void DataBackTest(void)
{
//double i ;
uint8 *msg;
for(;;)
{
LCD_Clear();
LCD_SetXY(0,0);
LCD_Printf("Data saved %d" , BackDataCount);
LCD_SetXY(0,1);
LCD_Printf("Press Enter to Send" );
OSMboxAccept(AppKey2Mbox); //这一句是在清除pevent->OSEventPtr中可能存在的数据
OSTimeDly(20);
msg = OSMboxAccept(AppKey2Mbox);
switch(*msg)
{
/*case 1:
BackDataInit();
for(i=0 ; i<10000 ; i++)
{
SaveMovingData();
}
LCD_SetXY(0,3);
LCD_Printf("Save data %d" , BackDataCount);
break;*/
case 18:
LCD_Clear();
LCD_SetXY(4,3);
LCD_Printf("Waiting....." );
//PC_WriteIntNew(BackDataCount);
PC_WriteNumNew(BackDataCount);
//PC_WriteInt(BackDataCount);
//PC_WriteChar('\n');
SendBackData();
PC_WriteChar('$');
//SendEndData();
LCD_Clear();
LCD_SetXY(4,3);
LCD_Printf("Done~!" );
break;
}
}
}
/* Notes :(1) The first line of code is used to prevent a compiler warning because 'p_arg' is not
* used. The compiler should not generate any code for this statement.
*
*
*********************************************************************************************************
*/
void APP_TaskThree(void *p_arg)
{
static char taskStringBuffer[APPDEF_LCD_TXT_SIZE+1U] = {'u','C','/','O','S','-','2','\0'};
static int ringPos = 0;
char indxChar;
char *pMsgContent;
(void)p_arg; /* Note(1) */
while (1)
{ /* Task body, always written as an infinite loop */
/* Turn previous ring segment off */
SegmentLCD_ARing(ringPos, 0);
/* Increase ring position variable */
if (8u == ++ringPos)
{
ringPos = 0; /* 3bit overflow */
}
/* Turn updated ring segment on */
SegmentLCD_ARing(ringPos, 1);
/* Non-blocking reception of a message */
pMsgContent = OSMboxAccept(pSerialMsgObj);
/* If a valid message was received... */
if ((void *)0 != pMsgContent)
{
/* ...shift left the whole string by one... */
for (indxChar = 0; indxChar < APPDEF_LCD_TXT_SIZE; indxChar++)
{
taskStringBuffer[indxChar] = taskStringBuffer[indxChar+1];
}
/* ...and concatenate the new character to the end. */
taskStringBuffer[APPDEF_LCD_TXT_SIZE-1] = *pMsgContent;
/* Write the string on serial port */
printf("\nBuffer: %s", taskStringBuffer);
/* Write the string on LCD */
SegmentLCD_Write(taskStringBuffer);
}
/* Delay task for 1 system tick (uC/OS-II suspends this task and executes
* the next most important task) */
OSTimeDly(100);
}
}
/*
*******************************************************************************
**
** This function waits until a message is available in the given mailbox.
** The suspend argument controls whether this function will be in blocking
** mode or not while waiting for a message. A waiting message will be cleared
**
*******************************************************************************
*/
RTOS_Message RTOS_MailboxWait( RTOS_Mailbox mailbox, RTOS_Flag suspend )
{
INT8U error = OS_NO_ERR;
void* message = 0;
if( ! RTOS_MailboxIsValid( mailbox ) )
return( (RTOS_Message)0 );
if( suspend )
message = OSMboxPend( (OS_EVENT*)mailbox, (INT16U)0, &error );
else
message = OSMboxAccept( (OS_EVENT*)mailbox );
if( ( error != OS_NO_ERR ) || ( message == 0 ) )
return( (RTOS_Message)0 );
return( message );
}
/* Notes :(1) The first line of code is used to prevent a compiler warning because 'p_arg' is not
* used. The compiler should not generate any code for this statement.
*
*
*********************************************************************************************************
*/
void APP_TaskThree(void *p_arg)
{
/* As USART connectors are not available on the STK by default,
* therefore printf() functions are turned off.
