// -------------------------- OS_AddThread ---------------------------
int OS_AddThread(void(*task)(void), unsigned long stackSize, unsigned long priority){
long status;
int i = 0;
status = StartCritical();
while((thread[i].id != 0) && (i < NUMTHREADS)){
i++;
};
if (thread[i].id != 0){
EndCritical(status);
return 0;
}
SetInitialStack(i, task);
thread[i].id = i + 1;
thread[i].priority = priority;
thread[i].blockSt = 0;
thread[i].sleepSt = 0;
linkTCB(&Actives, &thread[i]);
EndCritical(status);
return 1; //successfully added thread
}
void Task_WindOut(void)
{
BSET(AWS_DDR, AWS_PIN);
BeginCritical();
// Fast PWM 8 bit
TCCR1A = BV(COM1A1) | BV(COM1B1) | BV(WGM10);
TCCR1B = BV(WGM12) | BV(CS11);
// Enable PWM pins
AWA_DDR |= BV(AWA_DDR_COS) | BV(AWA_DDR_SIN);
EndCritical();
for (;;) {
delay_ms(80);
//
// Dimension for 5 ms pulses (100 Hz) at 60 Kts
// 60 kts - 100 revs /
if (Nav_AWS < 5)
windPulse = 0;
else
windPulse = 2000 / Nav_AWS;
register int deg = Nav_AWA/10;
BeginCritical();
AWA_SIN = trigint_sin8u(deg * 45 + (deg * 51 / 100));
deg = (90 - deg + 360) % 360;
AWA_COS = trigint_sin8u(deg * 45 + (deg * 51 / 100));
EndCritical();
}
}
int OS_AddThread(void(*task)(void), unsigned long stackSize, unsigned long priority) {
long status;
int i;
int index;
status = StartCritical();
if(NumThreads == 0) {
// First thread no TCBs yet
tcbs[0].next = &tcbs[0];
tcbs[0].prev = &tcbs[0];
Head = &tcbs[0];
Tail = &tcbs[0];
index = 0;
} else {
// Look for open spot in tcbs array
for(i = 0; i < MAXTHREADS; i++) {
if(tcbs[i].valid == INVALID) {
index = i;
i = MAXTHREADS; // Exit loop
} else {
index = -1; // Sentinel to detect no invalid spots
}
}
if(index == -1) {
EndCritical(status);
return FAILURE; // No space in tcbs
}
tcbs[index].next = Head; // New tcb points to head
tcbs[index].prev = Tail; // Point back to current tail
(*Tail).next = &tcbs[index]; // Tail now points to new tcb
Tail = &tcbs[index]; // New tcb becomes the tail
(*Head).prev = &tcbs[index]; // Head now points backwards to new tcb
}
// Initilizing the stack for debugging
setInitialStack(index);
// Set PC for stack to point to function to run
tcbs[index].stack[STACKSIZE - 2] = (long) (task);
// Set inital values for sleep status and id
tcbs[index].sleepState = 0;
tcbs[index].priority = priority;
tcbs[index].blockedState = '\0';
tcbs[index].id = index;
tcbs[index].valid = VALID;
NumThreads++;
EndCritical(status);
return SUCCESS;
}
uint8_t uartRx(uint8_t uartId, bool block) {
uint8_t recvd = 0xFF;
StartCritical();
while((cBufGetChar(&rxBuffer[uartId], (char *)&recvd) > 0) && block) {
EndCritical();
//give the interrupt a chance to run
StartCritical();
}
EndCritical();
return recvd;
}
// ----------------------- OS_InitSemaphore --------------------------
void OS_InitSemaphore(Sema4Type *semaPt, long value){
long status;
status = StartCritical();
(*semaPt).Value = value;
semaPt->Blocked = 0;
EndCritical(status);
}
//trigger a ping measurement. Returns distance in mm.
