void APP_Start(void) {
#if PL_HAS_RTOS_TRACE
if(RTOSTRC1_uiTraceStart()!=1) {
for(;;){} /* failure? */
}
#endif
#if PL_HAS_RADIO
RNETA_Init();
#endif
SHELL_Init();
if (FRTOS1_xTaskCreate(
MainTask, /* pointer to the task */
"Main", /* task name for kernel awareness debugging */
configMINIMAL_STACK_SIZE+500, /* task stack size */
(void*)NULL, /* optional task startup argument */
tskIDLE_PRIORITY, /* initial priority */
(xTaskHandle*)NULL /* optional task handle to create */
) != pdPASS) {
/*lint -e527 */
for(;;){} /* error! probably out of memory */
/*lint +e527 */
}
timerHndl = xTimerCreate("timer0", TIMER_PERIOD_MS/portTICK_RATE_MS, pdTRUE, (void *)0, vTimerCallback);
if (timerHndl==NULL) {
for(;;); /* failure! */
}
if (xTimerStart(timerHndl, 0)!=pdPASS) {
for(;;); /* failure! */
}
FRTOS1_vTaskStartScheduler();
}
void APP_Run(void) {
appState = APP_STATE_INIT;
MOT_Init();
SHELL_Init();
#if PL_HAS_LINE_SENSOR
REF_Init();
LF_Init();
TURN_Init();
#endif
#if PL_HAS_ULTRASONIC
US_Init();
#endif
#if PL_HAS_BUZZER
BUZ_Init();
#endif
#if PL_HAS_EVENTS
EVNT_Init();
#endif
#if PL_HAS_RADIO
RADIO_Init();
#endif
#if PL_HAS_REMOTE
REMOTE_Init();
#endif
#if PL_HAS_QUEUE
QUEUE_Init();
#endif
if (FRTOS1_xTaskCreate(MainTask, (signed portCHAR *)"Main", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY+1, NULL) != pdPASS) {
for(;;){} /* error */
}
FRTOS1_vTaskStartScheduler();
}
/*! \brief Initialization of the module */
void TRACE_Init(void) {
#if PL_HAS_ACCEL
traceAccel = FALSE;
#endif
#if PL_HAS_FREEMASTER
traceChannel = TRACE_TO_SHELL; /* just that we read the accelerometer values */
traceAccel = TRUE;
#else
traceChannel = TRACE_TO_NONE;
#endif
#if PL_HAS_MOTOR
traceMotor = FALSE;
#endif
#if PL_HAS_ACCEL
traceAccel = FALSE;
#endif
#if PL_HAS_MOTOR_TACHO
traceTacho = FALSE;
#endif
#if PL_HAS_QUADRATURE
traceQuad = FALSE;
#endif
if (FRTOS1_xTaskCreate(TraceTask, "Trace", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY+1, NULL) != pdPASS) {
for(;;) {} /* error, maybe not enough memory? */
}
}
/*! \brief Initializes module */
void SEM_Init(void) {
#if USE_SEMAPHORES
if (FRTOS1_xTaskCreate(vMasterTask, "Master", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY+1, NULL) != pdPASS) {
for(;;){} /* error */
}
#endif
}
void REF_Init(void) {
refState = REF_STATE_INIT;
timerHandle = RefCnt_Init(NULL);
/*! \todo You might need to adjust priority or other task settings */
if (FRTOS1_xTaskCreate(ReflTask, "Refl", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL) != pdPASS) {
for(;;){} /* error */
}
}
void SHELL_Init(void) {
FSSH1_Init(); /* create mutex/semaphore */
#if PL_HAS_RTOS
if (FRTOS1_xTaskCreate(ShellTask, (signed portCHAR *)"Shell", configMINIMAL_STACK_SIZE+150, NULL, tskIDLE_PRIORITY+1, NULL) != pdPASS) {
for(;;){} /* error */
}
#endif
}
/*! \brief Initializes module */
void SEM_Init(void) {
/*! \todo Implement functionality */
#if 0
if (FRTOS1_xTaskCreate(vMasterTask, "Master", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL) != pdPASS) {
for(;;){} /* error */
}
#endif
}
void APP_Start(void) {
NEO_Init();
SHELL_Init();
if (FRTOS1_xTaskCreate(AppTask, "App", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY+2, NULL) != pdPASS) {
for(;;){} /* error */
}
FRTOS1_vTaskStartScheduler();
}
void APPFRDM_Init(void)
{
