer2_init();
pwm_capture_timer3_init();
pwm_capture_timer8_init();
//Make sure all the peripheral is finished the initialization
delay_ms(5);
/* Device initialization */
while(mpu6050_init());
while(hmc5983_init());
nrf24l01_init();
motor_init();
/* Task creation */
//Attitude and Heading Reference System (AHRS) task
xTaskCreate(ahrs_task, (portCHAR *)"AHRS task",
4096, NULL, tskIDLE_PRIORITY + 3, NULL);
xTaskCreate(flight_control_task, (portCHAR *)"Flight control task",
4096, NULL, tskIDLE_PRIORITY + 2, NULL);
#ifndef DEBUG_PRINT
//USART plot task
xTaskCreate(usart_plot_task, (portCHAR *)"USART plot task",
2048, NULL, tskIDLE_PRIORITY + 1, NULL);
#endif
/* Start schedule */
vTaskStartScheduler();
return 0;
}
void msm_serial_debug_init(unsigned int base, int irq,
struct device *clk_device, int signal_irq)
{
int ret;
void *port;
debug_clk = clk_get(clk_device, "uart_clk");
if (debug_clk)
clk_enable(debug_clk);
port = ioremap(base, 4096);
if (!port)
return;
init_data.base = base;
init_data.irq = irq;
init_data.clk_device = clk_device;
init_data.signal_irq = signal_irq;
debug_port_base = (unsigned int) port;
debug_signal_irq = signal_irq;
debug_port_init();
debug_prompt();
msm_fiq_select(irq);
msm_fiq_set_handler(debug_fiq, 0);
msm_fiq_enable(irq);
ret = request_irq(signal_irq, debug_irq,
IRQF_TRIGGER_RISING, "debug", 0);
if (ret)
printk(KERN_ERR
"serial_debugger: could not install signal_irq");
#if defined(CONFIG_MSM_SERIAL_DEBUGGER_CONSOLE)
register_console(&msm_serial_debug_console);
#endif
debugger_enable = 1;
}
int main()
{
/* Semaphore creation */
vSemaphoreCreateBinary(ahrs_task_semaphore);
/* Peripheral initialization */
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);
led_init();
debug_port_init();
usart3_init(57600);
i2c1_init();
timer2_init();
//Make sure all the peripheral is finished the initialization
delay_ms(1000);
/* Device initialization */
while(mpu6050_init());
led_on(LED1); //Initialization is finished
/* Task creation */
//Attitude and Heading Reference System (AHRS) task
xTaskCreate(ahrs_task, (portCHAR *)"AHRS task",
4096, NULL, tskIDLE_PRIORITY + 2, NULL);
//USART plot task
xTaskCreate(usart_plot_task, (portCHAR *)"USART plot task",
2048, NULL, tskIDLE_PRIORITY + 1, NULL);
/* Start schedule */
vTaskStartScheduler();
return 0;
}
