//******** Robot ***************
// foreground thread, accepts data from producer
// inputs: none
// outputs: none
void Robot(void){
unsigned long data; // ADC sample, 0 to 1023
unsigned long voltage; // in mV, 0 to 3000
unsigned long time = 0; // in 10msec, 0 to 1000
unsigned long t=0;
unsigned int i;
//OS_ClearMsTime();
char string[100];
DataLost = 0; // new run with no lost data
OSuart_OutString(UART0_BASE, "Robot running...");
eFile_Create("Robot");
eFile_RedirectToFile("Robot");
OSuart_OutString(UART0_BASE, "time(sec)\tdata(volts)\n\r");
for(i = 1000; i > 0; i--){
t++;
time+=OS_Time()/10000; // 10ms resolution in this OS
while(!OS_Fifo_Get(&data)); // 1000 Hz sampling get from producer
voltage = (300*data)/1024; // in mV
sprintf(string, "%0u.%02u\t\t%0u.%03u\n\r",time/100,time%100,voltage/1000,voltage%1000);
OSuart_OutString(UART0_BASE, string);
}
eFile_EndRedirectToFile();
OSuart_OutString(UART0_BASE, "done.\n\r");
Running = 0; // robot no longer running
OS_Kill();
}
static void _SH_BeginRedirect(void)
{
int i;
for(i = 0; i < SH_MAX_ARGS - 1; i++)
{
if(_SH_cmd.args[i][0] == '>')
{
if((_SH_cmd.args[i][1] == '>' && _SH_cmd.args[i][2]) || !_SH_cmd.args[i+1][0])
{
printf("Invalid file redirection\n");
return;
}
if(_SH_cmd.args[i][1] == '\0')
eFile_Delete(_SH_cmd.args[i+1]);
eFile_RedirectToFile(_SH_cmd.args[i+1]);
_SH_Redirected = 1;
_SH_cmd.args[i][0] = 0;
return;
}
}
}
//******** Robot ***************
// foreground thread, accepts data from producer
// inputs: none
// outputs: none
void Robot(void){
unsigned long data; // ADC sample, 0 to 1023
unsigned long voltage; // in mV, 0 to 3000
unsigned long time; // in 10msec, 0 to 1000
unsigned long t=0;
OS_ClearMsTime();
DataLost = 0; // new run with no lost data
printf("Robot running...");
eFile_RedirectToFile("Robot");
printf("time(sec)\tdata(volts)\n\r");
do{
t++;
time=OS_MsTime(); // 10ms resolution in this OS
data = OS_Fifo_Get(); // 1000 Hz sampling get from producer
voltage = (300*data)/1024; // in mV
printf("%0u.%02u\t%0u.%03u\n\r",time/100,time%100,voltage/1000,voltage%1000);
}
while(time < 1000); // change this to mean 10 seconds
eFile_EndRedirectToFile();
printf("done.\n\r");
Running = 0; // robot no longer running
OS_Kill();
}
int process_cmd(char *input){
// static int screen1Line;
// unsigned short adc_val;
// char *strptr;
// char inString1[MAXSTRLEN];
// char inString2[MAXSTRLEN];
// int i;
unsigned char outVal;
// 1) print performance measures
// time-jitter, number of data points lost, number of calculations performed
// i.e., NumSamples, NumCreated, MaxJitter-MinJitter, DataLost, FilterWork, PIDwork
if(strncmp(input, "initFileSystem", 14) == 0){
eFile_Init();
return 1;
}
if(strncmp(input, "formatDisk", 10) == 0){
//format disk
if(eFile_Format()) printf("Error: efile_format");
return 1;
}
if(strncmp(input, "printDirectory", 14) == 0){
//output disk directory
UART_OutChar('\n');
UART_OutChar('\r');
eFile_Directory(UART_OutChar);
return 1;
}
if(strncmp(input, "printFile ", 9) == 0){
UART_OutChar('\n');
UART_OutChar('\r');
eFile_ROpen(input + 10);
while(eFile_ReadNext(&outVal) == 0)
{
UART_OutChar(outVal);
}
eFile_RClose();
return 1;
}
if(strncmp(input, "deleteFile ", 11) == 0){
eFile_Delete(input + 11);
return 1;
}
if(strncmp(input, "redirect ", 9) == 0){
eFile_RedirectToFile(input + 9);
return 1;
}
return 0;
}
