int main()
{
PINSEL0 = 0x00000000; // Reset all pins as GPIO
PINSEL1 = 0x00000000;
PINSEL2 = 0x00000000;
Init_Peripherals();
UART0_SendStr("\t\tMailBox using Task Notification\n");
xTaskCreate(vn1,"Notifier", 300 ,NULL, tskIDLE_PRIORITY + 1, NULL);//Task Creation
xTaskCreate(vn2,"Notifier", 300 ,NULL, tskIDLE_PRIORITY + 1, NULL);//Task Creation
xTaskCreate(vn3,"Notifier", 300 ,NULL, tskIDLE_PRIORITY + 1, NULL);//Task Creation
xTaskCreate(vn4,"Notifier", 300 ,NULL, tskIDLE_PRIORITY + 1, NULL);//Task Creation
xTaskCreate(vnoticer,"Noticer", 300 ,NULL, tskIDLE_PRIORITY + 1, NULL);//Task Creation
vTaskStartScheduler(); //Task Scheduling
while(1)//Never reaches this Part of the main
{
UART0_SendStr("\t\tMailBox Bypassed\n");
}
}
int main()
{
PINSEL0 = 0x00000000; // Reset all pins as GPIO
PINSEL1 = 0x00000000;
PINSEL2 = 0x00000000;
Init_Peripherals();
UART0_SendStr("\t\tCounting Semaphore\n");
xSemaphore = xSemaphoreCreateCounting( 5, 5 );
if( xSemaphore != NULL )
{ UART0_SendStr("\tSemaphore Created\n");
xTaskCreate(vfork,"Philospher 1", 300 ,"P1", tskIDLE_PRIORITY + 1, NULL);//Task Creation
xTaskCreate(vfork,"Philospher 2", 300 ,"P2", tskIDLE_PRIORITY + 1, NULL);//Task Creation
xTaskCreate(vfork,"Philospher 3", 300 ,"P3", tskIDLE_PRIORITY + 1, NULL);//Task Creation
xTaskCreate(vfork,"Philospher 4", 300 ,"P4", tskIDLE_PRIORITY + 1, NULL);//Task Creation
xTaskCreate(vfork,"Philospher 5", 300 ,"P5", tskIDLE_PRIORITY + 1, NULL);//Task Creation
vTaskStartScheduler(); //Task Scheduling
}
while(1)//Never reaches this Part of the main
{UART0_SendStr("\t\tSemaphore not Created\n"); }
}
void vnoticer( void * pvParameters )
{
uint32_t ulNotifiedValue=0x01;
while(1)
{
if( xTaskNotifyWait( 0x00,0xffff,&ulNotifiedValue,1000 )==pdTRUE)
{
if( ( ulNotifiedValue | 0x01 ) == 0x01 ) //checking if the received message is same as the sent
{ UART0_SendStr("Received MSG from N1 \n"); }
else if( ( ulNotifiedValue | 0x02 ) == 0x02 )
{ UART0_SendStr("Received MSG from N2\n"); }
else if( ( ulNotifiedValue | 0x03 ) == 0x03 )
{ UART0_SendStr("Received MSG from N3\n"); }
else if( ( ulNotifiedValue | 0x04 ) == 0x04 )
{ UART0_SendStr("Received MSG from N4\n"); }
else
{ UART0_SendStr("Learn Programming !\n");}
}
else
{ UART0_SendStr("No Notice\n"); }
}
}
void vn4( void * pvParameters )
{
xHandle = xTaskGetHandle( "Noticer" );
while(1)
{
vTaskDelay(7000);
UART0_SendStr("N4 sent a MSG\n");
xTaskNotify(xHandle, 0x04, eSetBits);
}
}
void vn2( void * pvParameters )
{
xHandle = xTaskGetHandle( "Noticer" );
while(1)
{
vTaskDelay(5000);
UART0_SendStr("N2 sent a Message\n");
xTaskNotify(xHandle, 0x02, eSetBits);
}
}
void vfork( void * pvParameters )
{
int i; //For ith Fork
const unsigned char* str; //Pointer for the passed Parameter
str = ( const unsigned char * ) pvParameters;
//Assignment of forks available on the basis of name of Philospher
if(str[1]=='1')
{i=0;}
if(str[1]=='2')
{i=1;}
if(str[1]=='3')
{i=2;}
if(str[1]=='4')
{i=3;}
if(str[1]=='5')
{i=4;}
while(1)
{
//Waits for 1000 ticks for forks to be avaliable
