/* ** =================================================================== ** Event : Task2_task (module mqx_tasks) ** ** Component : Task2 [MQXLite_task] ** Description : ** MQX task routine. The routine is generated into mqx_tasks.c ** file. ** Parameters : ** NAME - DESCRIPTION ** task_init_data - ** Returns : Nothing ** =================================================================== */ void Task2_task(uint32_t task_init_data) { int i; int counter; const char comma = ','; for(;;){ counter++; float p_result[3]; _lwsem_wait(&uartsem); for(i=0; i<3; i++){ p_result[i]=result[i]; } _lwsem_post(&uartsem); for(i=0; i<3; i++){ Term1_SendFloatNum(p_result[i]); Term1_SendChar(comma); } Term1_CRLF(); //_time_delay_ticks(50); } //Term1_SendStr("\r \n"); }
/*lint -save -e970 Disable MISRA rule (6.3) checking. */ int main(void) /*lint -restore Enable MISRA rule (6.3) checking. */ { /* Write your local variable definition here */ bool button=1; struct sensor s[6]; int64_t min_avg[6]={23, 14, 15, 15, 18, 23}; int64_t max_avg[6]={1000, 193, 172, 170, 160, 550}; int i; int64_t error; /*** Processor Expert internal initialization. DON'T REMOVE THIS CODE!!! ***/ PE_low_level_init(); /*** End of Processor Expert internal initialization. ***/ /* Write your code here */ //Initializeaza timer-ul CountTimer_Init((LDD_TUserData *)NULL); //Opreste motoarele motor(0, 0); //Activeaza PWM-ul pentru motoare PWM_stanga_Enable(); PWM_dreapta_Enable(); IR_LED_PutVal(0); while(button) button=Button_GetVal(); WAIT1_Waitms(500); IR_LED_PutVal(1); while(1){ readSensors(min_avg, max_avg, s); WAIT1_Waitms(1); #if DEBUG==TRUE for(i=0; i<6; i++){ Term1_SendNum(s[i].value); Term1_SendStr(" "); } for(i=0; i<6; i++){ Term1_SendNum(s[i].seen); Term1_SendStr(" "); } #endif error=propder(s); #if DEBUG==TRUE Term1_SendNum(error); Term1_SendChar('\n'); Term1_SendChar('\r'); #endif drive(error); } /*** Don't write any code pass this line, or it will be deleted during code generation. ***/ /*** RTOS startup code. Macro PEX_RTOS_START is defined by the RTOS component. DON'T MODIFY THIS CODE!!! ***/ #ifdef PEX_RTOS_START PEX_RTOS_START(); /* Startup of the selected RTOS. Macro is defined by the RTOS component. */ #endif /*** End of RTOS startup code. ***/ /*** Processor Expert end of main routine. DON'T MODIFY THIS CODE!!! ***/ for(;;){} /*** Processor Expert end of main routine. DON'T WRITE CODE BELOW!!! ***/ } /*** End of main routine. DO NOT MODIFY THIS TEXT!!! ***/