void Task_P3()
{
Task_Sleep(10);
Mutex_Lock(mut2);
Task_Sleep(20);
Mutex_Unlock(mut2);
for(;;);
}
void Task_P1()
{
Mutex_Lock(mut1);
Mutex_Lock(mut1);
Task_Sleep(5);
Mutex_Unlock(mut1);
Mutex_Unlock(mut1);
Task_Sleep(5);
for(;;){
}
}
void Task_P1()
{
Task_Sleep(30);
Mutex_Lock(mut1);
Mutex_Unlock(mut1);
for(;;);
}
void Task_P1()
{
Event_Signal(evt);
Task_Sleep(100);
for(;;){
}
}
void Task_P1()
{
Mutex_Lock(mut1);
Task_Sleep(2);
Task_Suspend(task2);
Mutex_Unlock(mut1);
Task_Resume(task2);
Task_Sleep(3);
for(;;){
}
}
/***** Core System Tasks *****/
void Task_WriteBluetooth()
{
for(;;){
uart1_putchar(joystickDirection);
uart1_putchar(buttonState);
uart1_putchar('\n');
Task_Sleep(5);
}
}
void Pong()
{
for(;;){
PORTA|=(1<<PA1);
PORTA&=~(1<<PA1);
Task_Sleep(100);
Event_Signal(e);
Task_Yield();
}
}
void Task_P2(){
PORTB = 0x20;
_delay_ms(10);
PORTB = 0x00;
Task_Sleep(20); // sleep 2000ms
PORTB = 0x20;
_delay_ms(10);
PORTB = 0x00;
Event_Signal(evt);
for(;;);
}
void Task_ReadJoystick()
{
for(;;)
{
// The button reads ~0 when pushed, and anything from 10 to 1024 when released
buttonState = (read_ADC(JOYSTICK_PIN_BUTN) < 10) ? '1' : '0' ;
// Read the joystick analog value and save the corresponding direction to joystickDirection, n, e, s, w, and 0 for stop
int joy_horz = read_ADC(JOYSTICK_PIN_HORZ);
int joy_vert = read_ADC(JOYSTICK_PIN_VERT);
/* map joystick values to:
* 0 (west or north), 1 (middle), or 2 (east or south)
*/
int dir_horz = map(joy_horz, JOYSTICK_MIN, JOYSTICK_MAX, 0, 2);
int dir_vert = map(joy_vert, JOYSTICK_MIN, JOYSTICK_MAX, 0, 2);
// horizontal directions take precedence over vertical
if(dir_horz == 0)
{
joystickDirection = WEST;
}
else if(dir_horz == 1)
{
if(dir_vert == 0)
{
joystickDirection = NORTH;
}
else if(dir_vert == 1)
{
joystickDirection = NONE;
}
else if(dir_vert == 2)
{
joystickDirection = SOUTH;
}
}
else if(dir_horz == 2)
{
joystickDirection = EAST;
}
Task_Sleep(5);
}
}
void Task_P1(){
PORTB = 0x10;
_delay_ms(10);
PORTB = 0x00;
Task_Sleep(10); // sleep 1000ms
PORTB = 0x10;
_delay_ms(10);
PORTB = 0x00;
Mutex_Lock(mut);
PORTB = 0x10;
_delay_ms(10);
PORTB = 0x00;
for(;;);
}
void
Task_Dispatch(void) {
int i;
Task_t *p;
for(i=0;i<TASK_MAXCNT;i++) {
p = &Task_List[i];
if( p->func ) {
if( p->elapsed >= p->period ) {
p->state = p->func(p->state); // call task function
p->elapsed = 0;
}
p->elapsed++;
}
}
Task_Flag = 0;
while( ! Task_Flag ) {
Task_Sleep();
}
}
void Task_P2(int parameter)
{
Task_Sleep(20); // sleep 200ms
Event_Signal(evt);
for(;;);
}
void Task_P1(int parameter)
{
Task_Sleep(10); // sleep 100ms
Mutex_Lock(mut);
for(;;);
}
void Task_P2(int parameter)
{
Task_Sleep(20); // sleep 200ms
Task_Resume(pid);
for(;;);
}
PeripheralResult_t Peripheral_Mode( PeripheralHandle_t* peripheral, PeripheralModeReg_t reg, void* data)
{
int timeout = (int) data;
switch(reg)
{
case MODE_RX_POLL:
case MODE_RX_BUFFER:
case MODE_RX_RTOS:
do
{
if (peripheral->StateRx == PS_OPEN)
{
// Reserve this.
if(reg == MODE_RX_POLL)
peripheral->StateRx = PS_POLL_RX_IDLE;
else
peripheral->StateRx = PS_BUF_RX_IDLE;
peripheral->TaskRx = Task_Active->ID;
return PR_OK;
}
//Timeout 0 -> instant access
if(timeout == 0)
return PR_BLOCKED;
// Timeout < 0 -> Timeout
if(timeout <= 0)
return PR_TIMEOUT;
timeout-=25;
Task_Sleep(25);
}
while(peripheral->TaskRx != Task_Active->ID);
peripheral->TaskRx = Task_Active->ID;
return PR_OK;
break;
case MODE_TX_POLL:
case MODE_TX_BUFFER:
case MODE_TX_RTOS:
do
{
if (peripheral->StateTx == PS_OPEN)
{
// Reserve this.
if(reg == MODE_TX_POLL)
peripheral->StateTx = PS_POLL_TX_IDLE;
else
peripheral->StateTx = PS_BUF_TX_IDLE;
peripheral->TaskTx = Task_Active->ID;
return PR_OK;
}
//Timeout 0 -> instant access
if(timeout == 0)
return PR_BLOCKED;
// Timeout < 0 -> Timeout
if(timeout <= 0)
return PR_TIMEOUT;
timeout-=25;
Task_Sleep(25);
}
while(peripheral->TaskTx != Task_Active->ID);
peripheral->TaskTx = Task_Active->ID;
return PR_OK;
break;
// Any remaining register are for the driver.
default:
return __PeripheralDrivers[peripheral->Driver].fncMode(peripheral, reg, data);
break;
}
}