unsigned long PingMeasure(){int i; unsigned short startTime; unsigned long iBit;
iBit = StartCritical();
TIMER0_IMR_R &= ~TIMER_IMR_CAEIM; // disable capture match interrupt
Done = 0;
//enable output on PD4 and send a send 10us pulse
GPIO_PORTD_DEN_R &= ~0x10;
GPIO_PORTD_DIR_R |= 0x10;
GPIO_PORTD_AFSEL_R &= ~0x10;
GPIO_PORTD_DEN_R |= 0x10;
PD4 = 1;
for(i = 0; i < 140; i ++){} //wait approx.10 us
PD4 = 0;
//change PD4 to input capture (CCP0)
GPIO_PORTD_DEN_R &= ~0x10;
GPIO_PORTD_DIR_R &= ~0x10;
GPIO_PORTD_AFSEL_R |= 0x10;
GPIO_PORTD_DEN_R |= 0x10;
TIMER0_IMR_R |= TIMER_IMR_CAEIM;
//wait for echo start
while(!Done){}
Done = 0;
while(!Done){} //wait for echo end
EndCritical(iBit);
// TIMER0_IMR_R &= ~TIMER_IMR_CAEIM; // disable capture match interrupt
//distance in mm = #ticks (period) / Cinv*2. divide by 2 because sound has to travel to object and back
return (Period/7400);
}
void Timer5A_Handler(void){
unsigned long sr;
TIMER5_ICR_R = TIMER_ICR_TATOCINT;// acknowledge timer2A timeout
if(counter == 50)
{
counter = 1;
sr = StartCritical();
// GPIO_PORTB_AFSEL_R &= ~0x40; // regular port function
// GPIO_PORTB_DIR_R |= 0x40; // make PD3-0 out
// GPIO_PORTB_PCTL_R = (GPIO_PORTB_PCTL_R&0xF0FFFFFF)+0x00000000;
// PB7 = 0x00;
// PB7 = 0x80;
// Timer4A_Wait(800); // 10 us
// PB7 = 0x00;
PA0 = 0x00;
PA0 = 0x40;
Timer4A_Wait(800); // 10 us
PA0 = 0x00;
// GPIO_PORTB_DIR_R &= ~0x40; // make PB6 in
// GPIO_PORTB_AFSEL_R |= 0x40; // enable alt funct on PB6
// GPIO_PORTB_PCTL_R = (GPIO_PORTB_PCTL_R&0xF0FFFFFF)+0x07000000;
EndCritical(sr);
}
else {
counter++;
}
}
void Init_Timer5A(uint32_t period) {
long sr;
volatile unsigned long delay;
sr = StartCritical();
counter = 0;
SYSCTL_RCGCTIMER_R |= 0x20;
delay = SYSCTL_RCGCTIMER_R;
delay = SYSCTL_RCGCTIMER_R;
TIMER5_CTL_R &= ~TIMER_CTL_TAEN; // 1) disable timer1A during setup
// 2) configure for 32-bit timer mode
TIMER5_CFG_R = TIMER_CFG_32_BIT_TIMER;
// 3) configure for periodic mode, default down-count settings
TIMER5_TAMR_R = TIMER_TAMR_TAMR_PERIOD;
TIMER5_TAILR_R = period - 1; // 4) reload value
// 5) clear timer1A timeout flag
TIMER5_ICR_R = TIMER_ICR_TATOCINT;
TIMER5_IMR_R |= TIMER_IMR_TATOIM;// 6) arm timeout interrupt
// 7) priority shifted to bits 31-29 for timer2A
NVIC_PRI23_R = (NVIC_PRI23_R&0xFFFFFF00)|(1 << 5);
NVIC_EN2_R = NVIC_EN2_INT92; // 8) enable interrupt 23 in NVIC
TIMER5_TAPR_R = 0;
TIMER5_CTL_R |= TIMER_CTL_TAEN; // 9) enable timer2A
//page 155
//page 104 //interrupt number 92 = priority 23
EndCritical(sr);
}
void linkTCB(tcbList* list, tcbPt target){
tcbPt head = *list;
tcbPt current;
long status;
status = StartCritical();
if (head == 0){
*list = target;
target->next = target;
target->prev = target;
} else {
current = head;
if (target->priority < head->priority){
*list = target;
} else {
current = current->next;
while ((target->priority >= current->priority) && (current != head)){
current = current->next;
}
}
(current->prev)->next = target;
target->prev = current->prev;
target->next = current;
current->prev = target;
}
EndCritical(status);
}
void TimerCapture_Init3(void){long sr; //Timer 3 (Clock thing)
sr = StartCritical();
P10SEL0 |= 0x10;
P10SEL1 &= ~0x10; // configure P10.4 as TA0CCP0
P10DIR &= ~0x10; // make P10.4 in
P8SEL0 |= 0x04;
P8SEL1 &= ~0x04; // configure 8.2 as TA0CCP
P8DIR &= ~0x04;
TA3CTL &= ~0x0030; // halt Timer A3
TA3CTL = 0x0200;
TA3CCTL0 = 0x8910;
TA3CCTL2 = 0x49C0;
TA3EX0 &= ~0x0007; // configure for input clock divider /1
NVIC_IPR3 |= (NVIC_IPR3&0xFFFFFF00)|0x04040000; // priority 2
// interrupts enabled in the main program after all devices initialized
NVIC_ISER0 |= 0x00006000; // enable interrupt 8 in NVIC
TA3CTL |= 0x0024; // reset and start Timer A1 in continuous up mode
EndCritical(sr);
}
// ******** OS_ClearMsTime ************
// sets the system time to zero from Lab 1)
// Inputs: none
// Outputs: none
// You are free to change how this works
void OS_ClearMsTime(void){
int status;
status=StartCritical();
TIMELORD=0;
EndCritical(status);
return;
}
void TimerCapture_Init01(void(*task)(uint16_t time), void(*task2)(uint16_t time)){long sr; //Timer 1 (Wheel encoders)
sr = StartCritical();
CaptureTask = task; // user function
CaptureTask2 = task2; // user function
P8SEL0 |= 0x01;
P8SEL1 &= ~0x01; // configure P8.0 as TA0CCP0
P8DIR &= ~0x01; // make P8.0 in RIGHT?
