void main(void) {
OS_Init(); // OS System init
ADC_init(); // Should be done first
PWM_init(); // Beware pwm ports go together with ANALOG in
setPortBIO(0x04); // Set port B in output mode
setPortDIO(0x00); // Set port D in output mode
XLCDInit(); // initialize the LCD module
XLCDClear();
// Push een kleine lijst
//push(2);
//push(1);
//push(3);
OS_Task_Create(0, Task_Server); // BT Connection
OS_Task_Create(1, Task_Hartbeat); // Show I am alive (called by scheduler)//
OS_Task_Create(1, Task_Run); // Run me through the maze (called by scheduler)//
OS_Task_Create(2, Task_Display); // be called by scheduler
OS_Run(); // Run scheduler
}
//________________________________________________________________________________
int main(void)
{
char i;
ConfigDevice();
#ifndef SIMULATION
ConfigDac();
#endif
FillTableT();
FillTableInvDV();
OS_Init();
OS_Task_Create(ProcessUartMsg, &task0);
OS_Task_Create(Pid, &task1);
OS_Sem_Create(&UartRcMsgSem,0);
PR2 = OS_TMR_TICK; // timer tick = 1000 instruction cycles=0.1 ms
T2CON = 0x05;
ReportStartUp();
while (1)
{
if(TMR1IF)
{
TMR1IF=0;
OS_Task_Resume(&task1);
}
asm("CLRWDT");
OS_Scheduler();
}
}
void main()
{
CNC_INITIALIZE(); // Init periphery
OS_Init(); // Init OS
OS_Task_Create(1,CNC_CONTROL);
OS_Task_Create(2,STEPPER_CONTROL);
OS_EI(); // Enable interrupts
OS_Run();
}
int main (void)
{
Init(); // Init periphery
OS_Init(); // Init OS
OS_Task_Create(0, Task_Rolling); // Create tasks.
OS_Task_Create(0, Task_SetSpeed); //
OS_Task_Create(0, Task_Button); //
m_cPosition = 0; // rotation phase
m_cDirection = 1; // direction
OS_EI(); // Enable interrupts
OS_Run(); // Running scheduler
}
void main(void)
{
clock_int_48MHz();
PIC_Init(); // Configurações gerais do PIC
OS_Init();
TRISB=0b00000000;
TRISA=0b00000000;
OS_Task_Create(1,Task_1); // Criando uma tarefa, prioridade 1
OS_Task_Create(2,Task_2); // Criando uma tarefa, prioridade 2
OS_Task_Create(3,Task_3); // Criando uma tarefa, prioridade 3
//OS_Task_Create(4,Task_4); // Criando uma tarefa, prioridade 4
OS_EI(); // Habilita interrupcoes
OS_Run(); // Executa o RTOS
}
//****************************************************************************
//**** main
//****************************************************************************
void main(void){
Inicio();
OS_Init(); // Init OS
OS_Task_Define(USB); // Define tasks.
OS_Task_Define(Gla);
OS_Task_Define(Glc_PIDdiscreto);
OS_Task_Define(MotorX);
OS_Task_Define(MotorY);
OS_Task_Define(MotorZ);
OS_Task_Define(MotorE);
// Create tasks. // if 0 = no priorities
OS_Task_Create(0, USB);
OS_Task_Create(0, Gla);
OS_Task_Create(0, Glc_PIDdiscreto);
OS_Task_Create(0, MotorX);
OS_Task_Create(0, MotorY);
OS_Task_Create(0, MotorZ);
OS_Task_Create(0, MotorE);
// Create tasks, Task priority. Allowed values from 0(highest) to 7(lowest)
/*OS_Task_Create(0, USB);
OS_Task_Create(7, Gla);
OS_Task_Create(1, Glc_PIDdiscreto);
OS_Task_Create(2, MotorX);
OS_Task_Create(2, MotorY);
OS_Task_Create(2, MotorZ);
OS_Task_Create(2, MotorE);
OS_Bsem_Set(BS_GLAGLC_FREE);*/
OS_EI(); // Enable interrupts
OS_Run(); // Running scheduler
}
