void thread(void)
{
unsigned int id;
id = OS_Id();
PF3 ^= 0x08;
Display_Message(0,line++, "Thread: ", id);
OS_Sleep(2000);
Display_Message(0,line++, "Thread dying ", id);
PF3 ^= 0x08;
OS_Kill();
}
//------------------Task 2--------------------------------
// background thread executes with SW1 button
// one foreground task created with button push
// foreground treads run for 2 sec and die
// ***********ButtonWork*************
void ButtonWork(void){
unsigned long myId = OS_Id();
PE1 ^= 0x02;
ST7735_Message(1,0,"NumCreated =",NumCreated);
PE1 ^= 0x02;
OS_Sleep(50); // set this to sleep for 50msec
ST7735_Message(1,1,"PIDWork =",PIDWork);
ST7735_Message(1,2,"DataLost =",DataLost);
ST7735_Message(1,3,"Jitter 0.1us=",MaxJitter);
PE1 ^= 0x02;
OS_Kill(); // done, OS does not return from a Kill
}
//------------------Task 2--------------------------------
// background thread executes with select button
// one foreground task created with button push
// foreground treads run for 2 sec and die
// ***********ButtonWork*************
void ButtonWork(void){
unsigned long i;
unsigned long myId = OS_Id();
oLED_Message(1,0,"NumCreated =",NumCreated);
if(NumSamples < RUNLENGTH){ // finite time run
for(i=0;i<20;i++){ // runs for 2 seconds
//OS_Sleep(20); // set this to sleep for 0.1 sec
}
}
oLED_Message(1,1,"PIDWork =",PIDWork);
oLED_Message(1,2,"DataLost =",DataLost);
oLED_Message(1,3,"Jitter(us) =",MaxJitter-MinJitter);
OS_Kill(); // done
}
//------------------Task 2--------------------------------
// background thread executes with select button
// one foreground task created with button push
// foreground treads run for 2 sec and die
// ***********ButtonWork*************
void ButtonWork(void){
unsigned long i;
unsigned long myId = OS_Id();
oLED_Message(1,0,"NumCreated =",NumCreated);
if(NumSamples < RUNLENGTH){ // finite time run
for(i=0;i<40;i++){ // runs for 2 seconds
OS_Sleep(50); // sleep for 50ms
}
}
oLED_Message(1,1,"PIDWork =",PIDWork);
oLED_Message(1,2,"DataLost =",DataLost);
oLED_Message(1,3,"0.1u Jitter=",MaxJitter1-MinJitter1);
OS_Kill(); // done
}
int main(void)
{
unsigned int id;
unsigned long time;
id = OS_Id();
PF2 ^= 0x04;
Display_Message(0,line++, "Hello world: ", id);
OS_AddThread(thread, 128, 1);
time = OS_Time();
OS_Sleep(1000);
time = (((OS_TimeDifference(time, OS_Time()))/1000ul)*125ul)/10000ul;
Display_Message(0,line++, "Sleep time: ", time);
PF2 ^= 0x04;
OS_Kill();
}
void PID(void){
short err; // speed error, range -100 to 100 RPM
unsigned long myId = OS_Id();
PIDWork = 0;
IntTerm = 0;
PrevError = 0;
Coeff[0] = 384; // 1.5 = 384/256 proportional coefficient
Coeff[1] = 128; // 0.5 = 128/256 integral coefficient
Coeff[2] = 64; // 0.25 = 64/256 derivative coefficient*
while(NumSamples < RUNLENGTH) {
for(err = -1000; err <= 1000; err++){ // made-up data
Actuator = PID_stm32(err,Coeff)/256;
}
PIDWork++; // calculation finished
}
for(;;){ } // 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; // 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
}
//------------------Task 2--------------------------------
// background thread executes with select button
// one foreground task created with button push
// foreground treads run for 2 sec and die
// ***********ButtonWork*************
void ButtonWork(void){
unsigned long i;
unsigned long myId = OS_Id();
char str[20];
sprintf(str, "NumCreated = %d", NumCreated);
OLED_Out(BOTTOM, str);
if(NumSamples < RUNLENGTH){ // finite time run
for(i=0;i<20;i++){ // runs for 2 seconds
OS_Sleep(50); // set this to sleep for 0.1 sec
}
}
sprintf(str, "PIDWork = %d", PIDWork);
OLED_Out(BOTTOM, str);
sprintf(str, "DataLost = %d", DataLost);
OLED_Out(BOTTOM, str);
sprintf(str, "Jitter(us) = %d",MaxJitter-MinJitter);
OLED_Out(BOTTOM, str);
OLED_Out(BOTTOM, "");
OS_Kill(); // done
OS_Delay(OS_ARBITRARY_DELAY);
}
//******** 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
}
