//******** 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();
}
//******** 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
}
//******** 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; // 12-bit raw ADC sample, 0 to 4095
unsigned long t; // time in 2.5 ms
unsigned long myId = OS_Id();
//ADC_Collect(5, FS, &Producer); // start ADC sampling, channel 5, PD2, 400 Hz
//OS_DisableInterrupts();
ADC_Collect(5, FS, &Producer); // start ADC sampling, channel 5, PD2, 400 Hz //OS_EnableInterrupts();
NumCreated += OS_AddThread(&Display,128,0);
while(NumSamples < RUNLENGTH) {
PE2 = 0x04;
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 4095, imaginary part is 0
}
PE2 = 0x00;
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); // called every 2.5ms*64 = 160ms
}
OS_Kill(); // done
}
//******** 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; // in 10msec, 0 to 1000
unsigned long t=0;
OS_ClearMsTime();
DataLost = 0; // new run with no lost data
printf("Robot running...");
eFile_RedirectToFile("Robot");
printf("time(sec)\tdata(volts)\n\r");
do{
t++;
time=OS_MsTime(); // 10ms resolution in this OS
data = OS_Fifo_Get(); // 1000 Hz sampling get from producer
voltage = (300*data)/1024; // in mV
printf("%0u.%02u\t%0u.%03u\n\r",time/100,time%100,voltage/1000,voltage%1000);
}
while(time < 1000); // change this to mean 10 seconds
eFile_EndRedirectToFile();
printf("done.\n\r");
Running = 0; // robot no longer running
OS_Kill();
}