if (FRTOS1_xTaskCreate(T3, (signed portCHAR *)"T3", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL) != pdPASS)
{
for(;;){}
}
}
void BLEUART_CMDMODE_Init(void) {
txBuffer[0] = '\0';
isConnected = FALSE;
isEnabled = FALSE;
if (FRTOS1_xTaskCreate(BleUartTask, "BleUart", configMINIMAL_STACK_SIZE+100, NULL, tskIDLE_PRIORITY+1, NULL) != pdPASS) {
for(;;){} /* error */
}
}
void StateMachine_Init(void) {
//refState = REF_STATE_INIT;
//timerHandle = RefCnt_Init(NULL);
/*! \todo You might need to adjust priority or other task settings */
DRV_EnableDisable(0);
if (FRTOS1_xTaskCreate(StateMachineTask, "StateMachine", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL) != pdPASS) {
for(;;){} /* error */
}
}
void RTOS_Init(void) {
static const int led1 = 1;
static const int led2 = 2;
EVNT_SetEvent(EVNT_STARTUP); /* set startup event */
/*! \todo Create tasks here */
if (FRTOS1_xTaskCreate(AppTask, (signed portCHAR *)"App1", configMINIMAL_STACK_SIZE, (void*)&led1, tskIDLE_PRIORITY, NULL) != pdPASS) {
for(;;){} /* error case only, stay here! */
}
#if 0
if (FRTOS1_xTaskCreate(AppTask, (signed portCHAR *)"App2", configMINIMAL_STACK_SIZE, (void*)&led2, tskIDLE_PRIORITY, NULL) != pdPASS) {
for(;;){} /* error case only, stay here! */
}
if (FRTOS1_xTaskCreate(KillMe, (signed portCHAR *)"KillMe", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL) != pdPASS) {
for(;;){} /* error case only, stay here! */
}
#endif
}
/*lint -save -e970 Disable MISRA rule (6.3) checking. */
int main(void)
/*lint -restore Enable MISRA rule (6.3) checking. */
{
/* Write your local variable definition here */
/*** Processor Expert internal initialization. DON'T REMOVE THIS CODE!!! ***/
PE_low_level_init();
/*** End of Processor Expert internal initialization. ***/
if (FRTOS1_xTaskCreate(
Task1, /* pointer to the task */
(signed portCHAR *)"Task1", /* task name for kernel awareness debugging */
configMINIMAL_STACK_SIZE, /* task stack size */
(void*)NULL, /* optional task startup argument */
tskIDLE_PRIORITY, /* initial priority */
(xTaskHandle*)NULL /* optional task handle to create */
) != pdPASS) {
/*lint -e527 */
for(;;){}; /* error! probably out of memory */
/*lint +e527 */
}
if (FRTOS1_xTaskCreate(
Task2, /* pointer to the task */
(signed portCHAR *)"Task2", /* task name for kernel awareness debugging */
configMINIMAL_STACK_SIZE, /* task stack size */
(void*)NULL, /* optional task startup argument */
tskIDLE_PRIORITY, /* initial priority */
(xTaskHandle*)NULL /* optional task handle to create */
) != pdPASS) {
/*lint -e527 */
for(;;){}; /* error! probably out of memory */
/*lint +e527 */
}
/*** Don't write any code pass this line, or it will be deleted during code generation. ***/
/*** RTOS startup code. Macro PEX_RTOS_START is defined by the RTOS component. DON'T MODIFY THIS CODE!!! ***/
#ifdef PEX_RTOS_START
PEX_RTOS_START(); /* Startup of the selected RTOS. Macro is defined by the RTOS component. */
#endif
/*** End of RTOS startup code. ***/
/*** Processor Expert end of main routine. DON'T MODIFY THIS CODE!!! ***/
for(;;){}
/*** Processor Expert end of main routine. DON'T WRITE CODE BELOW!!! ***/
} /*** End of main routine. DO NOT MODIFY THIS TEXT!!! ***/
void SHELL_Init(void) {
#if !CLS1_DEFAULT_SERIAL && PL_HAS_BLUETOOTH
(void)CLS1_SetStdio(&BT_stdio); /* use the Bluetooth stdio as default */
#endif
