extern int board_init (void)
{
#ifdef CONFIG_STM_ASC_SERIAL
configSerial ();
#endif /* CONFIG_STM_ASC_SERIAL */
return 0;
}
int main( void )
{
// configure the system
SystemInit();
configRedLed();
servos_Init();
mems_Init();
// configure the general UART
configSerial();
// configure the mux select line
muxControlInit();
// configure the analog sensors
analogSensorsInit();
// create the LED task
if(xTaskCreate(vLedTask, (signed portCHAR*) "LED",128,NULL, 1, &taskHandles[0]) != pdPASS)
{
//TODO: the task was not created, do something
}
// create the serialPort task
if(xTaskCreate(vSerialTask, (signed portCHAR*) "SERIAL",1024,NULL, 1, &taskHandles[1]) != pdPASS)
{
//TODO: the task was not created, do something
}
// create the MUX task
if(xTaskCreate(vMuxTask, (signed portCHAR*) "LED",128,NULL, 1, &taskHandles[2]) != pdPASS)
{
//TODO: the task was not created, do something
}
// create the demo task
if(xTaskCreate(vDemoTask, (signed portCHAR*) "DEMO",1024,NULL, 1, &taskHandles[2]) != pdPASS)
{
}
taskHandles[4] = 0; //TODO: will need to change when we know how many tasks there will be
// enable the interrupts
portENABLE_INTERRUPTS();
// start the scheduler
vTaskStartScheduler();
// will only get here if there was insufficient memory to create the idle
// task. The idle task is created within vTaskStartScheduler().
for( ;; );
return 0; // never gets here
}
void *serialTask(void *params)
{
int fd, i;
struct termios oldtio, newtio;
int readCnt;
char buffer[BUFFER_LENGTH];
char temp[BUFFER_LENGTH];
fd = open(SERIAL_PORT, O_RDWR | O_NOCTTY | O_NDELAY);
if (fd <0)
{
printf("CubieCam/serialThread : Cannot Open %s\n", SERIAL_PORT);
return 0;
}
tcgetattr(fd,&oldtio);
memset(&newtio, 0x00, sizeof(newtio));
configSerial(&newtio);
tcflush(fd,TCIFLUSH);
tcsetattr(fd,TCSANOW,&newtio);
printf("CubieCam/serialTask : Serial Port Opened\n");
while(1)
{
readCnt = read(fd, buffer, BUFFER_LENGTH);
if(buffer[0] == STX)
{
i = 1;
while(buffer[i]!=ETX)
{
temp[i-1] = buffer[i];
i++;
}
}
if(port > 0 && readCnt > 10)
{
sendMessage(temp);
}
usleep(200000);
}
tcsetattr(fd,TCSANOW,&oldtio);
close(fd);
return 0;
}
extern int board_init (void)
{
#ifdef CONFIG_STM_ASC_SERIAL
configSerial ();
#endif /* CONFIG_STM_ASC_SERIAL */
#ifdef CONFIG_DRIVER_NET_STM_GMAC
fli7510_configure_ethernet (fli7510_ethernet_mii, 0, 0);
#endif /* CONFIG_DRIVER_NET_STM_GMAC */
#if defined(CONFIG_SOFT_I2C)
/* Configuration for the I2C bus */
configI2c();
#endif /* CONFIG_SOFT_I2C */
return 0;
}
bool
Babuino::withConfig()
{
//Serial.println("withConfig()");
_regs.pc = _storage.readByte(_regs.pc, _regs.opCode);
switch (_regs.opCode)
{
case OP_CONFIG_AIN:
//Serial.println("config.ain");
return true;
case OP_CONFIG_AOUT:
//Serial.println("config.aout");
return true;
case OP_CONFIG_DIN:
//Serial.println("config.din");
setPinDirections(INPUT);
return true;
case OP_CONFIG_DOUT:
//Serial.println("config.dout");
setPinDirections(OUTPUT);
return true;
case OP_CONFIG_SERIAL:
//Serial.println("config.serial");
configSerial();
return true;
case OP_CONFIG_SEND:
//Serial.println("config.send");
return true;
}
return false;
}
