INT8U resume_network_tasks()
{
INT8U err = OS_NO_ERR;
err = ( OSTaskResume( TK_NETMAIN_TPRIO )|
OSTaskResume( TK_NETTICK_TPRIO )|
OSTaskResume( SSS_NIOS_II_SIMPLE_SOCKET_SERVER_TASK_PRIORITY ) );
return( err );
}
/*
* This function is called to resume a previously suspended task
*/
extern status_t taskResume
(
uint8_t tid /* task ID of task to resume */
)
{
return OSTaskResume(tid);
}
//浮点测试任务
void float_task(void *p_arg)
{
OS_ERR err;
CPU_SR_ALLOC();
static float float_num = 0.01;
//uint32_t temp = &float_num;
while(1)
{
float_num+=0.01f;
OS_CRITICAL_ENTER(); //进入临界区
//printf("float_num的值为: %.4f\r\n",float_num);
OS_CRITICAL_EXIT(); //退出临界区
if(float_num > 0.901f && float_num < 0.919f)
{
OSTaskSuspend((OS_TCB*)&Led0TaskTCB,&err);
printf("挂起LED任务\n\r");
}
if(float_num > 1.991f && float_num < 2.001f)
{
OSTaskResume((OS_TCB*)&Led0TaskTCB,&err);
printf("恢复LED任务\n\r");
float_num = 0.0f;
}
OSTimeDlyHMSM(0,0,0,300,OS_OPT_TIME_HMSM_STRICT,&err); //延时300ms
}
}
static void task1(void *pdata)
{
int timeout;
int i;
INT8U err;
char *p;
while(1)
{
dprintf("task1,%s\r\n",pdata);
//dprintf("sys_jiffies:%d\r\n",sys_jiffies());
//dprintf("sys_now:%dms\r\n",sys_now());
//p = OSQPend(mbox, 1, &err);
timeout = sys_arch_mbox_fetch(&sys_mbox, (void **)&p, 0);
sys_mutex_lock(&sys_mutex);
if(timeout != -1)
dprintf("task1 received mbox: %s\r\n",p);
sys_mutex_unlock(&sys_mutex);
//else
//OSTaskResume(9);
#if 0
if(err != OS_NO_ERR)
{
dprintf("task1 OSQPend err:%d\r\n",err);
OSTaskResume(9);
}
else
dprintf("task1 received mbox: %s\r\n",p);
#endif
}
}
/* Handle the commands for each gesture */
static void handleGestureCommands(int gesture_code) {
INT8U err;
static int state = PAUSE;
static int volume = 70;
char *message = (char *) calloc(LARGE_BUF_SIZE, sizeof(char));
// Pause
if ((state == PLAY) && (gesture_code == GCODE_DOWN_LEFT)) {
OSTaskSuspend(AUDIO_TASK_PRIORITY);
state = PAUSE;
snprintf(message, LARGE_BUF_SIZE, "RECOGNIZED DOWN-LEFT: PAUSE");
// Play
} else if ((state == PAUSE) && (gesture_code == GCODE_UP_LEFT)) {
OSTaskResume(AUDIO_TASK_PRIORITY);
state = PLAY;
snprintf(message, LARGE_BUF_SIZE, "RECOGNIZED UP-LEFT: PLAY");
// Volume down
} else if ((state == PLAY) && (gesture_code == GCODE_DOWN_RIGHT)) {
volume = decreaseVolume(volume);
audio_set_headphone_volume(av_dev, volume);
snprintf(message, LARGE_BUF_SIZE, "RECOGNIZED DOWN-RIGHT: VOL-DOWN");
// Volume up
} else if ((state == PLAY) && (gesture_code == GCODE_UP_RIGHT)) {
volume = increaseVolume(volume);
audio_set_headphone_volume(av_dev, volume);
snprintf(message, LARGE_BUF_SIZE, "RECOGNIZED UP-RIGHT: VOL-UP");
}
printf("%s\n", message);
if ((err = OSQPost(lcd_queue, message)) != OS_NO_ERR) {
printf("Error %d: message not put on LCD queue.\n", err);
}
}
/*********************************************************************************************************
