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test.c
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test.c
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/*
* test.c
*
* Authors:
* Joel Goguen <r1hh8@unb.ca>
* Andrew Somerville <z19ar@unb.ca>
*/
#include "test.h"
#include "lcd.h"
#include "os.h"
#include "ports.h"
#include "process.h"
void ProcessInit () {
PPPLen = 5;
PPP[0] = 10;
PPP[1] = 20;
PPP[2] = 30;
PPP[3] = 40;
PPP[4] = 50;
PPPMax[0] = 10;
PPPMax[1] = 10;
PPPMax[2] = 10;
PPPMax[3] = 10;
PPPMax[4] = 10;
OS_Create(TestMain, 0, SPORADIC, 256);
}
void TestMain(void) {
FIFO buzz, lcd;
buzz = OS_InitFiFo();
lcd = OS_InitFiFo();
_sys_init_lcd();
OS_InitSem(S_BUZZ,1);
OS_InitSem(S_BUZZ_FIFO,1);
OS_InitSem(S_BUZZ_OUTPUT,1);
OS_InitSem(S_PORTE,1);
OS_InitSem(S_LCD,1);
/* Prints the operating system name and plays SOS though the speaker. */
OS_Wait(S_BUZZ_OUTPUT);
OS_Create(PrintLogo, 0, DEVICE, 800);
OS_Yield();
OS_Wait(S_BUZZ_OUTPUT);
/* Servers */
OS_Create(FIFOBuzz, buzz, DEVICE, 800); /* Beep in morse code, charactars from fifo. */
OS_Create(ReadLightSensors, buzz, DEVICE, 200); /* Write values representing the light sensors into the fifo */
OS_Create(ReadMicrophone, buzz, DEVICE, 500); /* Write values representing the sound level into the fifo */
OS_Create(ReadBumpers, lcd, DEVICE, 10); /* Reads bumper values into a FIFO, and moves the robot accordingly. */
/* Printing is too slow... */
//OS_Create(PrintBumperValue, lcd, PERIODIC, 40); /* Prints the bumper values to the screen. */
OS_Signal(S_BUZZ_OUTPUT);
}
/*
Device:
Scheduling period = 1/frequency of sound.
Parameter (l) = number of oscillations to produce.
*/
void Buzz(void) {
int i,l;
l = OS_GetParam();
/*
Release the cpu each time the speaker bit is
altered, to allow the device process period to determine the frequency.
*/
for(i = 0; i < l; i++) {
Ports[M6811_PORTA] SET_BIT(BIT3);
OS_Yield();
Ports[M6811_PORTA] CLR_BIT(BIT3);
OS_Yield();
}
OS_Signal(S_BUZZ);
}
inline void dash() { OS_Wait(S_BUZZ); OS_Create(Buzz, 21, DEVICE, 11); }
inline void dot() { OS_Wait(S_BUZZ); OS_Create(Buzz, 8, DEVICE, 11); }
/* Device: > 500ms */
void FIFOBuzz(void) {
FIFO f;
int fi;
unsigned int i;
f = (FIFO)OS_GetParam();
while (1) {
if(OS_Read(f,&fi)) {
/* Fifo for charactar output */
OS_Wait(S_BUZZ_OUTPUT);
switch((char)fi) {
case 'a': dot(); dash(); break;
case 'b': dash(); dot(); dot(); dot(); break;
case 'c': dash(); dot(); dash(); dot(); break;
case 'd': dash(); dot(); dot(); break;
case 'e': dot(); break;
case 'f': dot(); dot(); dash(); dot(); break;
case 'g': dash(); dash(); dot(); break;
case 'h': dot(); dot(); dot(); dot(); break;
case 'i': dot(); dot(); break;
case 'j': dot(); dash(); dash(); dash(); break;
case 'k': dash(); dot(); dash(); break;
case 'l': dot(); dash(); dot(); dot(); break;
case 'm': dash(); dash(); break;
case 'n': dash(); dot(); break;
case 'o': dash(); dash(); dash(); break;
