/*
*********************************************************************************************************
* STARTUP TASK
*
* Description : This is an example of a startup task. As mentioned in the book's text, you MUST
* initialize the ticker only once multitasking has started.
*
* Arguments : p_arg is the argument passed to 'AppTaskStart()' by 'OSTaskCreate()'.
*
* Returns : none
*
* Notes : 1) The first line of code is used to prevent a compiler warning because 'p_arg' is not
* used. The compiler should not generate any code for this statement.
*********************************************************************************************************
*/
static void AppTaskStart (void *p_arg)
{
OS_ERR err;
(void)p_arg;
BSP_Init(); /* Initialize BSP functions */
BSP_Tick_Init(); /* Initialize Tick Services. */
App_OS_SetAllHooks();
MEM_Init();
DR_Init();
#if OS_CFG_STAT_TASK_EN > 0u
OSStatTaskCPUUsageInit(&err); /* Compute CPU capacity with no task running */
#endif
#ifdef CPU_CFG_INT_DIS_MEAS_EN
CPU_IntDisMeasMaxCurReset();
#endif
DR_LED_Off(0u); /* Turn Off LEDs after initialization */
APP_TRACE_DBG(("Creating Application Kernel Objects\n\r"));
AppObjCreate(); /* Create Applicaiton kernel objects */
APP_TRACE_DBG(("Creating Application Tasks\n\r"));
AppDataAcqCreate(); /* Create Application tasks */
while (DEF_TRUE) { /* Task body, always written as an infinite loop. */
DR_LED_On(1u);
OSTimeDlyHMSM(0u, 0u, 0u, 10u,
OS_OPT_TIME_HMSM_STRICT,
&err);
DR_LED_Off(1u);
OSTimeDlyHMSM(0u, 0u, 1u, 0u,
OS_OPT_TIME_HMSM_STRICT,
&err);
}
}
static void AppTaskStart (void *p_arg)
{
OS_ERR err;
(void)p_arg;
BSP_Init(); /* Initialize BSP functions */
CPU_Init(); /* Initialize uC/CPU services */
#if OS_CFG_STAT_TASK_EN > 0u
OSStatTaskCPUUsageInit(&err); /* Compute CPU capacity with no task running */
#endif
APP_TRACE_DBG(("uCOS-II is Running...\n\r"));
while (DEF_ON) { /* Task body, always written as an infinite loop. */
OSTimeDlyHMSM(0, 0, 1, 0);
APP_TRACE_DBG(("Time: %d\n\r", OSTimeGet(&err)));
}
}
static void AppTaskGreen (void *p_arg)
{
OS_ERR os_err;
CPU_TS ts;
(void)p_arg;
APP_TRACE_DBG(("listening on kgpiosw2, toggling green led...\n\r"));
while (DEF_TRUE) { /* Task body, always written as an infinite loop. */
OSSemPend(&MySem2,
0,
OS_OPT_PEND_BLOCKING,
&ts,
&os_err);
GPIO_DRV_TogglePinOutput(BOARD_GPIO_LED_GREEN);
}
}
static void AppTaskStart (void *p_arg)
{
OS_ERR err;
CPU_ERR cpu_err;
uint32_t value;
static uint32_t pulse_flag = 0;
CPU_TS64 before, after;
char tmp[80];
(void)p_arg;
CPU_Init();
Mem_Init();
Math_Init();
BSP_Ser_Init(115200u);
while (DEF_ON) {
GPIO_DRV_TogglePinOutput( outPTB23 );
value = GPIO_DRV_ReadPinInput( inPTB9 );
if( value ){
if(pulse_flag == 0)
before = CPU_TS_Get64(); // in cpu_cfg.h must set: #define CPU_CFG_TS_64_EN DEF_ENABLED
pulse_flag = 1;
GPIO_DRV_ClearPinOutput( BOARD_GPIO_LED_BLUE );
}
else{
GPIO_DRV_SetPinOutput( BOARD_GPIO_LED_BLUE );
if(pulse_flag == 1)
{
after = CPU_TS_Get64(); // see comment above
sprintf( tmp, "Elapsed time in Task R = %f s\n\r", (float)((1.0*(after-before))/CPU_TS_TmrFreqGet( &cpu_err )) );
APP_TRACE_DBG(( tmp ));
}
pulse_flag = 0;
}
OSTimeDlyHMSM(0u, 0u, 0u, 200u, OS_OPT_TIME_HMSM_STRICT, &err);
}
}
//Note: This routine do NOT support reentrance
//SPI simulation for FPGA control timing requirement
//31 bits control 31 mics on 4 rulers, 1- enable, 0- disable
//channels[7..0] : ruler0_mic[7..0]
//channels[15..8] : ruler1_mic[7..0]
//channels[23..16] : ruler2_mic[7..0]
//channels[31..24] : ruler3_mic[7..0]
void Init_FPGA( unsigned int channels )
{
unsigned int i ;
APP_TRACE_DBG(("\r\nInit FPGA...[0x%0X] \r\n",channels));
PIO_Set(&pinsGpios[20]); //cs
PIO_Set(&pinsGpios[21]); //data
PIO_Set(&pinsGpios[22]); //clock
for ( i = 0; i < 32; i++ ) {
PIO_Clear(&pinsGpios[20]); //cs, delay compensation
PIO_Clear(&pinsGpios[22]); //clock
if( (channels<<i) & 0x80000000 ) {
PIO_Set(&pinsGpios[21]); //data
} else {
PIO_Clear(&pinsGpios[21]); //data
}
PIO_Set(&pinsGpios[22]); //clock
}
PIO_Set(&pinsGpios[20]); //cs
}
/*
*********************************************************************************************************
* App_TaskNoah_Ruler()
*
* Description : Process Comminucation between Ruler module and Audio Bridge.