** Function name: zyThreadResume
** Descriptions: 恢复任务
** input parameters: ulThreadId: 线程ID
** output parameters: none
** Returned value: zy_OK: 成功
** 负数: 错误,绝对值参考zy_if.h
** Created by: chenmingji
** Created Date: 2009-07-23
**--------------------------------------------------------------------------------------------------------
** Modified by:
** Modified date:
*********************************************************************************************************/
INT32S zyThreadResume (unsigned long ulThreadId)
{
OS_TCB *ptcbTask; /* 任务TCB */
ptcbTask = (OS_TCB *)ulThreadId;
OSTaskResume(ptcbTask->OSTCBPrio);
return ZY_OK;
}
static void task3(void *pdata)
{
unsigned char *p;
while(1)
{
dprintf("task3,%s\r\n",pdata);
OSTaskResume(10);
}
}
/* prio:10 */
static void task2(void *pdata)
{
while(1)
{
dprintf("task2,%s\r\n",pdata);
OSTaskSuspend(OS_PRIO_SELF);
OSTaskResume(9);
}
}
void board_control_task(void *pdata)
{
INT8U error_code = OS_NO_ERR;
board_control_mbox = OSMboxCreate((void *)NULL);
struct http_form_data* board_control_mbox_contents;
while(1)
{
board_control_mbox_contents = (void*)OSMboxPend(board_control_mbox, 0, &error_code);
if (board_control_mbox_contents->LED_ON)
{
OSTaskResume(LED_PRIO);
}
else
{
/* Suspend the task and clear the LED. */
OSTaskSuspend(LED_PRIO);
IOWR_ALTERA_AVALON_PIO_DATA( LEDG_BASE, 0 );
}
if (board_control_mbox_contents->SSD_ON)
{
OSTaskResume(SSD_PRIO);
}
else
{
/* Suspend the task and set SSD to all zeros. */
OSTaskSuspend(SSD_PRIO);
#ifdef SEG7_NAME
//sevenseg_set_hex(0);
#endif
}
/* Always dump text to the LCD... */
#ifdef LCD_NAME
lcd_output_text( board_control_mbox_contents->LCD_TEXT );
usleep(500*1000);
#endif
}
}
/*
* timerCheck - If there are any expired timers, wake up the timer task.
* This is designed to be called from within the Jiffy timer interrupt so
* it has to have minimal overhead.
*/
void timerCheck(void)
{
#ifdef OS_DEPENDENT
if ((long)(timerHead.timerNext->expiryTime - OSTimeGet()) <= 0)
(void) OSTaskResume(PRI_TIMER);
#endif
#if ONETASK_SUPPORT > 0
// Support for non multitasking environment
// Call timerTask if a timer has expired
if ((long)(timerHead.timerNext->expiryTime - OSTimeGet()) <= 0) timerTask(NULL);
#endif
}
//任务3
//按键检测
void TaskKey(void *pdata)
{ u8 key=0;
while(1){
key=KEY_Scan();
if(key==1)
{
OSTaskSuspend(LED_TASK_Prio);
OSTaskSuspend(LCD_TASK_Prio);
}
else if(key==2)
{
OSTaskResume(LED_TASK_Prio);
OSTaskResume(LCD_TASK_Prio);
}
else if(key==3)
{
OSTaskDelReq(LED_TASK_Prio);
OSTaskDelReq(LCD_TASK_Prio);
}
OSTimeDlyHMSM(0,0,0,20);
}
}
void StartAllTasks ( void )
{
int i;
for (i = 0x00; i < N_TASKS; i ++)
{
if (!sRunning[i])
{
OSTaskResume(i + 1);
sRunning[i] = 0x01;
}
}
}
void TK_OSTaskResume(u_char * Id)
{
INT8U err;
err = OSTaskResume(*Id);
if ((err != OS_NO_ERR) && (err != OS_TASK_NOT_SUSPENDED))
{
dprintf("ChronOS API call failure, to Resume Suspended Task!\n");
dtrap();
panic("TK_OSTaskResume");
}
return;
}
void LedFont_ScrollText(char *text, bool scrollOnce, bool waitForFinish) {
INT8U err;
UTIL1_strcpy((uint8_t*)LedFont_Text, sizeof(LedFont_Text), (const unsigned char*)text);
LedFont_ScrollOnce = scrollOnce;