#if PL_HAS_RTOS
if (FRTOS1_xTaskCreate(ShellTask, "Shell", configMINIMAL_STACK_SIZE+100, NULL, tskIDLE_PRIORITY+1, NULL) != pdPASS) {
for(;;){} /* error */
}
#endif
}
/*! \brief Initializes module */
void REMOTE_Init(void) {
REMOTE_isOn = FALSE;
REMOTE_isVerbose = FALSE;
REMOTE_useJoystick = TRUE;
#if PL_CONFIG_CONTROL_SENDER
if (FRTOS1_xTaskCreate(RemoteTask, "Remote", configMINIMAL_STACK_SIZE+50, NULL, tskIDLE_PRIORITY, NULL) != pdPASS) {
for(;;){} /* error */
}
#endif
}
void ACCEL_StartOrientationTask(void) {
#if PL_HAS_HW_ACCELEROMETER
ACCEL1_CalibrateZ1g(); /* assume device is flat during reset/power-up */
//ACCEL1_CalibrateX1g(); /* flat on switch side */
//ACCEL1_CalibrateY1g(); /* flat on LCD side */
#endif
#if PL_HAS_ACCEL_ORIENT
FRTOS1_xTaskCreate(TaskAccelOrientation, (signed portCHAR *)"AccelOrient", configMINIMAL_STACK_SIZE+50, NULL, tskIDLE_PRIORITY+1, &xHandleTaskAccelOrientation);
#endif
}
void REF_Init(void) {
mutexHandle = FRTOS1_xSemaphoreCreateMutex();
if (mutexHandle==NULL) {
for(;;);
}
timerHandle = TU1_Init(NULL);
InitSensorValues();
if (FRTOS1_xTaskCreate(ReflTask, (signed portCHAR *)"Refl", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY+1, NULL) != pdPASS) {
for(;;){} /* error */
}
}
void HOST_Init(void) {
#if ONLY_HOST
FsMSD1_HostInit();
HOST_Run();
#else
FsMSD1_HostInit();
if (FRTOS1_xTaskCreate(HostTask, (signed portCHAR *)"Host", configMINIMAL_STACK_SIZE+100, NULL, tskIDLE_PRIORITY+1, NULL) != pdPASS) {
for(;;){} /* error */
}
#endif
}
void PLR_Init(void) {
//feedSem = FRTOS1_xSemaphoreCreateRecursiveMutex();
blinky_light_ClrVal();
if (FRTOS1_xTaskCreate(playerTask, "Player", configMINIMAL_STACK_SIZE+200,
NULL, tskIDLE_PRIORITY+3, NULL) != pdPASS) {
for (;;) {
} /* error */
}
//FRTOS1_vQueueAddToRegistry(feedSem, "feedSem");
}
void main(void)
{
/* Write your local variable definition here */
PEX_RTOS_INIT();
/*** Processor Expert internal initialization. DON'T REMOVE THIS CODE!!! ***/
PE_low_level_init();
/*** End of Processor Expert internal initialization. ***/
if (FRTOS1_xTaskCreate(
Task1, /* pointer to the task */
(signed portCHAR *)"Task1", /* task name for kernel awareness debugging */
configMINIMAL_STACK_SIZE, /* task stack size */
(void*)NULL, /* optional task startup argument */
tskIDLE_PRIORITY, /* initial priority */
(xTaskHandle*)NULL /* optional task handle to create */
) != pdPASS) {
/*lint -e527 */
for(;;){}; /* error! probably out of memory */
/*lint +e527 */
}
if (FRTOS1_xTaskCreate(
Task2, /* pointer to the task */
(signed portCHAR *)"Task2", /* task name for kernel awareness debugging */
configMINIMAL_STACK_SIZE, /* task stack size */
(void*)NULL, /* optional task startup argument */
tskIDLE_PRIORITY, /* initial priority */
(xTaskHandle*)NULL /* optional task handle to create */
) != pdPASS) {
/*lint -e527 */
for(;;){}; /* error! probably out of memory */
/*lint +e527 */
}
FRTOS1_vTaskStartScheduler();
/*** Don't write any code pass this line, or it will be deleted during code generation. ***/
/*** Processor Expert end of main routine. DON'T MODIFY THIS CODE!!! ***/
for(;;){}
/*** Processor Expert end of main routine. DON'T WRITE CODE BELOW!!! ***/
} /*** End of main routine. DO NOT MODIFY THIS TEXT!!! ***/
void APP_Run(void) {
if (FRTOS1_xTaskCreate(MainTask, (signed portCHAR *)"Main", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL) != pdPASS) {
