//************SW2Push*************
// Called when SW2 Button pushed, Lab 3 only
// Adds another foreground task
// background threads execute once and return
void SW2Push(void){
if(OS_MsTime() > 20){ // debounce
if(OS_AddThread(&ButtonWork,100,4)){
NumCreated++;
}
OS_ClearMsTime(); // at least 20ms between touches
}
}
//******** OS_AddPeriodicThread ***************
// add a background periodic task
// typically this function receives the highest priority
// Inputs: pointer to a void/void background function
// thread number to make the code simple
// period given in system time units
// priority 0 is highest, 5 is lowest
// Outputs: 1 if successful, 0 if this thread can not be added
// It is assumed that the user task will run to completion and return
// This task can not spin, block, loop, sleep, or kill
// This task can call OS_Signal OS_bSignal OS_AddThread
// You are free to select the time resolution for this function
// This task does not have a Thread ID
// In lab 2, this command will be called 0 or 1 times
// In lab 2, the priority field can be ignored
// In lab 3, this command will be called 0 1 or 2 times
// In lab 3, there will be up to four background threads, and this priority field
// determines the relative priority of these four threads
int OS_AddPeriodicThread(void(*task)(void), unsigned long threadnumber, unsigned long period,
unsigned long priority) {
long status;
status = StartCritical();
// Clear periodic counter
OS_ClearMsTime(threadnumber);
if(threadnumber == 1) {
// Set the global function pointer to the address of the provided function
gThread1p = task;
gThread1Valid = VALID;
gThread1Period = period;
TimerDisable(TIMER2_BASE, TIMER_A);
IntPrioritySet(INT_TIMER2A, (priority << 5));
// Sets new TIMER2 period
TimerLoadSet(TIMER2_BASE, TIMER_A, period);
TimerIntClear(TIMER2_BASE, TIMER_TIMA_TIMEOUT);
TimerIntEnable(TIMER2_BASE, TIMER_TIMA_TIMEOUT);
IntEnable(INT_TIMER2A);
TimerEnable(TIMER2_BASE, TIMER_A);
} else {
// Set the global function pointer to the address of the provided function
gThread2p = task;
gThread2Valid = VALID;
gThread2Period = period;
TimerDisable(TIMER2_BASE, TIMER_B);
IntPrioritySet(INT_TIMER2B, (priority << 5));
// Sets new TIMER2 period
TimerLoadSet(TIMER2_BASE, TIMER_B, period);
TimerIntClear(TIMER2_BASE, TIMER_TIMB_TIMEOUT);
TimerIntEnable(TIMER2_BASE, TIMER_TIMB_TIMEOUT);
IntEnable(INT_TIMER2B);
TimerEnable(TIMER2_BASE, TIMER_B);
}
EndCritical(status);
return 1;
}
//******** 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();
}
static int _SH_ClearTime(void)
{
OS_ClearMsTime();
return 0;
}