while (!(OSFlagQuery(LedFont_Flags, &err)&LEDFONT_FLAG_READY)) {
(void)OSTimeDlyHMSM(0,0,0,100); /* wait task to be ready */
}
OSTaskResume(TASK_PRIO_SCROLLER);
if (scrollOnce && waitForFinish) {
while (!(OSFlagQuery(LedFont_Flags, &err)&LEDFONT_FLAG_FINISHED_SCROLLING)) {
(void)OSTimeDlyHMSM(0,0,0,100); /* wait for scrolling to be finished */
}
OSFlagPost(LedFont_Flags, LEDFONT_FLAG_FINISHED_SCROLLING, OS_FLAG_CLR, &err); /* clear flag */
}
}
void turn_master_id(u8 id)//改变当前整个系统中主机的ID号
{
u8 i,flag=0;
{
flag=cont;
if(id==(flag)){
for(i=1;i<33;i++)
{ order_trans_rs485(mybox.myid,i,0,0,0);
delay_us(10000);
}//及时告知其他slave机器，已有主机
mybox.master=1;
OSTaskResume(MASTER_TASK_PRIO);
cont=1;
}
// LED1=!LED1;
}
}
/******************************************************
Enable bar code reader
*******************************************************/
void BCR_Enable()
{
COM_BUFF_INFO RxBuff = GetTaskRxComBuff();
if(enable == 0)
{
GPS_Disable();
BCR_Init();
}
else
{
GPS_Disable();
//SetCTS();
OSTaskResume(TASK_BCR_PRIO);
}
*(RxBuff.ptrCurrent) = *(RxBuff.ptrEnd);
}
int HandleCommand ( WORD index )
{
char sMsg[80];
if (index > 0x100 && index < 0x200)
{
switch(index)
{
case 0x101:
DisplayMessage("Start all tasks just now ...");
StartAllTasks(); break;
case 0x102:
DisplayMessage("Stop all tasks just now ...");
StopAllTasks(); break;
}
}
else if (index > 0x00 && index <= 0x0a)
{
if (sRunning[index - 1])
{
sprintf(sMsg, "Suspend task%d just now ...", index);
DisplayMessage(sMsg);
OSTaskSuspend(index);
sRunning[index - 1] = 0x00;
}
else
{
sprintf(sMsg, "Resume task%d just now ...", index);
DisplayMessage(sMsg);
OSTaskResume(index);
sRunning[index - 1] = 0x01;
}
}
else if (index > 0x200)
{
if (index == 0x201)
DoHelp();
else if (index == 0x202)
DoAbout();
}
return 0x00;
}
//闹铃处理(尺寸:44*20)
//x,y:坐标
//返回值,处理结果
u8 calendar_alarm_msg(u16 x,u16 y)
{
u8 rval=0;
u16 *lcdbuf=0; //LCD显存
lcdbuf=(u16*)gui_memin_malloc(44*20*2); //申请内存
if(lcdbuf) //申请成功
{
app_read_bkcolor(x,y,44,20,lcdbuf); //读取背景色
gui_fill_rectangle(x,y,44,20,LIGHTBLUE);
gui_draw_rectangle(x,y,44,20,BROWN);
gui_show_num(x+2,y+2,2,RED,16,alarm.hour,0X81);
gui_show_ptchar(x+2+16,y+2,x+2+16+8,y+2+16,0,RED,16,':',1);
gui_show_num(x+2+24,y+2,2,RED,16,alarm.min,0X81);
OSTaskSuspend(6); //挂起主任务
while(rval==0)
{
tp_dev.scan(0);
if(tp_dev.sta&TP_PRES_DOWN)//触摸屏被按下
{
if(app_tp_is_in_area(&tp_dev,x,y,44,20))//判断某个时刻,触摸屏的值是不是在某个区域内
{
rval=0XFF;//取消
break;
}
}
delay_ms(5);
if(system_task_return)break; //需要返回
}
app_recover_bkcolor(x,y,44,20,lcdbuf); //读取背景色
}else rval=1;
system_task_return=0;
alarm.ringsta&=~(1<<7); //取消闹铃
calendar_alarm_init((_alarm_obj*)&alarm,&calendar); //重新初始化闹钟
gui_memin_free(lcdbuf);
OSTaskResume(6); //恢复主任务
system_task_return=0;
return rval;
}
INT8U CTask::Resume()
{
return OSTaskResume(m_nPrio);
}
/*
*********************************************************************************************************
* App_SuspendResumeTask()
*
* Description : 机器人动作挂起和恢复任务
*
* Argument(s) : pdata.
*
* Return(s) : none.