for(;;){} /* error */
}
//(void)RTOSTICK1_Enable();
//FRTOS1_taskENABLE_INTERRUPTS();
for(;;) {
LED1_Neg();
WAIT1_Waitms(1000);
}
FRTOS1_vTaskStartScheduler();
}
/*! \brief Function for starting the Application. Inits and Start the RTOS */
void APP_Start(void) {
PL_Init(); /* platform initialization */
EVNT_SetEvent(EVNT_INIT); /* set initial event */
//Create application Task
if (FRTOS1_xTaskCreate(APPTask, (signed portCHAR *)"APP_Task", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL) != pdPASS) {
for(;;){} /* error */
}
RTOS_Run();
}
void RTOS_Init(void) {
if (FRTOS1_xTaskCreate(T1, (signed portCHAR *)"T1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL) != pdPASS) {
for(;;){} /* error */
}
if (FRTOS1_xTaskCreate(App_loop, (signed portCHAR *)"App_loop", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL) != pdPASS) {
for(;;){} /* error */
}
#if PL_HAS_LINE_SENSOR
if (FRTOS1_xTaskCreate(CheckReflactance, (signed portCHAR *)"CheckReflactance", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, &checkRefl) != pdPASS) {
for(;;){} /* error */
}
#endif
#if PL_HAS_REMOTE
if (FRTOS1_xTaskCreate(Remote, (signed portCHAR *)"Remote", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, &remoteTask) != pdPASS) {
for(;;){} /* error */
}
#endif
#if PL_HAS_FIGHT
if(FRTOS1_xTaskCreate(Fight_modus,(signed portCHAR *) "Fight_m", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, &fightTask) != pdPASS) {
for(;;){} /* error */
}
#endif
#if PL_HAS_ACCEL && PL_IS_ROBO
if(FRTOS1_xTaskCreate(AccelObserv,(signed portCHAR *) "AccelObserv", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL) != pdPASS) {
for(;;){} /* error */
}
#endif
}
void RTOS_Start(void) {
if (FRTOS1_xTaskCreate(
MyTask, /* pointer to the task */
(signed portCHAR *)"MyTask", /* task name for kernel awareness debugging */
configMINIMAL_STACK_SIZE, /* task stack size */
(void*)NULL, /* optional task startup argument */
tskIDLE_PRIORITY, /* initial priority */
(xTaskHandle*)NULL /* optional task handle to create */
) != pdPASS) {
for(;;){}; /* error! probably out of memory */
}
FRTOS1_vTaskStartScheduler();
}
void PONG_Init(void) {
if (FRTOS1_xTaskCreate(
PongTask, /* pointer to the task */
"Pong", /* task name for kernel awareness debugging */
configMINIMAL_STACK_SIZE, /* task stack size */
(void*)NULL, /* optional task startup argument */
tskIDLE_PRIORITY+2, /* initial priority */
(xTaskHandle*)NULL /* optional task handle to create */
) != pdPASS) {
/*lint -e527 */
for(;;){}; /* error! probably out of memory */
/*lint +e527 */
}
}
void MM_Init(void) {
if (FRTOS1_xTaskCreate(
MidiPlayTask, /* pointer to the task */
"MidiPlay", /* task name for kernel awareness debugging */
configMINIMAL_STACK_SIZE, /* task stack size */
(void*)NULL, /* optional task startup argument */
tskIDLE_PRIORITY+1, /* initial priority */
&MidiPlayTaskHandle /* optional task handle to create */
) != pdPASS) {
/*lint -e527 */
for(;;){} /* error! probably out of memory */
/*lint +e527 */
}
}
void SHELL_Init(void) {
#if PL_HAS_RTOS_TRACE
Ptrc1_vTraceSetQueueName(CLS1_GetSemaphore(), "Shell_Sem");
#endif
#if !PL_HAS_RTOS
buf[0] = '\0';
(void)CLS1_ParseWithCommandTable((unsigned char*)CLS1_CMD_HELP, CLS1_GetStdio(), CmdParserTable);
#endif
#if PL_HAS_RTOS
