/*
* initialization of driveTask and driveParameterBuffer
*
* Initialize this, if you want to let the car drive
* start driving by calling drive(speed, direction, duration) method
*/
void navigationInit(void) {
#ifdef NAVIGATION_THREAD
interrupts_setHandler(24, 6, irq_hall);
driveParameterBuffer = xQueueCreate(1, sizeof(driveParameters));
//Digitalen Input aktivieren
PIER01_IE5 = 1;
//Input Mode aktivieren
DDR01_D5 = 0;
// xHandleDrive = 0;
//Interrupts aktivieren
PRRR0_INT7_R = 1;
ENIR0_EN7 = 1; //Enable interrupts
ELVR0_LB7 = 1;
ELVR0_LA7 = PDR01_P5;
EIRR0_ER7 = 0; // auf 0 setzen um auslösen des nächsten Interrupts zu ermöglichen
// DDR01_D0 = 1;
start = PDR01_P5;
#ifdef SLAM_SCENARIO
// start_calc_position();
SLAM_Algorithm_initialize();
os_registerProcessStackPriority(driveTask, "driveTask", 2990, tskIDLE_PRIORITY + 5);
#else
os_registerProcessStackPriority(driveTask, "driveTask", 1200, tskIDLE_PRIORITY + 5);
#endif
drive(0, 0, 700);
#ifdef DEBUG
printf("driveTask started\n\r");
#endif
#endif
}
xTaskHandle os_registerProcessStack(void(*function)(void), char * name, uint16_t stackSize) {
return os_registerProcessStackPriority(function, name, stackSize, tskIDLE_PRIORITY + 5);
}