*********************************************************************************************************
*/
static void App_SuspendResumeTask(void *pdata)
{
static uint8_t SuspendResume = 0;
//临界区
// OS_CPU_SR cpu_sr;
while(1)
{
// OS_ENTER_CRITICAL(); //进入临界区
if((SuspendResume==0) && ((PDropL==1) || (PDropR==1) || (UltrTask==1)))
{
//suspend the tasks
OSTaskSuspend(9); //动作执行任务(RW: Robot Walk)
OSTaskSuspend(10); //动作步骤任务(RFS: Robot Forward Step)
OSTaskSuspend(11); //动作步骤任务(RBS: Robot Backward Step)
OSTaskSuspend(12); //右臂复位任务(RRA: Reset Right Arm)
OSTaskSuspend(13); //左臂复位任务(RLA: Reset Left Arm)
OSTaskSuspend(14); //右摆臂任务(SRA: Swing Right Arm)
OSTaskSuspend(15); //左摆臂任务(SLA: Swing Left Arm)
//stop all motors
HeadMove(70);
LeftWristMove(70);
RightWristMove(70);
WaistMove(50);
LeftArmMove(50);
RightArmMove(50);
LeftKneeMove(50);
RightKneeMove(50);
LeftFootMove(50);
RightFootMove(50);
if((PDropL==1) && (PDropR==0))
{
//左转矫正
LeftFootMove(90);
RightFootMove(5);
}
else if((PDropR==1) && (PDropL==0))
{
//右转矫正
LeftFootMove(5);
RightFootMove(90);
}
SuspendResume = 1;
}
else if((SuspendResume==1) && (PDropL==0) && (PDropR==0) && (UltrTask==0))
{
//resume the tasks
OSTaskResume(9); //动作执行任务(RW: Robot Walk)
OSTaskResume(10); //动作步骤任务(RFS: Robot Forward Step)
OSTaskResume(11); //动作步骤任务(RBS: Robot Backward Step)
OSTaskResume(12); //右臂复位任务(RRA: Reset Right Arm)
OSTaskResume(13); //左臂复位任务(RLA: Reset Left Arm)
OSTaskResume(14); //右摆臂任务(SRA: Swing Right Arm)
OSTaskResume(15); //左摆臂任务(SLA: Swing Left Arm)
if(robotMode == SlideForward)
{
LeftFootMove(5);
RightFootMove(5);
}
SuspendResume = 0;
}
// OS_EXIT_CRITICAL(); //退出临界区
OSTimeDlyHMSM(0,0,0,10);
}
}
void Input_Task(void *parg)
{
u8 err;
u8 OK=0;
u8 buffer[4]={0};
u8 LEN=0;
u8 flag=0;
u16 e=0;
OS_CPU_SR cpu_sr;
(void)parg;
for(;;)
{
OSSemPend(PENIRQ,0,&err);
Exti_Set(0);
OS_ENTER_CRITICAL();
touch.FLAG=Read_XY_2(&touch.AD_X,&touch.AD_Y);
OS_EXIT_CRITICAL();
if(touch.FLAG)
{
Led_On(1);
touch.FLAG=0;
touch.LCD_X=CalcXY(touch.AD_X,0);
touch.LCD_Y=CalcXY(touch.AD_Y,1);
touch.KEY=Get_Key(touch.PID,touch.LCD_X,touch.LCD_Y);
if(touch.KEY<=10)
{
OS_ENTER_CRITICAL();
Set_Color(WHITE,BLACK);
if(touch.KEY==10)
Show_Char('.',cursor.x,cursor.y);
else
{
Show_Dec(touch.KEY,1,cursor.x,cursor.y);
if(LEN<4)
{
buffer[LEN]=touch.KEY;
LEN++;
}
}
if(cursor.x<224)
{
cursor.x+=8;
if(cursor.x>=224)
cursor.x=224;
}
OS_EXIT_CRITICAL();
}
else if(touch.KEY==11)
{
OK++;
if(OK==1)
{
VALUE1=CalcDec(buffer,LEN);
Set_Color(BLACK,GREEN);
Show_String(">>VALUE1:",2,22);
Show_Dec(VALUE1,LEN,82,22);
OS_ENTER_CRITICAL();
LCD_Clear(4,121,232,38,WHITE);
cursor.x=8;
cursor.y=132;
OS_EXIT_CRITICAL();
buffer[0]=0;
buffer[1]=0;
buffer[2]=0;
buffer[3]=0;
LEN=0;
}
else if(OK==2)
{
VALUE2=CalcDec(buffer,LEN);
Set_Color(BLACK,GREEN);
Show_String(">>VALUE2:",2,38);
