/*
** ===================================================================
** Event : Task2_task (module mqx_tasks)
**
** Component : Task2 [MQXLite_task]
** Description :
** MQX task routine. The routine is generated into mqx_tasks.c
** file.
** Parameters :
** NAME - DESCRIPTION
** task_init_data -
** Returns : Nothing
** ===================================================================
*/
void Task2_task(uint32_t task_init_data)
{
int i;
int counter;
const char comma = ',';
for(;;){
counter++;
float p_result[3];
_lwsem_wait(&uartsem);
for(i=0; i<3; i++){
p_result[i]=result[i];
}
_lwsem_post(&uartsem);
for(i=0; i<3; i++){
Term1_SendFloatNum(p_result[i]);
Term1_SendChar(comma);
}
Term1_CRLF();
//_time_delay_ticks(50);
}
//Term1_SendStr("\r \n");
}
/*lint -save -e970 Disable MISRA rule (6.3) checking. */
int main(void)
/*lint -restore Enable MISRA rule (6.3) checking. */
{
/* Write your local variable definition here */
bool button=1;
struct sensor s[6];
int64_t min_avg[6]={23, 14, 15, 15, 18, 23};
int64_t max_avg[6]={1000, 193, 172, 170, 160, 550};
int i;
int64_t error;
/*** Processor Expert internal initialization. DON'T REMOVE THIS CODE!!! ***/
PE_low_level_init();
/*** End of Processor Expert internal initialization. ***/
/* Write your code here */
//Initializeaza timer-ul
CountTimer_Init((LDD_TUserData *)NULL);
//Opreste motoarele
motor(0, 0);
//Activeaza PWM-ul pentru motoare
PWM_stanga_Enable();
PWM_dreapta_Enable();
IR_LED_PutVal(0);
while(button)
button=Button_GetVal();
WAIT1_Waitms(500);
IR_LED_PutVal(1);
while(1){
readSensors(min_avg, max_avg, s);
WAIT1_Waitms(1);
#if DEBUG==TRUE
for(i=0; i<6; i++){
Term1_SendNum(s[i].value);
Term1_SendStr(" ");
}
for(i=0; i<6; i++){
Term1_SendNum(s[i].seen);
Term1_SendStr(" ");
}
#endif
error=propder(s);
#if DEBUG==TRUE
Term1_SendNum(error);
Term1_SendChar('\n');
Term1_SendChar('\r');
#endif
drive(error);
}
/*** Don't write any code pass this line, or it will be deleted during code generation. ***/
/*** RTOS startup code. Macro PEX_RTOS_START is defined by the RTOS component. DON'T MODIFY THIS CODE!!! ***/
#ifdef PEX_RTOS_START
PEX_RTOS_START(); /* Startup of the selected RTOS. Macro is defined by the RTOS component. */
#endif
/*** End of RTOS startup code. ***/
/*** Processor Expert end of main routine. DON'T MODIFY THIS CODE!!! ***/
for(;;){}
/*** Processor Expert end of main routine. DON'T WRITE CODE BELOW!!! ***/
} /*** End of main routine. DO NOT MODIFY THIS TEXT!!! ***/