* Uncomment the macro definition in includes.h if serial
* is connected to your STK board (USART1 or LEUART0)! */
#ifdef USART_CONNECTED
static char taskStringBuffer[APPDEF_LCD_TXT_SIZE+1U] = {'u','C','/','O','S','-','2','\0'};
char indxChar;
char *pMsgContent;
#endif /* end of #ifndef USART_CONNECTED */
static int ringPos = 0;
(void)p_arg; /* Note(1) */
while (1)
{ /* Task body, always written as an infinite loop */
/* Turn previous ring segment off */
SegmentLCD_ARing(ringPos, 0);
/* Increase ring position variable */
if (8u == ++ringPos)
{
ringPos = 0; /* 3bit overflow */
}
/* Turn updated ring segment on */
SegmentLCD_ARing(ringPos, 1);
/* As USART connectors are not available on the STK by default,
* therefore printf() functions are turned off.
* Uncomment the macro definition in includes.h if serial
* is connected to your STK board (USART1 or LEUART0)! */
#ifdef USART_CONNECTED
pMsgContent = OSMboxAccept(pSerialMsgObj);
if ((void *)0 != pMsgContent)
{
/* Shift left the whole string by one... */
for (indxChar = 0; indxChar < APPDEF_LCD_TXT_SIZE; indxChar++)
{
taskStringBuffer[indxChar] = taskStringBuffer[indxChar+1];
}
/* ...and concatenate the new character to the end */
taskStringBuffer[APPDEF_LCD_TXT_SIZE-1] = *pMsgContent;
/* Write the string on serial port */
printf("\nBuffer: %s", taskStringBuffer);
/* Write the string on LCD */
SegmentLCD_Write(taskStringBuffer);
}
#endif /* end of #ifndef USART0_CONNECTED */
OSTimeDlyHMSM(0, 0, 0, 100);
/* Delay task for 1 system tick (uC/OS-II suspends this task and executes
* the next most important task) */
OSTimeDly(1);
}
}
void TaskTrafficLightsController(void *pdata) {
/*
* The traffic lights controller is implemented using finite state machine (FSM)
* There are 4 states in the FSM: green_red state, yellow_red state, red_green state, and red_flashingGreen state
* The controller is simulated based on the real life traffic lights in Finland
* However, the small difference is that it controls based on the sensors located at 4 different locations before each of the
* crossing lines.
*/
void *carMsg = "";
void *pedMsg = "";
TtrafLightState currentState = green_red;
TtrafLightState nextState = yellow_red;
pdata = pdata;
while(1) {
switch(currentState) {
case green_red:
carLights = green;
pedLights = red;
displayCarLights(green);
displayPedLights(red);
carMsg = OSMboxAccept(CarMbox);
pedMsg = OSMboxAccept(PedMbox);
if (pedMsg != "PED_REQUEST") {
currentState = currentState;
} else {
nextState = yellow_red;
currentState = nextState;
}
break;
case yellow_red:
carLights = yellow;
pedLights = red;
displayCarLights(yellow);
displayPedLights(red);
pedMsg = OSMboxAccept(PedMbox);
carMsg = OSMboxAccept(CarMbox);
if (carMsg != "CAR_REQUEST" || carMsg == "CAR_FINISH") {
nextState = red_green;
