//*******************final user main DEMONTRATE THIS TO TA**********
int main(void){ // lab 3 real main
OS_Init(); // initialize, disable interrupts
DataLost = 0; // lost data between producer and consumer
NumSamples = 0;
//********initialize communication channels
OS_MailBox_Init();
OS_Fifo_Init(32); // ***note*** 4 is not big enough*****
//*******attach background tasks***********
OS_AddButtonTask(&ButtonPush,2);
OS_AddDownTask(&DownPush,3);
OS_AddPeriodicThread(&DAS,1,PERIOD,0); // 2 kHz real time sampling
NumCreated = 0 ;
// create initial foreground threads
NumCreated += OS_AddThread(&Interpreter,128,2);
NumCreated += OS_AddThread(&Consumer,128,1);
NumCreated += OS_AddThread(&PID,128,3);
OS_Launch(TIMESLICE); // doesn't return, interrupts enabled in here
return 0; // this never executes
}
int main2(void)
{
#if PROFILING == 1
volatile unsigned long delay;
#endif
/* Initialize 8MHz clock */
SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_XTAL_8MHZ | SYSCTL_OSC_MAIN);
OLED_Init(15);
ADC_Init(1000);
ADC_Open(0);
ADC_Open(1);
SH_Init();
OS_Init();
OS_MailBox_Init();
SH_Init();
//********initialize communication channels
OS_MailBox_Init();
OS_Fifo_Init(32);
NumCreated = 0;
NumSamples = 0;
MaxJitter = 0; // OS_Time in 20ns units
MinJitter = 10000000;
#if PROFILING
// intialize port b pins as specified by PINS mask
// for digital output for use in profiling threads
SYSCTL_RCGC2_R |= SYSCTL_RCGC2_GPIOB;
delay = SYSCTL_RCGC2_R;
GPIO_PORTB_DIR_R |= PINS;
GPIO_PORTB_DEN_R |= PINS;
GPIO_PORTB_DATA_R &= ~PINS;
#endif
// testing/debugging stuff
OS_Add_Periodic_Thread(&DAS,2,1);
// OS_AddButtonTask(&dummyButtonTask, 1);
OS_AddButtonTask(&ButtonPush, 1);
OS_AddDownTask(&ButtonPush, 1);
// NumCreated += OS_AddThread(&jerkTask, 0, 6);
// NumCreated += OS_AddThread(&dummyTask3, 0, 7);
// NumCreated += OS_AddThread(&dummyTask1, 0, 2);
NumCreated += OS_AddThread(&PID, 128, 5);
// NumCreated += OS_AddThread(&dummyTask2, 0, 2);
NumCreated += OS_AddThread(&Consumer, 128, 0);
NumCreated += OS_AddThread(&SH_Shell, 128, 6);
OS_Launch(TIMESLICE);
/* Loop indefinitely */
while(1);
}
//*******************lab 5 main **********
int realmain(void){ // lab 5 real main
OS_Init(); // initialize, disable interrupts
Running = 0; // robot not running
DataLost = 0; // lost data between producer and consumer
NumSamples = 0;
//********initialize communication channels
OS_Fifo_Init(512); // ***note*** 4 is not big enough*****
ADC_Collect(0, 1000, &Producer); // start ADC sampling, channel 0, 1000 Hz
//*******attach background tasks***********
OS_AddButtonTask(&ButtonPush,2);
OS_AddDownTask(&DownPush,3);
OS_AddPeriodicThread(disk_timerproc,10*TIME_1MS,5);
NumCreated = 0 ;
// create initial foreground threads
NumCreated += OS_AddThread(&Interpreter,128,2);
NumCreated += OS_AddThread(&IdleTask,128,7); // runs when nothing useful to do
OS_Launch(TIMESLICE); // doesn't return, interrupts enabled in here
return 0; // this never executes
}
