// --- Main Program ----------------------------------
int main(void) {
//init PortC
//Pins C.1 to C.3 for controlling sonars
//Pins C.5, C.6 and C.7 for front, left and right motors respectively
DDRC = 0xff;
//init ADC
adc_init();
//init the UART -- trt_uart_init() is in trtUart.c
trt_uart_init();
stdout = stdin = stderr = &uart_str;
fprintf(stdout,"\n\r Start TRT\n\r\n\r");
// start TRT
trtInitKernel(80); // 80 bytes for the idle task stack
// --- create semaphores ----------
trtCreateSemaphore(SEM_RANGE, 1) ; // protect ranging
// --- create tasks ----------------
trtCreateTask(readSonar1, 500, SECONDS2TICKS(0.1), SECONDS2TICKS(0.1), &(args[0]));
trtCreateTask(readSonar2, 500, SECONDS2TICKS(0.1), SECONDS2TICKS(0.1), &(args[1]));
trtCreateTask(readSonar3, 500, SECONDS2TICKS(0.1), SECONDS2TICKS(0.1), &(args[2]));
trtCreateTask(navLogic, 400, SECONDS2TICKS(0.1), SECONDS2TICKS(0.1), &(args[3]));
trtCreateTask(sonar3Feedback, 400, SECONDS2TICKS(0.1), SECONDS2TICKS(0.1), &(args[0]));
// --- Idle task --------------------------------------
while (1)
{
// Do Nothing
}
}
// --- Main Program ----------------------------------
int main(void) {
int args[2];
DDRD = 0b11111011;
PORTD = 0;
//Initialize the MCU
initialize();
// start TRT
trtInitKernel(128); // 80 bytes for the idle task stack
// variable protection
trtCreateSemaphore(SEM_T_REF, 1) ; // protect shared variables
trtCreateSemaphore(SEM_T, 1) ; // protect shared variables
trtCreateSemaphore(SEM_T_WATER_REF, 1) ; // protect shared variables
trtCreateSemaphore(SEM_T_WATER, 1) ; // protect shared variables
trtCreateSemaphore(SEM_MAT_PROP, 1) ; // protect shared variables
trtCreateSemaphore(SEM_THICKNESS, 1);
// --- creat tasks ----------------
trtCreateTask(pidControl, 256, SECONDS2TICKS(0.05), SECONDS2TICKS(0.05), &(args[0]));
trtCreateTask(keypadComm, 256, SECONDS2TICKS(0.1), SECONDS2TICKS(0.1), &(args[1]));
trtCreateTask(displayTemp, 256, SECONDS2TICKS(0.1), SECONDS2TICKS(0.1), &(args[1]));
sei();
// --- Idle task --------------------------------------
// just sleeps the cpu to save power
// every time it executes
set_sleep_mode(SLEEP_MODE_IDLE);
sleep_enable();
while (1)
{
sleep_cpu();
}
}
int main(void)
{
initialize();
trt_uart_init();
/* Print a statement to the serial communication terminal when the system is reset. */
stdout = stdin = stderr = &uart_str;
fprintf(stdout,"TinyRealTime: 2/9/09\n\r");
/* Sets up the kernel data structures.
* The parameter is the desired starck size of the idle task.
* For a null idle task, a stack size of 80 should be sufficient. */
trtInitKernel(80);
/* Creates semaphores with identifer semnumber and initial values initval. */
trtCreateSemaphore(SEM_RX_ISR_SIGNAL, 0);
trtCreateSemaphore(SEM_STRING_DONE , 0);
trtCreateSemaphore(SEM_S , 1);
trtCreateSemaphore(SEM_P , 1);
trtCreateSemaphore(SEM_I , 1);
trtCreateSemaphore(SEM_D , 1);
/* Identifies the three functions to the kernel as threads.