Show_Dec(VALUE2,LEN,82,38);
OS_ENTER_CRITICAL();
LCD_Clear(4,121,232,38,WHITE);
cursor.x=8;
cursor.y=132;
OS_EXIT_CRITICAL();
buffer[0]=0;
buffer[1]=0;
buffer[2]=0;
buffer[3]=0;
LEN=0;
}
else if(OK==3)
{
VALUE3=CalcDec(buffer,LEN);
Set_Color(BLACK,GREEN);
Show_String(">>VALUE3:",2,54);
Show_Dec(VALUE3,LEN,82,54);
OS_ENTER_CRITICAL();
LCD_Clear(4,121,232,38,WHITE);
cursor.x=8;
cursor.y=132;
OS_EXIT_CRITICAL();
buffer[0]=0;
buffer[1]=0;
buffer[2]=0;
buffer[3]=0;
LEN=0;
}
else if(OK==4)
{
if(VALUE2>0&&VALUE2<=5000)
{
if(VALUE1<VALUE2&&VALUE1>0)
{
if(VALUE3>0&&VALUE3<10000)
{
e=0;
Set_Color(BLACK,GREEN);
Show_String(">>OK!",2,70);
}
else
{
e=1;
}
}
else
{
e=1;
}
}
else
{
e=1;
}
if(e)
{
Set_Color(BLACK,GREEN);
Show_String(">>ERROR!",2,70);
}
}
else if(OK==5)
{
if(!e)
{
OK=0;
OSTaskSuspend(CURSOR_TASK_PRIO);
Show_Main(VALUE1,VALUE2,VALUE3,1);
}
else
{
OK=0;
e=0;
LCD_Clear(2,20,236,100,BLACK);
LCD_DrawEdit(input);
Set_Cursor(8,132);
}
VALUE1=0;
VALUE2=0;
VALUE3=0;
}
else;
}
else if(touch.KEY==12)
{
OS_ENTER_CRITICAL();
if(LEN>0)
{
LEN--;
}
if(cursor.x>=8)
{
LCD_Clear(cursor.x,cursor.y,8,16,WHITE);
cursor.x-=8;
if(cursor.x<8)
{
cursor.x=8;
}
}
OS_EXIT_CRITICAL();
}
else if(touch.KEY==13)
{
if(flag==0)
{
flag=1;
button1.str="stop";
button1.len=4;
button1.line_color=GREEN;
LCD_DrawButton(button1);
OSTaskResume(TIMER_TASK_PRIO);
}
else
{
flag=0;
button1.str="start";
button1.len=5;
button1.line_color=BLACK;
LCD_DrawButton(button1);
OSTaskSuspend(TIMER_TASK_PRIO);
}
}
else if(touch.KEY==14)
{
OSTaskSuspend(TIMER_TASK_PRIO);
Show_KeyMap();
OSTaskResume(CURSOR_TASK_PRIO);
}
else if(touch.KEY==99)//無效輸入
{}
else;
OSTimeDlyHMSM(0,0,0,50);
Led_Off(1);
}
Exti_Set(1);
}
}
/*
*********************************************************************************************************
* RESUMETASKS
*********************************************************************************************************
*/
void TaskResume(void) {
INT8U i;
for ( i = 1; i <= N_TASKS+1; i++)
OSTaskResume(i);
}
void MainTask(void *arg) {
ADI_AFE_DEV_HANDLE hDevice;
int16_t dft_results[DFT_RESULTS_COUNT];
q15_t dft_results_q15[DFT_RESULTS_COUNT];
q31_t dft_results_q31[DFT_RESULTS_COUNT];
q31_t magnitude[DFT_RESULTS_COUNT / 2];
q15_t phase[DFT_RESULTS_COUNT / 2];
fixed32_t magnitude_result[DFT_RESULTS_COUNT / 2 - 1];
fixed32_t phase_result[DFT_RESULTS_COUNT / 2 - 1];
char msg[MSG_MAXLEN];
uint8_t err;
done = 0;
uint16_t pressure_analog;
uint32_t pressure;
nummeasurements = 0;
uint32_t rtcCount;
ADI_I2C_RESULT_TYPE i2cResult;
// Initialize driver.
rtc_Init();
// Calibrate.
rtc_Calibrate();
// Initialize UART.
if (uart_Init()) {
FAIL("ADI_UART_SUCCESS");
}
// Initialize I2C.
i2c_Init(&i2cDevice);
// Initialize flags.
bRtcAlarmFlag = bRtcInterrupt = bWdtInterrupt = false;
// Get the current count.
