void POSCALL nosInit(POSTASKFUNC_t firstfunc, void *funcarg, VAR_t priority,
UINT_t taskStackSize, UINT_t idleStackSize)
{
#if POSCFG_TASKSTACKTYPE == 0
void *stk_task1, *stk_idle;
#endif
taskparams_g.func = firstfunc;
taskparams_g.arg = funcarg;
#if (NOSCFG_FEATURE_MEMALLOC != 0) && (NOSCFG_MEM_MANAGER_TYPE == 1)
nos_initMem();
#endif
#if POSCFG_TASKSTACKTYPE == 0
if (taskStackSize == 0)
taskStackSize = NOSCFG_DEFAULT_STACKSIZE;
if (idleStackSize == 0)
idleStackSize = NOSCFG_DEFAULT_STACKSIZE;
stk_task1 = NOS_MEM_ALLOC(NOSCFG_STKMEM_RESERVE + taskStackSize);
stk_idle = NOS_MEM_ALLOC(NOSCFG_STKMEM_RESERVE + idleStackSize);
if ((stk_task1 != NULL) && (stk_idle != NULL))
{
#if NOSCFG_STACK_GROWS_UP == 0
posInit(nano_init, stk_task1, priority,
(void*) (((MEMPTR_t)stk_task1) + taskStackSize -
(NOSCFG_STKMEM_RESERVE + 1)),
(void*) (((MEMPTR_t)stk_idle) + idleStackSize -
(NOSCFG_STKMEM_RESERVE + 1)) );
#else
posInit(nano_init, stk_task1, priority,
(void*) (((MEMPTR_t)stk_task1) + NOSCFG_STKMEM_RESERVE),
(void*) (((MEMPTR_t)stk_idle) + NOSCFG_STKMEM_RESERVE) );
#endif
}
#elif POSCFG_TASKSTACKTYPE == 1
if (taskStackSize == 0)
taskStackSize = NOSCFG_DEFAULT_STACKSIZE;
if (idleStackSize == 0)
idleStackSize = NOSCFG_DEFAULT_STACKSIZE;
posInit(nano_init, NULL, priority, taskStackSize, idleStackSize);
#elif POSCFG_TASKSTACKTYPE == 2
(void) taskStackSize;
(void) idleStackSize;
posInit(nano_init, NULL, priority);
#endif
}
int main(void)
{
PRINTSTR("\n" POS_STARTUPSTRING "\n\n");
/* start multitasking and execute first task (task1) */
#if (POSCFG_TASKSTACKTYPE == 0)
posInit(task1, NULL, 1, allocstack(0x0600), allocstack(0x0200));
#elif (POSCFG_TASKSTACKTYPE == 1)
posInit(task1, NULL, 1, 0x0600, 0x0200);
#elif (POSCFG_TASKSTACKTYPE == 2)
posInit(task1, NULL, 1);
#endif
/* we will never get here */
return 0;
}
int main(void) {
DDRB = 0x01;
posInit(initialTask, NULL, 2);
return 0;
}
/* Program main function.
* This function starts pico]OS by initializing the pico layer.
*/
int main(void)
{
/* initialize pico]OS (pico layer only) */
posInit(firsttask, /* ptr to function: first task that is executed */
NULL, /* optional argument, not used here */
1); /* priority of the first task */
/* Note: The call to posInit() will never return */
return 0;
}
int main(void)
{
//RTOS initialization
halInit();
chSysInit();
palSetPad(GPIOG, GPIOG_LED4_RED);
//modules and peripherals initialization
dcmInit();
pcm9685Init();
max11628Init();
max7317Init();
lcdInit();
fieldInit();
posInit(position_computed_hook);
trajectoryInit();
asservInit();
mecaInit();
//stepInit();
//usirInit();
pathfinderInit();
//gyroInit();
stratInit();
lcdPrintln(LCD_WARNING, "Start: robot principal");
while(0)
{
while((max7317Read() & (1 << IO_SWITCH_BACK_LEFT)))
{
chThdSleepMilliseconds(100);
}
lcdPrintln(LCD_INFO, "Click !");
stepAction(STEP_ACTION_TAKE_RIGHT);
stepWait();
lcdPrintln(LCD_INFO, "Done !");
while(!(max7317Read() & (1 << IO_SWITCH_BACK_LEFT)))
{
chThdSleepMilliseconds(100);
}
}
lcdPrintln(LCD_INFO, "Attente tirette (mise en place)");
while(!(max7317Read() & (1 << IO_SWITCH_STARTUP)))
{
chThdSleepMilliseconds(100);
}
lcdPrintln(LCD_INFO, "Attente du depart");
while(max7317Read() & (1 << IO_SWITCH_STARTUP))
{
chThdSleepMilliseconds(100);
}
stratStart();
//chThdSleepMilliseconds(3000);
// dcmSetWidth(0, 500);
// dcmSetWidth(1, -500);
//while (true)
//{
// lcdPrintln(LCD_INFO,"l %ld, r %ld", posGetLeftTick(), posGetRightTick());
// chThdSleepMilliseconds(500);
//}
//int i = 0;
//int d = 400;
//while (true)
//{
// lcdPrintln(LCD_INFO, "tour: %d", i);
// i += 1;
// TRAJECTORY_XY_MM(d, 0);
// TRAJECTORY_XY_MM(d, d);
// TRAJECTORY_XY_MM(0, d);
// TRAJECTORY_XY_MM(0, 0);
// trajectoryWait();
//}
while(true)
{
chThdSleepMilliseconds(3000);
}
}
int main(void) {
posInit(initialTask, NULL, 2);
return 0;
}