if (FRTOS1_xTaskCreate(ShellTask, (signed portCHAR *)"Shell", configMINIMAL_STACK_SIZE+200, NULL, tskIDLE_PRIORITY+1, NULL) != pdPASS) {
for(;;) {} /* error */
}
#endif
}
static portTASK_FUNCTION(vMasterTask, pvParameters) {
/*! \todo Implement functionality */
xSemaphoreHandle sem = NULL;
(void)pvParameters; /* parameter not used */
sem = FRTOS1_xSemaphoreCreateBinary();
if (sem==NULL) { /* semaphore creation failed */
for(;;){} /* error */
}
FRTOS1_vQueueAddToRegistry(sem, "IPC_Sem");
/* create slave task */
if (FRTOS1_xTaskCreate(vSlaveTask, "Slave", configMINIMAL_STACK_SIZE, sem, tskIDLE_PRIORITY+1, NULL) != pdPASS) {
for(;;){} /* error */
}
if (FRTOS1_xTaskCreate(vSlaveTask2, "Slave", configMINIMAL_STACK_SIZE, sem, tskIDLE_PRIORITY+2, NULL) != pdPASS) {
for(;;){} /* error */
}
for(;;) {
if (sem != NULL) { /* valid semaphore? */
(void)xSemaphoreGive(sem); /* give control to other task */
FRTOS1_vTaskDelay(1000/portTICK_RATE_MS);
}
}
}
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 */
}
}
void ACCEL_StartDemoTask(ACCEL_WindowDesc *desc) {
UI1_PixelDim yPos, h;
UI1_CreateScreen(&desc->screen, UI1_COLOR_WHITE);
(void)UI1_CreateWindow(&desc->screen, &desc->window, UI1_COLOR_BRIGHT_GREEN, 0, 0, UI1_GetWidth(), UI1_GetHeight());
(void)UI1_CreateHeader(&desc->window, &desc->header, (unsigned char*)"Accelerometer", FONT, UI1_COLOR_BLUE);
UI1_ChangeTextFgColor(&desc->header.element, UI1_COLOR_WHITE);
UI1_SetWindowEventCallback(&desc->window, accelW_WindowCallback);
/* Icon: Close */
h = (UI1_PixelDim)(UI1_GetElementHeight(&desc->header));
(void)UI1_CreateIcon(&desc->window, &desc->iconClose, 1, 1, (UI1_PixelDim)(h-2), (UI1_PixelDim)(h-2), UI1_ICON_CLOSE);
desc->iconClose.element.prop.flags |= UI1_FLAGS_ALIGN_RIGHT;
UI1_OnWindowResize(&desc->window); /* right align element(s) if needed */
UI1_ChangeElementColor(&desc->iconClose, UI1_COLOR_BLUE);
UI1_ChangeIconFgColor(&desc->iconClose, UI1_COLOR_WHITE);
UI1_EnableElementSelection(&desc->iconClose);
yPos = (UI1_PixelDim)(UI1_GetElementPosY(&desc->window)+UI1_GetElementHeight(&desc->header)+5);
/* barGraph */
desc->data[0] = 0;
desc->data[1] = 0;
desc->data[2] = 0;
(void)UI1_CreateBarGraph(&desc->window, &desc->accelBarGraph, 5, yPos, 170, 170,
UI1_COLOR_BRIGHT_GREEN,
(byte*)&desc->data, sizeof(desc->data),
UI1_COLOR_RED, /* bar color */
1, /* border width */
UI1_COLOR_BLACK, /* border color */
5 /* border space */
);
yPos = (UI1_PixelDim)(UI1_GetElementPosY(&desc->accelBarGraph)+UI1_GetElementHeight(&desc->accelBarGraph)+5);
/* X */
desc->txtBufX[0] = '\0';
(void)UI1_CreateText(&desc->window, &desc->txtX, 5, yPos, 0, 0, &desc->txtBufX[0], FONT);
/* Y */
desc->txtBufY[0] = '\0';
(void)UI1_CreateText(&desc->window, &desc->txtY, 58, yPos, 0, 0, &desc->txtBufY[0], FONT);
/* Z */
desc->txtBufZ[0] = '\0';
(void)UI1_CreateText(&desc->window, &desc->txtZ, 110, yPos, 0, 0, &desc->txtBufZ[0], FONT);
UIG1_CreateGraph(&desc->window, &desc->graph,
(UI1_PixelDim)(UI1_GetElementPosX(&desc->accelBarGraph)+UI1_GetElementWidth(&desc->accelBarGraph)+10), UI1_GetElementPosY(&desc->accelBarGraph),
125, UI1_GetElementHeight(&desc->accelBarGraph));
/* update the screen */
UI1_UpdateScreen(&desc->screen);
FRTOS1_xTaskCreate(TaskAccelDemo, (signed portCHAR *)"Accel", configMINIMAL_STACK_SIZE+50, desc, tskIDLE_PRIORITY+1, NULL);
}