int main2(void)
{
#if PROFILING == 1
volatile unsigned long delay;
#endif
/* Initialize 8MHz clock */
SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_XTAL_8MHZ | SYSCTL_OSC_MAIN);
OLED_Init(15);
ADC_Init(1000);
ADC_Open(0);
ADC_Open(1);
SH_Init();
OS_Init();
OS_MailBox_Init();
SH_Init();
//********initialize communication channels
OS_MailBox_Init();
OS_Fifo_Init(32);
NumCreated = 0;
NumSamples = 0;
MaxJitter = 0; // OS_Time in 20ns units
MinJitter = 10000000;
#if PROFILING
// intialize port b pins as specified by PINS mask
// for digital output for use in profiling threads
SYSCTL_RCGC2_R |= SYSCTL_RCGC2_GPIOB;
delay = SYSCTL_RCGC2_R;
GPIO_PORTB_DIR_R |= PINS;
GPIO_PORTB_DEN_R |= PINS;
GPIO_PORTB_DATA_R &= ~PINS;
#endif
// testing/debugging stuff
OS_Add_Periodic_Thread(&DAS,2,1);
// OS_AddButtonTask(&dummyButtonTask, 1);
OS_AddButtonTask(&ButtonPush, 1);
OS_AddDownTask(&ButtonPush, 1);
// NumCreated += OS_AddThread(&jerkTask, 0, 6);
// NumCreated += OS_AddThread(&dummyTask3, 0, 7);
// NumCreated += OS_AddThread(&dummyTask1, 0, 2);
NumCreated += OS_AddThread(&PID, 128, 5);
// NumCreated += OS_AddThread(&dummyTask2, 0, 2);
NumCreated += OS_AddThread(&Consumer, 128, 0);
NumCreated += OS_AddThread(&SH_Shell, 128, 6);
OS_Launch(TIMESLICE);
/* Loop indefinitely */
while(1);
}
//*******************final user main DEMONTRATE THIS TO TA**********
int main(void){ // lab 3 real main
OS_Init(); // initialize, disable interrupts
DataLost = 0; // lost data between producer and consumer
NumSamples = 0;
//********initialize communication channels
OS_MailBox_Init();
OS_Fifo_Init(32); // ***note*** 4 is not big enough*****
//*******attach background tasks***********
OS_AddButtonTask(&ButtonPush,2);
OS_AddDownTask(&DownPush,3);
OS_AddPeriodicThread(&DAS,1,PERIOD,0); // 2 kHz real time sampling
NumCreated = 0 ;
// create initial foreground threads
NumCreated += OS_AddThread(&Interpreter,128,2);
NumCreated += OS_AddThread(&Consumer,128,1);
NumCreated += OS_AddThread(&PID,128,3);
OS_Launch(TIMESLICE); // doesn't return, interrupts enabled in here
return 0; // this never executes
}
//*******************final user main DEMONTRATE THIS TO TA**********
int main(void){
// Set the clocking to run from PLL at 50 MHz
SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_8MHZ);
OS_Init(); // initialize, disable interrupts
DataLost = 0; // lost data between producer and consumer
NumSamples = 0;
MaxJitter = 0; // OS_Time in 20ns units
MinJitter = 10000000;
//********initialize communication channels
OS_MailBox_Init();
OS_Fifo_Init(32); // ***note*** 4 is not big enough*****
//*******attach background tasks***********
OS_AddButtonTask(&ButtonPush,2);
OS_AddPeriodicThread(&DAS,PERIOD,0); // 2 kHz real time sampling
NumCreated = 0 ;
// create initial foreground threads
NumCreated += OS_AddThread(&Interpreter,128,2);
NumCreated += OS_AddThread(&Consumer,128,1);
NumCreated += OS_AddThread(&PID,128,3);