P7SEL0 |= 0x10;
P7SEL1 &= ~0x10; // configure P7.4 as TA0CCP0
P7DIR &= ~0x10; // make P7.4 in LEFT?
TA1CTL &= ~0x0030; // halt Timer A1
TA1CTL = 0x0200;
TA1CCTL0 = 0x4910;
TA1CCTL4 = 0x4910;
TA1EX0 &= ~0x0003; // configure for input clock divider /1
NVIC_IPR2 |= (NVIC_IPR2&0xFFFFFF00)|0x04040000; // priority 2
// interrupts enabled in the main program after all devices initialized
NVIC_ISER0 = 0x00000C00; // enable interrupt 8 in NVIC
TA1CTL |= 0x0024; // reset and start Timer A1 in continuous up mode
// these also work NVIC_IPR2 |= (NVIC_IPR2&0xFFFFFF00)|0x00000040; NVIC_ISER0 |= 0x00000100;
EndCritical(sr);
}
// ******** OS_bSignal ************
// set semaphore to 1, wakeup blocked thread if appropriate
// input: pointer to a binary semaphore
// output: none
void OS_bSignal(Sema4Type *semaPt) {
long status;
tcbType (*tempPt);
status = StartCritical();
if((*semaPt).Value != 1) {
(*semaPt).Value++;
if((*semaPt).Value <= 0) {
tempPt = RunPt;
while((*tempPt).blockedState != semaPt) {
tempPt = (*tempPt).next;
}
(*tempPt).blockedState = '\0';
}
}
EndCritical(status);
}
// Initialize CAN port
void CAN0_Open(void){
uint32_t volatile delay;
int32_t sr;
sr = StartCritical();
MailFlag = false;
SYSCTL_RCGCCAN_R |= 0x00000001; // CAN0 enable bit 0
SYSCTL_RCGCGPIO_R |= 0x00000010; // RCGC2 portE bit 4
for(delay=0; delay<10; delay++){};
GPIO_PORTE_AFSEL_R |= 0x30; //PORTE AFSEL bits 5,4
// PORTE PCTL 88 into fields for pins 5,4
GPIO_PORTE_PCTL_R = (GPIO_PORTE_PCTL_R&0xFF00FFFF)|0x00880000;
GPIO_PORTE_DEN_R |= 0x30;
GPIO_PORTE_DIR_R |= 0x20;
CANInit(CAN0_BASE);
CANBitRateSet(CAN0_BASE, 80000000, CAN_BITRATE);
CANEnable(CAN0_BASE);
// make sure to enable STATUS interrupts
CANIntEnable(CAN0_BASE, CAN_INT_MASTER | CAN_INT_ERROR | CAN_INT_STATUS);
// Set up filter to receive these IDs
// in this case there is just one type, but you could accept multiple ID types
CAN0_Setup_Message_Object(Ping1_ID, MSG_OBJ_RX_INT_ENABLE, 4, NULL, Ping1_ID, MSG_OBJ_TYPE_RX);
CAN0_Setup_Message_Object(Ping2_ID, MSG_OBJ_RX_INT_ENABLE, 4, NULL, Ping2_ID, MSG_OBJ_TYPE_RX);
CAN0_Setup_Message_Object(Ping3_ID, MSG_OBJ_RX_INT_ENABLE, 4, NULL, Ping3_ID, MSG_OBJ_TYPE_RX);
CAN0_Setup_Message_Object(Ping4_ID, MSG_OBJ_RX_INT_ENABLE, 4, NULL, Ping4_ID, MSG_OBJ_TYPE_RX);
CAN0_Setup_Message_Object(Button1_ID, MSG_OBJ_RX_INT_ENABLE, 4, NULL, Button1_ID, MSG_OBJ_TYPE_RX);
CAN0_Setup_Message_Object(Button2_ID, MSG_OBJ_RX_INT_ENABLE, 4, NULL, Button2_ID, MSG_OBJ_TYPE_RX);
CAN0_Setup_Message_Object(IR_ID, MSG_OBJ_RX_INT_ENABLE, 4, NULL, IR_ID, MSG_OBJ_TYPE_RX);
NVIC_EN1_R = (1 << (INT_CAN0 - 48)); //IntEnable(INT_CAN0);