* The parameters specify pointers to the functions, the
* desired stack size, the initial release time, the initial deadline time,
* and an abitrary data input structure */
trtCreateTask(serialTask , 200, SECONDS2TICKS(0.1), SECONDS2TICKS(0.2 ), &(args[0]));
trtCreateTask(motorTask , 200, SECONDS2TICKS(0.3), SECONDS2TICKS(0.32), &(args[1]));
/* Choose our preferred sleep mode */
set_sleep_mode(SLEEP_MODE_IDLE);
/* Set sleep enable (SE) bit */
sleep_enable();
/* Sleep the CPU when a task isn't running. */
while (1) {
sleep_cpu();
}
}
//==============================================================
// trtCreatMutex
// All mutex are created UNLOCKED with no owner
void trtCreateMutex(uint8_t mutex_number) {
trtCreateSemaphore(mutex_number, UNLOCKED) ;
mutex[mutex_number].state = UNLOCKED ;
mutex[mutex_number].owner = NONE ;
} //void trtCreateMutex(uint8_t mutex_number)
// --- Main Program ----------------------------------
int main(void) {
DDRD = 0b11111011;
PORTD = 0;
//init the UART -- trt_uart_init() is in trtUart.c
trt_uart_init();
stdout = stdin = stderr = &uart_str;
fprintf(stdout,"\n\r TRT 9feb2009\n\r\n\r");
//enable ADC and set prescaler to 1/128*16MHz=125,000
//and clear interupt enable
//and start a conversion
ADCSRA = (1<<ADEN) + 7;
// Set analog comp to connect to timer capture input
// and turn on the band gap reference on the positive input
ACSR = (1<<ACIC) ; //0b01000100 ;
//initialize Timer2 and the external interrupt
//set up INT0
EIMSK = 1<<INT1 ; // turn on int0
EICRA = 1 << ISC10 ; // trigger on any edge edge
// turn on timer 2 to be read in int0 ISR
TCCR2B = 7 ; // divide by 1024
// turn on timer 2 overflow ISR for double precision time
TIMSK2 = 1;
//setup Timer 0
// Set the timer for fast PWM mode, clear OC0A on Compare Match, set OC0A
// at BOTTOM (non-inverting mode)
TCCR0A = (1 << COM0A1) | (1 << WGM01) | (1 << WGM00); //Set the timer
//Set the prescalar to 256 so the PWM runs at less than 1000 Hz
TCCR0B = (1 << CS02) | (1 << CS00);
OCR0A = 127;
// start TRT
trtInitKernel(128); // 80 bytes for the idle task stack
// --- create semaphores ----------
// You must creat the first two semaphores if you use the uart
trtCreateSemaphore(SEM_RX_ISR_SIGNAL, 0) ; // uart receive ISR semaphore
trtCreateSemaphore(SEM_STRING_DONE,0) ; // user typed <enter>
// variable protection
trtCreateSemaphore(SEM_TEMP_REF, 1) ; // protect shared variables
trtCreateSemaphore(SEM_TEMP, 1) ; // protect shared variables
trtCreateSemaphore(SEM_OVERFLOW, 1) ; // protect shared variables
trtCreateSemaphore(SEM_THICKNESS, 1) ; // protect shared variables
trtCreateSemaphore(SEM_START_HEATING, 0) ; // protect shared variables
trtCreateSemaphore(SEM_SONAR, 1); // Condition Variable for sonar measurement
// --- creat tasks ----------------
trtCreateTask(pidControl, 256, SECONDS2TICKS(0.05), SECONDS2TICKS(0.05), &(args[0]));
// trtCreateTask(serialComm, 256, SECONDS2TICKS(0.1), SECONDS2TICKS(0.1), &(args[1]));
// trtCreateTask(displayParams, 256, SECONDS2TICKS(0.1), SECONDS2TICKS(0.1), &(args[1]));
trtCreateTask(sonar, 256, SECONDS2TICKS(0.05), SECONDS2TICKS(0.05), &(args[0]));
sei();
// --- Idle task --------------------------------------
// just sleeps the cpu to save power
// every time it executes
set_sleep_mode(SLEEP_MODE_IDLE);
sleep_enable();
while (1)
{
sleep_cpu();
}
} // main
