//************SW2Push*************
// Called when SW2 Button pushed, Lab 3 only
// Adds another foreground task
// background threads execute once and return
void SW2Push(void){
if(OS_MsTime() > 20){ // debounce
if(OS_AddThread(&ButtonWork,100,4)){
NumCreated++;
}
OS_ClearMsTime(); // at least 20ms between touches
}
}
// ******** OS_DownSwitch_Handler ************
// Check if time since last down press >.3s, for debouncing, call buttontask appropriately
// input: none,
// output: none,
void EvalDirBtnsHandler(){
IntDisable(INT_GPIOE);
GPIOPinIntClear(GPIO_PORTE_BASE, GPIO_PIN_1);
while(OS_MsTime() - btndown_time < 250); // Wait for 10 ms
if(GPIOPinRead(GPIO_PORTE_BASE, GPIO_PIN_1) == 0){
//BUTTONTASK(); //supposed to trigger the function that button task points to
// Toggle Debug LED
if (GPIOPinRead(GPIO_PORTF_BASE, GPIO_PIN_0) == 0)
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_0, GPIO_PIN_0);
else
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_0, 0);
}
btndown_time=OS_MsTime();
IntEnable(INT_GPIOE);
}
// ******** OS_SelectSwitch_Handler ************
// Check if time since last switch press >.3s, for debouncing, call buttontask appropriately
// input: none,
// output: none,
void SelectBtnHandler(){
IntDisable(INT_GPIOF);
GPIOPinIntClear(GPIO_PORTF_BASE, GPIO_PIN_1);
//currentTime=OS_MsTime();
while(OS_MsTime() - SDEBOUNCEPREV < 500); // Wait for 10 ms
if(GPIOPinRead(GPIO_PORTF_BASE, GPIO_PIN_1) == 0){
// Toggle Debug LED
if (GPIOPinRead(GPIO_PORTF_BASE, GPIO_PIN_0) == 0)
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_0, GPIO_PIN_0);
else
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_0, 0);
BUTTONTASK(); //supposed to trigger the function that button task points to
}
SDEBOUNCEPREV=OS_MsTime();
IntEnable(INT_GPIOF);
}
void read_test(void) {
int i;
unsigned int then, now;
eFile_Init();
eFile_Format();
OS_AddThread(&write_test, 128, 0);
OS_Sleep(2000);
then = OS_MsTime();
// read 10 blocks
for(i = 0; i < 10; i++) {
eDisk_ReadBlock(buffer, i);
}
now = OS_MsTime();
OS_AddThread(&SH_Shell, 128, 0);
OS_Sleep(1000);
OS_Suspend();
printf("Read test took %d ms", now - then);
eFile_Format();
OS_Kill();
}
//******** 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();
}
void write_test(void) {
int i;
unsigned int then, now;
eFile_Init();
eFile_Format();
// format buffer with dummy data
for(i = 0; i < 512; i++) {
buffer[i] = 0xA5;
}
// possibly should just use OS_Time()
then = OS_MsTime();
// write 10 blocks
for(i = 0; i < 10; i++) {
eDisk_WriteBlock(buffer, i);
}
// now = OS_MsTime();
// OS_AddThread(&SH_Shell, 128, 0);
// OS_Sleep(1000);
// OS_Suspend();
// printf("Write test took %d ms", now - then);
// eFile_Format();
OS_Kill();
}
__attribute__((long_call, section(".data"))) static int _SH_Time(void)
{
p("%d\n", OS_MsTime());
return 0;
}