EndCritical(sr);
return;
}
// ******** OS_Wait ************
// decrement semaphore and spin/block if less than zero
// input: pointer to a counting semaphore
// output: none
void OS_Wait(Sema4Type *s){
//new way (Lab3)
long status; //the i bit, used to save and reload it
status=StartCritical(); //Save Ibit
s->Value = s->Value-1; //Decriment semaphore counter
if(s->Value < 0){ //If counter < 0 block
//BLOCK!!!
NUMBLOCKEDTHREADS++;
RUNPT->blockedOn=s; //set in TCB what sema4 its blocked on (for debug info)
if(s->blockedThreads[(s->bIndex+1)%NUMTHREADS]==EMPTY){
s->bIndex=(s->bIndex+1)%NUMTHREADS;
s->blockedThreads[(s->bIndex)%NUMTHREADS]=RUNPT; //add thread to array of blocked threads
NVIC_ST_CURRENT_R = 0;
//EndCritical(status);
OS_SysTick_Handler(); //trigger thread switch
}
}
EndCritical(status); //Reenable I bit
//old way (Lab2)
/* DisableInterrupts()
while( s->Value <= 0){
//TODO: implement Blocking
EnableInterrupts();
DisableInterrupts();
}
s->Value--;
EnableInterrupts();
*/
}
// ******** OS_Signal ************
// increment semaphore, wakeup blocked thread if appropriate
// input: pointer to a counting semaphore
// output: none
void OS_Signal(Sema4Type *s){
long status;
status=StartCritical();
s->Value++;
EndCritical(status);
//TODO: wakeup blocked thread
}
void examineButtons(void) {
StartCritical();
if(AlertDebounce) {
AlertDebounce = false;
// When you hold 300, portA->Data is 0xBF
if((PortA->Data&0xFF) == 0xBF) {
sw300Pressed = true;
}
// When you hold 301, portA->Data is 0x7F
else if((PortA->Data&0xFF) == 0x7F) {
sw301Pressed = true;
}
// When you hold 302, portD->Data is 0x7B
else if((PortD->Data&0xFF) == 0x7B) {
sw302Pressed = true;
}
// When you hold 303, portD->Data is 0x77
else if((PortD->Data&0xFF) == 0x77) {
sw303Pressed = true;
} else {
sw300Pressed = false;
sw301Pressed = false;
sw302Pressed = false;
sw303Pressed = false;
}
}
EndCritical();
}
int OS_AddThread(void(*task)(void), unsigned long stackSize, unsigned long priority)
{
uint32_t status;
status = StartCritical();
//we will take the first thread from the dead pool
if(DeadPt == '\0')
{
OS_DisableInterrupts();
while(1){}
}
(DeadPt)->id = uniqueId; //unique id
(DeadPt)->active = 1;
(DeadPt)->sleepState = 0; //flag
(DeadPt)->priority = priority;
(DeadPt)->blockedState = 0; //flag
(DeadPt)->needToWakeUp = 0; //flag
SetInitialStack(DeadPt, stackSize);
(DeadPt)->stack[stackSize - 2] = (uint32_t)task; //push PC
uniqueId++;
addDeadToScheduler(&DeadPt);
if(higherPriorityAdded == 1)
{
OS_Suspend();
}
EndCritical(status);
return 1;
}
// Inputs: channelNum - ADC channel input [0:11].