if (adi_RTC_GetCount(hRTC, &rtcCount)) {
FAIL("adi_RTC_GetCount failed");
}
// Initialize the AFE API.
if (adi_AFE_Init(&hDevice)) {
FAIL("adi_AFE_Init");
}
// AFE power up.
if (adi_AFE_PowerUp(hDevice)) {
FAIL("adi_AFE_PowerUp");
}
// Excitation Channel Power-up.
if (adi_AFE_ExciteChanPowerUp(hDevice)) {
FAIL("adi_AFE_ExciteChanPowerUp");
}
// TIA Channel Calibration.
if (adi_AFE_TiaChanCal(hDevice)) {
FAIL("adi_AFE_TiaChanCal");
}
// Excitation Channel Calibration (Attenuation Enabled).
if (adi_AFE_ExciteChanCalAtten(hDevice)) {
FAIL("adi_AFE_ExciteChanCalAtten");
}
// Update FCW in the sequence.
seq_afe_acmeas2wire[3] = SEQ_MMR_WRITE(REG_AFE_AFE_WG_FCW, FCW);
// Update sine amplitude in the sequence.
seq_afe_acmeas2wire[4] =
SEQ_MMR_WRITE(REG_AFE_AFE_WG_AMPLITUDE, SINE_AMPLITUDE);
// Recalculate CRC in software for the AC measurement, because we changed.
// FCW and sine amplitude settings.
adi_AFE_EnableSoftwareCRC(hDevice, true);
// Perform the impedance measurement.
if (adi_AFE_RunSequence(hDevice, seq_afe_acmeas2wire, (uint16_t *)dft_results,
DFT_RESULTS_COUNT)) {
FAIL("Impedance Measurement");
}
// Set RTC alarm.
printf("rtcCount: %d\r\n", rtcCount);
if (ADI_RTC_SUCCESS != adi_RTC_SetAlarm(hRTC, rtcCount + 120)) {
FAIL("adi_RTC_SetAlarm failed");
}
// Enable RTC alarm.
if (ADI_RTC_SUCCESS != adi_RTC_EnableAlarm(hRTC, true)) {
FAIL("adi_RTC_EnableAlarm failed");
}
// Read the initial impedance.
q31_t magnitudecal;
q15_t phasecal;
convert_dft_results(dft_results, dft_results_q15, dft_results_q31);
arm_cmplx_mag_q31(dft_results_q31, &magnitudecal, 2);
phasecal = arctan(dft_results[1], dft_results[0]);
printf("raw rcal data: %d, %d\r\n", dft_results[1], dft_results[0]);
printf("rcal (magnitude, phase) = (%d, %d)\r\n", magnitudecal, phasecal);
// Create the message queue for communicating between the ISR and this task.
dft_queue = OSQCreate(&dft_queue_msg[0], DFT_QUEUE_SIZE);
// Hook into the DFT interrupt.
if (ADI_AFE_SUCCESS !=
adi_AFE_RegisterAfeCallback(
hDevice, ADI_AFE_INT_GROUP_CAPTURE, AFE_DFT_Callback,
BITM_AFE_AFE_ANALOG_CAPTURE_IEN_DFT_RESULT_READY_IEN)) {
FAIL("adi_AFE_RegisterAfeCallback");
}
if (ADI_AFE_SUCCESS !=
adi_AFE_ClearInterruptSource(
hDevice, ADI_AFE_INT_GROUP_CAPTURE,
BITM_AFE_AFE_ANALOG_CAPTURE_IEN_DFT_RESULT_READY_IEN)) {
FAIL("adi_AFE_ClearInterruptSource (1)");
}
packed32_t q_result;
void *q_result_void;
OS_Q_DATA q_data;
uint16_t q_size;
bool inflated = false;
while (true) {
// Wait for the user to press the button.
printf("MainTask: waiting for button.\n");
OSSemPend(ux_button_semaphore, 0, &err);
if (err != OS_ERR_NONE) {
FAIL("OSSemPend: MainTask");
}
// TODO: fix bug when pressing button multiple times.
