int main(void)
{
unsigned int switchPressed;
debug_init(SOFTWARE_NAME);
PIO_InitializeInterrupts(AT91C_AIC_PRIOR_LOWEST);
switches_init();
char_display_init();
LED_Configure(0);
LED_Configure(1);
if (! BCAN_Init(1000, 0, NULL)) {
printf("INIT FAIL");
LED_Set(1);
return 1;
}
printf("INIT OK\n\r");
LED_Set(0);
BCAN_InitMailboxRegisters( 0, 1, 0x0, (0x5AC << 18), AT91C_CAN_MOT_TX, 0x0);
while(1) {
DisplayMenu();
switchPressed = -1;
while (switchPressed == -1) {
if (switches_pressed(0)) {
TRACE_INFO("Switch 0 is pressed\n\r");
switchPressed = 0;
} else if (switches_pressed(1)) {
TRACE_INFO("Switch 1 is pressed\n\r");
switchPressed = 1;
} else if (switches_pressed(2)) {
TRACE_INFO("Switch 2 is pressed\n\r");
switchPressed = 2;
} else if (switches_pressed(3)) {
TRACE_INFO("Switch 3 is pressed\n\r");
switchPressed = 3;
} else {
//TRACE_INFO("No Switch is pressed\n\r");
}
char_display_tick();
for (volatile unsigned int i = 0xFF; i > 0; i--) ;
}
unsigned int result = -1;
while (result != CAN_STATUS_SUCCESS) {
result = BCAN_Write(0, 1, 0, switchPressed, 0x1);
}
char_display_number(switchPressed);
}
return 0;
}
void DYNAMIC_UTI(void* pdata)
{
INT8U err_tmr, err_tmr_start, i, err;
int j, switch_status;
Sem_DYNAMIC_UTI = OSSemCreate(0);
printf("DYNAMIC_UTI Task created!\n");
SWTimer_DYNAMIC_UTI = OSTmrCreate(0, DYNAMIC_UTI_PERIOD, OS_TMR_OPT_PERIODIC , Tmr_Callback_DYNAMIC_UTI_Task, (void *)0,"DYNAMIC_UTI",&err_tmr);
if(err_tmr == OS_ERR_NONE){
OSTmrStart(SWTimer_DYNAMIC_UTI, &err_tmr_start);
if(DEBUG)
printf("Timer for DYNAMIC_UTI is created and Started \n");
}
else {
printf("Error while creating DYNAMIC_UTI task timer \n");
}
while(1)
{
switch_status = switches_pressed();
switch_status = switch_status & 1008; // Mask for SW4 - SW9
switch_status = switch_status >> 4;
printf("Before loop : Time : %d, SwitchStatus : %d \n", alt_timestamp() / (alt_timestamp_freq()/1000), switch_status);
//printf("switch_status : %d\n",switch_status);
if(switch_status > 50)
switch_status = 50;
// Loop running for 6 unit of time
// for Optimization Level Os : j = 4600000 ;
// for No Optimization : j = 3444
for(i=0; i<switch_status; i++){
for(j=0; j<4600000; j++){
}
}
printf("After loop : Time : %d \n", alt_timestamp() / (alt_timestamp_freq()/1000));
OSSemPend(Sem_DYNAMIC_UTI, 0, &err);
if(err == OS_ERR_NONE)
{
}
else {
printf("Sem_DYNAMIC_UTI Pend Error ------ \n");
}
}
}
void SwitchIO(void* pdata)
{
INT8U err_tmr, err_tmr_start, err_sem, switch_status;
Sem_SwitchIO = OSSemCreate(0);
Sem_SwitchIO_IP = OSSemCreate(0); // For getting user input
printf("SwitchIO Task created!\n");
SWTimer_SwitchIO = OSTmrCreate(0, SwitchIO_PERIOD, OS_TMR_OPT_PERIODIC , Tmr_Callback_SwitchIO_Task, (void *)0,"SwitchIO",&err_tmr);
if(err_tmr == OS_ERR_NONE){
OSTmrStart(SWTimer_SwitchIO, &err_tmr_start);
if(DEBUG)
printf("Timer for SwitchIO is created and Started \n");
}
else {
printf("Error while creating SwitchIO task timer \n");
if(err_tmr == OS_ERR_TMR_NAME_TOO_LONG)
printf(" OS_ERR_TMR_NAME_TOO_LONG : SwitchIO TASK \n");
}
while(1)
{
if(DEBUG)
printf("SwitchIO task \n");
switch_status = switches_pressed();
if(DEBUG)
printf("Switch Status : %d \n", switch_status);
if(switch_status & 1) // Engine pressed
{
engine = on;
}
else if(CUR_VELOCITY == 0){
engine = off;
}
if(switch_status & 2) // Top Gear pressed
{
top_gear = on;
}
else {
top_gear = off;
cruise_control = off;
}
OSSemPost(Sem_SwitchIO_IP);
if(DEBUG)
printf("SEM ACCESS SwitchIO TASK\n\n");
OSSemPend(Sem_SwitchIO, 0, &err_sem);
if(DEBUG)
printf("SwitchIO Task in Loop\n");
}
}