case 'p': dot(); dash(); dash(); dot(); break;
case 'q': dash(); dash(); dot(); dash(); break;
case 'r': dot(); dash(); dot(); break;
case 's': dot(); dot(); dot(); break;
case 't': dash(); break;
case 'u': dot(); dot(); dash(); break;
case 'v': dot(); dot(); dot(); dash(); break;
case 'w': dot(); dash(); dash(); break;
case 'x': dash(); dot(); dot(); dash(); break;
case 'y': dash(); dot(); dash(); dash(); break;
case 'z': dash(); dash(); dot(); dot(); break;
case '1': dot(); dash(); dash(); dash(); dash(); break;
case '2': dot(); dot(); dash(); dash(); dash(); break;
case '3': dot(); dot(); dot(); dash(); dash(); break;
case '4': dot(); dot(); dot(); dot(); dash(); break;
case '5': dot(); dot(); dot(); dot(); dot(); break;
case '6': dash(); dot(); dot(); dot(); dot(); break;
case '7': dash(); dash(); dot(); dot(); dot(); break;
case '8': dash(); dash(); dash(); dot(); dot(); break;
case '9': dash(); dash(); dash(); dash(); dot(); break;
case '0': dash(); dash(); dash(); dash(); dash(); break;
default: OS_Yield(); break;
}
OS_Signal(S_BUZZ_FIFO);
/* Wait for the speaker to settle...prevents the microphone from hearing it. */
OS_Yield();
/* When all buzz processes have finished, signal that output is complete. */
OS_Wait(S_BUZZ);
OS_Signal(S_BUZZ_OUTPUT);
OS_Signal(S_BUZZ);
}
OS_Yield();
}
}
void ReadLightSensors(void) {
FIFO f = (FIFO)OS_GetParam();
int l, r;
while (1) {
l = 0;
r = 0;
OS_Wait(S_PORTE);
/* Activate A/D Converter...makes pins on Port E analog. */
Ports[M6811_OPTION] SET_BIT(BIT7);
/* Delay at least 100 microseconds */
OS_Yield();
/* Start converting the right photocell */
Ports[M6811_ADCTL] = 0;
/* Wait for conversion to complete. */
while (!(Ports[M6811_ADCTL] & BIT7)) {
OS_Yield();
}
r = Ports[M6811_ADR1];
/* Start converting the left photocell */
Ports[M6811_ADCTL] = 1;
/* Wait for conversion to complete. */
while (!(Ports[M6811_ADCTL] & BIT7)) {
OS_Yield();
}
l = Ports[M6811_ADR1];
OS_Signal(S_PORTE);
if (l > 100) {
OS_Wait(S_BUZZ_FIFO);
OS_Write(f,'l');
}
if (r > 100) {
OS_Wait(S_BUZZ_FIFO);
OS_Write(f,'r');
}
OS_Yield();
}
}
void ReadMicrophone(void) {
FIFO f = (FIFO)OS_GetParam();
int s;
while (1) {
s = 0;
OS_Wait(S_PORTE);
/* Activate A/D Converter...makes pins on Port E analog. */
Ports[M6811_OPTION] SET_BIT(BIT7);
/* Delay at least 100 microseconds */
OS_Yield();
/* Don't listen while buzzing. */
OS_Wait(S_BUZZ_OUTPUT);
/* Start converting the microphone. */
Ports[M6811_ADCTL] = 2;
OS_Signal(S_BUZZ_OUTPUT);
/* Wait for conversion to complete. */
while (!(Ports[M6811_ADCTL] & BIT7)) {
OS_Yield();
}
s = Ports[M6811_ADR1];
OS_Signal(S_PORTE);
/* Rectify the sound sample around 128. */
if (s >= 128) { s -= 128; }
else { s = 128 - s; }
if (s > 35) {
OS_Wait(S_BUZZ_FIFO);
OS_Write(f,'s');
}
OS_Yield();
}
}
void ReadBumpers(void) {
FIFO f = (FIFO)OS_GetParam();
int b;
while (1) {
b = 0;
OS_Wait(S_PORTE);