// Have the pump task inflate the cuff.
printf("MainTask: button detected. Resuming pump task.\n");
err = OSTaskResume(TASK_PUMP_PRIO);
if (err != OS_ERR_NONE) {
FAIL("OSTaskResume: MainTask (1)");
}
// Wait a bit.
printf("MainTask: waiting a bit.\n");
err = OSTimeDlyHMSM(0, 0, 1, 0);
if (err != OS_ERR_NONE) {
FAIL("OSTimeDlyHMSM: MainTask (3)");
}
// Enable the DFT interrupt.
printf("MainTask: enabling DFT interrupt.\n");
if (ADI_AFE_SUCCESS !=
adi_AFE_EnableInterruptSource(
hDevice, ADI_AFE_INT_GROUP_CAPTURE,
BITM_AFE_AFE_ANALOG_CAPTURE_IEN_DFT_RESULT_READY_IEN, true)) {
FAIL("adi_AFE_EnableInterruptSource");
}
PRINT("START\r\n");
printf("START\r\n");
while (true) {
// Wait on the queue to get DFT data from the ISR (~76 Hz).
//printf("MainTask: pending on DFT queue.\n");
q_result_void = OSQPend(dft_queue, 0, &err);
q_result.pointer = q_result_void;
if (err != OS_ERR_NONE) {
FAIL("OSQPend: dft_queue");
}
OSQQuery(dft_queue, &q_data);
q_size = q_data.OSNMsgs;
// Right after we get this data, get the transducer's value from the
// Arduino.
//printf("MainTask: getting transducer value via I2C.\n");
i2cResult = adi_I2C_MasterReceive(i2cDevice, I2C_PUMP_SLAVE_ADDRESS, 0x0,
ADI_I2C_8_BIT_DATA_ADDRESS_WIDTH,
i2c_rx, 3, false);
if (i2cResult != ADI_I2C_SUCCESS) {
FAIL("adi_I2C_MasterReceive: get pressure from Arduino");
}
// Get the analog pressure value from the Arduino.
if (i2c_rx[0] == ARDUINO_PRESSURE_AVAILABLE
|| i2c_rx[0] == ARDUINO_STILL_INFLATING) {
pressure_analog = i2c_rx[1] | (i2c_rx[2] << 8);
} else {
FAIL("Corrupted or unexpected data from Arduino.");
}
// Convert the analog value to mmHg.
pressure = transducer_to_mmhg(pressure_analog);
//printf("MainTask: got pressure value: %d mmHg.\n", pressure);
// If the pressure is below the threshold, we're done; break the loop.
if (inflated && pressure < LOWEST_PRESSURE_THRESHOLD_MMHG) {
PRINT("END\r\n");
printf("END\r\n");
inflated = false;
break;
} else if (pressure > LOWEST_PRESSURE_THRESHOLD_MMHG * 1.1) {
inflated = true;
}
// Convert DFT results to 1.15 and 1.31 formats.
dft_results[0] = q_result.parts.magnitude;
dft_results[1] = q_result.parts.phase;
convert_dft_results(dft_results, dft_results_q15, dft_results_q31);
// Compute the magnitude using CMSIS.
arm_cmplx_mag_q31(dft_results_q31, magnitude, DFT_RESULTS_COUNT / 2);
// Calculate final magnitude values, calibrated with RCAL.
fixed32_t magnituderesult;
magnituderesult = calculate_magnitude(magnitudecal, magnitude[0]);
q15_t phaseresult;
phaseresult = arctan(dft_results[1], dft_results[0]);
fixed32_t phasecalibrated;
// Calibrate with phase from rcal.
phasecalibrated = calculate_phase(phasecal, phaseresult);
// TODO: dispatch to another thread?
//printf("MainTask: sending data via UART.\n");;
print_PressureMagnitudePhase("", pressure, magnituderesult, phasecalibrated,
q_size);
nummeasurements++;
}
// We're done measuring, for now. Disable the DFT interrupts.
printf("MainTask: disabling DFT interrupts.\n");
if (ADI_AFE_SUCCESS !=
adi_AFE_EnableInterruptSource(
hDevice, ADI_AFE_INT_GROUP_CAPTURE,
BITM_AFE_AFE_ANALOG_CAPTURE_IEN_DFT_RESULT_READY_IEN, false)) {
FAIL("adi_AFE_EnableInterruptSource (false)");
}
// Tell the pump task to deflate the cuff.
printf("MainTask: resuming pump task to deflate the cuff.\n");
err = OSTaskResume(TASK_PUMP_PRIO);
if (err != OS_ERR_NONE) {
FAIL("OSTaskResume: MainTask (2)");
}
// Suspend until the pump finishes deflating. We can then go back to
// listening for the user input.
printf("MainTask: suspending to wait for pump task.\n");
err = OSTaskSuspend(OS_PRIO_SELF);
if (err != OS_ERR_NONE) {
FAIL("OSTaskSuspend: MainTask (3)");
}
// Tell the UX that we're done for now.
