//---------------------------------------------------------------------------------------------------
// Tâches de démarrages, init du hardware et création des tâches de l'applicaiton
//---------------------------------------------------------------------------------------------------
static void AppTaskStart(void *p_arg)
{
OS_ERR aErr;
// Pour le warning du compilateur
(void)p_arg;
// Start BSP and tick initialization
BSP_Init();
// Start Tick Initialization
BSP_Tick_Init();
mLeds_Setup();
#if OS_CFG_STAT_TASK_EN > 0u
// Compute CPU capacity with no task running */
OSStatTaskCPUUsageInit(&aErr);
#endif
OSTaskCreate((OS_TCB *)&Task1_Tcb,
(CPU_CHAR *)"Task1",
(OS_TASK_PTR ) Task1,
(void *) 0,
(OS_PRIO ) kTask1Pr,
(CPU_STK *)&sTask1Stk[0],
(CPU_STK )(kStackSize / 10u),
(CPU_STK_SIZE) kStackSize,
(OS_MSG_QTY ) 0,
(OS_TICK ) 0,
(void *) 0,
(OS_OPT )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
(OS_ERR *)&aErr);
OSTaskCreate((OS_TCB *)&Task2_Tcb,
(CPU_CHAR *)"Task2",
(OS_TASK_PTR ) Task2,
(void *) 0,
(OS_PRIO ) kTask2Pr,
(CPU_STK *)&sTask2Stk[0],
(CPU_STK )(kStackSize / 10u),
(CPU_STK_SIZE) kStackSize,
(OS_MSG_QTY ) 0,
(OS_TICK ) 0,
(void *) 0,
(OS_OPT )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
(OS_ERR *)&aErr);
while (DEF_TRUE)
{
OSTaskDel(&sAppTaskStartTCB,&aErr);
}
}
void main(void)
{
bool ledState = false;
//-------------------------------------------------------------------------------
// Setup des interfaces
//-------------------------------------------------------------------------------
iCpu_SysInit();
iI2C_Setup();
iUart_Config();
iSpi_Setup();
iPit_Config(kPit0, 2);
iPit_StartPit(kPit0);
iAd_Config();
iAd_Cal(kAdc0);
//-------------------------------------------------------------------------------
// Open des interfaces
//-------------------------------------------------------------------------------
iI2C_Open();
iUart_Open();
iSpi_Open();
//-------------------------------------------------------------------------------
// Setup des modules
//-------------------------------------------------------------------------------
mCpu_Setup(); // PLL and crossbar configuration
mLeds_Setup(); // Configuration Port leds
mPwm_Setup(); // FTMx configuration
mDelay_Setup();
mRfInterface_Setup();
mCapteurAccelMagn_Setup();
mCapteurGyro_Setup();
mCapteurPression_Setup();
mMesureAlimentation_Setup();
mOrientationProcessing_setup();
mLeds_WriteLed(kLed2, kLedOn);
//-------------------------------------------------------------------------------
// Open des modules
//-------------------------------------------------------------------------------
mDelay_Open();
mRfInterface_Open();
mCapteurAccelMagn_Open();
mCapteurPression_Open();
mLeds_WriteLed(kLed3, kLedOn);
//-------------------------------------------------------------------------------
// Setup des gestionnaires
//-------------------------------------------------------------------------------
gInput_Setup();
gCompute_Setup();
gLabview_Setup();
gOutput_Setup();
mLeds_WriteLed(kLed4, kLedOn);
mOrientationProcessing_open(); //A faire en dernier
//-------------------------------------------------------------------------------
// Execute des gestionnaires
//-------------------------------------------------------------------------------
while (1)
{
ledState = !ledState;
mLeds_WriteLed(kLed5, ledState);
gInput_Execute();
gCompute_Execute();
gLabview_Execute();
gOutput_Execute();
}
}
int main(void)
{
//Non specific modules initialization
mCpu_Setup();
mDelay_Setup();
mLeds_Setup();
mGpio_Setup(0x1<<8);
mSwitches_Setup();
//Tasks initialization
gAltitudeSensors_Setup();
gAttitudeSensors_Setup();
gFlightCompute_Setup();
gLight_Setup();
gMonitoring_Setup();
gReceiver_Setup();
gMotors_Setup();
gMiscSensors_Setup();
//Tasks open
gAttitudeSensors_Open();
//Wait 1second after setup
UInt16 aDelayBoot = mDelay_GetDelay(kPit0, 1000);
while(mDelay_IsDelayDone(kPit0, aDelayBoot)==false);
mDelay_DelayRelease(kPit0, aDelayBoot);
//Indicate that programm is ready.
mLeds_AllOn();
//Get delay for main loop
UInt16 aDelayMainLoop = mDelay_GetDelay(kPit0, 5);
//Main loop
while(1)
{
while(mDelay_IsDelayDone(kPit0, aDelayMainLoop)==false);
mDelay_ReStart(kPit0, aDelayMainLoop, 5);
//Get inputs
gAttitudeSensors_Run();
gReceiver_Run();
gAltitudeSensors_Run();
gMiscSensors_Run();
//Compute
gFlightCompute_Run();
//Export outputs
gMotors_Run();
gLight_Run();
//Monitoring
gMonitoring_Run();
//Measure time with logic
//mGpio_AllToggle();
}
//Never happens (infinite loop above)
return 0;
}