// freq - sample frequency.
// task - function pointer that accepts the collected ADC values.
// Output: none
void ADC_InitHWTrigger1(uint8_t channelNum, uint32_t freq, void(*task)(unsigned long data)){
long sr = StartCritical();
uint32_t prescale = 80; // prescale and period used to determine freq. Currently set for f=400Hz. See pg 108 of textbook
uint32_t period = 1000000/freq; // prescale and period used to determine freq. Currently set for f=400Hz. See pg 108 of textbook
UserTask1 = task; // user function
channelInit(channelNum); // initalize ADC channels
SYSCTL_RCGCADC_R |= 0x01; // activate ADC0
SYSCTL_RCGCTIMER_R |= 0x01; // activate timer0
while((SYSCTL_PRADC_R&0x01) == 0){}; // allow time for clock to stabilize
while((SYSCTL_PRTIMER_R&0x01) == 0){}; // allow time for clock to stabilize
TIMER0_CTL_R = 0x00000000; // disable timer0A during setup
TIMER0_CTL_R |= 0x00000020; // enable timer0A trigger to ADC
TIMER0_CFG_R = 0x4; // configure for 16-bit timer mode
TIMER0_TAMR_R = 0x00000002; // configure for periodic mode, default down-count settings
TIMER0_TAPR_R = prescale-1; // prescale value for trigger
TIMER0_TAILR_R = period-1; // start value for trigger
TIMER0_IMR_R = 0x00000000; // disable all interrupts
TIMER0_CTL_R |= 0x00000001; // enable timer0A 32-b, periodic, no interrupts
ADC0_PC_R = 0x01; // configure for 125K samples/sec
ADC0_SSPRI_R = 0x3210; // Sequencer 3 = lowest priority, 0 = highest priority
ADC0_ACTSS_R &= ~0x08; // disable sample sequencer 3
ADC0_EMUX_R = (ADC0_EMUX_R&0xFFFF0FFF)+0x5000; // timer trigger event
ADC0_SSMUX3_R = channelNum;
ADC0_SSCTL3_R = 0x06; // set flag and end
ADC0_IM_R |= 0x08; // enable SS3 interrupts
ADC0_ACTSS_R |= 0x08; // enable sample sequencer 3
NVIC_PRI4_R &= 0xFFFF00FF; //priority 2
NVIC_PRI4_R |= 0x00004000; //priority 2
NVIC_EN0_R |= 1<<17; // enable interrupt 17 in NVIC
EndCritical(sr);
}
void UserInit(void){
StartCritical();
//println_W(startmessage);// All printfDEBUG functions do not need to be removed from code if debug is disabled
//#if defined(DEBUG)
// ConfigureUART(115200);
// if(GetChannelMode(16)!=IS_UART_TX)
// setMode(16,IS_UART_TX);
//#endif
setPrintLevelInfoPrint();
println_I(/*PSTR*/("\e[1;1H\e[2J ***Starting User initialization***"));
InitFlagPins();
InitBankLEDs();
SetPowerState0(0,0);
SetPowerState1(0,0);
//_delay_ms(1);
#if defined(WPIRBE)
SPISlaveInit();
#endif
//_delay_ms(100);
println_I(/*PSTR*/("Starting Pin Functions"));
InitPinFunction();
println_I(/*PSTR*/("Starting Pin Modes"));
InitPinModes();
int i=0;
//println_I(/*PSTR*/("Starting hardware modes"));
for(i=0;i<GetNumberOfIOChannels();i++){
initPinState(i);
configAdvancedAsyncNotEqual(i,10);
setAsyncLocal(i,true) ;
}
//println_I(/*PSTR*/("DONE pin initialization"));
//println_I(/*PSTR*/("Adding IO Initialization"));
addNamespaceToList((NAMESPACE_LIST *)get_bcsIoNamespace());
//println_I(/*PSTR*/("Adding IO.SETMODE Initialization"));
addNamespaceToList((NAMESPACE_LIST *)get_bcsIoSetmodeNamespace());
//println_I(/*PSTR*/("Adding Internal Initialization"));
addNamespaceToList((NAMESPACE_LIST *)get_internalNamespace());
