void Task1()
{
nrk_time_t t;
uint16_t cnt;
cnt=0;
nrk_kprintf( PSTR("Nano-RK Version ") );
printf( "%d\r\n",NRK_VERSION );
printf( "My node's address is %u\r\n",NODE_ADDR );
printf( "Task1 PID=%u\r\n",nrk_get_pid());
while(1) {
nrk_led_toggle(ORANGE_LED);
//nrk_gpio_toggle(NRK_DEBUG_0);
printf( "Task1 cnt=%u\r\n",cnt );
nrk_wait_until_next_period();
// Uncomment this line to cause a stack overflow
// if(cnt>20) kill_stack(10);
// At time 50, the OS will halt and print statistics
// This requires the NRK_STATS_TRACKER #define in nrk_cfg.h
if(cnt==50) {
nrk_stats_display_all();
// This will induce a kernel panic on purpose
nrk_halt();
}
// This is an example of how to access the task execution data
if( cnt==10 ) {
nrk_stats_get(nrk_get_pid(), &my_stats);
nrk_kprintf( PSTR( "\r\n Total CPU: "));
t=_nrk_ticks_to_time(my_stats.total_ticks);
printf( "%lu secs %lu ms", t.secs, t.nano_secs/NANOS_PER_MS );
nrk_kprintf( PSTR( "\r\n Time [Min,Last,Max]: "));
t=_nrk_ticks_to_time(my_stats.min_exec_ticks);
printf( "%lu secs %lu ms, ", t.secs, t.nano_secs/NANOS_PER_MS );
t=_nrk_ticks_to_time(my_stats.last_exec_ticks);
printf( "%lu secs %lu ms, ", t.secs, t.nano_secs/NANOS_PER_MS );
t=_nrk_ticks_to_time(my_stats.max_exec_ticks);
printf( "%lu secs %lu ms", t.secs, t.nano_secs/NANOS_PER_MS );
nrk_kprintf( PSTR( "\r\n Swap-ins: "));
printf( "%lu",my_stats.swapped_in );
nrk_kprintf( PSTR( "\r\n Preemptions: "));
printf( "%lu",my_stats.preempted);
nrk_kprintf( PSTR( "\r\n Kernel Violations: "));
printf( "%u",my_stats.violations);
nrk_kprintf( PSTR( "\r\n Overflow Error Status: "));
printf( "%u",my_stats.overflow);
nrk_kprintf( PSTR("\r\n") );
}
cnt++;
}
}
// creates Task2
void Task2()
{
int16_t counter;
printf( "Task2 PID=%u\r\n",nrk_get_pid());
counter=0;
while(1)
{
nrk_led_toggle(BLUE_LED);
printf( "Task2 signed counter=%d\r\n",counter );
nrk_stats_display_pid(nrk_get_pid());
nrk_wait_until_next_period();
counter--;
}
}
void Task3 ()
{
int8_t v;
int8_t i;
printf ("Task3 PID=%d\r\n", nrk_get_pid ());
while (slip_started () != 1)
nrk_wait_until_next_period ();
while (1) {
nrk_led_toggle (GREEN_LED);
printf ("Task3\r\n");
v = slip_rx (slip_rx_buf, MAX_SLIP_BUF);
if (v > 0) {
nrk_kprintf (PSTR ("Task3 got data: "));
for (i = 0; i < v; i++)
printf ("%c", slip_rx_buf[i]);
printf ("\r\n");
}
else
nrk_kprintf (PSTR ("Task3 data failed\r\n"));
nrk_wait_until_next_period ();
}
}
void Task3 ()
{
int8_t v;
int8_t i;
printf ("Task3 PID=%d\r\n", nrk_get_pid ());
slip_init (stdin, stdout, 0, 0);
while (slip_started () != 1)
nrk_wait_until_next_period ();
while (1) {
nrk_led_toggle (RED_LED);
v = slip_rx (slip_rx_buf, MAX_SLIP_BUF);
