void a_main()
{
// Debug trigger
enable_LED(PORTL0);
disable_LED(PORTL0);
// Initialize components
uart_init();
uart1_init();
init_ADC();
mode_PORTA_INPUT(JOYSTICK_PIN_HORZ);
mode_PORTA_INPUT(JOYSTICK_PIN_VERT);
DDRA = 0xFF;
disable_LED(PORTL0);
disable_LED(PORTL2);
disable_LED(PORTL5);
disable_LED(PORTL6);
// Initialize tasks
Task_Create(Task_ReadJoystick, 1, 0);
Task_Create(Task_WriteBluetooth, 2, 0);
Task_Create(Idle, 10, 0);
// Kill the initialization task
Task_Terminate();
}
void a_main(int parameter)
{
/*
//Place these as necessary to display output if not already doing so inside the RTOS
//initialize pins
DDRB |= (1<<PB1); //pin 52
DDRB |= (1<<PB2); //pin 51
DDRB |= (1<<PB3); //pin 50
PORTB |= (1<<PB1); //pin 52 on
PORTB |= (1<<PB2); //pin 51 on
PORTB |= (1<<PB3); //pin 50 on
PORTB &= ~(1<<PB1); //pin 52 off
PORTB &= ~(1<<PB2); //pin 51 off
PORTB &= ~(1<<PB3); //pin 50 off
*/
mut = Mutex_Init();
evt = Event_Init();
Task_Create(Task_P1, 1, 0);
Task_Create(Task_P2, 2, 0);
pid = Task_Create(Task_P3, 3, 0);
}
void a_main(){
mut1 = Mutex_Init();
mut2 = Mutex_Init();
Task_Create(Task_P1, 1, 0);
Task_Create(Task_P2, 2, 0);
Task_Create(Task_P3, 3, 0);
}
void a_main(){
DDRA |= (1<<PA0);
DDRA |= (1<<PA1);
DDRA |= (1<<PA2);
DDRA |= (1<<PA3);
PORTA &= ~(1<<PA0);
PORTA &= ~(1<<PA1);
PORTA &= ~(1<<PA2);
PORTA &= ~(1<<PA3);
e=Event_Init();
Task_Create(Ping,1,0);
Task_Create(Pong,1,0);
Task_Terminate();
}
void a_main(){
DDRB = 0xF0;
PORTB = 0x00;
mut = Mutex_Init();
evt = Event_Init();
_delay_ms(4000);
Task_Create(Task_P1, 1, 0);
Task_Create(Task_P2, 2, 0);
Task_Create(Task_P3, 3, 0);
Task_Create(Task_P4, 10, 0);
}
/* ======================================
Name: main
Description:
====================================== */
int main(void)
{
int fd2fpDev0;
int ret;
fd2fpDev0 = open( "/dev/test/fd2fp0", O_RDWR );
printf("fd2fpDev0: fd %d\n", fd2fpDev0);
task1 = Task_Create(FD2FP_Task1, NULL, 4096, TASK_PRIORITY, "FD2FP_TASK1", 0);
task2 = Task_Create(FD2FP_Task2, NULL, 4096, TASK_PRIORITY, "FD2FP_TASK2", 0);
task3 = Task_Create(FD2FP_Task3, NULL, 4096, TASK_PRIORITY, "FD2FP_TASK3", 0);
if( fd2fpDev0>=0 && fd2fpDev1>=0 && fd2fpDev2>=0 && fd2fpDev3>=0 )
{
ret = ioctl(fd2fpDev0, FD2FP_PASS_FD, &fd2fpDev1);
ret = ioctl(fd2fpDev0, FD2FP_PASS_FD, &fd2fpDev2);
ret = ioctl(fd2fpDev0, FD2FP_PASS_FD, &fd2fpDev3);
ret = ioctl(fd2fpDev1, FD2FP_PASS_FD, &fd2fpDev0);
ret = ioctl(fd2fpDev2, FD2FP_PASS_FD, &fd2fpDev0);
ret = ioctl(fd2fpDev3, FD2FP_PASS_FD, &fd2fpDev0);
ret = ioctl(fd2fpDev1, FD2FP_PASS_FD, &fd2fpDev1);
ret = ioctl(fd2fpDev1, FD2FP_PASS_FD, &fd2fpDev2);
ret = ioctl(fd2fpDev1, FD2FP_PASS_FD, &fd2fpDev3);
}
else
{
printf("Failed to open fd2fp dev.\n");
return 1;
}
ret = close(fd2fpDev3);
ret |= close(fd2fpDev2);
ret |= close(fd2fpDev1);
ret |= close(fd2fpDev0);
printf( "ret = %08X\n", ret);
