/***************************************************************************************************************************
****************************************************************************************************************************
MAIN PROGRAM
****************************************************************************************************************************
***************************************************************************************************************************/
int main(void) {
NP2_boardinit();
Hardware_init();
Hardware_PWM_init();
/* Initilaize the LwIP stack */
LwIP_Init();
/* Create all tasks */
xTaskCreate( (void *) &PanTiltTask, (const signed char *) "PanTilt", PANTILTTASK_STACK_SIZE, NULL, PANTILTTASK_PRIORITY, &xPanTiltTask);
xTaskCreate( (void *) &DistanceTask, (const signed char *) "Dist", DISTANCETASK_STACK_SIZE, NULL, DISTANCETASK_PRIORITY, &xDistanceTask);
xTaskCreate( (void *) &CLITask, (const signed char *) "CLI", CLI_TASK_STACK_SIZE, NULL, CLI_PRIORITY, &xCLITask);
/* Register all CMDs */
FreeRTOS_CLIRegisterCommand(&xTaskUsage);
FreeRTOS_CLIRegisterCommand(&xEncode);
FreeRTOS_CLIRegisterCommand(&xDecode);
FreeRTOS_CLIRegisterCommand(&xLaser);
FreeRTOS_CLIRegisterCommand(&xDistance);
FreeRTOS_CLIRegisterCommand(&xTracking);
/* Start scheduler */
vTaskStartScheduler();
return 0;
}
/**
* @brief Main program - enable D0 external interrupt.
* @param None
* @retval None
*/
void main(void) {
NP2_boardinit(); //Initalise NP2
Hardware_init(); //Initalise hardware modules
/* Main processing loop waiting for interrupt */
while (1) {
}
}
/**
* @brief Main program
* @param None
* @retval None
*/
void main(void) {
NP2_boardinit(); //Initalise NP2
Hardware_init(); //Initalise hardware modules
while (1) {
NP2_LEDToggle(); //Toggle 'Alive' LED on/off
Delay(0x7FFF00); //Delay function
}
}
