//static PT_THREAD(protothread_I2C(struct pt *pt)){
// PT_BEGIN(pt);
// while(1){
//
// PT_YIELD_TIME_msec(500);
// }
// PT_END(pt);
//}
static PT_THREAD(protothread_uart(struct pt *pt)) {
// this thread interacts with the PC keyboard to take user input and set up PID parameters
PT_BEGIN(pt);
// send the prompt via DMA to serial
sprintf(PT_send_buffer, "%s", "cmd>");
// by spawning a print thread
PT_SPAWN(pt, &pt_DMA_output, PT_DMA_PutSerialBuffer(&pt_DMA_output));//send date and time
while (1) {
buffer[0] = RcvIMUData(BNO055_QUATERNION_DATA_W_LSB_ADDR);
buffer[1] = RcvIMUData(BNO055_QUATERNION_DATA_X_LSB_ADDR);
buffer[2] = RcvIMUData(BNO055_QUATERNION_DATA_Y_LSB_ADDR);
buffer[3] = RcvIMUData(BNO055_QUATERNION_DATA_Z_LSB_ADDR);
// temp = RcvIMUData(BNO055_ACCEL_DATA_X_LSB_ADDR);
sprintf(PT_send_buffer, "%s %s%d, %s%d, %s%d, %s%d%s", "Accelerometer value: " , "W: ", buffer[0], "X: "
, buffer[1], "Y: ", buffer[2], "Z: ", buffer[3],"\n\r");
// sprintf(PT_send_buffer, "%s %s%d, %s%d, %s%d%s", "Accelerometer value: " , "W: ", buffer[0], "X: "
// , buffer[1], "Y: ", buffer[2],"\n\r");
// by spawning a print thread
PT_SPAWN(pt, &pt_DMA_output, PT_DMA_PutSerialBuffer(&pt_DMA_output));//send date and time
// //spawn a thread to handle terminal input
// // the input thread waits for input
// // -- BUT does NOT block other threads
// // string is returned in "PT_term_buffer"
// PT_SPAWN(pt, &pt_input, PT_GetSerialBuffer(&pt_input));//wait for input
// sscanf(PT_term_buffer, "%s %f", cmd, &value);
//
// // echo
// sprintf(PT_send_buffer,"%04x%s", rcv, "\n");//send original message
// PT_SPAWN(pt, &pt_DMA_output, PT_DMA_PutSerialBuffer(&pt_DMA_output) );
// sprintf(PT_send_buffer,"\n");//next line
// PT_SPAWN(pt, &pt_DMA_output, PT_DMA_PutSerialBuffer(&pt_DMA_output) );
// sprintf(PT_send_buffer,"\r");//carriage return
// PT_SPAWN(pt, &pt_DMA_output, PT_DMA_PutSerialBuffer(&pt_DMA_output) );
PT_YIELD_TIME_msec(500);
} // while(1)
PT_END(pt);
} // uart input thread
//static PT_THREAD(protothread_I2C(struct pt *pt)){
// PT_BEGIN(pt);
// while(1){
//
// PT_YIELD_TIME_msec(500);
// }
// PT_END(pt);
//}
static PT_THREAD(protothread_uart(struct pt *pt)) {
// this thread interacts with the PC keyboard to take user input and set up PID parameters
PT_BEGIN(pt);
// send the prompt via DMA to serial
sprintf(PT_send_buffer, "%s", "cmd>");
// by spawning a print thread
PT_SPAWN(pt, &pt_DMA_output, PT_DMA_PutSerialBuffer(&pt_DMA_output));//send date and time
while (1) {
temp = RcvData2(addr);
sprintf(PT_send_buffer, "%s%d%s", "Temperature value: " ,temp, "\n\r");
// by spawning a print thread
PT_SPAWN(pt, &pt_DMA_output, PT_DMA_PutSerialBuffer(&pt_DMA_output));//send date and time
// //spawn a thread to handle terminal input
// // the input thread waits for input
// // -- BUT does NOT block other threads
// // string is returned in "PT_term_buffer"
// PT_SPAWN(pt, &pt_input, PT_GetSerialBuffer(&pt_input));//wait for input
// sscanf(PT_term_buffer, "%s %f", cmd, &value);
//
// // echo
// sprintf(PT_send_buffer,"%04x%s", rcv, "\n");//send original message
// PT_SPAWN(pt, &pt_DMA_output, PT_DMA_PutSerialBuffer(&pt_DMA_output) );
// sprintf(PT_send_buffer,"\n");//next line
// PT_SPAWN(pt, &pt_DMA_output, PT_DMA_PutSerialBuffer(&pt_DMA_output) );
// sprintf(PT_send_buffer,"\r");//carriage return
// PT_SPAWN(pt, &pt_DMA_output, PT_DMA_PutSerialBuffer(&pt_DMA_output) );
PT_YIELD_TIME_msec(500);
} // while(1)