printf ("%d\r\n", slip_rx_buf[0]);
/* if (v > 0) {
nrk_kprintf (PSTR ("Task3 got data "));
printf( "%d bytes: ",v );
for (i = 0; i < v; i++)
printf ("%d ", slip_rx_buf[i]);
printf ("\r\n");
}
else
nrk_kprintf (PSTR ("Task3 data failed\r\n"));
*/
//nrk_wait_until_next_period ();
}
}
void Task1()
{
uint16_t cnt;
int8_t fd,val,chan;
uint16_t sample;
printf( "Task1 PID=%d\r\n",nrk_get_pid());
nrk_gpio_direction(NRK_BUTTON, NRK_PIN_INPUT);
nrk_gpio_direction(NRK_DEBUG_0, NRK_PIN_OUTPUT);
nrk_led_set(RED_LED);
do{} while(nrk_gpio_get(NRK_BUTTON)==1);
nrk_led_clr(RED_LED);
nrk_led_set(GREEN_LED);
// Initialize values here
ADC_INIT ();
ADC_ENABLE ();
ADC_SET_CHANNEL (2);
while(1) {
ADC_SAMPLE_SINGLE();
ADC_GET_SAMPLE_10(sample);
// Send sync byte
putchar(0x55);
putchar(sample>>8);
putchar(sample&0xff);
}
}
// net_tx_task - send network messages
void tx_net_task() {
volatile uint8_t counter = 0;
volatile uint8_t tx_data_flag;
// print task pid
printf("tx_net PID: %d.\r\n", nrk_get_pid());
// Wait until bmac has started. This should be called by all tasks
// using bmac that do not call bmac_init().
while(!bmac_started ()) {
nrk_wait_until_next_period ();
}
// loop forever
while(1) {
// increment counter and set flags
counter++;
tx_data_flag = counter % NODE_TX_DATA_FLAG;
// if data shoudl be transmitted, then call the tx_data() helper
if (TRANSMIT == tx_data_flag) {
tx_data();
counter = 0;
} else {
tx_cmds();
}
// nrk_kprintf(PSTR("OUT\r\n"));
nrk_wait_until_next_period();
}
nrk_kprintf(PSTR("Fallthrough: tx_net_task\r\n"));
}
void Task4()
{
int8_t v;
uint8_t cnt;
nrk_sig_mask_t my_sigs;
cnt =0;
printf("Node's addre is %d\r\n",NODE_ADDR);
printf("Task4 PID=%d\r\n",nrk_get_pid());
while(1)
{
// nrk_led_toggle(ORANGE_LED);
V_5Sec_U8R++;
if(V_5Sec_U8R==5)
{
V_5Sec_U8R=0;
// v = nrk_event_signal(signal_one);
// if(v==NRK_ERROR)
// nrk_kprintf( PSTR("T1 nrk_event_signal failed\r\n"));
cnt++;
}
else
{
}
nrk_wait_until_next_period();
}
}
void Task1()
{
uint16_t cnt;
uint8_t val;
printf( "My node's address is %d\r\n",NODE_ADDR );
printf( "Task1 PID=%d\r\n",nrk_get_pid());
cnt=0;
// Setup application timer with:
// Prescaler = 5
// Compare Match = 25000
// Sys Clock = 7.3728 MHz
// Prescaler 5 means divide sys clock by 1024
// 7372800 / 1024 = 7200 Hz clock
// 1 / 7200 = 0.138 ms per tick
// 0.138 ms * 25000 = ~3472 ms / per interrupt callback
val=nrk_timer_int_configure(NRK_APP_TIMER_0, 5, 25000, &my_timer_callback );
if(val==NRK_OK) nrk_kprintf( PSTR("Callback timer setup\r\n"));
else nrk_kprintf( PSTR("Error setting up timer callback\r\n"));
// Zero the timer...
nrk_timer_int_reset(NRK_APP_TIMER_0);
// Start the timer...
