mirror of
https://github.com/RobotechLille/cdf2018-principal
synced 2024-06-02 02:55:01 +02:00
40 lines
834 B
C
40 lines
834 B
C
#include <avr/io.h>
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#include <avr/interrupt.h>
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#include <FreeRTOS.h>
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#include <task.h>
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#include "AC.h"
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#include "AF.h"
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#include "position.h"
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#include "movement.h"
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#include "debug.h"
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void TaskBlink(void *pvParameters) {
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(void) pvParameters;
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TickType_t xLastWakeTime;
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TickType_t xFrequency = 200 / portTICK_PERIOD_MS;
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DDRB = 0xFF;
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xLastWakeTime = xTaskGetTickCount();
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for (;;) {
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PORTB = PINB ^ 0xFF;
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vTaskDelayUntil(&xLastWakeTime, xFrequency);
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}
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}
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int main(void) {
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configureAC(); // Doit rester en premier :)
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configureAF(); // Doit rester en premier :)
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configureMovement();
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configurePosition();
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configureDebug();
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xTaskCreate(TaskBlink, "Blink", 128, NULL, 2, NULL);
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sei();
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vTaskStartScheduler();
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return 0;
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}
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