void GPIOPortB_Handler(void) {
// handle port B0 interrupt
if ((GPIO_PORTB_MIS_R&0x01) == 0x01) {
GPIO_PORTB_ICR_R = 0x01;
// handle rising edge
if ((GPIO_PORTB_IEV_R&0x01) == 0x01) {
Sensor0StartTime = OS_Time();
GPIO_PORTB_IEV_R &= ~0x01; // switch to falling edge
} else { // handle falling edge
Sensor0Reading = OS_TimeDifference(Sensor0StartTime, OS_Time());
GPIO_PORTB_IM_R &= ~0x01; // disable PB0 interrupts
GPIO_PORTB_IEV_R |= 0x01; // switch to rising edge (for next time)
GPIO_PORTB_DIR_R |= 0x01; // make PB0 out (for next time)
OS_bSignal(&Sensor0DataAvailable);
}
}
// handle port B1 interrupt
if ((GPIO_PORTB_MIS_R&0x02) == 0x02) {
GPIO_PORTB_ICR_R = 0x02;
// handle rising edge
if ((GPIO_PORTB_IEV_R&0x02) == 0x02) {
Sensor1StartTime = OS_Time();
GPIO_PORTB_IEV_R &= ~0x02; // switch to falling edge
} else { // handle falling edge
Sensor1Reading = OS_TimeDifference(Sensor1StartTime, OS_Time());
GPIO_PORTB_IM_R &= ~0x02; // disable PB1 interrupts
GPIO_PORTB_IEV_R |= 0x02; // switch to rising edge (for next time)
GPIO_PORTB_DIR_R |= 0x02; // make PB1 out (for next time)
OS_bSignal(&Sensor1DataAvailable);
}
}
}
unsigned long Ping_GetDistance(int sensor) {
unsigned long time;
unsigned long distance = 0;
if (sensor == 0) {
OS_bWait(&Sensor0Free);
TriggerSensor0();
OS_bWait(&Sensor0DataAvailable);
time = Sensor0Reading;
distance = SPEED_OF_SOUND * time / (2 * TIME_1S) + PING_OFFSET;
OS_bSignal(&Sensor0Free);
} else if (sensor == 1) {
OS_bWait(&Sensor1Free);
TriggerSensor1();
OS_bWait(&Sensor1DataAvailable);
time = Sensor1Reading;
distance = SPEED_OF_SOUND * time / (2 * TIME_1S) + PING_OFFSET;
OS_bSignal(&Sensor1Free);
}
return distance;
}
//*****************************************************************************
//
//! \internal
//!
//! Write a sequence of data bytes to the SSD1329 controller.
//!
//! The data is written in a polled fashion; this function will not return
//! until the entire byte sequence has been written to the controller.
//!
//! \return None.
//
//*****************************************************************************
static void
RITWriteData(const unsigned char *pucBuffer, unsigned long ulCount)
{
OS_bWait(&oLEDFree);
//
// Return if SSI port is not enabled for RIT display.
//
if(!HWREGBITW(&g_ulSSIFlags, FLAG_SSI_ENABLED))
{
OS_bSignal(&oLEDFree);
return;
}
//
// See if command mode is enabled.
//
if(!HWREGBITW(&g_ulSSIFlags, FLAG_DC_HIGH))
{
//
// Wait until the SSI is not busy, meaning that all previous commands
// have been transmitted.
//
while(SSIBusy(SSI0_BASE))
{
}
//
// Set the command/control bit to enable data mode.
//
GPIOPinWrite(GPIO_OLEDDC_BASE, GPIO_OLEDDC_PIN, GPIO_OLEDDC_PIN);
HWREGBITW(&g_ulSSIFlags, FLAG_DC_HIGH) = 1;
}
//
// Loop while there are more bytes left to be transferred.
//
while(ulCount != 0)
{
//
// Write the next byte to the controller.
//
SSIDataPut(SSI0_BASE, *pucBuffer++);
//
// Decrement the BYTE counter.
