void bato_init(void) {
accelero_init();
initGirouette();
interrupt_init();
/* GPIO Config */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_10MHz;
GPIO_Init(GPIOC, &GPIO_InitStructure);
// border_voile_init();
}
int main(void)
{
// Check we are on the sensorboard:
if (UID != SENSORBOARD_UID)
return EXIT_FAILURE;
hardware_init();
gyroscope_init(tskIDLE_PRIORITY + 4);
accelero_init(tskIDLE_PRIORITY + 4);
vLEDsInit();
uart_init();
vCANInit();
token_t tokens[2];
tokens[0].command = 'c';
tokens[0].handler = &process_control_cmd;
tokens[1].command = 'd';
tokens[1].handler = &process_debug_cmd;
vInterpreterInit("sensorboard", tokens, 2, tskIDLE_PRIORITY + 4);
xVMutex = xSemaphoreCreateMutex();
xTaskCreate(prvComputeTask,
(signed portCHAR*)"Compute Task",
configMINIMAL_STACK_SIZE, NULL,
tskIDLE_PRIORITY + 1, NULL);
xTaskCreate(prvCanVitalRxTask,
(signed portCHAR*)"Can Vital Rx Task",
configMINIMAL_STACK_SIZE, NULL,
tskIDLE_PRIORITY + 3, NULL);
xTaskCreate(prvCanRxTask,
(signed portCHAR*)"Can Rx Task",
configMINIMAL_STACK_SIZE, NULL,
tskIDLE_PRIORITY + 2, NULL);
xTaskCreate(prvBtTask,
(signed portCHAR*)"Bluetooth Task",
configMINIMAL_STACK_SIZE, NULL,
tskIDLE_PRIORITY + 2, NULL);
vInterpreterStart();
vTaskStartScheduler();
return EXIT_SUCCESS;
}