* Noah protocol layer related data parsing and processing.
* This task wait for message event from App_TaskUART_Rx(). Check if the Noah layer data is
* valid in the message.
*
* Argument(s) : p_arg Argument passed to 'App_TaskNoah_Ruler()' by 'OSTaskCreate()'.
*
* Return(s) : none.
*
* Note(s) : (1) The first line of code is used to prevent a compiler warning because 'p_arg' is not
* used. The compiler should not generate any code for this statement.
*********************************************************************************************************
*/
void App_TaskNoah_Ruler( void *p_arg )
{
(void)p_arg;
NOAH_CMD *pPcCmd ;
CPU_INT08U *pCmdBuf ;
CPU_INT08U rxID ;
CPU_INT08U PcCmdRxID_Ruler[4];
CPU_INT08U sum ;
CPU_INT08U SessionDone;
CPU_INT08U err ;
CPU_INT08U *pTaskMsgIN ;
CPU_INT08U *pMsg ;
pTaskMsgIN = NULL;
pMsg = NULL;
SessionDone = 0 ;
while( DEF_TRUE ) {
pTaskMsgIN = (INT8U *)OSQPend( EVENT_MsgQ_RulerUART2Noah, 0, &err );
if( pTaskMsgIN != NULL && OS_ERR_NONE == err ) {
pCmdBuf = pTaskMsgIN; // char point to the data buffer
pPcCmd = (NOAH_CMD *)pCmdBuf ; //change to NOAH_CMD type
rxID = GET_FRAME_ID( pPcCmd->head ) ; //get frame ID, index
sum = pPcCmd->checkSum; //get check sum data
LED_Toggle(LED_DS2);
APP_TRACE_DBG(("\r\n<<"));
switch( GET_FRAME_TYPE( pPcCmd->head ) ) {// GET_FRAME_TYPE(pPcCmd->head) get frame type
case FRAM_TYPE_DATA :
if( (sum == 0) || ( sum == CheckSum(0,pCmdBuf, pPcCmd->DataLen + 2)) ) {
// APP_TRACE_INFO(("R[%d]:[0x%2x>0x%2x][",Global_Ruler_Index,PcCmdRxID_Ruler[Global_Ruler_Index],rxID));
// for(unsigned int i = 0; i<pPcCmd->DataLen; i++){
// APP_TRACE_INFO((" %2X", *(unsigned char*)(pPcCmd->Data+i) ));
// }
// APP_TRACE_INFO((" ]\r\n"));
pcSendDateToBuf( EVENT_MsgQ_Noah2RulerUART, SET_FRAME_HEAD(rxID,FRAM_TYPE_ACK), NULL, 0, 0, NULL, 0 ) ; // ACK
if( (CPU_INT08U)(PcCmdRxID_Ruler[Global_Ruler_Index]+0x40) == rxID ) { // chweck if frameID repeat
PcCmdRxID_Ruler[Global_Ruler_Index] = rxID ; //save this frameID
err = Noah_CMD_Parse_Ruler( pPcCmd, &SessionDone); // jump to CMD parse
if( (err != OS_ERR_NONE) || (SessionDone == 1) ) {
SessionDone = 0;
Ruler_CMD_Result = err ;
OSTimeDly(2); //wait enough time for ACK to be sent
APP_TRACE_DBG((" Res[0x%2x]", Ruler_CMD_Result));
OSSemPost( Done_Sem_RulerUART );
}
} else {
APP_TRACE_DBG(("PcCmdRxID_Ruler[%d] Err: expect 0x%X, get 0x%X",Global_Ruler_Index,PcCmdRxID_Ruler[Global_Ruler_Index]+0x40,rxID));
}
} else {
pcSendDateToBuf( EVENT_MsgQ_Noah2RulerUART, SET_FRAME_HEAD(rxID,FRAM_TYPE_NAK), NULL, 0, 0, NULL, 0 ) ; // NAK
}
break ;
case FRAM_TYPE_ESTA :
PcCmdRxID_Ruler[Global_Ruler_Index] = 0xC0 ; // ? why 0x40: make sure there can be many same setup frame
PcCmdTxID_Ruler[Global_Ruler_Index] = 0x00 ; //
OSSemPost( ACK_Sem_RulerUART );
OSSemPost( Done_Sem_RulerUART ); //end the resend pending--
