void main(void) {
OS_Init(); // OS System init
ADC_init(); // Should be done first
PWM_init(); // Beware pwm ports go together with ANALOG in
setPortBIO(0x04); // Set port B in output mode
setPortDIO(0x00); // Set port D in output mode
XLCDInit(); // initialize the LCD module
XLCDClear();
// Push een kleine lijst
//push(2);
//push(1);
//push(3);
OS_Task_Create(0, Task_Server); // BT Connection
OS_Task_Create(1, Task_Hartbeat); // Show I am alive (called by scheduler)//
OS_Task_Create(1, Task_Run); // Run me through the maze (called by scheduler)//
OS_Task_Create(2, Task_Display); // be called by scheduler
OS_Run(); // Run scheduler
}
/*********************************************************************
* Function: void InitializeBoard(void)
*
* PreCondition: None
*
* Input: None
*
* Output: None
*
* Side Effects: None
*
* Overview: Initialize board specific hardware.
*
* Note: None
********************************************************************/
static void InitializeBoard(void)
{
#if (defined(MCHP_C18) && (defined(__18F458) || defined(__18F448))) \
|| (defined(HITECH_C18) && (defined(_18F458) || defined(_18F448)))
CMCON = 0x07; /* Comparators off CM2:CM0 = 111 for PIC 18F448 & 18F458 */
#endif
/*
* Disable ADC, use PORTA as digital outputs.
*/
ADCON1 = 0x07;
TRISA = 0xd0; //RA0-3 and RA5 = outputs
#if defined(APP_USE_LCD)
/*
* LCD is enabled using RA5.
*/
//PORTA_RA5 = 0; // Disable LCD. //mx disabled - is not valid for SBC45EC!!!
#endif
/*
* Turn off the LED's.
*/
//LATA2 = 1;
//LATA3 = 1;
//Ports C2 and C5 are configured as outputs
TRISC_RC2 = 0;
TRISC_RC5 = 0;
TRISB4 = 0;
TRISB5 = 0;
LATB4 = 0;
LATB5 = 0 ;
/*
* External data EEPROM needs pull-ups, so enable internal
* pull-ups.
*/
INTCON2_RBPU = 0;
#if defined(APP_USE_LCD)
XLCDInit();
XLCDGoto(0, 0);
XLCDPutROMString(StartupMsg);
#endif
TXSTA = 0b00100000; // Low BRG speed
RCSTA = 0b10010000;
SPBRG = SPBRG_VAL;
T0CON = 0;
INTCON_GIEH = 1;
INTCON_GIEL = 1;
}