setNoAsyncMode(true);
setIgnoreAddressing(true);
//SetPinTris(0,OUTPUT);
//SetDIO(0,OFF);
#if defined(USE_AS_LIBRARY)
InitializeUserCode();
#endif
EndCritical();
println_I(/*PSTR*/("Starting Core"));
// setMode(22,IS_DO);
// setMode(23,IS_DI);
// println_I(/*PSTR*/("Pin done"));
}
// -------------------------- OS_Kill --------------------------------
void OS_Kill(void){
long status;
status = StartCritical();
unlinkTCB(&Actives, RunPt);
RunPt->id = 0;
EndCritical(status);
OS_Suspend();
}
// ******** OS_bSignal ************
// set semaphore to 1, wakeup blocked thread if appropriate
// input: pointer to a binary semaphore
// output: none
void OS_bSignal(Sema4Type *semaPt){
long status;
status=StartCritical();
semaPt->Value= 1;
EndCritical(status);
//TODO: wakeup blocked thread
return;
}
// **************SysTick_Init*********************
// Initialize SysTick periodic interrupts
// Input: interrupt period
// Units of period are 12.5ns (assuming 80 MHz clock)
// Maximum is 2^24-1
// Minimum is determined by length of ISR
// Output: none
void SysTick_Init(uint32_t period){long sr;
sr = StartCritical();
NVIC_ST_CTRL_R = 0; // disable SysTick during setup
NVIC_ST_RELOAD_R = period-1;// reload value
NVIC_ST_CURRENT_R = 0; // any write to current clears it
NVIC_SYS_PRI3_R = (NVIC_SYS_PRI3_R&0x00FFFFFF)|0x40000000; // priority 2
// enable SysTick with core clock and interrupts
NVIC_ST_CTRL_R = 0x07;
EndCritical(sr);
}
//------------TimerCapture_Init------------
// Initialize Timer A1 in edge time mode to request interrupts on
// the rising edge of P8.0 (TA1CCP0). The interrupt service routine
// acknowledges the interrupt and calls a user function.
// Input: task is a pointer to a user function called when edge occurs
// parameter is 16-bit up-counting timer value when edge occurred
// Output: none
void TimerCapture1_Init(void (*task1) (uint16_t time), void (*task2) (uint16_t time)) {
long sr;
sr = StartCritical();
CaptureTask = task1; // user function
CaptureTask2 = task2;
// initialize P8.0 and P7.7 and make them input
P8SEL0 |= 0x01;
P8SEL1 &= ~0x01; // configure P8.0 as TA1CCP0
P8DIR &= ~0x01; // make P8.0 in
P7SEL0 |= 0x80;
P7SEL1 &= ~0x80; // configure P7.7 as TA1CCP1
P7DIR &= ~0x80; // make P7.7 in
TA1CTL &= ~0x0030; // halt Timer A0
// bits15-10=XXXXXX, reserved
// bits9-8=10, clock source to SMCLK
// bits7-6=00, input clock divider /1
// bits5-4=00, stop mode
// bit3=X, reserved
// bit2=0, set this bit to clear
// bit1=0, interrupt disable
// bit0=0, clear interrupt pending
TA1CTL = 0x0200;
// bits15-14=01, capture on rising edge
// bits13-12=00, capture/compare input on CCI0A
// bit11=1, synchronous capture source
// bit10=X, synchronized capture/compare input
// bit9=X, reserved
// bit8=1, capture mode
// bits7-5=XXX, output mode
// bit4=1, enable capture/compare interrupt
// bit3=X, read capture/compare input from here
// bit2=X, output this value in output mode 0
// bit1=X, capture overflow status
// bit0=0, clear capture/compare interrupt pending
TA1CCTL0 = 0x4910;
TA1CCTL1 = 0x4910;
TA1EX0 &= ~0x0007; // configure for input clock divider /1