currentState = nextState;
} else {
currentState = currentState;
}
break;
case red_green:
carLights = red;
pedLights = green;
displayCarLights(red);
displayPedLights(green);
pedMsg = OSMboxAccept(PedMbox);
carMsg = OSMboxAccept(CarMbox);
if (carMsg != "CAR_REQUEST") {
currentState = currentState;
} else {
nextState = red_flashingGreen;
currentState = nextState;
}
break;
case red_flashingGreen:
carLights = red;
pedLights = flashingGreen;
displayCarLights(red);
displayPedLights(flashingGreen);
carMsg = OSMboxAccept(CarMbox);
pedMsg = OSMboxAccept(PedMbox);
if (pedMsg == "PED_REQUEST" || pedMsg != "PED_FINISH") {
currentState = currentState;
} else {
nextState = green_red;
currentState = nextState;
}
break;
default:
PC_DispStr(X_START+1, Y_END-1, "in default state", DISP_FGND_YELLOW + DISP_BGND_LIGHT_GRAY);
carLights = red;
pedLights = green;
displayCarLights(red);
displayPedLights(green);
pedMsg = OSMboxAccept(PedMbox);
carMsg = OSMboxAccept(CarMbox);
nextState == red_flashingGreen;
currentState = nextState;
break;
}
OSTimeDly(1); //delay here for the kernel to switch to another task
}
}
void TaskCar3(void *pdata) {
INT8U *rxMsg;
pdata = pdata; //avoid compiler warning
car3Pos.x = X_INTER1 + 3; //set initial
car3Pos.y = Y_START; //position for car
while(1) {
if (car3Direction == DOWN) {
if (car3Pos.y == Y_END) {
car3Direction = RIGHT;
} else {
rxMsg = (INT8U *)OSMboxAccept(Car2ToCar3Mbox);
if (rxMsg == carSignals[0]) {
stopCar3(&car3Pos);
} else if (rxMsg == carSignals[1]) {
car3Pos.y += 1;
moveCar3(&car3Pos, SPEED_FAST);
} else {
stopCar3(&car3Pos);
}
}
} else if (car3Direction == RIGHT) {
if (car3Pos.x == X_INTER2-3)
car3Direction = UP;
else {
rxMsg = (INT8U *)OSMboxAccept(Car2ToCar3Mbox);
if (rxMsg == carSignals[0]) {
stopCar3(&car3Pos);
} else if (rxMsg == carSignals[1]) {
car3Pos.x += 1;
moveCar3(&car3Pos, SPEED_FAST);
} else {
stopCar3(&car3Pos);
}
}
} else if (car3Direction == UP) {
if (car3Pos.y == Y_START) {
car3Direction = LEFT;
} else {
rxMsg = (INT8U *)OSMboxAccept(Car2ToCar3Mbox);
if (rxMsg == carSignals[0]) {
stopCar3(&car3Pos);
} else if (rxMsg == carSignals[1]) {
car3Pos.y -= 1;
moveCar3(&car3Pos, SPEED_FAST);
} else {
stopCar3(&car3Pos);
}
}
} else {
if (car3Pos.x == X_INTER1+3)
car3Direction = DOWN;
else {
rxMsg = (INT8U *)OSMboxAccept(Car2ToCar3Mbox);
if (rxMsg == carSignals[0]) {
stopCar3(&car3Pos);
} else if (rxMsg == carSignals[1]) {
car3Pos.x -= 1;
moveCar3(&car3Pos, SPEED_FAST);
} else {
stopCar3(&car3Pos);
}
}
}
OSTimeDly(1); //delay here for the kernel to switch to another task
} //end while(1)
}
void TaskCar2(void *pdata) {
INT8U err;
char *rxMsg;
pdata = pdata; //avoid compiler warning
car2Pos.x = X_INTER1 + 3; //set initial
car2Pos.y = Y_START + 2; //position for car
while(1) {