nrk_timer_int_start(NRK_APP_TIMER_0);
while(1) {
cnt=nrk_timer_int_read(NRK_APP_TIMER_0);
printf( "Task1 timer=%u\r\n",cnt );
nrk_wait_until_next_period();
}
}
void discover_task()
{
uint8_t len;
uint8_t connection_l;
while (!bmac_started ())
nrk_wait_until_next_period ();
if(log_g) printf("log:discover_task PID=%d\r\n",nrk_get_pid());
while(1) {
nrk_sem_pend(conn_sem);
connection_l = connection_g;
nrk_sem_post(conn_sem);
if(connection_l == 0 && vertsk_active_g == 0 && version_g[MAC_ADDR] > 0) {
nrk_led_toggle(BLUE_LED);
if(log_g) printf("log:Sending discover pkt\r\n");
nrk_sem_pend(tx_sem);
sprintf(tx_buf,"0:%d:S:%d",MAC_ADDR,version_g[MAC_ADDR]);
bmac_tx_pkt(tx_buf, strlen(tx_buf));
nrk_sem_post(tx_sem);
memset(tx_buf,0,strlen(tx_buf));
}
nrk_wait_until_next_period ();
}
}
void Task1()
{
uint16_t cnt;
int8_t v;
printf( "My node's address is %d\r\n",NODE_ADDR );
printf( "Task1 PID=%d\r\n",nrk_get_pid());
cnt=0;
while(1) {
nrk_led_toggle(ORANGE_LED);
printf( "Task1 cnt=%d\r\n",cnt );
nrk_kprintf( PSTR("Task1 accessing semaphore\r\n"));
v = nrk_sem_pend(my_semaphore);
if(v==NRK_ERROR) nrk_kprintf( PSTR("T1 error pend\r\n"));
nrk_kprintf( PSTR("Task1 holding semaphore\r\n"));
// wait some time inside semaphore to show the effect
nrk_wait_until_next_period();
v = nrk_sem_post(my_semaphore);
if(v==NRK_ERROR) nrk_kprintf( PSTR("T1 error post\r\n"));
nrk_kprintf( PSTR("Task1 released semaphore\r\n"));
nrk_wait_until_next_period();
cnt++;
}
}
void TaskGPS ()
{
uint8_t i,n,checksum,index=0;
char c;
uint8_t line_cnt=0;
printf( "Task2 PID=%d\r\n",nrk_get_pid());
while(1) {
if(nrk_uart_data_ready_gps(1)) {
c = getc_gps();
gps_print_buf[index++]=c;
if(c=='\n') {
gps_print_buf[index]='\0';
while(uart_tx_busy==1) nrk_wait_until_next_period();
uart_tx_busy=1;
printf("%s\n", gps_print_buf);
uart_tx_busy=0;
index=0;
}
if(index>=GPS_PRINT_BUF_LEN)
index=0;
}
else{
nrk_wait_until_next_period();
}
}
}
// creates Task4 and uses semaphore1
void Task4()
{
uint8_t counter;
uint8_t waitCount=3;
printf( "Task4 PID=%d\r\n",nrk_get_pid());
counter=0;
while(1)
{
nrk_led_toggle(GREEN_LED);
printf( "Task4 counter=%d\r\n",counter );
if(0==waitCount)
{
nrk_kprintf( PSTR("Task4 accessing semaphore1\r\n"));
nrk_sem_pend(semaphore1);
nrk_kprintf( PSTR("Task4 holding semaphore1\r\n"));
}
waitCount++;
if(3==waitCount)
{
nrk_sem_post(semaphore1);
nrk_kprintf( PSTR("Task4 released semaphore1\r\n"));
waitCount=0;
}
nrk_wait_until_next_period();
counter++;
}
}
void tx_task()
{
int8_t v,i;
uint8_t len,cnt;
printf( "Gateway Tx Task PID=%u\r\n",nrk_get_pid());
cnt=0;
while(1) {
// This is simply a place holder in case you want to add Host -> Client Communication
v = slip_rx ( slip_rx_buf, TDMA_MAX_PKT_SIZE);
if (v > 0) {
nrk_kprintf (PSTR ("Sending data: "));
for (i = 0; i < v; i++)
printf ("%d ", slip_rx_buf[i]);
printf ("\r\n");
v=tdma_send(&tx_tdma_fd, &slip_rx_buf, v, TDMA_BLOCKING );
}
nrk_led_toggle(BLUE_LED);
}
}
void rx_task ()
{
uint8_t i, len, rssi;
int8_t val;
//char *local_rx_buf;
nrk_time_t check_period;
printf ("rx_task PID=%d\r\n", nrk_get_pid ());
// init bmac on channel 24
bmac_init (24);
// Enable AES 128 bit encryption
// When encryption is active, messages from plaintext
// source will still be received.
