int main()
{
// create the UART queue
queue_uart_char = xQueueGenericCreate(5, 10, 0);
queue_lua_commands = xQueueGenericCreate(5, MAX_STRLEN + 1, 0);
queue_stepmotor = xQueueGenericCreate(5, sizeof(int), 0);
dac_init();
ledlib_init();
usart1_init(9600, &queue_uart_char);
task_lua_init(&queue_lua_commands);
task_stepmotor_init(&queue_stepmotor);
// just send a message to indicate that it worksa
usart1_write_string ("\r\nInit complete with motors\r\n");
xTaskCreate(task_receive_uart_chars, (signed char*)"uart-chars", 100, 0, 1, 0);
vTaskStartScheduler();
/*
* Should never reach here!
*/
ledlib_set_error_state();
}
xQueueHandle MPU_xQueueGenericCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize, unsigned char ucQueueType )
{
xQueueHandle xReturn;
portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
xReturn = xQueueGenericCreate( uxQueueLength, uxItemSize, ucQueueType );
portRESET_PRIVILEGE( xRunningPrivileged );
return xReturn;
}
QueueHandle_t MPU_xQueueGenericCreate( UBaseType_t uxQueueLength, UBaseType_t uxItemSize, uint8_t ucQueueType )
{
QueueHandle_t xReturn;
BaseType_t xRunningPrivileged = prvRaisePrivilege();
xReturn = xQueueGenericCreate( uxQueueLength, uxItemSize, ucQueueType );
portRESET_PRIVILEGE( xRunningPrivileged );
return xReturn;
}
QueueHandle_t MPU_xQueueGenericCreate( UBaseType_t uxQueueLength, UBaseType_t uxItemSize, uint8_t ucQueueType )
{
QueueHandle_t xReturn;
BaseType_t xRunningPrivileged = xPortRaisePrivilege();
xReturn = xQueueGenericCreate( uxQueueLength, uxItemSize, ucQueueType );
vPortResetPrivilege( xRunningPrivileged );
return xReturn;
}