/* Activate A/D Converter...makes pins on Port E analog. */
Ports[M6811_OPTION] SET_BIT(BIT7);
/* Delay at least 100 microseconds */
OS_Yield();
/* Start converting the bumpers. */
Ports[M6811_ADCTL] = 3;
/* Wait for conversion to complete. */
while (!(Ports[M6811_ADCTL] & BIT7)) {
OS_Yield();
}
b = Ports[M6811_ADR1];
OS_Signal(S_PORTE);
/*
Move based on the bumper values. (b)
*/
/* Turn Left */
if (b > 3 && b < 7) {
Ports[M6811_DDRD] = 0xFF;
Ports[M6811_PORTD] CLR_BIT(BIT5); // Reverse Right
Ports[M6811_PORTA] CLR_BIT(BIT6); // Left
Ports[M6811_PORTA] SET_BIT(BIT5); // Right
//OS_Write(f,1);
}
/* Turn Right */
else if (b > 23 && b < 26) {
Ports[M6811_DDRD] = 0xFF;
Ports[M6811_PORTD] CLR_BIT(BIT4); // Reverse Left
Ports[M6811_PORTA] SET_BIT(BIT6); // Left
Ports[M6811_PORTA] CLR_BIT(BIT5); // Right
//OS_Write(f,2);
}
/* Move Ahead */
else if (b > 67 && b < 70) {
Ports[M6811_DDRD] = 0xFF;
Ports[M6811_PORTD] = 0xFF; // Forward
Ports[M6811_PORTA] SET_BIT(BIT6); // Left
Ports[M6811_PORTA] SET_BIT(BIT5); // Right
//OS_Write(f,3);
}
/* Stop */
else {
Ports[M6811_PORTA] CLR_BIT(BIT6);
Ports[M6811_PORTA] CLR_BIT(BIT5);
//OS_Write(f,4);
}
OS_Yield();
}
}
void PrintString (void) {
/* Printing takes a long time. Don't do it while buzzing because it will introduce long pauses. */
OS_Wait(S_BUZZ_OUTPUT);
sys_print_lcd((char *)OS_GetParam());
OS_Signal(S_BUZZ_OUTPUT);
OS_Signal(S_LCD);
}
/*void PrintBumperValue(void) {
FIFO f = (FIFO)OS_GetParam();
int state, last;
last = 0;
while (1) {
while(!OS_Read(f,&state)) { OS_Yield(); }
if (!last || (state != last)) {
if (state == 1) {
OS_Wait(S_LCD);
OS_Create(PrintString, "Front Right", PERIODIC, 50);
}
else if (state == 2) {
OS_Wait(S_LCD);
OS_Create(PrintString, "Front Left", PERIODIC, 50);
}
else if (state == 3) {
OS_Wait(S_LCD);
OS_Create(PrintString, "Rear", PERIODIC, 50);
}
else if (state == 4) {
OS_Wait(S_LCD);
OS_Create(PrintString, " ", PERIODIC, 50);
}
}
last = state;
}
}*/
/**************************/
void PrintLogo(void) {
FIFO f;
OS_InitSem(S_LOGO,1);
f = OS_InitFiFo();
/* Print JoelOS in a convoluted way. */
OS_Wait(S_LOGO);
OS_Create(WriteA, (int)f, PERIODIC, 10);
OS_Create(Write1, (int)f, PERIODIC, 20);
OS_Create(PrintFIFO, (int)f, PERIODIC, 30);
/* Buzz SOS */
dot();
dot();
dot();
dash();
dash();
dash();
dot();
dot();
dot();
OS_Signal(S_BUZZ_OUTPUT);
}
void PrintFIFO (void) {
FIFO f = (FIFO)OS_GetParam();
char *s = " ";
int i;
int fi;
i = 0;
while(i < 6) {
if(OS_Read(f,&fi)) {
s[i++] = (char)fi;
}
else {
OS_Yield();
}
}
OS_Wait(S_LCD);
OS_Create(PrintString, (int)s, PERIODIC, 50);
}
void Write1 (void) {
FIFO f = (FIFO)OS_GetParam();
OS_Wait(S_LOGO);
OS_Write(f,(int)'l');
OS_Yield();
OS_Write(f,(int)'O');
OS_Yield();
OS_Write(f,(int)'S');
OS_Signal(S_LOGO);
}
void WriteA (void) {
FIFO f = (FIFO)OS_GetParam();
OS_Write(f,(int)'J');
OS_Yield();
OS_Write(f,(int)'o');
OS_Yield();
OS_Write(f,(int)'e');
OS_Signal(S_LOGO);
}