// Commented out by MB
//bmac_encryption_set_key(aes_key,16);
//bmac_encryption_enable();
// bmac_encryption_disable();
// By default the RX check rate is 200ms
// below shows how to change that
//check_period.secs=0;
//check_period.nano_secs=200*NANOS_PER_MS;
//val=bmac_set_rx_check_rate(check_period);
// The default Clear Channel Assement RSSI threshold.
// Setting this value higher means that you will only trigger
// receive with a very strong signal. Setting this lower means
// bmac will try to receive fainter packets. If the value is set
// too high or too low performance will suffer greatly.
bmac_set_cca_thresh(DEFAULT_BMAC_CCA);
// This sets the next RX buffer.
// This can be called at anytime before releaseing the packet
// if you wish to do a zero-copy buffer switch
bmac_rx_pkt_set_buffer (rx_buf, RF_MAX_PAYLOAD_SIZE);
while (1) {
// Wait until an RX packet is received
//val = bmac_wait_until_rx_pkt ();
//printf("Hi..\n");
// Get the RX packet
nrk_led_set (ORANGE_LED);
length1=len;
nrk_led_clr (ORANGE_LED);
// Release the RX buffer so future packets can arrive
bmac_rx_pkt_release ();
// this is necessary
nrk_wait_until_next_period ();
}
}
void rx_task()
{
char c;
nrk_sig_t uart_rx_signal;
nrk_sig_mask_t sm;
printf( "My node's address is %d\r\n",NODE_ADDR );
printf( "rx_task PID=%d\r\n",nrk_get_pid());
// Get the signal for UART RX
uart_rx_signal=nrk_uart_rx_signal_get();
// Register your task to wakeup on RX Data
if(uart_rx_signal==NRK_ERROR) nrk_kprintf( PSTR("Get Signal ERROR!\r\n") );
nrk_signal_register(uart_rx_signal);
while(1) {
// Wait for UART signal
while(nrk_uart_data_ready(NRK_DEFAULT_UART)!=0)
{
// Read Character
c=getchar();
printf( "%c",c);
if(c=='x') nrk_led_set(GREEN_LED);
else nrk_led_clr(GREEN_LED);
}
sm=nrk_event_wait(SIG(uart_rx_signal));
if(sm != SIG(uart_rx_signal))
nrk_kprintf( PSTR("RX signal error") );
nrk_kprintf( PSTR("\r\ngot uart data: ") );
}
}
void tx_task ()
{
int8_t v,state,outlet_state,dst_mac, outlet;
uint8_t len, cnt;
nrk_sig_t uart_rx_signal;
char c;
printf ("Gateway Tx Task PID=%u\r\n", nrk_get_pid ());
while (!tdma_started ())
nrk_wait_until_next_period ();
uart_rx_signal=nrk_uart_rx_signal_get();
nrk_signal_register(uart_rx_signal);
cnt = 0;
state=0;
while (1) {
if(nrk_uart_data_ready(NRK_DEFAULT_UART))
{
c=getchar();
if(state==1) {
dst_mac=c;
state=2;
} else if(state==2) {
outlet=c;
state=3;
} else if(state==3)
{
outlet_state=c;
state=4;
}
if(c=='S') state=1;
if(c=='E') {
if(state==4)
{
printf( "TX: %d %d %d\r\n",dst_mac, outlet, outlet_state );
tx_buf[0]=dst_mac;
tx_buf[1]=outlet;
tx_buf[2]=outlet_state;
len=3;
// Only transmit data if you want to do so
// Messages from the host are always broadcasts
v = tdma_send (&tx_tdma_fd, &tx_buf, len, TDMA_BLOCKING);
if (v == NRK_OK) {
nrk_kprintf (PSTR ("Host Packet Sent\n"));
}
}
state=0;
}
} else nrk_event_wait(SIG(uart_rx_signal));
}
}
void Task2()
{
