int main( void )
{
/* MTJ: initialize syscalls -- *must* be first */
// syscalls.c contains the files upon which the standard (and portable) C libraries rely
init_syscalls();
// Set up the LED ports and turn them off
vtInitLED();
/* Configure the hardware for use by this demo. */
prvSetupHardware();
#if USE_FREERTOS_DEMO == 1
/* Start the standard demo tasks. These are just here to exercise the
kernel port and provide examples of how the FreeRTOS API can be used. */
vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
vCreateBlockTimeTasks();
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
vStartQueuePeekTasks();
vStartRecursiveMutexTasks();
vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
#endif
#if USE_WEB_SERVER == 1
// Not a standard demo -- but also not one of mine (MTJ)
/* Create the uIP task. The WEB server runs in this task. */
xTaskCreate( vuIP_Task, ( signed char * ) "uIP", mainBASIC_WEB_STACK_SIZE, ( void * ) NULL, mainUIP_TASK_PRIORITY, NULL );
#endif
#if USE_MTJ_LCD == 1
// MTJ: My LCD demonstration task
StartLCDTask(&vtLCDdata,mainLCD_TASK_PRIORITY);
// LCD Task creates a queue to receive messages -- what it does with those messages will depend on how the task is configured (see LCDtask.c)
// Here we set up a timer that will send messages to the LCD task. You don't have to have this timer for the LCD task, it is just showing
// how to use a timer and how to send messages from that timer.
//Commented out by Matthew Ibarra 2/2/2013
//startTimerForLCD(&vtLCDdata);
#endif
#if USE_MTJ_V4Temp_Sensor == 1
// MTJ: My i2cTemp demonstration task
// First, start up an I2C task and associate it with the I2C0 hardware on the ARM (there are 3 I2C devices, we need this one)
// See vtI2C.h & vtI2C.c for more details on this task and the API to access the task
// Initialize I2C0 for I2C0 at an I2C clock speed of 100KHz
if (vtI2CInit(&vtI2C0,0,mainI2CMONITOR_TASK_PRIORITY,100000) != vtI2CInitSuccess) {
VT_HANDLE_FATAL_ERROR(0);
}
// Now, start up the task that is going to handle the temperature sensor sampling (it will talk to the I2C task and LCD task using their APIs)
#if USE_MTJ_LCD == 1
vStarti2cTempTask(&tempSensorData,mainI2CTEMP_TASK_PRIORITY,&vtI2C0,&vtLCDdata);
#else
vStarti2cTempTask(&tempSensorData,mainI2CTEMP_TASK_PRIORITY,&vtI2C0,NULL);
#endif
// Here we set up a timer that will send messages to the Temperature sensing task. The timer will determine how often the sensor is sampled
startTimerForTemperature(&tempSensorData);
// start up a "conductor" task that will move messages around
vStartConductorTask(&conductorData,mainCONDUCTOR_TASK_PRIORITY,&vtI2C0,&tempSensorData);
#endif
/* Create the USB task. MTJ: This routine has been modified from the original example (which is not a FreeRTOS standard demo) */
#if USE_MTJ_USE_USB == 1
initUSB(); // MTJ: This is my routine used to make sure we can do printf() with USB
xTaskCreate( vUSBTask, ( signed char * ) "USB", configMINIMAL_STACK_SIZE, ( void * ) NULL, mainUSB_TASK_PRIORITY, NULL );
#endif
/* Start the scheduler. */
// IMPORTANT: Once you start the scheduler, any variables on the stack from main (local variables in main) can be (will be...) written over
// because the stack is used by the interrupt handler
vTaskStartScheduler();
/* Will only get here if there was insufficient memory to create the idle
task. The idle task is created within vTaskStartScheduler(). */
for( ;; );
}
int main( void )
{
/* MTJ: initialize syscalls -- *must* be first */
// syscalls.c contains the files upon which the standard (and portable) C libraries rely
init_syscalls();
// Set up the LED ports and turn them off
vtInitLED();
/* Configure the hardware for use by this demo. */
prvSetupHardware();
#if USE_WEB_SERVER == 1
// Not a standard demo -- but also not one of mine (MTJ)
/* Create the uIP task. The WEB server runs in this task. */
xTaskCreate( vuIP_Task, ( signed char * ) "uIP", mainBASIC_WEB_STACK_SIZE, ( void * ) NULL, mainUIP_TASK_PRIORITY, NULL );
#endif
vStartLCDTask(&vtLCDdata,mainLCD_TASK_PRIORITY);
// LCD Task creates a queue to receive messages -- what it does with those messages will depend on how the task is configured (see LCDtask.c)
// Here we set up a timer that will send messages to the LCD task. You don't have to have this timer for the LCD task, it is just showing
// how to use a timer and how to send messages from that timer.
// First, start up an I2C task and associate it with the I2C0 hardware on the ARM (there are 3 I2C devices, we need this one)
// See vtI2C.h & vtI2C.c for more details on this task and the API to access the task
// Initialize I2C0 for I2C0 at an I2C clock speed of 100KHz
if (vtI2CInit(&vtI2C0,0,mainI2CMONITOR_TASK_PRIORITY,100000) != vtI2CInitSuccess) {
VT_HANDLE_FATAL_ERROR(0);
}
// start up a "conductor" task that will move messages around
vStartConductorTask(&conductorData,mainCONDUCTOR_TASK_PRIORITY,&vtI2C0,&i2cData,&motorControl,&irData,&speedData,&powerData,&vtLCDdata);
// Start the I2C task
starti2cTask(&i2cData,mainI2C_TASK_PRIORITY,&vtI2C0);
// Start the Motor Control task
vStartMotorControlTask(&motorControl,mainMOTOR_CONTROL_TASK_PRIORITY,&i2cData,&webData,&vtLCDdata);
// Start the Navigation task
vStartNavigationTask(&navData,mainNAVIGATION_TASK_PRIORITY,&motorControl,&vtLCDdata);
// Start the IR Control task
vStartIRTask(&irData,mainIR_CONTROL_TASK_PRIORITY,&navData);
// Start the Speed Limit task
vStartSpeedLimitTask(&speedData,mainSPEED_LIMIT_TASK_PRIORITY,&motorControl,&navData,&webData);
startTimerFori2c(&i2cData);
//startTimerForMotor(&motorControl);
/* Create the USB task. MTJ: This routine has been modified from the original example (which is not a FreeRTOS standard demo) */
#if USE_MTJ_USE_USB == 1
initUSB(); // MTJ: This is my routine used to make sure we can do printf() with USB
xTaskCreate( vUSBTask, ( signed char * ) "USB", configMINIMAL_STACK_SIZE, ( void * ) NULL, mainUSB_TASK_PRIORITY, NULL );
#endif
/* Start the scheduler. */
// IMPORTANT: Once you start the scheduler, any variables on the stack from main (local variables in main) can be (will be...) written over
// because the stack is used by the interrupt handler
vTaskStartScheduler();
/* Will only get here if there was insufficient memory to create the idle
task. The idle task is created within vTaskStartScheduler(). */
for( ;; );
}