PT_END(pt);
} // uart input thread
static PT_THREAD (protothread3(struct pt *pt))
{
PT_BEGIN(pt);
while(1) {
// send the prompt via DMA to serial
sprintf(PT_send_buffer,"cmd>");
// by spawning a print thread
PT_SPAWN(pt, &pt_DMA_output, PT_DMA_PutSerialBuffer(&pt_DMA_output) );
//spawn a thread to handle terminal input
// the input thread waits for input
// -- BUT does NOT block other threads
// string is returned in "PT_term_buffer"
PT_SPAWN(pt, &pt_input, PT_GetSerialBuffer(&pt_input) );
// returns when the thead dies
// in this case, when <enter> is pushed
// now parse the string
sscanf(PT_term_buffer, "%s %d", cmd, &value);
if (cmd[0]=='t' && cmd[1]=='1') { wait_t1 = value ;} // set the blink time MILLIsec
if (cmd[0]=='t' && cmd[1]=='4') { wait_t2 = value ;} // set the blink time MICROsec
if (cmd[0] == 'g' && cmd[1]=='1') {cntl_blink = 1 ;} // make it blink using YIELD
if (cmd[0] == 's' && cmd[1]=='1') {cntl_blink = 0 ;} // make it stop
if (cmd[0] == 'g' && cmd[1]=='4') {run_t4 = 1 ;} // make it blink using scheduler
if (cmd[0] == 's' && cmd[1]=='4') {run_t4 = 0 ;} // make it stop using scheduler
if (cmd[0] == 'k') {PT_EXIT(pt);} // kill this input thread (see also MAIN)
// scheduler control
if (cmd[0] == 'p' && cmd[1]=='1') { t1_rate = value ;}
if (cmd[0] == 'p' && cmd[1]=='3') { t3_rate = value ;}
if (cmd[0] == 'p' && cmd[1]=='4') { t4_rate = value ;}
if (cmd[0] == 'z') printf("%d\t%d\n\r", PT_GET_TIME(), sys_time_seconds);
// never exit while
} // END WHILE(1)
PT_END(pt);
} // thread 3
static PT_THREAD (protothread_cmd(struct pt *pt))
{
PT_BEGIN(pt);
while(1) {
// send the prompt via DMA to serial
sprintf(PT_send_buffer,"cmd>");
// by spawning a print thread
PT_SPAWN(pt, &pt_DMA_output, PT_DMA_PutSerialBuffer(&pt_DMA_output) );
//spawn a thread to handle terminal input
// the input thread waits for input
// -- BUT does NOT block other threads
// string is returned in "PT_term_buffer"
PT_SPAWN(pt, &pt_input, PT_GetSerialBuffer(&pt_input) );
// returns when the thread dies
// in this case, when <enter> is pushed
// now parse the string
sscanf(PT_term_buffer, "%s %d", cmd, &value);
if (cmd[0]=='d' ) {
//set mux to DSP chip
mPORTAClearBits(BIT_4);
mPORTBClearBits(BIT_13);
mPORTASetBits(BIT_4);
mPORTBClearBits(BIT_3 | BIT_7 | BIT_8 | BIT_9);
if(((value << 6) & (0x0040))){
mPORTBSetBits(BIT_3);
}
//select sound effect
mPORTBSetBits(value << 6);
}
if (cmd[0] == 's'){ //distortion
//set mux to Distortion
mPORTAClearBits(BIT_4);
mPORTBClearBits(BIT_13);
}
if (cmd[0] == 'n'){ //normal: only tone stack
//set mux to channel 0
mPORTAClearBits(BIT_4);
mPORTBClearBits(BIT_13);
mPORTBSetBits(BIT_13);
}
//pots
if (cmd[0] == 't'){ //treble
// CS low to start transaction
mPORTBClearBits(BIT_4); // start transaction
deliverSPICh1Datum(value);
// CS high
mPORTBSetBits(BIT_4); // end transaction
}
if (cmd[0] == 'b'){ //bass
// CS low to start transaction
mPORTAClearBits(BIT_0); // start transaction
deliverSPICh1Datum(value);
// CS high
mPORTASetBits(BIT_0); // end transaction
}
if (cmd[0] == 'v'){ //level
// CS low to start transaction
mPORTAClearBits(BIT_2); // start transaction
deliverSPICh1Datum(value);
// CS high
mPORTASetBits(BIT_2); // end transaction
}
if (cmd[0] == 'm'){ //mid
// CS low to start transaction
mPORTAClearBits(BIT_3); // start transaction
deliverSPICh1Datum(value);
// CS high
mPORTASetBits(BIT_3); // end transaction
}
// never exit while
} // END WHILE(1)
PT_END(pt);
} // thread 3
