/*-----------------------Start system-----------------------------------------*/
void tn_app_init()
{
tn_cpu_int_disable(); // прерывания включаются обратно после выхода из tn_app_init();
// start
startup();
// for static IP
struct ip_addr ipaddr = { pref_get_long(PREF_L_NET_IP) };
struct ip_addr netmask = { pref_get_long(PREF_L_NET_MSK) };
struct ip_addr gw = { pref_get_long(PREF_L_NET_GW) };
//ip_addr_debug_print(buf, ipaddr);
ethernet_init((enum net_mode)pref_get_long(PREF_L_NET_MODE), &ipaddr, &netmask, &gw);
cmd_ch_init(); // init cmd for ethernet
// creat task_leds_func
if (tn_task_create(&task_leds_tcb, &task_leds_func, TASK_LEDS_PRI, &task_leds_stk[TASK_LEDS_STK_SZ - 1],
TASK_LEDS_STK_SZ, 0, TN_TASK_START_ON_CREATION) != TERR_NO_ERR)
{
dbg_puts("tn_task_create(&task_leds_tcb) error");
goto err;
}
//time_init=true;
return;
err:
dbg_trace();
tn_halt();
}
// init one call
void light_init(void)
{
dbg_printf("Initializing LIGHT...");
pin_on(OPIN_TR_EN );//включить выходные регистры
LIGHT_STA=LIGHT_WORK;// machine stat
light_machine.work = FALSE; // stop machine
//
setStatusRestart(true);// перезагрузка
//
BOOL is_init;
dk_num=0;
//
GREEN_PORT_CONF = 0;
RED_PORT_CONF = 0;
YEL_PORT_CONF = 0;
//
for (int i_dk=0; i_dk<DK_N; i_dk++)
{
CUR_DK = i_dk;
for (int i_try=0; i_try<3; i_try++)
{
is_init = ligh_load_init(2-i_try);
if (is_init)
{
dk_num++;
break;
}
}
//
if (!is_init)
break;
}
if (dk_num)
light_machine.work = TRUE; // start machine
/*create event*/
if (tn_event_create(&g_light_evt, TN_EVENT_ATTR_SINGLE | TN_EVENT_ATTR_CLR, 0) != TERR_NO_ERR){
dbg_puts("tn_event_create(&g_light_evt) error");
dbg_trace();
tn_halt();
}
/*create task_light_func*/
if (tn_task_create(&task_light_tcb, &task_light_func, TASK_LIGHT_PRI,
&task_light_stk[TASK_LIGHT_STK_SZ - 1], TASK_LIGHT_STK_SZ, 0,
TN_TASK_START_ON_CREATION) != TERR_NO_ERR){
dbg_puts("tn_task_create(&task_light_tcb) error");
dbg_trace();
tn_halt();
}
dbg_puts("[done]");
}
void GPS_init()
{
dbg_printf("Initializing GPS module...");
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_UART);
MAP_GPIOPinConfigure(GPIO_PA0_U0RX);
MAP_GPIOPinConfigure(GPIO_PA1_U0TX);
MAP_GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);
MAP_UARTConfigSetExpClk(UART_BASE, MAP_SysCtlClockGet(), UART_SPEED, UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE | UART_CONFIG_PAR_NONE);
MAP_UARTDisable(UART_BASE);
MAP_UARTTxIntModeSet(UART_BASE, UART_TXINT_MODE_EOT);
MAP_UARTIntEnable(UART_BASE, UART_INT_RX | UART_INT_TX);
MAP_IntEnable(INT_UART);
MAP_UARTEnable(UART_BASE);
MAP_UARTFIFODisable(UART_BASE);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOG);
//
MAP_IntEnable(INT_GPIOG);
// Настроить прерывания на PPS
MAP_GPIOIntTypeSet(GPIO_PORTG_BASE, GPIO_PIN_7, GPIO_FALLING_EDGE);
MAP_GPIOPinIntEnable(GPIO_PORTG_BASE, GPIO_PIN_7);
//
if (tn_task_create(&task_GPS_tcb, &task_GPS_func, TASK_GPS_PRI,
&task_GPS_stk[TASK_GPS_STK_SZ - 1], TASK_GPS_STK_SZ, 0,
TN_TASK_START_ON_CREATION) != TERR_NO_ERR)
{
dbg_puts("tn_task_create(&task_GPS_tcb) error");
goto err;
}
// Настроить прерывания на PPS
//MAP_IntEnable(INT_GPIOG);
//MAP_GPIOIntTypeSet(GPIO_PORTG_BASE, GPIO_PIN_7, GPIO_FALLING_EDGE);
//MAP_GPIOPinIntEnable(GPIO_PORTG_BASE, GPIO_PIN_7);
dbg_puts("[done]");
return;
err:
dbg_trace();
tn_halt();
}
//----------------------------------------------------------------------------
void tn_app_init()
{
//--- Task LED1 blink
task_led1.id_task = 0;
tn_task_create(&task_led1, //-- task TCB
task_led1_func, //-- task function
TASK_LED1_PRIORITY, //-- task priority
&(task_led1_stack //-- task stack first addr in memory
[TASK_LED1_STK_SIZE-1]),
TASK_LED1_STK_SIZE, //-- task stack size (in int,not bytes)
NULL, //-- task function parameter
TN_TASK_START_ON_CREATION //-- Creation option
);
//--- Task CHECKMEM
task_checkmem.id_task = 0;
tn_task_create(&task_checkmem, //-- task TCB
task_checkmem_func, //-- task function
