void TestDisk(void){ DSTATUS result; unsigned short block; int i; unsigned long n;
// simple test of eDisk
printf("\n\rEE345M/EE380L, Lab 5 eDisk test\n\r");
result = eDisk_Init(0); // initialize disk
if(result) diskError("eDisk_Init",result);
printf("Writing blocks\n\r");
n = 1; // seed
for(block = 0; block < MAXBLOCKS; block++){
for(i=0;i<512;i++){
n = (16807*n)%2147483647; // pseudo random sequence
buffer[i] = 0xFF&n;
}
GPIO_PF3 = 0x08; // PF3 high for 100 block writes
if(eDisk_WriteBlock(buffer,block))diskError("eDisk_WriteBlock",block); // save to disk
GPIO_PF3 = 0x00;
}
printf("Reading blocks\n\r");
n = 1; // reseed, start over to get the same sequence
for(block = 0; block < MAXBLOCKS; block++){
GPIO_PF2 = 0x04; // PF2 high for one block read
if(eDisk_ReadBlock(buffer,block))diskError("eDisk_ReadBlock",block); // read from disk
GPIO_PF2 = 0x00;
for(i=0;i<512;i++){
n = (16807*n)%2147483647; // pseudo random sequence
if(buffer[i] != (0xFF&n)){
printf("Read data not correct, block=%u, i=%u, expected %u, read %u\n\r",block,i,(0xFF&n),buffer[i]);
OS_Kill();
}
}
}
printf("Successful test of %u blocks\n\r",MAXBLOCKS);
OS_Kill();
}
// }
void Thread7(void){ // foreground thread
printf("\n\rEE345M/EE380L, Lab 3 Preparation 2\n\r");
OS_Sleep(10000); // 10 seconds
//Jitter(); // print jitter information
printf("\n\r\n\r");
OS_Kill();
}
void Thread4d(void){ int i;
for(i=0;i<640;i++){
Count4++;
OS_Sleep(1);
}
OS_Kill();
}
void Thread7(void){ // foreground thread
UART0_SendString("\n\rEE345M/EE380L, Lab 3 Preparation 2\n\r");
OS_Sleep(5000); // 10 seconds
Jitter(); // print jitter information
UART0_SendString("\n\r\n\r");
OS_Kill();
}
//************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);
}
void Signal3(void){ // foreground
while(SignalCount3<98*MAXCOUNT){
OS_Signal(&s);
SignalCount3++;
}
OS_Kill();
}
void Thread7(void){ // foreground thread
OSuart_OutString(UART0_BASE,"\n\rEE345M/EE380L, Lab 3 Preparation 2\n\r");
OS_Sleep(5000); // 10 seconds
Jitter(); // print jitter information
OSuart_OutString(UART0_BASE,"\n\r\n\r");
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 = 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();
}
void TestFile(void){ int i; char data;
printf("\n\rEE345M/EE380L, Lab 5 eFile test\n\r");
// simple test of eFile
if(eFile_Init()) diskError("eFile_Init",0);
if(eFile_Format()) diskError("eFile_Format",0);
//eFile_Directory(&Serial_OutChar);
eFile_Directory(&UARTPut);
if(eFile_Create("file1")) diskError("eFile_Create",0);
if(eFile_WOpen("file1")) diskError("eFile_WOpen",0);
for(i=0;i<1000;i++){
if(eFile_Write('a'+i%26)) diskError("eFile_Write",i);
if(i%52==51){
if(eFile_Write('\n')) diskError("eFile_Write",i);
if(eFile_Write('\r')) diskError("eFile_Write",i);
}
}
if(eFile_WClose()) diskError("eFile_Close",0);
//eFile_Directory(&Serial_OutChar);
eFile_Directory(&UARTPut);
if(eFile_ROpen("file1")) diskError("eFile_ROpen",0);
for(i=0;i<1000;i++){
if(eFile_ReadNext(&data)) diskError("eFile_ReadNext",i);
//Serial_OutChar(data);
UARTPut(data);
}
if(eFile_Delete("file1")) diskError("eFile_Delete",0);
//eFile_Directory(&Serial_OutChar);
eFile_Directory(&UARTPut);
printf("Successful test of creating a file\n\r");
OS_Kill();
}
void Thread4c(void){ int i;
for(i=0;i<64;i++){
Count4++;
OS_Sleep(10);
}
OS_Kill();
Count4 = 0;
}
void Thread7(void){ // foreground thread
//print("\n\rEE345M/EE380L, Lab 3 Preparation 2\n\r");