printf("cancelling the task.\n");
pthread_cancel(*task1);
pthread_join(*task1, NULL);
pthread_cancel(*task2);
pthread_join(*task2, NULL);
pthread_cancel(*task3);
pthread_join(*task3, NULL);
return 0;
}
void a_main()
{
Task_Create(Task_P1, 1, 0);
Task_Create(Task_P2, 2, 0);
Task_Create(Idle, MINPRIORITY, 0);
disable_LED(PORTL0);
disable_LED(PORTL2);
disable_LED(PORTL5);
disable_LED(PORTL6);
enable_LED(PORTL0);
disable_LED(PORTL0);
Task_Terminate();
}
void a_main() {
DDRB = 0xF0;
PORTB = 0x00;
blink_increment = Event_Init();
//1. Start Task_2
Task_Create(Task_2, 0, 0);
}
int
main(int argc, char *argv[])
{
motor_t rightMotor = {
&PORTB, &DDRB, PORTB7, // PWM
&PORTC, &DDRC, PORTC1, // Direction
&OCR0A // Top value
};
motor_t leftMotor = {
&PORTD, &DDRD, PORTD0, // PWM
&PORTB, &DDRB, PORTB0, // Direction
&OCR0B // Top value
};
//uint8_t sonarDistance = 0;
cli();
NO_CLK_PRESCALE();
//uart_init();
radio_init(HOV1_ADDRESS, RECEIVE_MODE);
sonar_init();
motorInit(&rightMotor);
motorInit(&leftMotor);
pwmInit();
sei();
stop = Event_Init();
sendPing();
while(!receivedInit);
Task_Create((void*)(&motor_task),0, PERIODIC, MOTOR);
Task_Create((void*)(&fire_sonar),0, PERIODIC, FIRE);
Task_Create((void*)(&listen_sonar),0,PERIODIC, LISTEN);
Task_Create((void*)(&sendRadio),0,PERIODIC, RADIO);
Task_Create((void*)(&stopSystem), 0,SYSTEM, STOP);
setMotorDirection(&rightMotor, FORWARD);
setMotorDirection(&leftMotor, FORWARD);
return 0;
}
int r_main(void) {
init();
servoInit();
pinMode(ONBOARD_LED, OUTPUT);
// pinMode(4, OUTPUT);
pinMode(9, OUTPUT);
//pinMode(13, OUTPUT);
Serial.begin(57600);
//sonarInit();
// digitalWrite( LEFT_MOTOR_PIN_1, 0 );
// digitalWrite( LEFT_MOTOR_PIN_2, 1 );
//
// digitalWrite( RIGHT_MOTOR_PIN_1, 0 );
// digitalWrite( RIGHT_MOTOR_PIN_2, 1 );
//
// analogWrite( LEFT_MOTOR_PIN_E, (int) (40));
// analogWrite( RIGHT_MOTOR_PIN_E, (int) (40));
// digitalWrite(13, LOW);
// digitalWrite(12, HIGH);
// while(true){
//analogWrite(4, 127);
// }
//pinMode(9, OUTPUT);
//while (1) {
//analogWrite(9, 127);
//digitalWrite(9, HIGH);
//_delay_ms(50);
//analogWrite(9, 0);
//digitalWrite(9, LOW);
//}
// radioInitSetup();
Task_Create(task1, ONBOARD_LED_HIGH, PERIODIC, ONBOARD_LED_HIGH);
Task_Create(task2, ONBOARD_LED_LOW, PERIODIC, ONBOARD_LED_LOW);
// Task_Create(sonarTask, SONAR_TASK, PERIODIC, SONAR_TASK);
// Task_Create(actuateTask, ACTUATE_TASK, PERIODIC, ACTUATE_TASK);
// Task_Create(controlTask, CONTROL_TASK, PERIODIC, CONTROL_TASK);
return 0;
}
void a_main()
{
mut1 = Mutex_Init();
task1 = Task_Create(Task_P1, 1, 0);
task2 = Task_Create(Task_P2, 2, 0);
task3 = Task_Create(Task_P3, 3, 0);
Task_Create(Idle, MINPRIORITY, 0);
disable_LED(PORTL0);
disable_LED(PORTL2);
disable_LED(PORTL5);
disable_LED(PORTL6);
enable_LED(PORTL0);
disable_LED(PORTL0);
Task_Terminate();
