//*******************final user main DEMONTRATE THIS TO TA**********
int main(void){
// Set the clocking to run from PLL at 50 MHz
SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_8MHZ);
OS_Init(); // initialize, disable interrupts
DataLost = 0; // lost data between producer and consumer
NumSamples = 0;
MaxJitter = 0; // OS_Time in 20ns units
MinJitter = 10000000;
//********initialize communication channels
OS_MailBox_Init();
OS_Fifo_Init(32); // ***note*** 4 is not big enough*****
//*******attach background tasks***********
OS_AddButtonTask(&ButtonPush,2);
OS_AddPeriodicThread(&DAS,PERIOD,0); // 2 kHz real time sampling
NumCreated = 0 ;
// create initial foreground threads
NumCreated += OS_AddThread(&Interpreter,128,2);
NumCreated += OS_AddThread(&Consumer,128,1);
NumCreated += OS_AddThread(&PID,128,3);
OS_Launch(TIMESLICE); // doesn't return, interrupts enabled in here
return 0; // this never executes
}
//*******************final user main DEMONTRATE THIS TO TA**********
int main(void){ // lab 3 real main
OS_Init(); // initialize, disable interrupts
DataLost = 0; // lost data between producer and consumer
NumSamples = 0;
//********initialize communication channels
OS_MailBox_Init();
OS_Fifo_Init(32); // ***note*** 4 is not big enough*****
//*******attach background tasks***********
OS_AddButtonTask(&ButtonPush,2);
OS_AddDownTask(&DownPush,3);
OS_AddPeriodicThread(&DAS,1,PERIOD,0); // 2 kHz real time sampling
NumCreated = 0 ;
// create initial foreground threads
NumCreated += OS_AddThread(&Interpreter,128,2);
NumCreated += OS_AddThread(&Consumer,128,1);
NumCreated += OS_AddThread(&PID,128,3);
OS_Launch(TIMESLICE); // doesn't return, interrupts enabled in here
return 0; // this never executes
}
//*******************final user main DEMONTRATE THIS TO TA**********
int main(void){
OS_Init(); // initialize, disable interrupts
PortE_Init();
DataLost = 0; // lost data between producer and consumer
NumSamples = 0;
MaxJitter = 0; // in 1us units
//********initialize communication channels
OS_MailBox_Init();
OS_Fifo_Init(128); // ***note*** 4 is not big enough*****
ST7735_InitR(INITR_REDTAB); // initialize LCD
UART_Init(); // initialize UART
//*******attach background tasks***********
OS_AddSW1Task(&SW1Push,2);
// OS_AddSW2Task(&SW2Push,2); // add this line in Lab 3
ADC_Init(4); // sequencer 3, channel 4, PD3, sampling in DAS()
OS_AddPeriodicThread(&DAS,PERIOD,1); // 2 kHz real time sampling of PD3
NumCreated = 0 ;
// create initial foreground threads
NumCreated += OS_AddThread(&Interpreter,128,2);
NumCreated += OS_AddThread(&Consumer,128,1);
NumCreated += OS_AddThread(&PID,128,3); // Lab 3, make this lowest priority
OS_Launch(TIME_2MS); // doesn't return, interrupts enabled in here
return 0; // this never executes
}
//************ButtonPush*************
// Called when Select Button pushed
// background threads execute once and return
void ButtonPush(void){
if(Running==0){
Running = 1; // prevents you from starting two robot threads
NumCreated += OS_AddThread(&Robot,128,1); // start a 20 second run
NumCreated += OS_AddThread(&IdleTask,128,1); // start a 20 second run
}
}
int testmain1(void){
OS_Init(); // initialize, disable interrupts
NumCreated = 0 ;
NumCreated += OS_AddThread(&Thread1,128,1);
NumCreated += OS_AddThread(&Thread2,128,2);
NumCreated += OS_AddThread(&Thread3,128,3);
OS_Launch(TIMESLICE); // doesn't return, interrupts enabled in here
return 0; // this never executes
}
//******************* test main2 **********
// SYSTICK interrupts, period established by OS_Launch
// Timer interrupts, period established by first call to OS_AddPeriodicThread
int testmain2(void){
OS_Init(); // initialize, disable interrupts
NumCreated = 0 ;
// create initial foreground threads
NumCreated += OS_AddThread(&TestFile,128,1);
NumCreated += OS_AddThread(&IdleTask,128,3);
OS_Launch(10*TIME_1MS); // doesn't return, interrupts enabled in here
return 0; // this never executes
}
//------------cmdPing-----------------
// Control the ping sensors.
