void SQUEUE_Init(void) {
SQUEUE_Queue = FRTOS1_xQueueCreate(SQUEUE_LENGTH, SQUEUE_ITEM_SIZE);
if (SQUEUE_Queue==NULL) {
for(;;){} /* out of memory? */
}
FRTOS1_vQueueAddToRegistry(SQUEUE_Queue, "ShellQueue");
}
void VS_Init(void) {
MCS_SetVal(); /* chip select is low active, deselect it */
DCS_SetVal(); /* data mode is low active, deselect data mode */
VS_SPIDataReceivedFlag = FALSE; /* Initialization */
spiSem = FRTOS1_xSemaphoreCreateRecursiveMutex();
if (spiSem==NULL) { /* creation failed? */
for(;;);
}
FRTOS1_vQueueAddToRegistry(spiSem, "SpiSem");
}
void DRV_Init(void) {
DRV_Status.mode = DRV_MODE_NONE;
DRV_Status.speed.left = 0;
DRV_Status.speed.right = 0;
DRV_Status.pos.left = 0;
DRV_Status.pos.right = 0;
DRV_Queue = FRTOS1_xQueueCreate(QUEUE_LENGTH, QUEUE_ITEM_SIZE);
if (DRV_Queue==NULL) {
for(;;){} /* out of memory? */
}
FRTOS1_vQueueAddToRegistry(DRV_Queue, "Drive");
if (FRTOS1_xTaskCreate(DriveTask, "Drive", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY+3, NULL) != pdPASS) {
for(;;){} /* error */
}
}
void REF_Init(void) {
#if REF_START_STOP_CALIB
FRTOS1_vSemaphoreCreateBinary(REF_StartStopSem);
if (REF_StartStopSem==NULL) { /* semaphore creation failed */
for(;;){} /* error */
}
(void)FRTOS1_xSemaphoreTake(REF_StartStopSem, 0); /* empty token */
FRTOS1_vQueueAddToRegistry(REF_StartStopSem, "RefStartStopSem");
#endif
refState = REF_STATE_INIT;
timerHandle = RefCnt_Init(NULL);
/*! \todo You might need to adjust priority or other task settings */
if (FRTOS1_xTaskCreate(ReflTask, "Refl", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL) != pdPASS) {
for(;;){} /* error */
}
}
/*! \brief Initializes module */
void SEM_Init(void)
{
vSemaphoreCreateBinary(MySemTest);
if (MySemTest == NULL)
{
for(;;); /* creation failed */
}
FRTOS1_vQueueAddToRegistry(MySemTest, "Sem");
/*
if (FRTOS1_xTaskCreate(vMasterTask, "Master", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY+1, NULL) != pdPASS)
{
for(;;){}
}
if (FRTOS1_xTaskCreate(vSlaveTask, "Slave", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY+1, NULL) != pdPASS)
{
for(;;){}
}
*/
}
static portTASK_FUNCTION(vMasterTask, pvParameters) {
/*! \todo Implement functionality */
xSemaphoreHandle sem = NULL;
(void)pvParameters; /* parameter not used */
sem = FRTOS1_xSemaphoreCreateBinary();
if (sem==NULL) { /* semaphore creation failed */
for(;;){} /* error */
}
FRTOS1_vQueueAddToRegistry(sem, "IPC_Sem");
/* create slave task */
if (FRTOS1_xTaskCreate(vSlaveTask, "Slave", configMINIMAL_STACK_SIZE, sem, tskIDLE_PRIORITY+1, NULL) != pdPASS) {
for(;;){} /* error */
}
for(;;) {
if (sem != NULL) { /* valid semaphore? */
(void)xSemaphoreGive(sem); /* give control to other task */
FRTOS1_vTaskDelay(1000/portTICK_RATE_MS);
}
}
}