//If available checks if the fork is adjacent(Right) or not
if(( xSemaphoreTake( xSemaphore, 1000 ) == pdTRUE )&&(forks_avail[i]==0)) {
forks_avail[i]=1;
UART0_SendStr(&str[0]);
UART0_SendStr(":Right fork obtained\n");
if(( xSemaphoreTake( xSemaphore, 2000 ) == pdTRUE )&&(forks_avail[(i+1)%5]==0))
{ //Waits for 2000 ticcks for Left fork to be available
forks_avail[(i+1)%5]=1;
UART0_SendStr(&str[0]);
UART0_SendStr(":Left fork obtained Eating :)\n");
vTaskDelay(2000);
UART0_SendStr(&str[0]);
UART0_SendStr(":Ate \n");
xSemaphoreGive(xSemaphore);
xSemaphoreGive(xSemaphore);
forks_avail[i]=0;
forks_avail[(i+1)%5]=0;
UART0_SendStr(&str[0]);
UART0_SendStr(":Thinking \n");
vTaskDelay(3000);
}
else
{
UART0_SendStr(&str[0]);
UART0_SendStr(":Returned Right fork:( \n");
xSemaphoreGive(xSemaphore);
forks_avail[i]=0;
}
}
else
{
UART0_SendStr(&str[0]);
UART0_SendStr(":Hungry\n");
vTaskDelay(3000);
}
}
}
/* description: Initialize the motor,the motor can work in three diffrient mode
posiotion,velocity,torque.this one is initialed to torque,modify
the code if needed
// function: void motor_init(void)
// @param:
//return value:
*/
void motor_init(void)
{
static char message[32];
uint8 err;
sprintf(message, "velocity started:\r\n");
UART0_SendStr (message);
//get initial position step:0
uint32 pos;
err=GetPosition(&pos);
if(err){showerr(err,0);}
else{
sprintf(message, "initial pos: %4d\r\n",pos);
UART0_SendStr (message);
}
// set homing mode step:1
err=SetHomeMode(1);
if(err){showerr(err,1);}
// set homing method step:2
// here the mean of homing is that
// to use the current position as homing position
err=Dnld8(OBJID_HOME_METHOD, 0, (uint8)35,2);
if(err){showerr(err,2);}
// shutdown step:3
err=Dnld16(OBJID_CONTROL, 0, (uint16)0x06,3);
if(err){showerr(err,3);}
//wait at least 3ms to avoid the Priority inversion
sysDelayNS(3);
// switch on step:4
err=Dnld16(OBJID_CONTROL, 0, (uint16)0x07,4);
if(err){showerr(err,4);}
// enable operation step:5
err=Dnld16(OBJID_CONTROL, 0, (uint16)0x0f,5);
if(err){showerr(err,5);}
// start home mode step:6
err=Dnld16(OBJID_CONTROL, 0, (uint16)0x1f,6);
if(err){showerr(err,6);}
// home mode active step:7
err=Dnld16(OBJID_CONTROL, 0, (uint16)0x1f,7);
if(err){showerr(err,7);}
sysDelayNS(10);
//get current position step:8
err=GetPosition(&pos);
if(err){showerr(err,8);}
else{
sprintf(message, "current pos: %4d\r\n",pos);
UART0_SendStr (message);
}
//===================================
// set position mode step:9
err=SetPositionMode(1);
if(err){showerr(err,9);}
// shutdown step:10
err=Dnld16(OBJID_CONTROL, 0, (uint16)0x06,2);
if(err){showerr(err,10);}
// switch on step:11
err=Dnld16(OBJID_CONTROL, 0, (uint16)0x07,3);
if(err){showerr(err,11);}
//wait at least 3ms to avoid the Priority inversion
sysDelayNS(3);
// enable operation step:12
err=Dnld16(OBJID_CONTROL, 0, (uint16)0x0f,4);
if(err){showerr(err,12);}
// while(1){;} //just for debug
}
static void showerr(uint8 err,uint8 step)
{ static char Err_message[32];
sprintf(Err_message, "step:%2d err:%2d\r\n",step,err);
UART0_SendStr (Err_message);
}