//
ulCount--;
}
OS_bSignal(&oLEDFree);
}
//int count2 = 0;
void dummyTask2(void) {
// int i;
// unsigned long data;
// #if PROFILING == 1
// int myPin = 0x02;
// #endif
while(1) {
// OLED_Out(BOTTOM, "task 2 request");
OS_bWait(&binarySemaphore);
OLED_Out(BOTTOM, "task 2 acquired");
// for(i = 0; i < 100000; i++) {
// #if PROFILING == 1
// GPIO_PORTB_DATA_R ^= myPin;
// #endif
// }
OS_Sleep(1000);
OS_bSignal(&binarySemaphore);
OLED_Out(BOTTOM, "task 2 released");
OS_Sleep(1000);
// for(i = 0; i < 100000; i++) {
// #if PROFILING == 1
// GPIO_PORTB_DATA_R ^= myPin;
// #endif
// }
// data = OS_MailBox_Recv();
// OLED_Out(BOTTOM, "task 2 receive");
// OS_AddThread(&dummyTask1, 0, 1);
// OLED_Out(BOTTOM, "task 2 dead");
// OS_Kill();
// OS_Sleep(2000);
}
}
//int count1 = 0;
void dummyTask1(void) {
// int i;
// #if PROFILING == 1
// int myPin = 0x01;
// #endif
OS_InitSemaphore(&binarySemaphore, OS_BINARY_SEMAPHORE);
while(1) {
OS_bWait(&binarySemaphore);
OLED_Out(TOP, "task 1 acquired");
// for(i = 0; i < 100000; i++) {
// #if PROFILING == 1
// GPIO_PORTB_DATA_R ^= myPin;
// #endif
// }
OS_Sleep(1000);
OS_bSignal(&binarySemaphore);
OLED_Out(TOP, "task 1 released");
OS_Sleep(1000);
// for(i = 0; i < 100000; i++) {
// #if PROFILING == 1
// GPIO_PORTB_DATA_R ^= myPin;
// #endif
// }
// OLED_Out(TOP, "task 1 dead");
// OS_AddThread(&dummyTask2, 0 ,1);
// OS_Kill();
}
}
// ******** OS_Fifo_Size ************
// Check the status of the Fifo
// Inputs: none
// Outputs: returns the number of elements in the Fifo
// greater than zero if a call to OS_Fifo_Get will return right away
// zero or less than zero if the Fifo is empty
// zero or less than zero if a call to OS_Fifo_Get will spin or block
long OS_Fifo_Size(void)
{
OS_bWait(&mutex);
long toReturn = (OS_TxPutI-OS_TxGetI);
OS_bSignal(&mutex);
return toReturn;
}
// ******** OS_MailBox_Recv ************
// remove mail from the MailBox
// Inputs: none
// Outputs: data received
// This function will be called from a foreground thread
// It will spin/block if the MailBox is empty
unsigned long OS_MailBox_Recv(void)
{
unsigned long toReturn;
OS_bWait(&dataValid);
toReturn = dataInMailBox;
OS_bSignal(&mailBoxFree);
return toReturn;
}
// ******** OS_MailBox_Recv ************
// remove mail from the MailBox
// Inputs: none
// Outputs: data received
// This function will be called from a foreground thread
// It will spin/block if the MailBox is empty
unsigned long OS_MailBox_Recv(void) {
unsigned long mail;
OS_bWait(&DataValid);
mail = Mailbox;
OS_bSignal(&BoxFree);
return mail;
}
// if receive data is ready, gets the data and returns true
// if no receive data is ready, returns false
int CAN0_GetMailNonBlock(uint8_t data[8]){
OS_bWait(&CAN0ReceiveFree);
if(MailFlag){
data[0] = CAN0_Fifo_Get();
data[1] = CAN0_Fifo_Get();
data[2] = CAN0_Fifo_Get();
data[3] = CAN0_Fifo_Get();
data[4] = CAN0_Fifo_Get();
data[5] = CAN0_Fifo_Get();
data[6] = CAN0_Fifo_Get();
data[7] = CAN0_Fifo_Get();
MailFlag = false;
OS_bSignal(&CAN0ReceiveFree);
return true;
}
OS_bSignal(&CAN0ReceiveFree);
return false;
}
void BackgroundThread1d(void){ // called at 1000 Hz
static int i=0;
i++;
if(i==500){
i = 0; //every 50 ms
Count1++;
OS_bSignal(&Readyd);
}
}
// ******** CAN0_Fifo_Get ************
// Remove one data sample from the Fifo
// Called in foreground, will block if empty
// Inputs: none
// Outputs: data
uint8_t CAN0_Fifo_Get(void){
int8_t returnValue; // holds the value poped off of fifo.