NVIC_IPR2 = (NVIC_IPR2&0xFFFFFF00)|0x00000040; // priority 2
// interrupts enabled in the main program after all devices initialized
NVIC_ISER0 = 0x00000c00; // enable interrupt 10 and 11 in NVIC
TA1CTL |= 0x0024; // reset and start Timer A0 in continuous up mode
// bits15-10=XXXXXX, reserved
// bits9-8=10, clock source to SMCLK
// bits7-6=00, input clock divider /1
// bits5-4=10, continuous count up mode
// bit3=X, reserved
// bit2=1, set this bit to clear
// bit1=0, interrupt disable (no interrupt on rollover)
// bit0=0, clear interrupt pending
EndCritical(sr);
}
void LEDsInit(void) {
int32_t status = StartCritical();
SYSCTL_RCGCGPIO_R |= 0x20; // activate port F
while((SYSCTL_PRGPIO_R&0x20) == 0){}; // allow time for clock to stabilize
GPIO_PORTF_DIR_R |= 0x0E; // make PF3-1 output (PF3-1 built-in LEDs)
GPIO_PORTF_AFSEL_R &= ~0x0E; // disable alt funct on PF3-1
GPIO_PORTF_DEN_R |= 0x0E; // enable digital I/O on PF3-1
GPIO_PORTF_PCTL_R &= ~0x0000FFF0; // configure PF3-1 as GPIO
GPIO_PORTF_AMSEL_R &= ~0x0E; // disable analog functionality on PF3-1
EndCritical(status);
}
// ******** OS_Signal ************
// increment semaphore, wakeup blocked thread if appropriate
// input: pointer to a counting semaphore
// output: none
void OS_Signal(Sema4Type *s){
long status;
//new way(Lab3)
int i,j,k;
status=StartCritical(); //save Ibit
if(s->Value<0){
//WAKE UP BLOCKED
if(RRSCHEDULER){
//ROUND ROBIN
for(i=(s->bIndex+1)%NUMTHREADS ; s->blockedThreads[i]==0 ; i=++i%NUMTHREADS){;} //itterate through blocked list untill you find a pointer to a blocked thread
s->blockedThreads[i]->blockedOn=NULL; //remove blocked pointer from TCB
s->blockedThreads[i]=EMPTY; //remove from blocked list
NUMBLOCKEDTHREADS--;
}else if(PRIORITYSCHEDULER){
//PRIORITY
for(i=0,j=7;i<NUMTHREADS;i++){
if(s->blockedThreads[i]!=NULL && s->blockedThreads[i]->workingPriority<=j){ //j holds highest priority thus far encountered
j=s->blockedThreads[i]->workingPriority;
k=i; //k holds the index of the highest priority thread
}
}
if(s->blockedThreads[k]->workingPriority < RUNPT->workingPriority){ //if unblocked thread has higher priority than currently running thread
// NEXTRUNPT=s->blockedThreads[k] //possible ERROR, dont think i need this, but i might
s->blockedThreads[k]->blockedOn=NULL; //remove block from TCB
s->blockedThreads[k]=EMPTY; //remove from sema4 blocked threads list
NVIC_ST_CURRENT_R =0;
NUMBLOCKEDTHREADS--;
OS_SysTick_Handler(); //
}else{ //just add it back into the currently running list
s->blockedThreads[k]->blockedOn=NULL; //remove block from TCB
s->blockedThreads[k]=EMPTY; //remove from sema4 blocked threads list
NUMBLOCKEDTHREADS--;
}
}
}
if(s->Value<1){
s->Value = s->Value +1; //Incriment Counter
}else{
s->Value=1;
}
EndCritical(status);
//old way (Lab2)
/* status=StartCritical();
s->Value++;
EndCritical(status);
*/
}
//------------TimerCapture_Init------------
// Initialize Timer0A in edge time mode to request interrupts on
// the rising edge of PB0 (CCP0). The interrupt service routine
// acknowledges the interrupt and calls a user function.