if (car2Direction == DOWN) {
if (car2Pos.y == Y_END) {
car2Direction = RIGHT;
} else {
rxMsg = (char *)OSMboxAccept(Car1ToCar2Mbox);
if (rxMsg == carSignals[0]) {
stopCar2(&car2Pos);
OSMboxPost(Car2ToCar3Mbox, (void *)carSignals[0]);
} else if (rxMsg == carSignals[1]) {
car2Pos.y += 1;
moveCar2(&car2Pos, SPEED_FAST);
OSMboxPost(Car2ToCar3Mbox, (void *)carSignals[1]);
} else {
stopCar2(&car2Pos);
OSMboxPost(Car2ToCar3Mbox, (void *)carSignals[0]);
}
}
} else if (car2Direction == RIGHT) {
if (car2Pos.x == X_INTER2-3)
car2Direction = UP;
else {
rxMsg = (char *)OSMboxAccept(Car1ToCar2Mbox);
if (rxMsg == carSignals[0]) {
stopCar2(&car2Pos);
OSMboxPost(Car2ToCar3Mbox, (void *)carSignals[0]);
} else if (rxMsg == carSignals[1]) {
car2Pos.x += 1;
moveCar2(&car2Pos, SPEED_FAST);
OSMboxPost(Car2ToCar3Mbox, (void *)carSignals[1]);
} else {
stopCar2(&car2Pos);
OSMboxPost(Car2ToCar3Mbox, (void *)carSignals[0]);
}
}
} else if (car2Direction == UP) {
if (car2Pos.y == Y_START) {
car2Direction = LEFT;
} else {
rxMsg = (char *)OSMboxAccept(Car1ToCar2Mbox);
if (rxMsg == carSignals[0]) {
stopCar2(&car2Pos);
OSMboxPost(Car2ToCar3Mbox, (void *)carSignals[0]);
} else if (rxMsg == carSignals[1]) {
car2Pos.y -= 1;
moveCar2(&car2Pos, SPEED_FAST);
OSMboxPost(Car2ToCar3Mbox, (void *)carSignals[1]);
} else {
stopCar2(&car2Pos);
OSMboxPost(Car2ToCar3Mbox, (void *)carSignals[0]);
}
}
} else {
if (car2Pos.x == X_INTER1+3)
car2Direction = DOWN;
else {
rxMsg = (char *)OSMboxAccept(Car1ToCar2Mbox);
if (rxMsg == carSignals[0]) {
stopCar2(&car2Pos);
OSMboxPost(Car2ToCar3Mbox, (void *)carSignals[0]);
} else if (rxMsg == carSignals[1]) {
car2Pos.x -= 1;
moveCar2(&car2Pos, SPEED_FAST);
OSMboxPost(Car2ToCar3Mbox, (void *)carSignals[1]);
} else {
stopCar2(&car2Pos);
OSMboxPost(Car2ToCar3Mbox, (void *)carSignals[0]);
}
}
}
OSTimeDly(1);
} //end while(1)
}
void DevLineTask(void *pdata)
{
int i,n;
uint8 chk,cmd,t,test;
uint16 nDataSize;
uint8 err,state;
uint8 mBuf[8];
PNODEMSG msg;
PTHEADER header;
pdata = pdata;
msg = (PNODEMSG)mBuf;
header = (PTHEADER)uart0_buf;
state = CMD_READY;
// TargetInit();
while(1)
{
// 1
/*
等待总线空闲
*/
// UART0RXLineClear();
//2
StartWhile:
/*
开始接受接受数据，协议分析
*/
t = UART0Getch();
if( t != PLT_VERSION )
{
if( t == 0xdb)
t = UART0Getch();
continue;
}
chk = 0;
i = 0;
do{
t = UART0Getch();
if( t == 0xdb )
{
t = UART0Getch();
}else if( t == PLT_VERSION )
{
continue;
}
chk ^= t;
uart0_buf[i] = t;
i++;
}
while( i < 4 );
if( chk )
continue; //校验错误
/*
为命令包，为本机地址，有数据包继续接受
不是，又有数据包跳空接受
为应答包，跳空接受
*/
// 6
if( header->bits.addr != MACHINE_NO )
{
t = header->bits.size;
OSTimeDly( (t + 2) / 5 ); //为9600 一个字节为1ms
}
nDataSize = header->bits.size + 1;
switch( header->bits.token )
{
case TOKEN_REQUESTSIZE:
if( nDataSize < MAX_UART_BUFFER )
{
header->bits.token = TOKEN_ALLOWSIZE;