oLED_Message(1,0,"\n\rEE345M/EE380L, Lab 3 Preparation 2\n\r",-0);
OS_Sleep(5000); // 10 seconds
Jitter(); // print jitter information
printf("\n\r\n\r");
OS_Kill();
}
void OutputThread(void){ // foreground thread
printf("\n\rEE345M/EE380L, Lab 3 Preparation 4\n\r");
while(SignalCount1+SignalCount2+SignalCount3<100*MAXCOUNT){
OS_Sleep(1000); // 1 second
printf(".");
}
printf(" done\n\r");
printf("Signalled=%u, Waited=%u\n\r",SignalCount1+SignalCount2+SignalCount3,WaitCount1+WaitCount2+WaitCount3);
OS_Kill();
}
//******** Display ***************
// foreground thread, accepts data from consumer
// displays calculated results on the LCD
// inputs: none
// outputs: none
void Display(void){
unsigned long data,voltage;
oLED_Message(0,0,"Run length is",(RUNLENGTH)/1000); // top half used for Display
while(NumSamples < RUNLENGTH) {
oLED_Message(0,1,"Time left is",(RUNLENGTH-NumSamples)/1000); // top half used for Display
data = OS_MailBox_Recv();
voltage = 3000*data/1024; // calibrate your device so voltage is in mV
oLED_Message(0,2,"v(mV) =",voltage);
}
OS_Kill(); // done
}
*/ REBINT OS_Send_Signal(REBINT pid, REBINT signal)
/*
** Send signal to a process
**
***********************************************************************/
{
if (signal == 9 || signal == 15) { //SIGKILL || SIGTERM
return OS_Kill(pid);
}
return OS_ENA;
}
//------------------Task 2--------------------------------
// background thread executes with SW1 button
// one foreground task created with button push
// foreground treads run for 2 sec and die
// ***********ButtonWork*************
void ButtonWork(void){
unsigned long myId = OS_Id();
PE1 ^= 0x02;
ST7735_Message(1,0,"NumCreated =",NumCreated);
PE1 ^= 0x02;
OS_Sleep(50); // set this to sleep for 50msec
ST7735_Message(1,1,"PIDWork =",PIDWork);
ST7735_Message(1,2,"DataLost =",DataLost);
ST7735_Message(1,3,"Jitter 0.1us=",MaxJitter);
PE1 ^= 0x02;
OS_Kill(); // done, OS does not return from a Kill
}
void thread(void)
{
unsigned int id;
id = OS_Id();
PF3 ^= 0x08;
Display_Message(0,line++, "Thread: ", id);
OS_Sleep(2000);
Display_Message(0,line++, "Thread dying ", id);
PF3 ^= 0x08;
OS_Kill();
}
void OutputThread(void){ // foreground thread
char buffer[60];
UART0_SendString("\n\rEE345M/EE380L, Lab 3 Preparation 4\n\r");
while(SignalCount1+SignalCount2+SignalCount3<100*MAXCOUNT){
OS_Sleep(1000); // 1 second
UART0_SendString(".");
}
UART0_SendString(" done\n\r");
snprintf(buffer, 60, "Signalled=%u, Waited=%u\n\r",SignalCount1+SignalCount2+SignalCount3,WaitCount1+WaitCount2+WaitCount3);
UART0_SendString(buffer);
OS_Kill();
}
void TestFile(void){ int i; char data; DSTATUS result;
OSuart_OutString(UART0_BASE, "\n\rEE345M/EE380L, Lab 5 eFile test\n\r");
// simple test of eFile
result = eDisk_Init(0); // initialize disk
if(result) diskError("eDisk_Init",result);
if(eFile_Init()) diskError("eFile_Init",0);
// if(eFile_Format()) diskError("eFile_Format",0);
eFile_Directory();
if(eFile_ROpen("file1")) diskError("eFile_ROpen",0);
eFile_Directory();
for(i=0;i<1000;i++){
if(eFile_ReadNext(&data)) diskError("eFile_ReadNext",i);
OSuart_OutChar(UART0_BASE, data);
SysCtlDelay(SysCtlClockGet()/10000);
}
eFile_Directory();
if(eFile_Create("file1")) diskError("eFile_Create",0);
if(eFile_WOpen("file1")) diskError("eFile_WOpen",0);
for(i=0;i<1000;i++){
if(eFile_Write('a'+i%26)) diskError("eFile_Write",i);
if(i%52==51){
if(eFile_Write('\n')) diskError("eFile_Write",i);
