int main(void)
{
buttonSemaphore = xSemaphoreCreateBinary();
port2Pin6Init();
eint3_enable_port2(6, eint_falling_edge, port6ButtonPressInterrupt);
xTaskCreate(port6ButtonPressTask, "Button Press", STACK_BYTES(2048), 0, PRIORITY_HIGH, 0);
xTaskCreate(beggingForSemaphore, "I NEED SEMAPHOREZ", STACK_BYTES(2048), 0, PRIORITY_HIGH, 0);
vTaskStartScheduler();
return -1;
}
int main(void)
{
q = xQueueCreate(1, sizeof(orientation_t));
//PRIORITY CAN BE SWITCHED HERE TO FOLLOW ASSIGNMENT
xTaskCreate(orientConsumer, "Consumer", STACK_BYTES(2048), 0, PRIORITY_LOW, 0);
xTaskCreate(orientProducer, "Producer", STACK_BYTES(2048), 0, PRIORITY_HIGH, 0);
vTaskStartScheduler();
return -1;
}
/* INTERRUPT VECTORS:
* 0: OS Timer Tick
* 1: Not Used
* 2: UART0 Interrupt
* 3: UART1 Interrupt
* 4: I2C0 Interrupt
* 5-16: Not Used
*/
int main(void)
{
OSHANDLES SysHandles; // Should contain all OS Handles
cpuSetupHardware(); // Setup PLL, enable MAM etc.
watchdogDelayUs(1000 * 1000); // Some startup delay
uart0Init(38400, 128); // 128 is size of UART0 Rx/Tx FIFO
uart1Init(38400, 128); // 128 is size of UART1 Rx/Tx FIFO
// Use polling version of uart0 to do printf/rprintf before starting FreeRTOS
rprintf_devopen(uart0PutCharPolling);
cpuPrintMemoryInfo();
// Open interrupt-driven version of UART0 Rx/Tx
rprintf_devopen(uart0PutChar);
watchdogDelayUs(1000 * 1000);
/** Create timer needed for SD Card I/O */
Timer diskTimer(FatFsDiskTimer, 10, TimerPeriodic);
diskTimer.start();
/** Create any Queues and Mutexes **/
SysHandles.lock.SPI = xSemaphoreCreateMutex();
// TODO 2. Create the "song name" Queue here
SysHandles.queue.songname = xQueueCreate(1,16); //length, item size
// Use the WATERMARK command to determine optimal Stack size of each task (set to high, then slowly decrease)
// Priorities should be set according to response required
if (pdPASS != xTaskCreate( uartUI, (signed char*)"Uart UI", STACK_BYTES(1024*6), &SysHandles, PRIORITY_HIGH, &SysHandles.task.userInterface )
||
pdPASS!= xTaskCreate( mp3Task, (signed char*)"MP3", STACK_BYTES(1024*6), &SysHandles, PRIORITY_HIGH, &SysHandles.task.mp3 )
||
pdPASS!= xTaskCreate( sd_card_detect, (signed char*)"sd_card_detect", STACK_BYTES(1024), &SysHandles, PRIORITY_LOW, &SysHandles.task.sd_card_detect )
||
pdPASS!= xTaskCreate( mp3_controls, (signed char*)"mp3_controls", STACK_BYTES(1024*6), &SysHandles, PRIORITY_LOW, &SysHandles.task.mp3_controls ))
{
rprintf(
"ERROR: OUT OF MEMORY: Check OS Stack Size or task stack size.\n");
}
// Start FreeRTOS to begin servicing tasks created above, vTaskStartScheduler() will not "return"
rprintf("\n-- Starting FreeRTOS --\n");
vTaskStartScheduler();
// In case OS is exited:
rprintf_devopen(uart0PutCharPolling);
rprintf("ERROR: Unexpected OS Exit!\n");
return 0;
}
bool scheduler_init_all(bool register_internal_tlm)
{
bool failure = false;
/* If not tasks ... */
if (0 == gTaskList || 0 == gTaskList->size()) {
puts("ERROR: NO tasks added by scheduler_add_task()");
failure = true;
return failure;
}
/* Initialize all tasks */
puts("* Initializing tasks ...");
for (uint32_t i=0; i < gTaskList->size(); i++)
{
scheduler_task *task = gTaskList->at(i);
if (!task->init()) {
print_strings(task->getTaskName(), " --> FAILED init()");
failure = true;
}
}
/* Register telemetry for all tasks */
#if ENABLE_TELEMETRY
puts("* Registering tasks' telemetry ...");
for (uint32_t i=0; i < gTaskList->size(); i++)
{
scheduler_task *task = gTaskList->at(i);
if (!task->regTlm()) {
failure = true;
}
/* Register statistical variables of this task */
if (register_internal_tlm) {
tlm_component *comp = tlm_component_add(task->mName);
if (!tlm_variable_register(comp, "cpu_percent", &(task->mCpuPercent),
sizeof(task->mCpuPercent), 1, tlm_uint)) {
failure = true;
}
if (!tlm_variable_register(comp, "free_stack", &(task->mFreeStack),
sizeof(task->mFreeStack), 1, tlm_uint)) {
failure = true;
}
if (!tlm_variable_register(comp, "run_count", &(task->mRunCount),
sizeof(task->mRunCount), 1, tlm_uint)) {
failure = true;
}
}
if (failure) {
print_strings(task->mName, " --> FAILED telemetry registration");
}
}
puts("* Restoring disk telemetry");
// Restore telemetry registered by "disk" component
FILE *fd = fopen(DISK_TLM_NAME, "r");
if (fd) {
tlm_stream_decode_file(fd);
fclose(fd);
}
#endif
puts("* Creating tasks ...");
mRunTask = xSemaphoreCreateCounting(gTaskList->size(), 0);
if (NULL == mRunTask) {
failure = true;
}
for (uint32_t i=0; i < gTaskList->size(); i++)
{
scheduler_task *task = gTaskList->at(i);
if (!xTaskCreate(scheduler_c_task_private,
(signed char*)task->mName, /* Name */
STACK_BYTES(task->mStackSize), /* Stack */
task, /* Task param */
task->mPriority, /* Task priority */
&(task->mHandle))) /* Task Handle */
{
print_strings(task->mName, " --> FAILED xTaskCreate()");
failure = true;
}
}
/* Find the task with highest stack, and this task will then be used
* to call taskEntry() for everyone once FreeRTOS starts.
* We have one task do taskEntry() for all because otherwise tasks will perform
* taskEntry() independent of each other, and one task might complete it and
* start running without other tasks completing their taskEntry().
*/
uint32_t highestStack = 0;
for (uint32_t i=0; i < gTaskList->size(); i++)
{
scheduler_task *task = gTaskList->at(i);
if (task->mStackSize > highestStack) {
highestStack = task->mStackSize;
mTaskEntryTaskHandle = task->mHandle;
}
}
return failure;
}
