/* ===================================================================*/
LDD_TDeviceData* TimerIntLdd2_Init(LDD_TUserData *UserDataPtr)
{
/* Allocate device structure */
TimerIntLdd2_TDeviceData *DeviceDataPrv;
/* {Default RTOS Adapter} Driver memory allocation: Dynamic allocation is simulated by a pointer to the static object */
DeviceDataPrv = &DeviceDataPrv__DEFAULT_RTOS_ALLOC;
DeviceDataPrv->UserDataPtr = UserDataPtr; /* Store the RTOS device structure */
DeviceDataPrv->EnUser = TRUE; /* Set the flag "device enabled" */
/* Registration of the device structure */
PE_LDD_RegisterDeviceStructure(PE_LDD_COMPONENT_TimerIntLdd2_ID,DeviceDataPrv);
DeviceDataPrv->LinkedDeviceDataPtr = TU2_Init((LDD_TUserData *)NULL);
if (DeviceDataPrv->LinkedDeviceDataPtr == NULL) { /* Is initialization of TimerUnit unsuccessful? */
/* Unregistration of the device structure */
PE_LDD_UnregisterDeviceStructure(PE_LDD_COMPONENT_TimerIntLdd2_ID);
/* Deallocation of the device structure */
/* {Default RTOS Adapter} Driver memory deallocation: Dynamic allocation is simulated, no deallocation code is generated */
return NULL; /* If so, then the TimerInt initialization is also unsuccessful */
}
return ((LDD_TDeviceData *)DeviceDataPrv); /* Return pointer to the device data structure */
}
/**\fn US_Init(void)
* \brief Init for US sensorss s
*
*
* Initializes Ultrasonic sensors
*/
void US_Init(void)
{
/* Front sensor */
usDevices.usDevice[0].state = ECHO_IDLE;
usDevices.usDevice[0].capture = 0;
usDevices.usDevice[0].trigDevice = USTRIGFRONT_Init(NULL);
usDevices.usDevice[0].echoDevice = TU2_Init(&usDevices);
usDevices.usDevice[0].clrVal = USTRIGFRONT_ClrVal;
usDevices.usDevice[0].setVal = USTRIGFRONT_SetVal;
usDevices.usDevice[0].id = US_FRONT;
/* Rear sensor */
usDevices.usDevice[1].state = ECHO_IDLE;
usDevices.usDevice[1].capture = 0;
usDevices.usDevice[1].trigDevice = USTRIGREAR_Init(NULL);
usDevices.usDevice[1].echoDevice = usDevices.usDevice[0].echoDevice;
usDevices.usDevice[1].clrVal = USTRIGREAR_ClrVal;
usDevices.usDevice[1].setVal = USTRIGREAR_SetVal;
usDevices.usDevice[1].id = US_REAR;
/* Left sensor */
usDevices.usDevice[2].state = ECHO_IDLE;
usDevices.usDevice[2].capture = 0;
usDevices.usDevice[2].trigDevice = USTRIGLEFT_Init(NULL);
usDevices.usDevice[2].echoDevice = usDevices.usDevice[0].echoDevice;
usDevices.usDevice[2].clrVal = USTRIGLEFT_ClrVal;
usDevices.usDevice[2].setVal = USTRIGLEFT_SetVal;
usDevices.usDevice[3].id = US_LEFT;
/* Right sensor */
usDevices.usDevice[3].state = ECHO_IDLE;
usDevices.usDevice[3].capture = 0;
usDevices.usDevice[3].trigDevice = USTRIGRIGHT_Init(NULL);
usDevices.usDevice[3].echoDevice = usDevices.usDevice[0].echoDevice;
usDevices.usDevice[3].clrVal = USTRIGRIGHT_ClrVal;
usDevices.usDevice[3].setVal = USTRIGRIGHT_SetVal;
usDevices.usDevice[3].id = US_RIGHT;
}
