int main ( void ) { init_print (); int0_init (); initializeScheduler (); createTask ( &function_1, "fun_one", 1, 200 ); createTask ( &function_2, "fun_two", 2, 200 ); createTask ( &function_3, "fun_three", 3, 200 ); createTask ( &function_4, "fun_four", 4, 50 ); startScheduler (); return 0; }
void motor_init(void) { // direction sbi(DDRD, 4); sbi(DDRD, 4); // brake sbi(DDRD, 5); sbi(PORTD, 5); motor_period = 0; int0_init(); PWM_NG_TIMER_8BITS_INIT(2, TIMER_8_MODE_PWM, TIMER1_PRESCALER_DIV_256); PWM_NG_INIT8(&pwm, 2, 12, PWM_NG_MODE_NORMAL, NULL, 0); start_motor(); }