if(eFile_Write('\r')) diskError("eFile_Write",i);
}
}
if(eFile_WClose()) diskError("eFile_Close",0);
eFile_Directory();
if(eFile_Create("file2")) diskError("eFile_Create",0);
if(eFile_WOpen("file2")) diskError("eFile_WOpen",0);
for(i=0;i<1000;i++){
if(eFile_Write('a'+i%26)) diskError("eFile_Write",i);
if(i%52==51){
if(eFile_Write('\n')) diskError("eFile_Write",i);
if(eFile_Write('\r')) diskError("eFile_Write",i);
}
}
if(eFile_WClose()) diskError("eFile_Close",0);
eFile_Directory();
/* if(eFile_ROpen("file1")) diskError("eFile_ROpen",0);
eFile_Directory();
for(i=0;i<1000;i++){
if(eFile_ReadNext(&data)) diskError("eFile_ReadNext",i);
OSuart_OutChar(UART0_BASE, data);
SysCtlDelay(SysCtlClockGet()/10000);
}
eFile_Directory();
if(eFile_Delete("file1")) diskError("eFile_Delete",0);
// eFile_Directory(); */
OSuart_OutString(UART0_BASE, "Successful test of creating a file\n\r");
OS_Kill();
}
//******** Display ***************
// foreground thread, accepts data from consumer
// displays calculated results on the LCD
// inputs: none
// outputs: none
void Display(void){
unsigned long data,voltage;
//OS_DisableInterrupts();
ST7735_Message(0,1,"Run length = ",(RUNLENGTH)/FS); // top half used for Display
//OS_EnableInterrupts();
while(NumSamples < RUNLENGTH) {
data = OS_MailBox_Recv();
voltage = 3000*data/4095; // calibrate your device so voltage is in mV
PE3 = 0x08;
ST7735_Message(0,2,"v(mV) =",voltage);
PE3 = 0x00;
}
OS_Kill(); // done
}
//------------------Task 2--------------------------------
// background thread executes with select button
// one foreground task created with button push
// foreground treads run for 2 sec and die
// ***********ButtonWork*************
void ButtonWork(void){
unsigned long i;
unsigned long myId = OS_Id();
oLED_Message(1,0,"NumCreated =",NumCreated);
if(NumSamples < RUNLENGTH){ // finite time run
for(i=0;i<20;i++){ // runs for 2 seconds
//OS_Sleep(20); // set this to sleep for 0.1 sec
}
}
oLED_Message(1,1,"PIDWork =",PIDWork);
oLED_Message(1,2,"DataLost =",DataLost);
oLED_Message(1,3,"Jitter(us) =",MaxJitter-MinJitter);
OS_Kill(); // done
}
//------------------Task 2--------------------------------
// background thread executes with select button
// one foreground task created with button push
// foreground treads run for 2 sec and die
// ***********ButtonWork*************
void ButtonWork(void){
unsigned long i;
unsigned long myId = OS_Id();
oLED_Message(1,0,"NumCreated =",NumCreated);
if(NumSamples < RUNLENGTH){ // finite time run
for(i=0;i<40;i++){ // runs for 2 seconds
OS_Sleep(50); // sleep for 50ms
}
}
oLED_Message(1,1,"PIDWork =",PIDWork);
oLED_Message(1,2,"DataLost =",DataLost);
oLED_Message(1,3,"0.1u Jitter=",MaxJitter1-MinJitter1);
OS_Kill(); // done
}
void DisplayThread(void)
{
char str[20];
while(NumSamples < RUNLENGTH)
{
sprintf(str, "Time left is %d", (RUNLENGTH-NumSamples)/1000);
_OLED_Message(TOP, 1, str, 15);
sprintf(str, "v(mV) = %d", voltage);
_OLED_Message(TOP, 2, str, 15);
// OS_Suspend();
OS_Sleep(500);
}
OS_Kill();
OS_Delay(OS_ARBITRARY_DELAY);
}
int main(void)
{
unsigned int id;
unsigned long time;
id = OS_Id();
PF2 ^= 0x04;
Display_Message(0,line++, "Hello world: ", id);
OS_AddThread(thread, 128, 1);
time = OS_Time();
OS_Sleep(1000);
time = (((OS_TimeDifference(time, OS_Time()))/1000ul)*125ul)/10000ul;
Display_Message(0,line++, "Sleep time: ", time);
PF2 ^= 0x04;
OS_Kill();
}
void dummyTask3(void) {
count3++;
