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 } }