int getSensorValues()
{
int iSensors = 0;
sysOutByte(0x184,0x00); /* Disable outputs */
iSensors = (sysInByte(0x182) << 8) | (sysInByte(0x180));
sysOutByte(0x184,0x01); /* Re enable outputs */
return iSensors;
}
/*Get the current sensor values by receiving the value from a port*/
int getSensorValues()
{
int iSensors = 0;
sysOutByte(0x184,0x00); /* Disable outputs */
iSensors = (sysInByte(0x180)); /*Receive value from 0x180 as we only need 2 bytes*/
sysOutByte(0x184,0x01); /* Re enable outputs */
return iSensors;
}
void initiateProcess()
{
sysOutByte(0x180,0x00); /* Zero out the four channels */
sysOutByte(0x181,0x00);
sysOutByte(0x182,0x00);
sysOutByte(0x183,0x00);
sysOutByte(0x184,0x01); /* Enable Output */
iActuators = 0;
}
void main (void)
{
unsigned char tempOut;
/* Connect interrupt service routine to vector and all stuff */
intConnect (INUM_TO_IVEC(aioIntNum), my_ISR, aioIntNum);
sysIntEnablePIC (aioIRQNum);
/* Enable interrupts on the aio:
* All interrupts and interrupt from counter 1 too */
tempOut = 0x24;
sysOutByte (aioBase + intEnAddress, tempOut);
/* Start counter 1 as timer with 50 ms period
* It has a clock input of 1 MHz = 1 µs
* Therefore the load value is 0xC350 = 50000 */
tempOut = 0x74;
sysOutByte (aioBase + cntCntrlReg, tempOut);
tempOut = 0x50;
sysOutByte (aioBase + cnt1Address, tempOut);
tempOut = 0xC3;
sysOutByte (aioBase + cnt1Address, tempOut);
/* Add your code here: create tasks, semaphores, ... */
//printf("Hello World!");
/*The second task shall do the following:
* - It starts counter a as an auto-reload timer with a period of 50 ms.
* - The interrupt generated by this counter activates the task.
* This shall be done with a semaphore.
* - The task reads the analog inputs of both the potentiometer and the temperature.
* - If the values have changed compared to the previous ones, these shall be written into global
* variables (AIn).
* - A hysteresis of e.g. 10 – 20 bit is necessary due to the noise of the analog inputs.
*
* */
initHardware(0);
int readTask;
readTask = taskSpawn("tRead", 101, 0, 0x1000, (FUNCPTR) tRead,0,0,0,0,0,0,0,0,0,0);
timIntSem = semBCreate(SEM_Q_PRIORITY, SEM_EMPTY);
/* The third task shall do the following:
* - It writes the values of the global variables (AIn) onto the display.
* - This shall happen approx. each 100 ms
*/
int writeTask;
writeTask = taskSpawn("tWrite",102,0,0x1000, (FUNCPTR) tWrite,0,0,0,0,0,0,0,0,0,0);
/* Suspend own task */
taskSuspend (0); //suspended sich selber
} /* main */
/*Set all ports to 0 and set actuators to both lights red*/
void initiateProcess()
{
sysOutByte(0x180,0x00); /* Zero out the four channels */
sysOutByte(0x181,0x00);
sysOutByte(0x182,0x00);
sysOutByte(0x183,0x00);
sysOutByte(0x184,0x01); /* Enable Output */
/*set actuators to both lights red*/
iActuators = (IN_RED | OUT_RED);
setActuatorValues(iActuators);
/*the first sensor values, considered old, are obtained*/
oldSensors = getSensorValues();
}
LOCAL STATUS i8042Write(
u_int32_t statReg,
u_int32_t dataReg,
u_int8_t data
)
{
STATUS status = ERROR;
/* Start watchdog */
i8042Timeout = FALSE;
wdStart(i8042Wdid,
sysClockRateGet() * I8042_WAIT_SEC,
(FUNCPTR) i8042Wd,
0);
/* Wait for output buffer to be ready */
while ((sysInByte(statReg) & I8042_KBD_IBFULL) && (i8042Timeout == FALSE));
wdCancel(i8042Wdid);
/* Write data */
sysOutByte(dataReg, data);
if (i8042Timeout == FALSE)
{
status = OK;
}
return status;
}
LOCAL STATUS i8042Command(
u_int32_t cmdReg,
u_int8_t cmd
)
{
STATUS status = ERROR;
/* Start watchdog */
i8042Timeout = FALSE;
wdStart(i8042Wdid,
sysClockRateGet() * I8042_WAIT_SEC,
(FUNCPTR) i8042Wd,
0);
/* Wait for input buffer */
while ((sysInByte(cmdReg) & I8042_KBD_IBFULL) && (i8042Timeout == FALSE));
/* Send command */
sysOutByte(cmdReg, cmd);
/* Wait for command completion */
while ((sysInByte(cmdReg) & I8042_KBD_IBFULL) && (i8042Timeout == FALSE));
wdCancel(i8042Wdid);
if (i8042Timeout == FALSE)
{
status = OK;
}
return status;
}
void my_ISR (void)
{
/* Add your code here! */
//printf(".");
semGive (analogInputs);
/* Clear AIO interrupts by writing anything to a specified address */
sysOutByte (aioBase + intClearAddress, 0);
}
void my_ISR (void)
{
/* Add your code here! */
//printf(".");
/* ISR soll Semaphore geben */
semGive (timIntSem);
/* Clear AIO interrupts by writing anything to a specified address */
sysOutByte (aioBase + intClearAddress, 0);
}
int readInputs (void)
{
unsigned char tempOut;
/* Connect interrupt service routine to vector and all stuff */
intConnect (INUM_TO_IVEC(aioIntNum), my_ISR, aioIntNum);
sysIntEnablePIC (aioIRQNum);
/* Enable interrupts on the aio:
* All interrupts and interrupt from counter 1 too */
tempOut = 0x24;
sysOutByte (aioBase + intEnAddress, tempOut);
/* Start counter 1 as timer with 50 ms period
* It has a clock input of 1 MHz = 1 µs
* Therefore the load value is 0xC350 = 50000 */
tempOut = 0x74;
sysOutByte (aioBase + cntCntrlReg, tempOut);
tempOut = 0x50;
sysOutByte (aioBase + cnt1Address, tempOut);
tempOut = 0xC3;
sysOutByte (aioBase + cnt1Address, tempOut);
int poti;
int temp;
int hyst = 15;
while(1){
semTake (analogInputs, WAIT_FOREVER);
poti = readAnalog (2, 0);
temp = readAnalog (5, 2);
//printf ("Werte %d %d \n", poti, temp);
if ((poti > globalPoti+hyst) | (poti < globalPoti-hyst))
{
globalPoti = poti;
}
if ((temp > globalTemp+hyst) | (temp < globalTemp-hyst))
{
globalTemp = temp;
}
}
}
/*Set the actuator values by sending the current actuator values to a port*/
void setActuatorValues(int iActuators)
{
sysOutByte(0x184,0x01); /* Re enable outputs */
sysOutByte(0x181,(iActuators & 0x003F)); /*send the lowest 6 bits of iActuators to memory location 0x181*/
}
void setActuatorValues(int iActuators)
{
sysOutByte(0x184,0x01); /* Re enable outputs */
sysOutByte(0x181,(iActuators & 0x007F)); /*We only have 6 actuators*/
}