void cmdPing(void){
if(FirstRun){ // only allowed to add ping threads once
FirstRun = 0;
OS_AddThread(&Ping1, 128, 1); // sends a pulse to the ping sensor #1, 10 times a second
OS_AddThread(&PingDisplay, 128, 6); // display ping results
printf("Ping sensors added. Displaying data to ST7735.\n\r");
}
else{
printf("Error, Ping sensors already added.\n\r");
}
}
int testmain1(void){ // testmain1
OS_Init(); // initialize, disable interrupts
NumCreated = 0 ;
NumCreated += OS_AddThread(&Thread1,128,1);
NumCreated += OS_AddThread(&Thread2,128,2);
NumCreated += OS_AddThread(&Thread3,128,3);
// Count1 runs, Count2 and Count3 are 0 because of starvation
// change priority to equal to see round robin
OS_Launch(TIMESLICE); // doesn't return, interrupts enabled in here
return 0; // this never executes
}
int testmain5(void){ // Testmain5
volatile unsigned long delay;
OS_Init(); // initialize, disable interrupts
NumCreated = 0 ;
NumCreated += OS_AddThread(&Thread6,128,2);
NumCreated += OS_AddThread(&Thread7,128,1);
OS_AddPeriodicThread(&TaskA,(TIME_1MS*111)/100,0); // 1 ms, higher priority
OS_AddPeriodicThread(&TaskB,TIME_1MS,1); // 2 ms, lower priority
OS_Launch(TIMESLICE); // 2ms, doesn't return, interrupts enabled in here
return 0; // this never executes
}
int main2(void)
{
#if PROFILING == 1
volatile unsigned long delay;
#endif
/* Initialize 8MHz clock */
SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_XTAL_8MHZ | SYSCTL_OSC_MAIN);
OLED_Init(15);
ADC_Init(1000);
ADC_Open(0);
ADC_Open(1);
SH_Init();
OS_Init();
OS_MailBox_Init();
SH_Init();
//********initialize communication channels
OS_MailBox_Init();
OS_Fifo_Init(32);
NumCreated = 0;
NumSamples = 0;
MaxJitter = 0; // OS_Time in 20ns units
MinJitter = 10000000;
#if PROFILING
// intialize port b pins as specified by PINS mask
// for digital output for use in profiling threads
SYSCTL_RCGC2_R |= SYSCTL_RCGC2_GPIOB;
delay = SYSCTL_RCGC2_R;
GPIO_PORTB_DIR_R |= PINS;
GPIO_PORTB_DEN_R |= PINS;
GPIO_PORTB_DATA_R &= ~PINS;
#endif
// testing/debugging stuff
OS_Add_Periodic_Thread(&DAS,2,1);
// OS_AddButtonTask(&dummyButtonTask, 1);
OS_AddButtonTask(&ButtonPush, 1);
OS_AddDownTask(&ButtonPush, 1);
// NumCreated += OS_AddThread(&jerkTask, 0, 6);
// NumCreated += OS_AddThread(&dummyTask3, 0, 7);
// NumCreated += OS_AddThread(&dummyTask1, 0, 2);
NumCreated += OS_AddThread(&PID, 128, 5);
// NumCreated += OS_AddThread(&dummyTask2, 0, 2);
NumCreated += OS_AddThread(&Consumer, 128, 0);
NumCreated += OS_AddThread(&SH_Shell, 128, 6);
OS_Launch(TIMESLICE);
/* Loop indefinitely */
while(1);
}
// --------------------------- OS_Launch -----------------------------
void OS_Launch(unsigned long timeSlice){
SysTick_InitInt(timeSlice); //For preemptive context switching
OS_AddPeriodicThread(&RunTimeUpdate, 2, 128);
OS_AddPeriodicThread(&DecrementSleep, 2, 1);
OS_AddThread(&NoCrash,128,7); //to guarantee there is always a thread in the actives list
OS_AddThread(&OS_Display,128,1);
OS_AddThread(&OS_ProcessInterpreter,128,3);
RunPt = Actives;
StartOS();
EnableInterrupts();
}
int testmain3(void){ // Testmain3
Count4 = 0;
OS_Init(); // initialize, disable interrupts
// Count2 + Count5 should equal Count1 (Count5 may be zero)
NumCreated = 0 ;
OS_AddButtonTask(&BackgroundThread5c,2);
