//*******************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 }
//*******************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 }
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 }
//*******************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 }
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; }
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 }
// main program to test the file system (eFile.c) int filesystem_testmain(void) { OS_Init(); // initialize, disable interrupts //*******attach background tasks*********** OS_AddPeriodicThread(&disk_timerproc,10*TIME_1MS,0); // time out routines for disk // TODO - add threads for testing OS_Launch(TIMESLICE); 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 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; 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 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 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; }
//******************* 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 }
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); }
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 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 }
// 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; }
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 }
// 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; }
//******************* 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 }
//*******************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 }