}else
header->bits.token = TOKEN_ERRSIZE;
header->bits.token |= 0x08;
chk = 0;
for( i = 0; i < 3; i++ )
{
chk^= uart0_buf[i];
}
header->bits.check = chk;
UART0Putch(PLT_VERSION);
UART0WriteTab(uart0_buf, 4);
continue;
break;
case TOKEN_DATAPACK:
if( nDataSize > MAX_UART_BUFFER )
{
header->bits.token = TOKEN_ERRSIZE;;
}else
if( state == CMD_BUSY )
header->bits.token = TOKEN_BUSY;
else
break;
i = 0;
do
{
t = UART0Getch();
if( t == PLT_TAB )
{
t = UART0Getch();
}else if( t == PLT_VERSION )
{
continue;
}
i++;
}while( i < nDataSize );
header->bits.token |= 0x08;
chk = 0;
for( i = 0; i < 3; i++ )
{
chk^= uart0_buf[i];
}
header->bits.check = chk;
UART0Putch(PLT_VERSION);
UART0WriteTab(uart0_buf, 4);
break;
case TOKEN_PING:
{
uint32 nSize;
nSize = 0;
if( state == CMD_BUSY )
{
nSize = (uint32)OSMboxAccept(DevLineMsg);
}
if( nSize == 0 )
{
header->bits.token = 0x08 | TOKEN_PING;
header->bits.size = 0;
}
else
{
header->bits.token = TOKEN_DATAPACK | 0x8;
header->bits.size = nSize;
chk = 0;
for( i = 0; i < nSize; i++)
chk ^= uart0_buf[i+4];
uart0_buf[i+4] = chk;
state = CMD_READY;
}
chk = 0;
for( i = 0; i < 3; i++ )
{
chk^= uart0_buf[i];
}
header->bits.check = chk;
nSize += 4;
UART0Putch(PLT_VERSION);
UART0WriteTab(uart0_buf, nSize);
continue;
break;
}
}
if( nDataSize - 1 )
{
// 8
chk = 0;
i = 4;
do{
t = UART0Getch();
if( t == PLT_TAB )
{
t = UART0Getch();
}else if( t == PLT_VERSION )
{
continue;
}
chk ^= t;
uart0_buf[i] = t;
i++;
}
while( i < nDataSize );
if( chk )
continue;
}
/*
处理协议
*/
/*解析命令*/
/*
Flash:
CMD + ADDRESS + SIZE + Data
CMD + ADDRESS + BIT + Data
CMD + ADDRESS
*/
cmd = uart0_buf[4];
switch(cmd)
{
case SETLONGDATA:
case GETLONGDATA:
case SETBITDATA:
msg->bits.msg = cmd & 0xf;
msg->bits.size = 8;
msg->bits.data[0] = (uint32)(uart0_buf + 1 + 4);
msg->bits.task = 2;
msg->bits.node = FLASH_NODE;
if( NMsgQWrite(msg) == QUEUE_OK )
{
OSSemPost(QNoEmptySem);
state = CMD_BUSY;
}
break;
}
/*
switch( cmd )
{
case ADDUSER:
{
uint16 empty_p,exist_p;
nDataSize = uart_buf[CMD_P1];
addr.value[0] = *(uart_buf + DATA_PACK_DATA);
addr.value[1] = *(uart_buf + DATA_PACK_DATA + 1);
addr.value[2] = *(uart_buf + DATA_PACK_DATA + 2);
addr.value[3] = *(uart_buf + DATA_PACK_DATA + 3);
if( addr.addr != 0 && nDataSize == 13 )
{
at45db_Comp_uint32( USER_ID_PAGE, 0, addr.addr , (USER_ID_NUMBER), &empty_p, &exist_p );
if( exist_p == (USER_ID_NUMBER) )
{
exist_p = empty_p;
}
addr.addr = 0;
empty_p = exist_p / 132;
addr.bits.pa = empty_p;
addr.bits.ba = exist_p % 132;
at45db_PagetoBuffer( 1, addr.bits.pa + USER_ID_PAGE);
at45db_Buffer_Write( 1, addr.bits.ba, uart_buf + DATA_PACK_DATA , 4);
at45db_BuffertoPage( 1, addr.bits.pa + USER_ID_PAGE );
addr.bits.pa *= 2;
addr.bits.ba *= 2;
at45db_PagetoBuffer( 1, empty_p + USER_GROUP_PAGE );
