void InitGPS()
{
CalculateRotateFact();
OSTimeDly(500);
InitEncoders();
InitGyro(GPS_TIMER_PPR / (double)GPS_TIMER_DIV);
g_X = START_X ;
g_Y = START_Y ;
InitTimerInt(GPS_TIMER, GPS_TIMER_PPR, GPS_TIMER_DIV, GPS_ISR, 0x10);
}
void TaskStart (void *data)
{
auto UBYTE i;
// Create N_TASKS identical tasks
for (i = 0; i < N_TASKS; i++) {
TaskData[i] = i; // Each task has its own number
OSTaskCreate(Task, (void *)&TaskData[i], TASK_STK_SIZE, 11+i);
}
InitTimerInt(); // Setup Timer A internal interrupts
OSStatInit(); // Initialize statistics task
DispStr(0, 12, "#Tasks : xxxxx CPU Usage: xxxxx %");
DispStr(0, 13, "#Task switch/sec: xxxxx");
DispStr(0, 14, "<-PRESS 'Q' TO QUIT->");
for (;;) {
UpdateStat();
OSTimeDly(OS_TICKS_PER_SEC); // Wait one second
}
}