UX_Disengage();
}
}
void protocol_task(void *p_arg)
{
OS_ERR err;
static uint8_t Date_Handle_Flag = 0;
uint8_t temp = 0;
p_arg = p_arg;
while(1)
{
OSTaskSemPend(0,OS_OPT_PEND_BLOCKING,0,&err);
if( !Date_Handle_Flag) //Uart3_Recv_STA &&
{
Date_Handle_Flag = 1;
//Uart3_Recv_STA = 0;
}
if(Date_Handle_Flag)
{
temp = Hekr_RecvData_Handle(Uart3_Recv_Buffer);
if(Valid_Data_Update == temp)
{
//接收的数据保存在 Valid_Data 数组里
//User Code
if(Valid_Data[0] == 0x01)
{
LED0 = 1;
OSTaskSuspend((OS_TCB*)&Led0TaskTCB,&err);
printf("挂起LED任务\n\r");
}
else
{
LED0 = 0;
OSTaskResume((OS_TCB*)&Led0TaskTCB,&err);
printf("恢复LED任务\n\r");
}
if(Valid_Data[1] == 0x01)
{
OSTaskDel((OS_TCB*)&FloatTaskTCB,&err);
printf("删除float任务\n\r");
}
else
{
//创建浮点测试任务
OSTaskCreate((OS_TCB * )&FloatTaskTCB,
(CPU_CHAR * )"float test task",
(OS_TASK_PTR )float_task,
(void * )0,
(OS_PRIO )FLOAT_TASK_PRIO,
(CPU_STK * )&FLOAT_TASK_STK[0],
(CPU_STK_SIZE)FLOAT_STK_SIZE/10,
(CPU_STK_SIZE)FLOAT_STK_SIZE,
(OS_MSG_QTY )0,
(OS_TICK )0,
(void * )0,
(OS_OPT )OS_OPT_TASK_STK_CHK|OS_OPT_TASK_STK_CLR,
(OS_ERR * )&err);
}
}
if(Hekr_Module_State_Update == temp)
{
//接收的数据保存在 Module_Status 数组里
//User Code
}
Date_Handle_Flag = 0;
}
OSTimeDlyHMSM(0,0,0,10,OS_OPT_TIME_HMSM_STRICT,&err); //延时10ms
}
}
void OSStatTaskCPUUsageInit (OS_ERR *p_err)
{
OS_ERR err;
OS_TICK dly;
CPU_SR_ALLOC();
#ifdef OS_SAFETY_CRITICAL
if (p_err == (OS_ERR *)0) {
OS_SAFETY_CRITICAL_EXCEPTION();
return;
}
#endif
#if (OS_CFG_TMR_EN > 0u)
OSTaskSuspend(&OSTmrTaskTCB, &err);
if (err != OS_ERR_NONE) {
*p_err = err;
return;
}
#endif
OSTimeDly((OS_TICK )2, /* Synchronize with clock tick */
(OS_OPT )OS_OPT_TIME_DLY,
(OS_ERR *)&err);
if (err != OS_ERR_NONE) {
*p_err = err;
return;
}
CPU_CRITICAL_ENTER();
OSStatTaskCtr = (OS_TICK)0; /* Clear idle counter */
CPU_CRITICAL_EXIT();
dly = (OS_TICK)0;
if (OSCfg_TickRate_Hz > OSCfg_StatTaskRate_Hz) {
dly = (OS_TICK)(OSCfg_TickRate_Hz / OSCfg_StatTaskRate_Hz);
}
if (dly == (OS_TICK)0) {
dly = (OS_TICK)(OSCfg_TickRate_Hz / (OS_RATE_HZ)10);
}
OSTimeDly(dly, /* Determine MAX. idle counter value */
OS_OPT_TIME_DLY,
&err);
#if (OS_CFG_TMR_EN > 0u)
OSTaskResume(&OSTmrTaskTCB, &err);
if (err != OS_ERR_NONE) {
*p_err = err;
return;
}
#endif
CPU_CRITICAL_ENTER();
OSStatTaskTimeMax = (CPU_TS)0;
OSStatTaskCtrMax = OSStatTaskCtr; /* Store maximum idle counter count */
OSStatTaskRdy = OS_STATE_RDY;
CPU_CRITICAL_EXIT();
*p_err = OS_ERR_NONE;
}