int16_t cnt;
int8_t val;
uint32_t sector = 0;
nrk_sem_t *radio_sem;
while(1) nrk_wait_until_next_period();
radio_sem= rf_get_sem();
if(radio_sem==NULL) nrk_kprintf( PSTR("radio sem failed!\r\n" ));
printf( "Task2 PID=%u\r\n",nrk_get_pid());
cnt=0;
val=mmc_init();
if(val!=0 ) {
printf( "val=%d\r\n",val );
nrk_kprintf( PSTR("card init failed\r\n") );
while(1);
}
while(1) {
nrk_sem_pend (radio_sem);
printf("\nsector %lu\n\r",sector); // show sector number
val=mmc_readsector(sector,sectorbuffer); // read a data sector
printf( "readsector returned %d\n",val );
for(cnt=0; cnt<32; cnt++ )
printf( "%d ",sectorbuffer[cnt] );
printf( "\n\r" );
val=sectorbuffer[0];
val++;
for(cnt=0; cnt<512; cnt++ )
{
sectorbuffer[cnt]=val;
}
nrk_kprintf( PSTR("Writting\r\n") );
val=mmc_writesector(sector,sectorbuffer); // read a data sector
printf( "writesector returned %d\n",val );
printf( "After write:\r\n" );
val=mmc_readsector(sector,sectorbuffer); // read a data sector
nrk_sem_post(radio_sem);
printf( "readsector returned %d\n",val );
if(val==0)
{
for(cnt=0; cnt<32; cnt++ )
printf( "%d ",sectorbuffer[cnt] );
nrk_kprintf( PSTR("\n\r") );
}
sector++;
// nrk_led_toggle(RED_LED);
// printf( "Task2 signed cnt=%d\r\n",cnt );
nrk_wait_until_next_period();
cnt--;
}
}
void rx_task ()
{
uint8_t i, len;
int8_t rssi, val;
uint8_t *local_rx_buf;
nrk_time_t check_period;
printf ("rx_task PID=%d\r\n", nrk_get_pid ());
// init bmac on channel 25
bmac_init (15);
// Enable AES 128 bit encryption
// When encryption is active, messages from plaintext
// source will still be received.
bmac_encryption_set_key(aes_key,16);
bmac_encryption_enable();
// bmac_encryption_disable();
// By default the RX check rate is 100ms
// below shows how to change that
check_period.secs=0;
check_period.nano_secs=25*NANOS_PER_MS;
val=bmac_set_rx_check_rate(check_period);
// The default Clear Channel Assement RSSI threshold is -45
// Setting this value higher means that you will only trigger
// receive with a very strong signal. Setting this lower means
// bmac will try to receive fainter packets. If the value is set
// too high or too low performance will suffer greatly.
// bmac_set_cca_thresh(-45);
//if(val==NRK_ERROR) nrk_kprintf( PSTR("ERROR setting bmac rate\r\n" ));
// This sets the next RX buffer.
// This can be called at anytime before releaseing the packet
// if you wish to do a zero-copy buffer switch
bmac_rx_pkt_set_buffer (rx_buf, RF_MAX_PAYLOAD_SIZE);
while (1) {
// Wait until an RX packet is received
val = bmac_wait_until_rx_pkt ();
// Get the RX packet
nrk_led_set (ORANGE_LED);
local_rx_buf = bmac_rx_pkt_get (&len, &rssi);
if( bmac_rx_pkt_is_encrypted()==1 ) nrk_kprintf( PSTR( "Packet Encrypted\r\n" ));
printf ("Got RX packet len=%d RSSI=%d [", len, rssi);
for (i = 0; i < len; i++)
printf ("%c", local_rx_buf[i]);
printf ("]\r\n");
nrk_led_clr (ORANGE_LED);
// Release the RX buffer so future packets can arrive
