void Interpreter(void){char inchar;
char inString1[MAXSTRLEN];
for(;;){
UART_InString(inString1, MAXSTRLEN);
process_cmd(inString1);
if(StreamToFile){
UART_OutChar('\n');
UART_OutChar('\r');
inchar = UART_InChar();
UART_OutChar(inchar);
while(inchar != 0x1B){ //while user doesn't press escape
eFile_Write(inchar);
inchar = UART_InChar();
UART_OutChar(inchar);
}
eFile_EndRedirectToFile();
}
UART_OutChar(CR);
UART_OutChar(LF);
}
}
//******** 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();
}
int fputc (int ch, FILE *f) {
if(streamToFile()){
if(eFile_Write(ch)){ // close file on error
eFile_EndRedirectToFile(); // cannot write to file
return 1; // failure
}
return 0; // success writing
}
// regular UART output
UART_OutChar(ch);
return 0;
}
//******** 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();
}
static void _SH_EndRedirect(void)
{
if(_SH_Redirected)
eFile_EndRedirectToFile();
_SH_Redirected = 0;
}