at45db_Buffer_Write( 1, addr.bits.ba, uart_buf + DATA_PACK_DATA + 4, 8);
at45db_BuffertoPage( 1, empty_p + USER_GROUP_PAGE );
addr.bits.pa >>= 2;
addr.bits.ba >>= 2;
at45db_PagetoBuffer( 1, addr.bits.pa + USER_INFO_PAGE );
at45db_Buffer_Write( 1, addr.bits.ba, uart_buf + DATA_PACK_DATA + 12, 2);
at45db_BuffertoPage( 1, addr.bits.pa + USER_INFO_PAGE );
uart_buf[CMD_P4] = 0;
nDataSize = 0;
}else
{
uart_buf[CMD_P4] = ERR_CMDPARAM;
nDataSize = 0;
}
}
break;
case DELUSER:
{
uint32 id;
uint16 empty_p,exist_p;
nDataSize = uart_buf[CMD_P1];
addr.value[0] = uart_buf[CMD_P1];
addr.value[1] = uart_buf[CMD_P2];
addr.value[2] = uart_buf[CMD_P3];
addr.value[3] = uart_buf[CMD_P4];
if( addr.addr != 0 )
{
at45db_Comp_uint32( USER_ID_PAGE, 0, addr.addr , (USER_ID_NUMBER), &empty_p, &exist_p );
if( exist_p == (USER_ID_NUMBER) )
{
uart_buf[CMD_P4] = ERR_USERNOEXIST;
nDataSize = 0;
break;
}
addr.addr = 0;
empty_p = exist_p / 528;
addr.bits.pa = empty_p + USER_ID_PAGE;
addr.bits.ba = exist_p % 528;
id = 0;
at45db_PagetoBuffer( 1, addr.bits.pa );
at45db_Buffer_Write( 1, addr.bits.ba, (uint8*)&id, 4);
at45db_BuffertoPageNoErase( 1, addr.bits.pa );
uart_buf[CMD_P4] = 0;
nDataSize = 0;
}else
{
uart_buf[CMD_P4] = ERR_CMDPARAM;
nDataSize = 0;
}
}
break;
case SETSTATUE:
switch( uart_buf[CMD_P1] )
{
case TEST_NODE:
test = uart_buf[CMD_P2];
uart_buf[CMD_P4] = 0;
nDataSize = 0;
break;
default:
uart_buf[CMD_P4] = ERR_NODENOEXIST;
nDataSize = 0;
break;
}
break;
case GETSTATUS:
switch( uart_buf[CMD_P1] )
{
case TEST_NODE:
uart_buf[CMD_P1] = test;
uart_buf[CMD_P4] = 0;
nDataSize = 0;
break;
default:
uart_buf[CMD_P4] = ERR_NODENOEXIST;
nDataSize = 0;
break;
}
break;
case DOWNLOADLOG:
{
uint32 id;
uint16 ba,pa;
addr.value[3] = uart_buf[CMD_P1];
addr.value[2] = uart_buf[CMD_P2];
addr.value[1] = uart_buf[CMD_P3];
addr.value[0] = uart_buf[CMD_P4];
id = addr.addr;
if( log_id - id > MAX_SAVELOGS )
{
id = log_id - MAX_SAVELOGS;
}
ba = (id % 33) << 4;
pa = id / 33;
pa %= (MAX_PAGE_COUNT - LOG_PAGE);
pa += LOG_PAGE;
//read log
nDataSize = (log_id - id) * 16;
if( nDataSize > 256 )
{
nDataSize = 256;
}
if( pa == 4095 &&
ba + nDataSize > 528 )
{
nDataSize = 528 - ba;
}
at45db_Page_Read( pa, ba, uart_buf + DATA_PACK_DATA, nDataSize);
uart_buf[CMD_P4] = 0;
nDataSize--;
break;
}
case SETPOINTLOG:
break;
default:
uart_buf[CMD_P4] = ERR_CMD;
nDataSize = 0;
break;
}
cmd |= 0x80;
cmd &= 0xBF;
uart_buf[CMD_CMD] = cmd;
uart_buf[0] = PLT_VERSION;
uart_buf[CMD_ADDR] = MACHINE_NO;
chk = 0;
for( i = 1; i < 7; i++)
{
chk ^= uart_buf[i];
}
uart_buf[i] = chk;
i++;
if( nDataSize )
{
uart_buf[CMD_CMD] |= 0x40;
uart_buf[CMD_XOR] ^= 0x40;
uart_buf[i] = PLT_VERSION;
i++;
nDataSize += i;
chk = 0;
for( ; i < nDataSize; i++ )
{
chk ^= uart_buf[i];
}
uart_buf[i] = chk;
i++;
}
UART0Write(uart_buf, i);
*/
}
}