TASK_CHECKMEM_PRIORITY, //-- task priority
&(task_checkmem_stack //-- task stack first addr in memory
[TASK_CHECKMEM_STK_SIZE-1]),
TASK_CHECKMEM_STK_SIZE, //-- task stack size (in int,not bytes)
NULL, //-- task function parameter
TN_TASK_START_ON_CREATION //-- Creation option
);
//GPS TASKS:
//--- Task ACCUM
task_accum.id_task = 0;
tn_task_create(&task_accum, //-- task TCB
task_accum_func, //-- task function
TASK_ACCUM_PRIORITY, //-- task priority
&(task_accum_stack //-- task stack first addr in memory
[TASK_ACCUM_STK_SIZE-1]),
TASK_ACCUM_STK_SIZE, //-- task stack size (in int,not bytes)
NULL, //-- task function parameter
TN_TASK_START_ON_CREATION //-- Creation option
);
//--- Task MEAS
task_meas.id_task = 0;
tn_task_create(&task_meas, //-- task TCB
task_meas_func, //-- task function
TASK_MEAS_PRIORITY, //-- task priority
&(task_meas_stack //-- task stack first addr in memory
[TASK_MEAS_STK_SIZE-1]),
TASK_MEAS_STK_SIZE, //-- task stack size (in int,not bytes)
NULL, //-- task function parameter
TN_TASK_START_ON_CREATION //-- Creation option
);
//--- Task DISP
task_disp.id_task = 0;
tn_task_create(&task_disp, //-- task TCB
task_disp_func, //-- task function
TASK_DISP_PRIORITY, //-- task priority
&(task_disp_stack //-- task stack first addr in memory
[TASK_DISP_STK_SIZE-1]),
TASK_DISP_STK_SIZE, //-- task stack size (in int,not bytes)
NULL, //-- task function parameter
TN_TASK_START_ON_CREATION //-- Creation option
);
//--- Task ALLOC
task_disp.id_task = 0;
tn_task_create(&task_alloc, //-- task TCB
task_alloc_func, //-- task function
TASK_ALLOC_PRIORITY, //-- task priority
&(task_alloc_stack //-- task stack first addr in memory
[TASK_ALLOC_STK_SIZE-1]),
TASK_ALLOC_STK_SIZE, //-- task stack size (in int,not bytes)
NULL, //-- task function parameter
TN_TASK_START_ON_CREATION //-- Creation option
);
//--- Semaphores
semTxUart.id_sem = 0;
tn_sem_create(&semTxUart,1,1);
//GPS
SemISR.id_sem = 0;
tn_sem_create(&SemISR, 1, 1);
SemMeas.id_sem = 0;
tn_sem_create(&SemMeas, 1, 1);
//--- Queues
queueTxUart.id_dque = 0;
tn_queue_create(&queueTxUart, //-- Ptr to already existing TN_DQUE
&queueTxUartMem[0], //-- Ptr to already existing array of void * to store data queue entries.Can be NULL
QUEUE_TXUART_SIZE //-- Capacity of data queue(num entries).Can be 0
);
}
//----------------------------------------------------------------------------
// TN main function (never return)
//----------------------------------------------------------------------------
void tn_start_system(void)
{
int i;
//-- Clear/set all globals (vars, lists, etc)
for(i=0;i < TN_NUM_PRIORITY;i++)
{
queue_reset(&(tn_ready_list[i]));
tn_tslice_ticks[i] = NO_TIME_SLICE;
}
queue_reset(&tn_create_queue);
tn_created_tasks_qty = 0;
tn_system_state = TN_ST_STATE_NOT_RUN;
tn_ready_to_run_bmp = 0;
tn_idle_count = 0;
tn_curr_performance = 0;
tn_next_task_to_run = NULL;
tn_curr_run_task = NULL;
//-- System tasks
queue_reset(&tn_wait_timeout_list);
//--- Timer task
tn_task_create((TN_TCB*)&tn_timer_task, //-- task TCB
tn_timer_task_func, //-- task function
0, //-- task priority
&(tn_timer_task_stack //-- task stack first addr in memory
[TN_TIMER_STACK_SIZE-1]),
TN_TIMER_STACK_SIZE, //-- task stack size (in int,not bytes)
NULL, //-- task function parameter
TN_TASK_TIMER); //-- Creation option
//--- Idle task
tn_task_create((TN_TCB*)&tn_idle_task, //-- task TCB
tn_idle_task_func, //-- task function
TN_NUM_PRIORITY-1, //-- task priority
&(tn_idle_task_stack //-- task stack first addr in memory
[TN_IDLE_STACK_SIZE-1]),
TN_IDLE_STACK_SIZE, //-- task stack size (in int,not bytes)
NULL, //-- task function parameter
TN_TASK_IDLE); //-- Creation option
//-- Activate timer & idle tasks
tn_next_task_to_run = &tn_idle_task; //-- Just for the task_to_runnable() proper op
task_to_runnable(&tn_idle_task);
task_to_runnable(&tn_timer_task);
tn_curr_run_task = &tn_idle_task; //-- otherwise it is NULL
//-- Run OS - first context switch
tn_start_exe();
}