/**
* @brief Shell loop.
* Wait for commands in command_queue, run it, report command run status via usart tty.
*/
void shell_run()
{
char local_command[CMD_SIZE];
queue_init(&command_queue);
usart_send_str("************************************\r\n");
usart_send_str("Welcome to Neuraxis shell\r\n");
usart_send_str("************************************\r\n>");
while(1) {
if( !queue_is_empty(&command_queue) ) {
strcpy(local_command, queue_dequeue(&command_queue));
cmd_status_t status = cmd_run(local_command);
if(status == CMD_SUCCESSFUL ) {
usart_send_str("Command '");
usart_send_str(local_command);
usart_send_str("' successfully executed\r\n");
}
else
{
usart_send_str("Command '");
usart_send_str(local_command);
usart_send_str("' can't be executed\r\n");
}
usart_send_byte((uint8_t) '>');
}
else {
__WFI();
}
}
}
int main(void) {
DDRA = 0xff; // Set LED Pins as output
PORTA = 0x01;
// Init usart
usart_init();
PORTA = 0x02;
usart_send_str("\nStarting overhead test.\n");
usart_send_str("Measuring performance without OS...\n");
PORTA = 0x04;
// Initialize the timer and enable interrupts
timer_one_second_init();
timer_one_second_start();
sei();
// The loop will run exactly 1 second and then the timer interrupt will set runTest to 0
while(runTest) {
for (uint8_t i=0; i<50; i++) {
// Do something useless
tmp1 *= 2;
}
//Increment counter, but do it in a "critical section", because it is a 16 bit operation
cli();
counter1++;
sei();
}
PORTA = 0x08;
// Disable interrupts and stop timer
cli();
timer_one_second_stop();
usart_send_str("Value: ");
usart_send_number(counter1, 10, 1);
usart_send_str("\n");
usart_send_str("Measuring performance with OS and two tasks...\n");
PORTA = 0x10;
runTest = 1;
// Restart timer for OS test
timer_one_second_init();
timer_one_second_start();
sei();
StartOS();
while(1);
}
int main(void)
{
// Init GPIO: all leds on
DDRA = 0xFF;
PORTA = 0xFF;
// init USART (9600 baud, 8N1)
usart_init();
// make sure the USART works
// (and PC can check that it has the right test)
usart_send_str("async-n-semaphore test\r\n");
// wait for the PC
while (usart_recv() != 's')
usart_send('?');
// enable USART receive interrupts
UCSRxB |= (1<<RXCIE0);
// Init Os
StartOS();
//NOTE: Since OS is used, program will never get here!
while(1);
}
/**
* UART2 Receive hander.
* Shell implementation. This function (handler) fill command queue by new valid command received
* from UART2.
*/
void USART2_IRQHandler()
{
static char buffer[CMD_SIZE];
static uint16_t char_number;
static uint8_t received_byte;
received_byte = USART2->DR;
USART2->DR = USART2->DR;
if( ( char_number+1 )> ( CMD_SIZE-2 ) ) {
char_number=0;
usart_send_str("Exceed command line limit (63 chars)\r\n>");
usart_send_str("\n\r>");
} else {
buffer[char_number] = received_byte;
if( (char)received_byte == '\b') {
if(char_number-1>-1)
char_number--;
else
usart_send_byte((uint8_t)'>');
} else if( (char) received_byte == '\n' ) {
buffer[char_number]='\0'; //set end of null terminated string
if (!cmd_check(buffer))
usart_send_str("\n\rUndefined command\n\r");
else {
usart_send_str("\n\rCommand enqueued\n\r");
queue_enqueue(&command_queue, buffer);
}
usart_send_str("\n\r>");
char_number=0;
} else {
char_number++;
}
}
USART_ClearITPendingBit(USART2, USART_IT_RXNE);
}
int main(void) {
DDRA = 0xff; // Set LED Pins as output
PORTA = 0x01;
// Init usart
usart_init();
PORTA = 0x02;
usart_send_str("\nStarting preemption test.\n");
StartOS();
while(1);
}
int main(void) {
//Init variables
for(int i=0; i<NUMTASKS; i++) c[i] = 0;
DDRA = 0xff; // Set LED Pins as output
PORTA = 0x01;
// Init usart
usart_init();
PORTA = 0x02;
usart_send_str("\nStarting multiple tasks test.\n");
StartOS();
while(1);
}
RS232_SPEC void usart_send_number(int32_t number, uint8_t base, uint8_t min_places) {
char chars[32 + 2 + 1];
char* x = chars + sizeof(chars) / sizeof(*chars);
*(--x) = 0;
if (number < 0) {
usart_send('-');
number = -number;
}
// special case for zero which would otherwise yield an empty string
if (number == 0) {
*(--x) = '0';
if (min_places)
--min_places;
}
while (number || min_places) {
uint8_t digit = number % base;
if (number == 0 && base == 10)
// cannot use '0' to fill the space because that would
// make it an octal number
digit = ' ';
else if (digit < 10)
digit += '0';
else
digit += 'a' - 10;
*(--x) = digit;
number /= base;
if (min_places)
--min_places;
}
switch (base) {
case 2: usart_send('0'); usart_send('b'); break;
case 8: usart_send('0'); break;
case 10: break;
case 16: usart_send('0'); usart_send('x'); break;
default:
usart_send_number(base, 10, 0);
usart_send('#');
break;
}
usart_send_str(x);
}
/***usart1.2发送数据 将测量结果提供给主板***/
__task void send_result(void)
{
u8 j=0;
u8 send_i=0;
os_sem_init(resultsem,0);
while(1)
{
os_sem_wait(resultsem,0xffff);
if(send_config==1)
{
for(j=view_detial[send_i][0]+1;j<view_detial[send_i][0]+4;j++)
{
itoa(view_detial[send_i][j],view_send,10);
usart_send_str(USART1,view_send);
usart_send_str(USART1," ");
}
}
/*** ***/
else
{
itoa(refresh.yy,view_send,10);
usart_send_str(USART1,view_send);
usart_send_str(USART1," ");
itoa(refresh.wj,view_send,10);
usart_send_str(USART1,view_send);
usart_send_str(USART1," ");
itoa(refresh.yj,view_send,10);
usart_send_str(USART1,view_send);
usart_send_str(USART1," ");
itoa(refresh.jb,view_send,10);
usart_send_str(USART1,view_send);
usart_send_str(USART1," ");
}
/*******/
// usart_send_str(USART1," ");
// itoa(t1,view_send,10);
// usart_send_str(USART1,view_send);
// usart_send_str(USART1," ");
// itoa(t2,view_send,10);
// usart_send_str(USART1,view_send);
/***调试 计数***/
memset(view_detial[send_i],0,106);
send_i++;
if(send_i==5)
send_i=0;
i++;
itoa(i,view_send,10);
usart_send_str(USART1," ");
usart_send_str(USART1,view_send);
/*** ***/
memset(view_send,0,10);
usart_send_enter(USART1);
}
}
/***485通讯 字符串***/
void send_485(char *s)
{
dir_485(TX);
usart_send_str(USART2,s);
dir_485(RX);
}
