/* main_avr.c */ /* Beacon State Machine & Main. {{{ * * Copyright (C) 2012 Florent Duchon * * APBTeam: * Web: http://apbteam.org/ * Email: team AT apbteam DOT org * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * * }}} */ #include #include #include #include "configuration.h" #include "motor.h" #include "print.h" #include "led.h" uint8_t motor_value = 0; uint8_t motor_sense = 1; static HAL_AppTimer_t motorTimer; // TIMER descripor used by the DEBUG task void motor_task(void) { if(motor_value == MOTOR_SPEED_MAX) { motor_sense = -1; uprintf("up\r\n"); } else if(motor_value == MOTOR_SPEED_MIN) { uprintf("down\r\n"); motor_sense = 1; } motor_value = motor_value + motor_sense; motor_set_speed(motor_value); } void APL_TaskHandler(void) { static int init_done = 0; if(init_done == 0) { /* Init Led */ init_led(); /* Init Serial Interface for debug */ initSerialInterface(); motor_init(); init_done = 1; motorTimer.interval = 50L; motorTimer.mode = TIMER_REPEAT_MODE; motorTimer.callback = motor_task; HAL_StartAppTimer(&motorTimer); uprintf("test_motor : init done\r\n"); } SYS_PostTask(APL_TASK_ID); } int main(void) { SYS_SysInit(); for(;;) { SYS_RunTask(); } }