/*
* Variables globales
* */
void vInicializar_globales(){
xSem_OK = xSemaphoreCreateBinary();
xSem_Fin_mov = xSemaphoreCreateBinary();
xCola_mov = FRTOS1_xQueueCreate(MAX_MOVIMIENTOS, sizeof(uint8));
xCola_US = FRTOS1_xQueueCreate(1, sizeof(portCHAR));
sensar = FALSE;
distancia_objeto = 999;
}
void RADIO_Init(void) {
(void)SMAC1_MLMESetMC13192ClockRate(0); /* Set initial Clk speed from transceiver (CLKO)*/
RADIO_SetChannel(RADIO_Channel); /* Set channel */
RADIO_SetOutputPower(15); /* Set output power */
/*Initialize the packet */
RADIO_TxPacket.u8DataLength = 0; /* Set TX default length to 0 */
RADIO_TxPacket.pu8Data = &RADIO_TxDataBuffer[0]; /* Load the address of our txbuffer into the tx structure */
RADIO_RxPacket.u8DataLength = 0; /* Set RX default to 0*/
RADIO_RxPacket.pu8Data = &RADIO_RxDataBuffer[0]; /* Load the address of our rxbuffer into rx structure */
RADIO_RxPacket.u8MaxDataLength = 24; /* Define the max buffer we are interested in */
RADIO_RxPacket.u8Status = TRSVR1_INITIAL_VALUE; /* initialize the status packet to 0 */
RADIO_AppStatus = RADIO_INITIAL_STATE; /* Set the initial status of the application state variable */
/* create data queue */
#if 0
RADIO_MsgQueue = FRTOS1_xQueueCreate(RADIO_QUEUE_NOF_ITEMS, RADIO_QUEUE_ITEM_SIZE);
if (RADIO_MsgQueue==NULL) { /* queue creation failed! */
for(;;) {} /* not enough memory? */
}
#else
for(;;) {
RADIO_Handle();
}
#endif
}
void SQUEUE_Init(void) {
SQUEUE_Queue = FRTOS1_xQueueCreate(SQUEUE_LENGTH, SQUEUE_ITEM_SIZE);
if (SQUEUE_Queue==NULL) {
for(;;){} /* out of memory? */
}
FRTOS1_vQueueAddToRegistry(SQUEUE_Queue, "ShellQueue");
}
void RSTDIO_Init(void) {
RSTDIO_dstAddr = RNWK_ADDR_BROADCAST;
RSTDIO_RxStdInQ = FRTOS1_xQueueCreate(RSTDIO_QUEUE_LENGTH, RSTDIO_QUEUE_ITEM_SIZE);
if (RSTDIO_RxStdInQ==NULL) {
for(;;){} /* out of memory? */
}
RSTDIO_RxStdOutQ = FRTOS1_xQueueCreate(RSTDIO_QUEUE_LENGTH, RSTDIO_QUEUE_ITEM_SIZE);
if (RSTDIO_RxStdOutQ==NULL) {
for(;;){} /* out of memory? */
}
RSTDIO_RxStdErrQ = FRTOS1_xQueueCreate(RSTDIO_QUEUE_LENGTH, RSTDIO_QUEUE_ITEM_SIZE);
if (RSTDIO_RxStdErrQ==NULL) {
for(;;){} /* out of memory? */
}
RSTDIO_TxStdInQ = FRTOS1_xQueueCreate(RSTDIO_QUEUE_LENGTH, RSTDIO_QUEUE_ITEM_SIZE);
if (RSTDIO_TxStdInQ==NULL) {
for(;;){} /* out of memory? */
}
RSTDIO_TxStdOutQ = FRTOS1_xQueueCreate(RSTDIO_QUEUE_LENGTH, RSTDIO_QUEUE_ITEM_SIZE);
if (RSTDIO_TxStdOutQ==NULL) {
for(;;){} /* out of memory? */
}
RSTDIO_TxStdErrQ = FRTOS1_xQueueCreate(RSTDIO_QUEUE_LENGTH, RSTDIO_QUEUE_ITEM_SIZE);
if (RSTDIO_TxStdErrQ==NULL) {
for(;;){} /* out of memory? */
}
#if PL_HAS_RTOS_TRACE
RTOSTRC1_vTraceSetQueueName(RSTDIO_RxStdInQ, "RxStdIn");
RTOSTRC1_vTraceSetQueueName(RSTDIO_RxStdOutQ, "RxStdOut");
RTOSTRC1_vTraceSetQueueName(RSTDIO_RxStdErrQ, "RxStdErr");
RTOSTRC1_vTraceSetQueueName(RSTDIO_TxStdInQ, "TxStdIn");
RTOSTRC1_vTraceSetQueueName(RSTDIO_TxStdOutQ, "TxStdOut");
RTOSTRC1_vTraceSetQueueName(RSTDIO_TxStdErrQ, "TxStdErr");
#endif
}
void I2C_Init(void) {
#if PL_IS_I2C_MASTER
I2C1_SetMode(TRUE); /* master mode */
#elif PL_IS_I2C_SLAVE
I2C1_SetMode(FALSE); /* slave mode */
#endif
#if PL_HAS_RUNNER
I2C_RunnerQueue = FRTOS1_xQueueCreate(I2C_RUNNER_MSG_QUEUE_LENGTH, I2C_Runner_MSG_QUEUE_ITEM_SIZE); /* create Communication queue */
if (I2C_RunnerQueue==NULL) {
for(;;) {} /* out of memory? */
}
#endif
}
void QUEUE_Init(void) {
QUEUE_StdIn = FRTOS1_xQueueCreate(QUEUE_LENGTH, QUEUE_ITEM_SIZE);
#if PL_HAS_RTOS_TRACE
Ptrc1_vTraceSetQueueName(QUEUE_StdIn, "ShellStdIn");
#endif
if (QUEUE_StdIn==NULL) {
for(;;){} /* out of memory? */
}
QUEUE_StdOut = FRTOS1_xQueueCreate(QUEUE_LENGTH, QUEUE_ITEM_SIZE);
#if PL_HAS_RTOS_TRACE
Ptrc1_vTraceSetQueueName(QUEUE_StdOut, "ShellStdOut");
#endif
if (QUEUE_StdOut==NULL) {
for(;;){} /* out of memory? */
}
QUEUE_StdErr = FRTOS1_xQueueCreate(QUEUE_LENGTH, QUEUE_ITEM_SIZE);
#if PL_HAS_RTOS_TRACE
Ptrc1_vTraceSetQueueName(QUEUE_StdErr, "ShellStdErr");
#endif
if (QUEUE_StdErr==NULL) {
for(;;){} /* out of memory? */
}
}
void DRV_Init(void) {
DRV_Status.mode = DRV_MODE_NONE;
DRV_Status.speed.left = 0;
DRV_Status.speed.right = 0;
DRV_Status.pos.left = 0;
DRV_Status.pos.right = 0;
DRV_Queue = FRTOS1_xQueueCreate(QUEUE_LENGTH, QUEUE_ITEM_SIZE);
if (DRV_Queue==NULL) {
for(;;){} /* out of memory? */
}
FRTOS1_vQueueAddToRegistry(DRV_Queue, "Drive");
if (FRTOS1_xTaskCreate(DriveTask, "Drive", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY+3, NULL) != pdPASS) {
for(;;){} /* error */
}
}
