main.c

#include "define.h"
#include "keypad.h"
#include "sensor.h"
#include "powermgmt.h"
#include "motorctrl.h"
#if DEBUGCONSOLE
    #include "console.h"
#else
    #include "lcd.h"
#endif
#if debugPrintf
    #include "redirect.h"
#endif
#include "FreeRTOS.h"
#include "task.h"

const TickType_t xDelay100 = 100 / portTICK_PERIOD_MS;
const TickType_t xDelay200 = 200 / portTICK_PERIOD_MS;
const TickType_t xDelay500 = 500 / portTICK_PERIOD_MS;

/* The CLI commands are defined in CLI-commands.c. */
void vRegisterCLICommands(void);

xQueueHandle xQueue = NULL;

void SystemSetupStuff(void)
{
    LPC_SC->PCONP |= PCONP_PCGPIO;              // power up GPIO
    LPC_GPIO1->FIODIR |= PIN(25);               // p1.25 Pwr on set output
    LPC_GPIO1->FIOPIN |= PIN(25);               // p1.25 Keep pwr on

    // Configure Power button
    LPC_PINCON->PINMODE3 |= (PINMODE_PULLDOWN << 24);      // Pullup
}

HeapRegion_t xHeapRegions[] = {
    { (uint8_t *) 0x10001000UL, 0x7000 },
    { (uint8_t *) 0x2007C000UL, 0x4000 },
    { (uint8_t *) 0x20080000UL, 0x4000 },
    { NULL, 0 }
};

static void task_DigitalTest(void *pvParameters)
{
    //    int Counter1 = 0;
    // Configure LCD backligt
    LPC_GPIO1->FIODIR |= PIN(20);               // P1.20 output mode.
    LPC_GPIO1->FIOSET |= PIN(20);               // p1.20 LCD backlight ON
    /*
        LPC_GPIO0->FIODIR |= PIN(18);               // p0.20 output mode.
        LPC_GPIO0->FIODIR |= PIN(19);               // p0.20 output mode.
        LPC_GPIO0->FIODIR |= PIN(20);               // p0.20 output mode.

        LPC_PINCON->PINSEL0 &= ~((uint32_t)3 << 30);
        LPC_PINCON->PINSEL1 &= ~(3 << 0);
        LPC_PINCON->PINSEL1 &= ~(3 << 4);
        LPC_PINCON->PINSEL1 &= ~(3 << 6);
        LPC_PINCON->PINSEL1 &= ~(3 << 8);

        LPC_PINCON->PINMODE1 &= ~(3 << 4);
        LPC_PINCON->PINMODE1 |= (2 << 4);
        LPC_PINCON->PINMODE1 &= ~(3 << 6);
        LPC_PINCON->PINMODE1 |= (2 << 6);
        LPC_PINCON->PINMODE1 &= ~(3 << 8);
        LPC_PINCON->PINMODE1 |= (2 << 8);
    */
    for (;;) {
        GPIO_SET_PIN(LCD_BACKLIGHT);
        vTaskDelay(xDelay500);
        GPIO_SET_PIN(LCD_BACKLIGHT);
        vTaskDelay(xDelay500);

        GPIO_SET_PIN(LCD_BACKLIGHT);
        vTaskDelay(xDelay200);
        GPIO_SET_PIN(LCD_BACKLIGHT);
        vTaskDelay(xDelay200);


    }
}

int main(void)
{
    vPortDefineHeapRegions(xHeapRegions);

    SystemCoreClockUpdate();
    SystemSetupStuff();



    xQueue = xQueueCreate(mainQUEUE_LENGTH, sizeof(unsigned long));

    if (xQueue != NULL) {
        //xTaskCreate(task_DigitalTest, "Digital", configMINIMAL_STACK_SIZE, NULL, 5, NULL);
        xTaskCreate(task_Keypad, "Keypad", configMINIMAL_STACK_SIZE, NULL, 6, NULL);
#if DEBUGCONSOLE
        xTaskCreate(task_Console, "Console", configMINIMAL_STACK_SIZE, NULL, 5, NULL);
#else
        xTaskCreate(task_LCD, "LCD", 1024, NULL, 8, NULL);
#endif
        xTaskCreate(task_Sensor, "Sensor", 256, NULL, 5, NULL);
        xTaskCreate(task_PowerMgmt, "PowerMgmt", 160, NULL, 5, NULL);
        xTaskCreate(task_MotorCtrl, "MotorCtrl", configMINIMAL_STACK_SIZE, NULL, 5, NULL);

        vTaskStartScheduler();
    }
}