116 lines
3.5 KiB
C
116 lines
3.5 KiB
C
/*
|
|
* TOPPERS/EV3RT
|
|
*
|
|
* Copyright (C) 2016 by Yixiao Li <liyixiao7@gmail.com>
|
|
*
|
|
* The above copyright holders grant permission gratis to use,
|
|
* duplicate, modify, or redistribute (hereafter called use) this
|
|
* software (including the one made by modifying this software),
|
|
* provided that the following four conditions (1) through (4) are
|
|
* satisfied.
|
|
*
|
|
* (1) When this software is used in the form of source code, the above
|
|
* copyright notice, this use conditions, and the disclaimer shown
|
|
* below must be retained in the source code without modification.
|
|
*
|
|
* (2) When this software is redistributed in the forms usable for the
|
|
* development of other software, such as in library form, the above
|
|
* copyright notice, this use conditions, and the disclaimer shown
|
|
* below must be shown without modification in the document provided
|
|
* with the redistributed software, such as the user manual.
|
|
*
|
|
* (3) When this software is redistributed in the forms unusable for the
|
|
* development of other software, such as the case when the software
|
|
* is embedded in a piece of equipment, either of the following two
|
|
* conditions must be satisfied:
|
|
*
|
|
* (a) The above copyright notice, this use conditions, and the
|
|
* disclaimer shown below must be shown without modification in
|
|
* the document provided with the redistributed software, such as
|
|
* the user manual.
|
|
*
|
|
* (b) How the software is to be redistributed must be reported to the
|
|
* TOPPERS Project according to the procedure described
|
|
* separately.
|
|
*
|
|
* (4) The above copyright holders and the TOPPERS Project are exempt
|
|
* from responsibility for any type of damage directly or indirectly
|
|
* caused from the use of this software and are indemnified by any
|
|
* users or end users of this software from any and all causes of
|
|
* action whatsoever.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED "AS IS." THE ABOVE COPYRIGHT HOLDERS AND
|
|
* THE TOPPERS PROJECT DISCLAIM ANY EXPRESS OR IMPLIED WARRANTIES,
|
|
* INCLUDING, BUT NOT LIMITED TO, ITS APPLICABILITY TO A PARTICULAR
|
|
* PURPOSE. IN NO EVENT SHALL THE ABOVE COPYRIGHT HOLDERS AND THE
|
|
* TOPPERS PROJECT BE LIABLE FOR ANY TYPE OF DAMAGE DIRECTLY OR
|
|
* INDIRECTLY CAUSED FROM THE USE OF THIS SOFTWARE.
|
|
*/
|
|
|
|
/*
|
|
* Header file of sample program
|
|
*/
|
|
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
|
|
/**
|
|
* Common header files
|
|
*/
|
|
#include "ev3api.h"
|
|
#include "target_test.h"
|
|
|
|
/**
|
|
* Task priorities (smaller number has higher priority)
|
|
*/
|
|
#define PRIORITY_MAIN_TASK (TMIN_APP_TPRI + 1)
|
|
/* Main task priority */
|
|
/* Must by higher then HIGH_PRIORITY */
|
|
|
|
#define HIGH_PRIORITY (TMIN_APP_TPRI + 2)
|
|
#define MID_PRIORITY (TMIN_APP_TPRI + 3)
|
|
#define LOW_PRIORITY (TMIN_APP_TPRI + 4)
|
|
|
|
#define PRIORITY_PRD_TSK_1 TMIN_APP_TPRI
|
|
#define PRIORITY_PRD_TSK_2 TMIN_APP_TPRI
|
|
|
|
#define GYRO_PORT EV3_PORT_1
|
|
#define BUTTON_UP EV3_PORT_4
|
|
#define BUTTON_BUMPER EV3_PORT_3
|
|
#define LEFT_MOTOR EV3_PORT_B
|
|
#define RIGHT_MOTOR EV3_PORT_C
|
|
#define HINGE_MOTOR EV3_PORT_A
|
|
|
|
/**
|
|
* Task periods in ms
|
|
*/
|
|
//#define PERIOD_PRD_TSK_1 (100)
|
|
//#define PERIOD_PRD_TSK_2 (500)
|
|
|
|
/**
|
|
* Default task stack size in bytes
|
|
*/
|
|
#ifndef STACK_SIZE
|
|
#define STACK_SIZE 4096
|
|
#endif
|
|
|
|
/**
|
|
* Prototypes for configuration
|
|
*/
|
|
#ifndef TOPPERS_MACRO_ONLY
|
|
|
|
extern void main_task(intptr_t);
|
|
extern void sub_task(intptr_t);
|
|
extern void music_task(intptr_t);
|
|
// extern void periodic_task_1(intptr_t);
|
|
// extern void periodic_task_2(intptr_t);
|
|
|
|
// extern void task_activator(intptr_t tskid);
|
|
|
|
#endif /* TOPPERS_MACRO_ONLY */
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|