OS_Launch(TIMESLICE); // doesn't return, interrupts enabled in here
return 0; // this never executes
}
//*******************final user main DEMONTRATE THIS TO TA**********
int main(void){
OS_Init(); // initialize, disable interrupts
PortE_Init();
DataLost = 0; // lost data between producer and consumer
NumSamples = 0;
MaxJitter = 0; // in 1us units
//********initialize communication channels
OS_MailBox_Init();
OS_Fifo_Init(128); // ***note*** 4 is not big enough*****
ST7735_InitR(INITR_REDTAB); // initialize LCD
UART_Init(); // initialize UART
//*******attach background tasks***********
OS_AddSW1Task(&SW1Push,2);
// OS_AddSW2Task(&SW2Push,2); // add this line in Lab 3
ADC_Init(4); // sequencer 3, channel 4, PD3, sampling in DAS()
OS_AddPeriodicThread(&DAS,PERIOD,1); // 2 kHz real time sampling of PD3
NumCreated = 0 ;
// create initial foreground threads
NumCreated += OS_AddThread(&Interpreter,128,2);
NumCreated += OS_AddThread(&Consumer,128,1);
NumCreated += OS_AddThread(&PID,128,3); // Lab 3, make this lowest priority
OS_Launch(TIME_2MS); // doesn't return, interrupts enabled in here
return 0; // this never executes
}
// ******** OS_Init ************
// initialize operating system, disable interrupts until OS_Launch
// initialize OS controlled I/O: serial, ADC, systick, select switch and timer2
// input: none
// output: none
void OS_Init(void){
DisableInterrupts();
RUNPT=0;
// Enable processor interrupts.
//
//IntMasterEnable();
TIMELORD=0; //initialize the system counter for use with thingies (no shit)
SDEBOUNCEPREV = 0;
btndown_time = 0;
SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN | SYSCTL_XTAL_8MHZ); //Init System Clock
//Systick Init (Thread Scheduler)
//taken care of in OS_Launch
// Timers galore!
SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0);
TimerConfigure(TIMER0_BASE, (TIMER_CFG_16_BIT_PAIR | TIMER_CFG_A_PERIODIC | TIMER_CFG_B_PERIODIC));
TimerControlTrigger(TIMER0_BASE, TIMER_A, true); // TIMELORD Updater
TimerControlTrigger(TIMER0_BASE, TIMER_B, true); // ADC_Collect Timer
TimerLoadSet(TIMER0_BASE, TIMER_A, SysCtlClockGet()/1000);
TimerIntEnable(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
TimerIntEnable(TIMER0_BASE, TIMER_TIMB_TIMEOUT);
IntEnable(INT_TIMER0A);
SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER1);
TimerConfigure(TIMER1_BASE, TIMER_CFG_16_BIT_PAIR | TIMER_CFG_A_PERIODIC | TIMER_CFG_B_PERIODIC);
TimerControlTrigger(TIMER1_BASE, TIMER_A, true); // Periodic Timer 1
TimerControlTrigger(TIMER1_BASE, TIMER_B, true); // Periodic Timer 2
TimerIntEnable(TIMER1_BASE, TIMER_TIMA_TIMEOUT);
TimerIntEnable(TIMER1_BASE, TIMER_TIMB_TIMEOUT);
SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER2);
TimerConfigure(TIMER2_BASE, TIMER_CFG_16_BIT_PAIR | TIMER_CFG_A_PERIODIC | TIMER_CFG_B_PERIODIC);
TimerControlTrigger(TIMER2_BASE, TIMER_A, true); // Periodic Timer 3
TimerControlTrigger(TIMER2_BASE, TIMER_B, true); // Periodic Timer 4