// Input: task is a pointer to a user function
// Output: none
void TimerCapture_Init(void(*task)(void)){long sr;
/*
sr = StartCritical();
SYSCTL_RCGC2_R |= SYSCTL_RCGC2_GPIOB; //activate port B
PING_PeriodicTask = task; //user function
GPIO_PORTB_DIR_R |= 0x40; //PB6 out
GPIO_PORTB_AFSEL_R &= ~0x40; //disable alt funct on PB64
GPIO_PORTB_DEN_R |= 0x40; //enable digital I/O on PB6
//configure PF4 as GPIO
GPIO_PORTB_PCTL_R = (GPIO_PORTB_PCTL_R&0xF0FFFFFF)+0x00000000;
GPIO_PORTB_AMSEL_R = 0; //disable analog functionality on PB
// GPIO_PORTB_PUR_R |= 0x40; // enable weak pull-up on PB6
GPIO_PORTB_PDR_R |= 0x40; // enable weak pull-down on PB6
GPIO_PORTB_IS_R &= ~0x40; // (d) PB64 is edge-sensitive
//GPIO_PORTB_IBE_R &= ~0x40; // PB6 is not both edges
GPIO_PORTB_IBE_R |= 0x40; // PB6 is both edges
//GPIO_PORTB_IEV_R &= ~0x40; // PB6 falling edge event
GPIO_PORTB_ICR_R = 0x40; // (e) clear flag6
GPIO_PORTB_IM_R |= 0x40; // (f) arm interrupt on PB6
//NVIC_PRI4_R = (NVIC_PRI4_R&0x00FFFFFF)|0x40000000; // top 3 bits
NVIC_PRI0_R = (NVIC_PRI0_R&0xFFFF0FFF)|0x00004000; // top 3 bits
//NVIC_EN0_R = NVIC_EN0_INT19; // enable interrupt 19 in NVIC
NVIC_EN0_R = NVIC_EN0_INT1; // enable interrupt 1 in NVIC
EndCritical(sr);
*/
sr = StartCritical();
SYSCTL_RCGC2_R |= SYSCTL_RCGC2_GPIOB; //activate port B
PING_PeriodicTask = task; //user function
GPIO_PORTB_DIR_R |= 0xF0; //PB6 out
GPIO_PORTB_AFSEL_R &= ~0xF0; //disable alt funct on PB64
GPIO_PORTB_DEN_R |= 0xF0; //enable digital I/O on PB6
//configure PF4 as GPIO
GPIO_PORTB_PCTL_R = (GPIO_PORTB_PCTL_R&0xF0FFFFFF)+0x00000000;
GPIO_PORTB_AMSEL_R = 0; //disable analog functionality on PB
// GPIO_PORTB_PUR_R |= 0x40; // enable weak pull-up on PB6
GPIO_PORTB_PDR_R |= 0xF0; // enable weak pull-down on PB6
GPIO_PORTB_IS_R &= ~0xF0; // (d) PB64 is edge-sensitive
//GPIO_PORTB_IBE_R &= ~0x40; // PB6 is not both edges
GPIO_PORTB_IBE_R |= 0xF0; // PB6 is both edges
//GPIO_PORTB_IEV_R &= ~0x40; // PB6 falling edge event
GPIO_PORTB_ICR_R = 0xF0; // (e) clear flag6
GPIO_PORTB_IM_R |= 0xF0; // (f) arm interrupt on PB6
//NVIC_PRI4_R = (NVIC_PRI4_R&0x00FFFFFF)|0x40000000; // top 3 bits
NVIC_PRI0_R = (NVIC_PRI0_R&0xFFFF0FFF)|0x00004000; // top 3 bits
//NVIC_EN0_R = NVIC_EN0_INT19; // enable interrupt 19 in NVIC
NVIC_EN0_R = NVIC_EN0_INT1; // enable interrupt 1 in NVIC
EndCritical(sr);
}
void portBInit(void) {
int32_t status = StartCritical();
SYSCTL_RCGCGPIO_R |= 0x02; // 1) activate clock for Port B
while((SYSCTL_PRGPIO_R&0x02) == 0) {}; // ready?
GPIO_PORTB_DIR_R &= ~0xFF; // PB1 is an input
GPIO_PORTB_AFSEL_R &= ~0xFF; // regular port function
GPIO_PORTB_AMSEL_R &= ~0xFF; // disable analog on PB1
GPIO_PORTB_PCTL_R &= ~0xFFFFFFFF; // PCTL GPIO on PB1
GPIO_PORTB_DEN_R |= 0xFF; // PB3-0 enabled as a digital port
EndCritical(status);
}
int OS_AddPeriodicThread(void(*task)(void), unsigned long period, unsigned long priority){
int32_t status;
status = OS_StartCritical();
//now need to add to linked list
if(DeadPeriodicPt == '\0') //cant add this thread
{
OS_DisableInterrupts();
while(1){};
}
removeAndAddToSingleList(&DeadPeriodicPt, period, task, priority);
EndCritical(status );
return 0; //added sucesfully
}
// ******** OS_bSignal ************
// Lab2 spinlock, set to 1
// Lab3 wakeup blocked thread if appropriate
// input: pointer to a binary semaphore
// output: none
void OS_bSignal(Sema4Type *semaPt)
{
int32_t status;
status = OS_StartCritical();
(*semaPt).Value = 1;
if((*semaPt).blockedThreads != '\0')
{
(*(*semaPt).blockedThreads).active = 1;
(*(*semaPt).blockedThreads).blockedState = 0;
addDeadToScheduler(&(*semaPt).blockedThreads); //addDead is similar to what we want to do. Just takes first element of linked list and adds to scheduler
}
EndCritical(status );
}