static portTASK_FUNCTION(MainTask, pvParameters) {
uint16_t msCnt;
(void) pvParameters; /* parameter not used */
#if PL_HAS_ACCEL
ACCEL_LowLevelInit();
#endif
for (;;) {
EVNT_HandleEvent(APP_EvntHandler);
#if PL_HAS_KEYS && !PL_HAS_KBI
KEY_Scan(); /* poll keys */
#endif
FRTOS1_vTaskDelay(20/portTICK_RATE_MS);
msCnt += 20;
if (msCnt > 280) {
#if PL_HAS_ULTRASONIC
(void)US_Measure_us(); /* Measure distance */
#endif
msCnt = 0;
}
}
}
void TaskLoop(void *pvParameters){
int16_t x,y,z;
#if PL_HAS_ACCEL
ACCEL_LowLevelInit();
#endif
(void)pvParameters;
for(;;){
#if PL_HAS_KEYS
KEY_Scan();
#endif
#if PL_HAS_LINE_SENSOR
typ = Line_Detection();
if(typ!=LINE_STATE_NO_LINE){
EVNT_SetEvent(EVNT_LINE);
}
switch(typ) {
case LINE_STATE_LEFT:
EVNT_SetEvent(EVNT_LINE_LEFT);
break;
case LINE_STATE_RIGHT:
EVNT_SetEvent(EVNT_LINE_RIGHT);
break;
case LINE_STATE_AHEAD:
EVNT_SetEvent(EVNT_LINE);
break;
case LINE_STATE_MIDDLE:
EVNT_SetEvent(EVNT_LINE);
break;
case LINE_STATE_NO_LINE:
/* No event */
break;
case LINE_STATE_LINE:
EVNT_SetEvent(EVNT_LINE);
break;
case LINE_STATE_ERR:
EVNT_SetEvent(EVNT_LINE);
break;
default:
/* No event */
break;
}
#endif
#if PL_HAS_ACCEL
ACCEL_GetValues(&x,&y,&z);
if(z < Z_ACCEL_THRESHOLD){
EVNT_SetEvent(EVNT_ACCEL);
}
#endif
#if PL_HAS_EVENTS
EVNT_HandleEvent(APP_EventHandler);
#endif
FRTOS1_vTaskDelay(5/portTICK_RATE_MS);
}
}
/*
* Task for Handling the Events and the KeyScan.
*/
static void APPTask(void *pvParameters) {
(void)pvParameters; /* not used */
#if PL_HAS_ACCEL //Initialize Accelometer in a task because it used interrupts, which are disabled when the RTOS is not running.
ACCEL_LowLevelInit();
#endif
for(;;) {
#if PL_HAS_EVENTS
EVNT_HandleEvent(APP_EventHandler); /* handle pending events */
#endif
#if PL_HAS_KEYS && PL_NOF_KEYS>0
KEY_Scan(); /* scan keys */
#endif
FRTOS1_vTaskDelay(100/portTICK_RATE_MS);
}
}
//char status = 0;
static portTASK_FUNCTION(T3, pvParameters)
{
//char* pstatus = (char*)NVMC_GetStatus();
ACCEL_LowLevelInit();
//if(pstatus != NULL)
// {
// status = *pstatus;
// }
for(;;)
{
/*
switch(status)
{
case 0:
//LED_Red_On();
//LED_Green_Off();
break;
case 1:
//LED_Red_Off();
//LED_Green_Off();
break;
case 2:
//LED_Red_Off();
//LED_Green_On();
break;
}
*/
KEY_Scan();
FRTOS1_vTaskDelay(50);
//status = (status+1) % 3;
}
}
static portTASK_FUNCTION(MainTask, pvParameters) {
(void)pvParameters; /* parameter not used */
#if PL_HAS_ACCEL
(void)ACCEL_LowLevelInit();
#endif
for(;;) {
#if PL_HAS_KEYS && !PL_HAS_KBI
/* poll keys */
KEY_Scan(); /* poll keys */
#endif
EVNT_HandleEvent(APP_HandleEvent);
#if PL_HAS_FREEMASTER
FMSTR1_Poll();
FMSTR1_Recorder();
#endif
#if PL_HAS_ULTRASONIC
//(void)US_Measure_us();
#endif
FRTOS1_vTaskDelay(20/portTICK_RATE_MS);
}
}
static portTASK_FUNCTION(T1, pvParameters) {
#if PL_HAS_ACCEL
ACCEL_LowLevelInit();
#endif
#if PL_HAS_REMOTE
remoteInit();
#endif
#if PL_HAS_ANALOG_JOY
AD1_Calibrate(TRUE);
CalibXY();
#endif
#if PL_HAS_FIGHT
FIGHT_Init();
#endif
#if REMOTE_WITHOUT_REFLECTANCE
FRTOS1_vTaskSuspend(checkRefl);
#endif
for(;;) {
EVNT_SetEvent(EVNT_LED_HEARTBEAT);
FRTOS1_vTaskDelay(1000/TRG_TICKS_MS);
}
}
/*! \brief Initialises module */
void ACCEL_Init(void) {
#if !PL_HAS_RTOS /* with an RTOS, the interrupts are disabled here. Need to do this in a task */
ACCEL_LowLevelInit();
#endif
}