OS_Wait(&CAN0CurrentSize); // block for data
OS_bWait(&CAN0FifoMutex); // only one thread can access the fifo at any given time
returnValue = *CAN0GetPt; // pop element off fifo
CAN0GetPt++;
if(CAN0GetPt == &CAN0Fifo[CAN_FIFOSIZE]){
CAN0GetPt = &CAN0Fifo[0]; // wrap around
}
OS_bSignal(&CAN0FifoMutex); //release the fifo
return returnValue;
}
unsigned long OS_Fifo_Get(void)
{
OS_Wait(&dataAvailable);
OS_bWait(&mutex);
unsigned long toReturn;
toReturn = TxFifo[OS_TxGetI&(TXFIFOSIZE-1)];
OS_TxGetI++; // Success, update
samplesConsumed++;
OS_bSignal(&mutex);
//OS_Signal(&roomLeft);
return toReturn;
}
// ******** OS_Fifo_Get ************
// Remove one data sample from the Fifo
// Called in foreground, will spin/block if empty
// Inputs: none
// Outputs: data
unsigned long OS_Fifo_Get(void) {
unsigned long data;
OS_Wait(&CurrentSize);
OS_bWait(&FifoMutex);
data = *(OS_GetPt++);
if(OS_GetPt == &OS_Fifo[FIFOSIZE]) {
OS_GetPt = &OS_Fifo[0];
}
OS_bSignal(&FifoMutex);
return data;
}
/* Allow the use of two (logically) separate screens.
* This function outputs a given string onto the specified
* part of the OLED screen
* param: int device, screen to output onto (TOP or BOTTOM)
* param: const char * string, character array to be displayed
* return: none
*/
void OLED_Out(int device, const char * string)
{
/* Marks function as critical */
// OS_CRITICAL_FUNCTION;
/* Blank line */
char clear[OLED_COLUMNS + 2] = {0};
int offset = 0;
OS_bWait(&OLED_Semaphore);
ASSERT(line < 5 && device < 2 && device >= 0);
/* Enter critical section */
// OS_ENTER_CRITICAL();
/* Initialize blank line */
memset(clear, ' ', OLED_COLUMNS + 1);
/* Write string, wrapping as needed */
do
{
/* Row buffer */
char cur_row[OLED_COLUMNS + 1] = {0};
int num = 0, length;
/* Copy next row, update offset */
length = OLED_MIN( /* length up until end of string/column */ OLED_MIN(strlen(&string[offset]), OLED_COLUMNS),
/* location of '\n' */ _OLED_Find(&string[offset], '\n') + 1 );
memcpy(cur_row, &string[offset], length);
offset += length;
/* Roll screen back when max lines reached */
line[device] += num;
if(line[device] >= OLED_LINES)
{
_OLED_Rollback(char_buff[device], device);
line[device] = OLED_LINES - 1;
}
/* Write most recent row */
strcpy(char_buff[device][line[device]], cur_row);
// char_buff[device][line[device]][OLED_COLUMNS-1] = 0;
_OLED_Message(device, line[device]++, cur_row, OLED_Get_Color());
} while(string[offset]);
/* End critical section */
// OS_EXIT_CRITICAL();
OS_bSignal(&OLED_Semaphore);
}
// if receive data is ready, gets the data
// if no receive data is ready, it waits until it is ready
void CAN0_GetMail(uint8_t data[8]){
OS_bWait(&CAN0ReceiveFree);
while(MailFlag==false){};
data[0] = CAN0_Fifo_Get();
data[1] = CAN0_Fifo_Get();
data[2] = CAN0_Fifo_Get();
data[3] = CAN0_Fifo_Get();
data[4] = CAN0_Fifo_Get();
data[5] = CAN0_Fifo_Get();
data[6] = CAN0_Fifo_Get();
data[7] = CAN0_Fifo_Get();
MailFlag = false;
OS_bSignal(&CAN0ReceiveFree);
}
// ******** OS_MailBox_Send ************
// enter mail into the MailBox
// Inputs: data to be sent
// Outputs: none
// This function will be called from a foreground thread
// It will spin/block if the MailBox contains data not yet received
void OS_MailBox_Send(unsigned long data)
{
OS_bWait(&mailBoxFree);
dataInMailBox = data;
OS_bSignal(&dataValid);
}
// ******** OS_MailBox_Send ************
// enter mail into the MailBox
// Inputs: data to be sent
// Outputs: none
// This function will be called from a foreground thread
// It will spin/block if the MailBox contains data not yet received
void OS_MailBox_Send(unsigned long data) {
OS_bWait(&BoxFree);
Mailbox = data;
OS_bSignal(&DataValid);
return;
}