}
void a_main()
{
mut = Mutex_Init();
evt = Event_Init();
Task_Create(Task_P1, 1, 0);
Task_Create(Task_P2, 2, 0);
Task_Create(Task_P3, 3, 0);
Task_Create(Idle, 10, 0);
disable_LED(PORTL0);
disable_LED(PORTL2);
disable_LED(PORTL5);
disable_LED(PORTL6);
enable_LED(PORTL0);
disable_LED(PORTL0);
Task_Terminate();
}
void Task_2() {
//2. Create Task_1 which will signal Task_2
Task_Create(Task_1, 1, 0);
//3. Wait for signal, this will yield to the lower priority task_1
Event_Wait(blink_increment);
//6. Run the blink
int i;
for(i = 0; i<blinks; i++) {
PORTB = 0x10;
_delay_ms(500);
PORTB = 0x00;
_delay_ms(500);
}
//7.Terminate Task_2, continue to Task_1
Task_Terminate();
}
void Task_1() {
//4. Signal to Task_2 waiting on blink_increment
Event_Signal(blink_increment);
//8. Run and increment the blinks
int i;
for(i = 0; i<blinks; i++) {
PORTB = 0x20;
_delay_ms(500);
PORTB = 0x00;
_delay_ms(500);
}
blinks++;
//9. Create Task_2
Task_Create(Task_2, 0, 0);
//10. Terminate the task, restarting the loop at Task_2
Task_Terminate();
}
/************************************************************************
function: Core_Init()
description: Initializes the OS and all kernel objects
parameters: N/A
return: OS_OK - System ok, all objects were initialized.
************************************************************************/
os_error_t Core_Init(void)
{
//Error variable:
os_error_t xErr;
//Initialize the tasks control blocks:
Task_InitBlocks();
//Queue Init
//Mutex Init
//Mailbox Init
//Timers
//Semaphores
//Disable the OS:
bOsEnable = OS_DIS;
//reset the tick counter:
dTickCounter = 0;
//create Idle task:
//Install tasks:
xErr = Task_Create ((taskptr_t *) &Core_IdleTask,
(os_stack_t *)&axIdleTaskStack,
sizeof(axIdleTaskStack),
63,
(os_taskname_t *) "uLipeIdleTask");
//check if all gone well:
if(OS_OK != xErr)
{
return(OS_ERROR);
}
//return ok
return(OS_OK);
}
int main(void)
{
/* setup the test */
uart_init();
uart_write((uint8_t*)"\r\nSTART\r\n", 9);
set_test(2);
print_event = Event_Init();
Task_Create(generic_task, A, PERIODIC, A);
Task_Create(generic_task, B, PERIODIC, B);
Task_Create(generic_task, C, PERIODIC, C);
Task_Create(generic_task, D, PERIODIC, D);
Task_Create(generic_task, E, PERIODIC, E);
Task_Create(generic_task, F, PERIODIC, F);
Event_Wait(print_event);
print_trace();
}
int main(void)
{
/* setup the test */
uart_init();
uart_write((uint8_t*)"\r\nSTART\r\n", 9);
set_test(3);
print_event = Event_Init();
Task_Create(generic_task, 1, RR, A);
Task_Create(generic_task, 2, RR, B);
Task_Create(generic_task, 3, RR, C);
Task_Create(generic_task, 4, RR, D);
Task_Create(generic_task, 5, RR, E);
Task_Create(generic_task, 6, RR, F);
Event_Wait(print_event);
print_trace();
}
void a_main(){
TESTING_INIT(TESTING_ALL);
Task_Create(Task_P1, 1, 0);
Task_Create(Task_P2, 1, 0);
}