bmac_rx_pkt_release ();
}
}
void rx_task ()
{
uint8_t i, len, rssi;
int8_t val;
//char *local_rx_buf;
nrk_time_t check_period;
printf ("rx_task PID=%d\r\n", nrk_get_pid ());
// init bmac on channel 24
bmac_init (5);
bmac_set_cca_thresh(DEFAULT_BMAC_CCA);
bmac_rx_pkt_set_buffer (rx_buf, RF_MAX_PAYLOAD_SIZE);
while (1) {
// Wait until an RX packet is received
val = bmac_wait_until_rx_pkt ();
//printf("Hi..\n");
// Get the RX packet
nrk_led_set (ORANGE_LED);
local_rx_buf = bmac_rx_pkt_get (&len, &rssi);
inter_flag=0;
if(rssi<5){
dst_addr=0x0003;
//inter_tx_buf=local_rx_buf;
}
else
{
dst_addr=0x0001;
}
if(local_rx_buf[0]=='n'){
dst_addr=0x0001;
inter_tx_buf=local_rx_buf;
inter_flag=1;
}
printf("inter_flag: %d",inter_flag);
printf("\r\n");
printf("rx_buf:");
for(i=0;i<len;i++){
printf("%c",local_rx_buf[i]);
}
nrk_led_clr (ORANGE_LED);
// Release the RX buffer so future packets can arrive
bmac_rx_pkt_release ();
// this is necessary
nrk_wait_until_next_period ();
}
}
void serial_task()
{
int8_t ret;
if(DEBUG_SR == 0)
{
nrk_kprintf(PSTR("Inside serial_task. Task PID = "));
printf("%d\r\n", nrk_get_pid());
}
// initialise the SLIP module
slip_init (stdin, stdout, 0, 0);
while(1)
{
// wait for the gateway to send you a message
if(DEBUG_SR == 0)
{
nrk_kprintf(PSTR("SL: Waiting for a packet from the gateway\r\n"));
}
ret = slip_rx (rx_buf, SIZE_GATEWAYTONODESERIAL_PACKET);
if (ret > 0) // message received successfully
{
if(DEBUG_SR == 0)
{
nrk_kprintf(PSTR("Received a message from the gateway\r\n"));
}
unpack_GatewayToNodeSerial_Packet_header(>n_pkt, rx_buf);
switch(serial_pkt_type(>n_pkt))
{
case SERIAL_APPLICATION:
process_serial_app_pkt(>n_pkt);
break;
case SERIAL_NW_CONTROL:
process_serial_nw_ctrl_pkt(>n_pkt);
break;
case INVALID:
// drop the packet and go receive another one
//printf("serial_task(): Invalid packet type received = %d\n", gtn_pkt.type);
break;
} // end switch
} // end if
else // message was corrupted
{
nrk_kprintf(PSTR("Failed to receive a SLIP message from gateway\r\n"));
//nrk_wait_until_next_period ();
}
} // end while
return;
}
void Task3()
{
uint16_t cnt;
uint16_t i;
printf( "Task3 PID=%d\r\n",nrk_get_pid());
cnt=0;
while(1) {
printf( "Task3 cnt=%d\r\n",cnt );
nrk_wait_until_next_period();
cnt++;
}
}
void Task3() {
uint16_t cnt;
printf("Task3 PID=%u\r\n", nrk_get_pid());
cnt = 0;
while (1) {
nrk_led_toggle(BLUE_LED);
nrk_gpio_toggle(NRK_DEBUG_2);
printf("Task3 cnt=%u\r\n", cnt);
nrk_wait_until_next_period();
cnt++;
}
}
void tx_task()
{
uint8_t cnt;
printf( "tx_task PID=%d\r\n",nrk_get_pid());
cnt=0;
while(1) {
nrk_led_toggle(BLUE_LED);
// printf( "Task2 cnt=%d\r\n",cnt );
nrk_wait_until_next_period();
cnt++;
}
}
void tx_task()
{
int8_t v,fd;
uint8_t len,cnt,chan;
printf( "Tx Task PID=%u\r\n",nrk_get_pid());
while(!tdma_started()) nrk_wait_until_next_period();
v=tdma_tx_slot_add(mac_address);
cnt=0;
while(1) {