NumCreated += OS_AddThread(&Thread2c,128,3);
NumCreated += OS_AddThread(&Thread3c,128,3);
NumCreated += OS_AddThread(&Thread4c,128,3);
OS_Launch(TIMESLICE); // doesn't return, interrupts enabled in here
return 0; // this never executes
}
int testmain4(void){ // Testmain4
Count4 = 0;
OS_Init(); // initialize, disable interrupts
NumCreated = 0 ;
OS_AddPeriodicThread(&BackgroundThread1d,1,PERIOD,0);
OS_AddButtonTask(&BackgroundThread5d,2);
NumCreated += OS_AddThread(&Thread2d,128,2);
NumCreated += OS_AddThread(&Thread3d,128,3);
NumCreated += OS_AddThread(&Thread4d,128,3);
OS_Launch(TIMESLICE/16); // doesn't return, interrupts enabled in here
return 0; // this never executes
}
int testmain2(void){ // testmain2
OS_Init(); // initialize, disable interrupts
NumCreated = 0 ;
NumCreated += OS_AddThread(&Thread1b,128,1);
NumCreated += OS_AddThread(&Thread2b,128,1);
NumCreated += OS_AddThread(&Thread3b,128,3);
OS_AddPeriodicThread(&Dummy1, PERIOD, 1);
OS_AddPeriodicThread(&Dummy2, PERIOD, 2);
OS_Launch(TIMESLICE); // doesn't return, interrupts enabled in here
return 0; // this never executes
}
// *********** OS_AddThreads **************
// add three foreground threads to the scheduler
// Inputs: three pointers to a void/void foreground tasks
// Outputs: 1 if successful, 0 if this thread can not be added
int OS_AddThreads(void(*task0)(void), void(*task1)(void), void(*task2)(void)) {
int result = 0;
result += OS_AddThread(task0, STACKSIZE, 0);
result += OS_AddThread(task1, STACKSIZE, 0);
result += OS_AddThread(task2, STACKSIZE, 0);
if(result == 3) {
return 1;
} else {
return 0;
}
}
//******************* test main2 **********
// SYSTICK interrupts, period established by OS_Launch
// Timer interrupts, period established by first call to OS_AddPeriodicThread
int testmain2(void){
OS_Init(); // initialize, disable interrupts
//*******attach background tasks***********
OS_AddPeriodicThread(&disk_timerproc,10*TIME_1MS,0); // time out routines for disk
NumCreated = 0 ;
// create initial foreground threads
NumCreated += OS_AddThread(&TestFile,128,1);
NumCreated += OS_AddThread(&IdleTask,128,3);
OS_Launch(10*TIME_1MS); // doesn't return, interrupts enabled in here
return 0; // this never executes
}
int Testmain5(void){ // Testmain5
volatile unsigned long delay;
SYSCTL_RCGC2_R |= SYSCTL_RCGC2_GPIOB; // activate port B
delay = SYSCTL_RCGC2_R; // allow time to finish activating
GPIO_PORTB_DIR_R |= 0x07; // make PB2, PB1, PB0 out
GPIO_PORTB_DEN_R |= 0x07; // enable digital I/O on PB2, PB1, PB0
OS_Init(); // initialize, disable interrupts
NumCreated = 0 ;
NumCreated += OS_AddThread(&Thread6,128,2);
NumCreated += OS_AddThread(&Thread7,128,1);
OS_AddPeriodicThread(&TaskA,TIME_1MS,0); // 1 ms, higher priority
OS_AddPeriodicThread(&TaskB,2*TIME_1MS,1); // 2 ms, lower priority
OS_Launch(TIMESLICE); // 2ms, doesn't return, interrupts enabled in here
return 0; // this never executes
}
//************ButtonPush*************
// Called when Select Button pushed
// Adds another foreground task
// background threads execute once and return
void ButtonPush(void){
if(OS_AddThread(&ButtonWork,100,1)){
NumCreated++;
}
OS_Kill();
OS_Delay(OS_ARBITRARY_DELAY);
}
//************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
}
}
int main(void){
OS_Init();