OSTimeDly(1); //wait for the TX buffer is empty
//Reset all UART CMD related buffer and release mem
do{ //reset mem used by EVENT_MsgQ_RulerUART2Noah
pMsg = (INT8U *)OSQAccept( EVENT_MsgQ_Noah2RulerUART, &err );
OSMemPut( pMEM_Part_MsgUART, pMsg );
} while ( pMsg != NULL && OS_ERR_NONE == err ) ;
do{ //reset mem used by EVENT_MsgQ_RulerUART2Noah
pMsg = (INT8U *)OSQAccept( EVENT_MsgQ_RulerUART2Noah, &err );
OSMemPut( pMEM_Part_MsgUART, pMsg );
} while ( pMsg != NULL && OS_ERR_NONE == err ) ;
Queue_Flush( pUART_Send_Buf[RULER_UART] ); //clear uart send&rec data queue
Queue_Flush( pUART_Rece_Buf[RULER_UART] );
SessionDone = 0; //init
OSSemSet( ACK_Sem_RulerUART, 0, &err ); // clear the sem
OSSemSet( Done_Sem_RulerUART, 0, &err );
test_counter4++;
APP_TRACE_DBG(("EST/ESTA"));
break ;
case FRAM_TYPE_ACK :
if( rxID == PcCmdTxID_Ruler[Global_Ruler_Index] ) {
OSSemPost( ACK_Sem_RulerUART );
test_counter2++;
} else {
APP_TRACE_INFO_T(("\r\nACK: Got %X, Expect %X\r\n",rxID,PcCmdTxID_Ruler[Global_Ruler_Index] ));
}
APP_TRACE_DBG(("ACK"));
test_counter3++;
break ;
case FRAM_TYPE_NAK :
// dismiss NAK, there will be a resend if no ACK got
// OSSemPost( Done_Sem_RulerUART );
test_counter1++;
APP_TRACE_DBG(("NAK"));
break;
default :
break ;
}
//release mem
OSMemPut( pMEM_Part_MsgUART, pTaskMsgIN );
}
////OSTimeDly(2); //use OSQPend(), no delay needed!!!
}
}
static void AppTaskStart (void *p_arg)
{
OS_ERR err;
CPU_INT32U r0;
CPU_INT32U r1;
CPU_INT32U r2;
CPU_INT32U r3;
CPU_INT32U r4;
CPU_INT32U r5;
CPU_INT32U r6;
CPU_INT32U r7;
CPU_INT32U r8;
CPU_INT32U r9;
CPU_INT32U r10;
CPU_INT32U r11;
CPU_INT32U r12;
(void)p_arg;
r0 = 0u; /* Initialize local variables. */
r1 = 1u;
r2 = 2u;
r3 = 3u;
r4 = 4u;
r5 = 5u;
r6 = 6u;
r7 = 7u;
r8 = 8u;
r9 = 9u;
r10 = 10u;
r11 = 11u;
r12 = 12u;
BSP_Init(); /* Initialize BSP functions */
CPU_Init(); /* Initialize the uC/CPU services */
#if OS_CFG_STAT_TASK_EN > 0u
OSStatTaskCPUUsageInit(&err); /* Compute CPU capacity with no task running */
#endif
#ifdef CPU_CFG_INT_DIS_MEAS_EN
CPU_IntDisMeasMaxCurReset();
#endif
#if (APP_CFG_SERIAL_EN == DEF_ENABLED)
App_SerialInit(); /* Initialize Serial Communication for Application ... */
#endif
APP_TRACE_DBG(("Creating Application kernel objects\n\r"));
AppObjCreate(); /* Create Applicaiton kernel objects */
APP_TRACE_DBG(("Creating Application Tasks\n\r"));
AppTaskCreate(); /* Create Application tasks */
BSP_LED_Off(0u);
while (DEF_TRUE) { /* Task body, always written as an infinite loop. */
BSP_LED_Toggle(0u);
OSTimeDlyHMSM(0u, 0u, 0u, 100u,
OS_OPT_TIME_HMSM_STRICT,
&err);
if ((r0 != 0u) || /* Check task context. */
(r1 != 1u) ||
(r2 != 2u) ||
(r3 != 3u) ||
(r4 != 4u) ||
(r5 != 5u) ||
(r6 != 6u) ||
(r7 != 7u) ||
(r8 != 8u) ||
(r9 != 9u) ||
(r10 != 10u) ||
(r11 != 11u) ||
(r12 != 12u)) {
APP_TRACE_INFO(("Context Error\n"));
}
}
}