/**
* Starts the operating system by starting the system timer, creating the main thread,
* and performing the very first invocation of context_switch().
*/
void os_start(void) {
createMainThread();
start_system_timer();
context_switch((uint16_t *) (&system->threads[0].stackPointer),
(uint16_t *) (&system->threads[MAX_NUMBER_OF_THREADS].stackPointer));
}
void Fable_init(){
DDRA=0xFF;//PORTA is output
//serial_initialize(9600);
serial_initialize(57600);
//serial_set_rx_callback(&serial_receive_data);
//Init Timer
// TCCR0A = (1<<COM0A1)|(1<<COM0A0); //Set OC0A on Compare Match
// TCCR0B = (1<<FOC0A)|(1<<CS01)|(1<<CS00); //Force Output Compare A and 64 prescaler
// OCR0A = 125; //1ms according to KAVRCalc (8Mhz, 1msm, 64 prescaler, 0.0% error)
// TIMSK0 = 1<<OCIE0A; // Enable Timer 0 Output Compare A Match Event Interrupt
// TCCR0A = (1<<WGM01);//Clear on compare |(1<<COM0A0); //Set OC0A on Compare Match
// TCCR0B = (1<<CS01)|(1<<CS00); //64 prescaler
// OCR0A = 125; //1ms -> 8M/2*64*1000
// TIMSK0 = 1<<OCIE0A; // Enable Timer 0 Output Compare A Match Event Interrupt
start_system_timer();
accel_init();
i2c_init(400);// init i2c 100 khz
ext_uart_init();
ir_init(EXT_UART_0);
ir_init(EXT_UART_1);
ir_init(EXT_UART_2);
ir_init(EXT_UART_3);
gyro_set_mode(GYRO_MODE_ON);
sei();//enable interrupts
ase_printf("fw initialized\n");
/*
//ext_adc_init();//only on new board
ext_uart_enable_int_rx(1,&ext_uart_receive);
ir_init(EXT_UART_2);
ir_init(EXT_UART_3);
gyro_set_mode(GYRO_MODE_ON);// turn on gyroscope
//dxl_initialize(0,207); //init dinamixel, baud= 57600 (to check)
//printf("External UART %s\n",i2c_read_byte(0xd8,0x1c)==1?"OK":"NOT OK");//check communication works
*/
}