TimerIntEnable(TIMER2_BASE, TIMER_TIMA_TIMEOUT);
TimerIntEnable(TIMER2_BASE, TIMER_TIMB_TIMEOUT);
// Init ADC Stuff
SysCtlPeripheralEnable(SYSCTL_PERIPH_ADC0);
SysCtlADCSpeedSet(SYSCTL_ADCSPEED_1MSPS);
// Init Debugging LED
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_0);
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_0, GPIO_PIN_0);
//Semaphores, OS Stuff
OS_InitSemaphore(&oled_free,1);
OS_InitSemaphore(&OSMailBoxSema4,0);
OS_MailBox_Init();
//UART & OLED
UARTInit();
RIT128x96x4Init(1000000); //Init OLED
//RIT128x96x4StringDraw("Hello World", 0, 12, 15);
//ADC
ADC_Init(); // Init ADC to run @ 1KHz
//Eval Buttons
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
GPIOPinTypeGPIOInput(GPIO_PORTE_BASE, GPIO_PIN_1);
GPIOPadConfigSet(GPIO_PORTE_BASE, GPIO_PIN_1, GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPU);
GPIOIntTypeSet(GPIO_PORTE_BASE, GPIO_PIN_1, GPIO_FALLING_EDGE);
GPIOPinIntClear(GPIO_PORTE_BASE, GPIO_PIN_1);
GPIOPinIntEnable(GPIO_PORTE_BASE, GPIO_PIN_1);
IntEnable(INT_GPIOE);
//SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
GPIOPinTypeGPIOInput(GPIO_PORTF_BASE, GPIO_PIN_1);
GPIOPadConfigSet(GPIO_PORTF_BASE, GPIO_PIN_1, GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPU);
GPIOIntTypeSet(GPIO_PORTF_BASE, GPIO_PIN_1, GPIO_FALLING_EDGE);
GPIOPinIntClear(GPIO_PORTF_BASE, GPIO_PIN_1);
GPIOPinIntEnable(GPIO_PORTF_BASE, GPIO_PIN_1);
IntEnable(INT_GPIOF);
/* This works for now, but Stellarisware Function owuld be nice */
/*SYSCTL_RCGC2_R |= 0x00000020; // (a) activate port F
// delay = SYSCTL_RCGC2_R; //delay, cause i said so
GPIO_PORTF_DIR_R &= ~0x02; // (c) make PF1 in
GPIO_PORTF_DEN_R |= 0x02; // enable digital I/O on PF1
GPIO_PORTF_IS_R &= ~0x02; // (d) PF1 is edge-sensitive
GPIO_PORTF_IBE_R &= ~0x02; // PF1 is not both edges
GPIO_PORTF_IEV_R &= ~0x02; // PF1 falling edge event
GPIO_PORTF_ICR_R = 0x02; // (e) clear flag4
GPIO_PORTF_IM_R |= 0x02; // (f) arm interrupt on PF1
NVIC_PRI7_R = (NVIC_PRI7_R&0xFF00FFFF)|(0<<21); // (g) priority (shifted into place) (will get set in OS_AddButtonTask)
NVIC_EN0_R |= 0x40000000; // (h) enable interrupt 2 in NVIC
//dont enable interrupts
GPIO_PORTF_PUR_R |= 0x02; //add pull up resistor, just for shits and giggles
*/
}
// ******** OS_Init ************
// initialize operating system, disable interrupts until OS_Launch
// initialize OS controlled I/O: serial, ADC, systick, select switch and timer2
// input: none
// output: none
void OS_Init(void){
DisableInterrupts();
RUNPT=0;
JitterInit();
deleteme=0;
// Enable processor interrupts.
//
//IntMasterEnable();
TIMELORD=0; //initialize the system counter for use with thingies (no shit)
NUMBLOCKEDTHREADS=0;
TOTALNUMTHREADS=0;
SDEBOUNCEPREV = 0;
btndown_time = 0;
SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN | SYSCTL_XTAL_8MHZ); //Init System Clock
//Systick Init (Thread Scheduler)
//taken care of in OS_Launch
// Timers galore!
SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0);
TimerConfigure(TIMER0_BASE, (TIMER_CFG_16_BIT_PAIR | TIMER_CFG_A_PERIODIC | TIMER_CFG_B_PERIODIC));
//TimerControlTrigger(TIMER0_BASE, TIMER_A, false); // TIMELORD Updater
//TimerControlTrigger(TIMER0_BASE, TIMER_B, true); // ADC_Collect Timer
TimerLoadSet(TIMER0_BASE, TIMER_A, SysCtlClockGet()/1000);
TimerIntEnable(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
TimerIntEnable(TIMER0_BASE, TIMER_TIMB_TIMEOUT);
TimerEnable(TIMER0_BASE, TIMER_BOTH);
IntEnable(INT_TIMER0A);
SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER1);
TimerConfigure(TIMER1_BASE, TIMER_CFG_16_BIT_PAIR | TIMER_CFG_A_PERIODIC | TIMER_CFG_B_PERIODIC);
TimerControlTrigger(TIMER1_BASE, TIMER_A, true); // Periodic Timer 1
TimerControlTrigger(TIMER1_BASE, TIMER_B, true); // Periodic Timer 2
TimerIntEnable(TIMER1_BASE, TIMER_TIMA_TIMEOUT);
TimerIntEnable(TIMER1_BASE, TIMER_TIMB_TIMEOUT);
SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER2);
TimerConfigure(TIMER2_BASE, TIMER_CFG_16_BIT_PAIR | TIMER_CFG_A_PERIODIC | TIMER_CFG_B_PERIODIC);
TimerControlTrigger(TIMER2_BASE, TIMER_A, true); // Periodic Timer 3
TimerControlTrigger(TIMER2_BASE, TIMER_B, true); // Periodic Timer 4
TimerIntEnable(TIMER2_BASE, TIMER_TIMA_TIMEOUT);
TimerIntEnable(TIMER2_BASE, TIMER_TIMB_TIMEOUT);
// Init ADC Stuff
SysCtlPeripheralEnable(SYSCTL_PERIPH_ADC0);
SysCtlADCSpeedSet(SYSCTL_ADCSPEED_1MSPS);
// Init Debugging LED
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_0);
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_0, GPIO_PIN_0);
//Semaphores, OS Stuff
OS_InitSemaphore(&oled_free,1);
OS_InitSemaphore(&OSMailBoxSema4,0);
OS_MailBox_Init();
//UART & OLED
UARTInit();
RIT128x96x4Init(1000000); //Init OLED
//RIT128x96x4StringDraw("Hello World", 0, 12, 15);
//ADC
ADC_Init(); // Init ADC to run @ 1KHz
//Select Switch (button press) Init (select switch is PF1) (pulled from page 67 of the book and modified for PF1...i think)
//SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
/*GPIOPinTypeGPIOInput(GPIO_PORTF_BASE, GPIO_PIN_1);
IntEnable(INT_GPIOF);
//IntPrioritySet(INT_GPIOF, 0x00);
GPIOIntTypeSet(GPIO_PORTF_BASE, GPIO_PIN_1, GPIO_BOTH_EDGES);
GPIOPinIntEnable(GPIO_PORTF_BASE, GPIO_PIN_1);*/
//NVIC_EN0_R |= 0x40000000; // (h) enable interrupt 2 in NVIC (Not sure what Stellarisware function replaces this)
/* This works for now, but Stellarisware Function owuld be nice */
SYSCTL_RCGC2_R |= 0x00000020; // (a) activate port F
// delay = SYSCTL_RCGC2_R; //delay, cause i said so
GPIO_PORTF_DIR_R &= ~0x02; // (c) make PF1 in
GPIO_PORTF_DEN_R |= 0x02; // enable digital I/O on PF1
GPIO_PORTF_IS_R &= ~0x02; // (d) PF1 is edge-sensitive
GPIO_PORTF_IBE_R &= ~0x02; // PF1 is not both edges
GPIO_PORTF_IEV_R &= ~0x02; // PF1 falling edge event
GPIO_PORTF_ICR_R = 0x02; // (e) clear flag4
GPIO_PORTF_IM_R |= 0x02; // (f) arm interrupt on PF1
NVIC_PRI7_R = (NVIC_PRI7_R&0xFF00FFFF)|(0<<21); // (g) priority (shifted into place) (will get set in OS_AddButtonTask)
NVIC_EN0_R |= 0x40000000; // (h) enable interrupt 2 in NVIC
//dont enable interrupts
GPIO_PORTF_PUR_R |= 0x02; //add pull up resistor, just for shits and giggles
/* SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF); // Enable GPIOF
GPIOPinTypeGPIOInput(GPIO_PORTF_BASE, GPIO_PIN_1); // make Pin 1 an Input
GPIOPinRead(GPIO_PORTF_BASE, GPIO_PIN_1); //
*/
//TODO: i have no f*****g clue what to do here...
return;
}
