PIC24 Support Libraries: robotics/examples/skeleton/user.c Source File

00001 
00009 /* Includes */
00010 #include "user_config.h"
00011 
00017 static ESOS_USER_TASK(heartbeat) {
00018   ESOS_TASK_BEGIN();
00019   while (TRUE) {
00020     ESOS_TASK_WAIT_TICKS(HALF_HEARTBEAT_PERIOD);
00021     HEARTBEAT = !HEARTBEAT;  //toggle the HEARTBEAT LED
00022   }
00023   ESOS_TASK_END();
00024 }
00025 
00026 /*
00027 * This function is called by ESOS during initialization.  From here, you may call
00028 * any initialization functions you want. The developer can make no assumptions about
00029 * task scheduling or timing.
00030 */
00031 void user_init(void) {
00032   CONFIG_HEARTBEAT();  //HEARTBEAT is RB15, set as digital output
00033   esos_RegisterTask(heartbeat);
00034 }