OS_Sleep(4000); // sleep for 4 seconds
OLED_Out(BOTTOM, "task 3 Yaaaaaaaaaawn");
NumCreated += OS_AddThread(&dummyTask3, 64, 2);
OS_Kill();
// #if PROFILING == 1
// int myPin = 0x04;
// #endif
// while(1) {
// count3++;
// #if PROFILING == 1
// GPIO_PORTB_DATA_R ^= myPin;
// #endif
// }
}
void leftInTick(void) {
uint8_t newBit = lDatIn;
leftInByte += newBit << leftInCount;
leftInCount++;
if(leftInCount == 8) {
int32_t status = StartCritical();
FIFOWrite(right, leftInByte);
if((leftInByte&ID_MASK) == sbID)
FIFOWrite(up, leftInByte);
EndCritical(status);
leftInCount = 0;
}
OS_Kill();
}
void OutputThread(void){ // foreground thread
char sigStr[7], waitStr[7];
OSuart_OutString(UART0_BASE,"\n\rEE345M/EE380L, Lab 3 Preparation 4\n\r");
while(SignalCount1+SignalCount2+SignalCount3<100*MAXCOUNT){
OS_Sleep(1000); // 1 second
OSuart_OutString(UART0_BASE,".");
}
OSuart_OutString(UART0_BASE," done\n\r");
Int2Str(SignalCount1+SignalCount2+SignalCount3, sigStr);
Int2Str(WaitCount1+WaitCount2+WaitCount3, waitStr);
OSuart_OutString(UART0_BASE,"Signalled = ");
OSuart_OutString(UART0_BASE,sigStr);
OSuart_OutString(UART0_BASE,"Waited = ");
OSuart_OutString(UART0_BASE,waitStr);
OS_Kill();
}
//******** Consumer ***************
// foreground thread, accepts data from producer
// calculates FFT, sends DC component to Display
// inputs: none
// outputs: none
void Consumer(void){
unsigned long data,DCcomponent; // 10-bit raw ADC sample, 0 to 1023
unsigned long t; // time in ms
unsigned long myId = OS_Id();
ADC_Collect(0, 1000, &Producer); // start ADC sampling, channel 0, 1000 Hz
NumCreated += OS_AddThread(&Display,128,0);
while(NumSamples < RUNLENGTH) {
for(t = 0; t < 64; t++){ // collect 64 ADC samples
data = OS_Fifo_Get(); // get from producer
x[t] = data; // real part is 0 to 1023, imaginary part is 0
}
cr4_fft_64_stm32(y,x,64); // complex FFT of last 64 ADC values
DCcomponent = y[0]&0xFFFF; // Real part at frequency 0, imaginary part should be zero
OS_MailBox_Send(DCcomponent);
}
OS_Kill(); // done
}
void PID(void){
short err; // speed error, range -100 to 100 RPM
unsigned long myId = OS_Id();
PIDWork = 0;
IntTerm = 0;
PrevError = 0;
Coeff[0] = 384; // 1.5 = 384/256 proportional coefficient
Coeff[1] = 128; // 0.5 = 128/256 integral coefficient
Coeff[2] = 64; // 0.25 = 64/256 derivative coefficient*
while(NumSamples < RUNLENGTH) {
for(err = -1000; err <= 1000; err++){ // made-up data
Actuator = PID_stm32(err,Coeff)/256;
}
GPIO_B2 ^= 0x04;
PIDWork++; // calculation finished
}
OS_Kill(); // done
}
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();
}
//******** Display ***************
// foreground thread, accepts data from consumer
// displays calculated results on the LCD
// inputs: none
// outputs: none
void Display(void){
unsigned long data;
char str[20];
sprintf(str, "Run length is %d", RUNLENGTH/1000);
OLED_Out(TOP, str); // top half used for Display
NumCreated += OS_AddThread(&DisplayThread, 128, 5);
while(NumSamples < RUNLENGTH) {
// sprintf(str, "Time left is %d", (RUNLENGTH-NumSamples)/1000);
// OS_LogEvent(EVENT_OLED_START);
// OLED_Out(TOP, str); // top half used for Display
// OS_LogEvent(EVENT_OLED_FINISH);
data = OS_MailBox_Recv();
voltage = 3000*data/1024; // calibrate your device so voltage is in mV
// sprintf(str, "v(mV) = %d", voltage);
// OLED_Out(TOP, str);
// OS_Delay(OS_ARBITRARY_DELAY);
}
OLED_Out(BOTTOM, "DONE");
OS_Kill(); // done
OS_Delay(OS_ARBITRARY_DELAY);
}
