main.c

#include <stdio.h>

#include "common.h"
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include "global.h"

#include "ROSComms.h"
#include "lcd.h"
#include "sensor.h"
#include "powermgmt.h"
#include "keypad.h"
#include "motorctrl.h"
#include "boundary.h"

#include "cJSON.h"

#ifdef LPC177x_8x // LPC1788 DB504
#pragma message("Cpu lpc1788 DB504")
HeapRegion_t xHeapRegions[] = {
    { (uint8_t *) 0x10001000UL, 0xF000 }, // 60kB
    { (uint8_t *) 0x20000000UL, 0x2000 }, // 8kB
    { (uint8_t *) 0x20002000UL, 0x2000 }, // 8kB
    { (uint8_t *) 0x20004000UL, 0x4000 }, // 16kB
    { NULL, 0 }                           // Tot: 92kB
};
#else // LPC1768 DB275
#pragma message("Cpu lpc1768 DB275")
HeapRegion_t xHeapRegions[] = {
    { (uint8_t *) 0x10001000UL, 0x7000 }, // 28kB
    { (uint8_t *) 0x2007C000UL, 0x4000 }, // 16kB
    { (uint8_t *) 0x20080000UL, 0x4000 }, // 16kB
    { NULL, 0 }                           // Tot: 60kB
};
#endif

/*
static void task_DigitalTest(void *pvParameters) {
    for (;;) {
        GPIO_SET_PIN(LCD_BACKLIGHT);
        vTaskDelay(xDelay500);
        GPIO_CLR_PIN(LCD_BACKLIGHT);
        vTaskDelay(xDelay500);
    }
}
*/

int main(void) {
    vPortDefineHeapRegions(xHeapRegions);
    
    //SystemInit();
    SystemCoreClockUpdate();
    
    // https://www.keil.com/pack/doc/CMSIS/Core/html/group__NVIC__gr.html
    NVIC_SetPriorityGrouping( 2 ); 
    //NVIC_SetPriority(TIMER1_IRQn, configMAX_SYSCALL_INTERRUPT_PRIORITY);
    
    cJSON_Hooks hooks;
    hooks.malloc_fn = pvPortMalloc;
    hooks.free_fn = vPortFree;
    cJSON_InitHooks(&hooks);


    hardware_Init();
    powerMgmt_Init();
    
    //xScreenMsgQueue = xQueueCreate(6, sizeof(xScreenMsgType));
    //xSensorQueue = xQueueCreate(1, sizeof(xSensorMsgType));
    xMotorMsgQueue = xQueueCreate(10, sizeof(xMotorMsgType));
    xBoundaryMsgQueue = xQueueCreate(1, sizeof(xBoundaryMsgType));
    xJSONMessageQueue = xQueueCreate(8, sizeof(xJSONMessageType));
    SPI0TxMessageBuffer = xMessageBufferCreate( 250 * 5 );
    SPI0RxMessageBuffer = xMessageBufferCreate( 1000 );
    //TxMessageBuffer = xMessageBufferCreate( 250 * 5 );
    RosTxQueue = xQueueCreate(15, 250);

    memset(&sensorMsg, 0, sizeof(SensorType));
    
    
  //xTaskCreate(task_DigitalTest, "Digital", 128, NULL, 4, (TaskHandle_t *)&xHandle[taskcounter++]);

//                                                             Prio
    xTaskCreate(powerMgmt_Task,   "PowerMgmt",      300,  NULL, 7, (TaskHandle_t *)&xHandle[taskcounter++]);
    xTaskCreate(ROSCommsRx_Task,  "RosCommsRx",     3000, NULL, 6, (TaskHandle_t *)&xHandle[taskcounter++]);
    xTaskCreate(ROSCommsTx_Task,  "RosCommsTx",     4000, NULL, 5, (TaskHandle_t *)&xHandle[taskcounter++]);
    xTaskCreate(SPI0TxQueue_Task, "SPI0TxQueue",    1500, NULL, 7, (TaskHandle_t *)&xHandle[taskcounter++]);
    //xTaskCreate(ROSCommsTest_Task,  "RosCommsTest",   500, NULL, 5, (TaskHandle_t *)&xHandle[taskcounter++]);
    xTaskCreate(motorCtrl_Task,   "MotorCtrl",      300,  NULL, 5, (TaskHandle_t *)&xHandle[taskcounter++]);
    xTaskCreate(sensor_Task,      "Sensor",         500,  NULL, 4, (TaskHandle_t *)&xHandle[taskcounter++]);
    xTaskCreate(boundary_Task,    "Boundary",       500,  NULL, 3, (TaskHandle_t *)&xHandle[taskcounter++]);
    xTaskCreate(LCD_Task,         "LCD",            400,  NULL, 2, (TaskHandle_t *)&xHandle[taskcounter++]);
    xTaskCreate(keypad_Task,      "Keypad",         200,  NULL, 2, (TaskHandle_t *)&xHandle[taskcounter++]);

    vTaskStartScheduler();

    // Should never get here.
    printf("Insufficient RAM!");
    for (;;) {
        GPIO_SET_PIN(LCD_BACKLIGHT);
        vTaskDelay(xDelay100);
        GPIO_CLR_PIN(LCD_BACKLIGHT);
        vTaskDelay(xDelay100);
    }
}