LEDsInit();
switchesInit(&leftSwitch, &rightSwitch, SWITCH_PRIO);
SBInit(SYS_CLK_FREQ/SBUS_FREQ, SBUS_ID, SBUS_PRIO);
OS_AddThread(&IdleTask, 128, 7);
OS_Launch(SYS_CLK_FREQ/OS_FREQ);
return 0;
}
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();
}
// main program to measure the bandwidth of the SD card
// measure the maximum rate at which you can continuously write to the SD card
// output to unused GPIO pins
int bandwidth_write_testmain(void) {
OS_Init(); // initialize, disable interrupts
//*******attach background tasks***********
OS_AddPeriodicThread(&disk_timerproc,10*TIME_1MS,0); // time out routines for disk
// add threads for testing
OS_AddThread(&write_test, 128, 0); // this thread adds SH_Shell when it's done
OS_Launch(TIMESLICE);
return 0;
}
//******************* Measurement of context switch time**********
// Run this to measure the time it takes to perform a task switch
// UART0 not needed
// SYSTICK interrupts, period established by OS_Launch
// first timer not needed
// second timer not needed
// select not needed,
// down not needed
// logic analyzer on PF0 for systick interrupt
// on PB0 to measure context switch time
int testmain7(void){ // testmain7
volatile unsigned long delay;
OS_Init(); // initialize, disable interrupts
SYSCTL_RCGC2_R |= SYSCTL_RCGC2_GPIOB; // activate port B
delay = SYSCTL_RCGC2_R; // allow time to finish activating
GPIO_PORTB_DIR_R |= 0x07; // make PB2, PB1, PB0 out
GPIO_PORTB_DEN_R |= 0x07; // enable digital I/O on PB2, PB1, PB0
NumCreated = 0 ;
NumCreated += OS_AddThread(&Thread6,128,1); // look at Port B0 on scope
OS_Launch(TIME_1MS/10); // 0.1ms, doesn't return, interrupts enabled in here
return 0; // this never executes
}
// main program to measure the bandwidth of the SD card
// measure the maximum rate at which you can continuously read from the SD card
// output to unused GPIO pins
int read_main(void) {
OS_Init(); // initialize, disable interrupts
//*******attach background tasks***********
OS_AddPeriodicThread(&disk_timerproc,10,0); // time out routines for disk
// add threads for testing
OS_AddThread(&read_test, 128, 0);
OS_Launch(TIMESLICE);
return 0;
}
// simple test main
int simple_test_main(void) {
OS_Init(); // initialize, disable interrupts
UART_Init();
//*******attach background tasks***********
OS_AddPeriodicThread(&disk_timerproc,10,0); // time out routines for disk
OS_AddThread(&TestFile, 128, 1);
OS_Launch(TIMESLICE);
return 0;
}
void Thread2c(void){
OS_InitSemaphore(&Readyc,0);
Count1 = 0; // number of times signal is called
Count2 = 0;
Count5 = 0; // Count2 + Count5 should equal Count1
NumCreated += OS_AddThread(&Thread5c,128,3);
OS_AddPeriodicThread(&BackgroundThread1c,1,TIME_1MS,1);
for(;;){
OS_Wait(&Readyc);
Count2++; // Count2 + Count5 should equal Count1, Count5 may be 0
}
}
int main(void){
OS_Init();
PortF_Init();
Timer5_Init();
// SW1_Init(&SW1Press,3);
// SW2_Init(&SW2Press,3);
PC6_Init(&PC6High,3);
PC7_Init(&PC7High,3);
OS_AddThread(&IdleTask, 128, 7);
OS_Launch(TIMESLICE);
return 0;
}
int testmain6(void){ // Testmain6
volatile unsigned long delay;
OS_Init(); // initialize, disable interrupts
delay = add(3,4);
SYSCTL_RCGC2_R |= SYSCTL_RCGC2_GPIOB; // activate port B
delay = SYSCTL_RCGC2_R; // allow time to finish activating
GPIO_PORTB_DIR_R |= 0x07; // make PB2, PB1, PB0 out
GPIO_PORTB_DEN_R |= 0x07; // enable digital I/O on PB2, PB1, PB0
SignalCount1 = 0; // number of times s is signaled
SignalCount2 = 0; // number of times s is signaled
SignalCount3 = 0; // number of times s is signaled
WaitCount1 = 0; // number of times s is successfully waited on
WaitCount2 = 0; // number of times s is successfully waited on
WaitCount3 = 0; // number of times s is successfully waited on
OS_InitSemaphore(&s,0); // this is the test semaphore
OS_AddPeriodicThread(&Signal1,1,(799*TIME_1MS)/1000,0); // 0.799 ms, higher priority
OS_AddPeriodicThread(&Signal2,2,(1111*TIME_1MS)/1000,1); // 1.111 ms, lower priority
NumCreated = 0 ;
NumCreated += OS_AddThread(&Thread6,128,6); // idle thread to keep from crashing
NumCreated += OS_AddThread(&OutputThread,128,2); // results output thread
NumCreated += OS_AddThread(&Signal3,128,2); // signalling thread
NumCreated += OS_AddThread(&Wait1,128,2); // waiting thread
NumCreated += OS_AddThread(&Wait2,128,2); // waiting thread
NumCreated += OS_AddThread(&Wait3,128,2); // waiting thread
OS_Launch(TIME_1MS); // 1ms, doesn't return, interrupts enabled in here
return 0; // this never executes
}
int testmain6(void){ // Testmain6
volatile unsigned long delay;
OS_Init(); // initialize, disable interrupts
delay = add(3,4);
SignalCount1 = 0; // number of times s is signaled
SignalCount2 = 0; // number of times s is signaled
SignalCount3 = 0; // number of times s is signaled
WaitCount1 = 0; // number of times s is successfully waited on
WaitCount2 = 0; // number of times s is successfully waited on
WaitCount3 = 0; // number of times s is successfully waited on
OS_InitSemaphore(&s,0); // this is the test semaphore
OS_AddPeriodicThread(&Signal1,(799*TIME_1MS)/1000,0); // 0.799 ms, higher priority
OS_AddPeriodicThread(&Signal2,(1111*TIME_1MS)/1000,1); // 1.111 ms, lower priority
NumCreated = 0 ;
NumCreated += OS_AddThread(&Thread6,128,6); // idle thread to keep from crashing
NumCreated += OS_AddThread(&OutputThread,128,2); // results output thread
NumCreated += OS_AddThread(&Signal3,128,2); // signalling thread
NumCreated += OS_AddThread(&Wait1,128,2); // waiting thread
NumCreated += OS_AddThread(&Wait2,128,2); // waiting thread
NumCreated += OS_AddThread(&Wait3,128,2); // waiting thread
OS_Launch(TIMESLICE); // 1ms, doesn't return, interrupts enabled in here
return 0; // this never executes
}
//*******************lab 5 main **********
int realmain(void){ // lab 5 real main
OS_Init(); // initialize, disable interrupts
Running = 0; // robot not running
DataLost = 0; // lost data between producer and consumer
NumSamples = 0;
//********initialize communication channels
OS_Fifo_Init(512); // ***note*** 4 is not big enough*****
ADC_Collect(0, 1000, &Producer); // start ADC sampling, channel 0, 1000 Hz
//*******attach background tasks***********
OS_AddButtonTask(&ButtonPush,2);
OS_AddDownTask(&DownPush,3);
OS_AddPeriodicThread(disk_timerproc,10*TIME_1MS,5);
NumCreated = 0 ;
// create initial foreground threads
NumCreated += OS_AddThread(&Interpreter,128,2);
NumCreated += OS_AddThread(&IdleTask,128,7); // runs when nothing useful to do
OS_Launch(TIMESLICE); // doesn't return, interrupts enabled in here
return 0; // this never executes
}