// Open ADC device as read
fd = nrk_open (FIREFLY_SENSOR_BASIC, READ);
nrk_wait_until_next_period(); // allow sensor to warm up
if (fd == NRK_ERROR)
nrk_kprintf (PSTR ("Failed to open sensor driver\r\n"));
v = nrk_set_status (fd, SENSOR_SELECT, BAT);
v = nrk_read (fd, &bat, 2);
v = nrk_set_status (fd, SENSOR_SELECT, LIGHT);
v = nrk_read (fd, &light, 2);
v = nrk_set_status (fd, SENSOR_SELECT, TEMP);
v = nrk_read (fd, &temp, 2);
v = nrk_set_status (fd, SENSOR_SELECT, ACC_X);
v = nrk_read (fd, &adxl_x, 2);
v = nrk_set_status (fd, SENSOR_SELECT, ACC_Y);
v = nrk_read (fd, &adxl_y, 2);
v = nrk_set_status (fd, SENSOR_SELECT, ACC_Z);
v = nrk_read (fd, &adxl_z, 2);
v = nrk_set_status (fd, SENSOR_SELECT, AUDIO_P2P);
v = nrk_read (fd, &mic, 2);
nrk_close(fd);
// Build a sensor packet
sprintf (tx_buf,
"S MAC: %u bat: %u light: %u temp: %u audio: %u adxl: %u %u %u\r\n",
(uint16_t) (mac_address & 0xffff), bat, light, temp, mic, adxl_x,
adxl_y, adxl_z);
len=strlen(tx_buf);
v=tdma_send(&tx_tdma_fd, &tx_buf, len, TDMA_BLOCKING );
if(v==NRK_OK)
{
printf ("%s", tx_buf);
}
}
}
void Task4()
{
uint16_t cnt;
uint8_t v;
uint8_t row;
printf( "Task4 PID=%u\r\n",nrk_get_pid());
oled_on();
cnt=0;
row=0;
while(1) {
v=hrm_get_value();
sprintf(txt_str,"%d%d%d cnt=%d hrm=%d",nrk_gpio_get(NRK_MMC_9), nrk_gpio_get(NRK_MMC_10), nrk_gpio_get(NRK_MMC_11), cnt,v);
oled_write_str( 2, row, 0, 0xFFFF, txt_str );
/* oled_clear_screen();
nrk_wait_until_ticks(50);
sprintf(txt_str,"Neighbor List:");
oled_write_str( 2, 3, 0, 0xFFFF, txt_str );
nrk_wait_until_ticks(50);
sprintf(txt_str," 0x100002a -27 4");
oled_write_str( 2, 4, 0, 0xFFFF, txt_str );
nrk_wait_until_ticks(50);
sprintf(txt_str," 0x1000012: -30 2");
oled_write_str( 2, 5, 0, 0xFFFF, txt_str );
nrk_wait_until_ticks(50);
sprintf(txt_str," 0x100000a: -5 3");
oled_write_str( 2, 6, 0, 0xFFFF, txt_str );
nrk_wait_until_ticks(50);
sprintf(txt_str,"Round Trip Pkt: 93%%");
oled_write_str( 2, 9, 0, 0xFFFF, txt_str );
nrk_wait_until_ticks(50);
//putc0(0x70);
//putc0(0x01);
//nrk_wait_until_ticks(50);
oled_draw_square( 8, 83, 150, 92, 0x001F );
nrk_wait_until_ticks(50);
//putc0(0x70);
//putc0(0x00);
//nrk_wait_until_ticks(50);
oled_draw_square( 10, 85, 100, 90, 0x07e0 );
nrk_wait_until_ticks(50);
*/
cnt++;
row++;
if(row==15) {
oled_clear_screen();
row=0;
}
nrk_wait_until_next_period();
}
}
void Task2() {
int16_t cnt;
printf("Task2 PID=%u\r\n", nrk_get_pid());
cnt = 0;
while (1) {
nrk_led_toggle(GREEN_LED);
nrk_gpio_toggle(NRK_DEBUG_1);
printf("Running: Task2 , signed cnt=%d\r\n", cnt);
nrk_wait_until_next_period();
//nrk_stats_display_pid(nrk_get_pid());
cnt--;
}
}
void Task4()
{
uint16_t cnt;
printf( "Task4 PID=%u\r\n",nrk_get_pid());
cnt=0;
while(1) {
nrk_led_toggle(RED_LED);
printf( "Task4 cnt=%u\r\n",cnt );
nrk_wait_until_next_period();
cnt++;
}
}
void Task3()
{
uint8_t i, len,cnt;
int8_t rssi, val;
uint8_t *local_rx_buf;
nrk_sig_mask_t ret;
nrk_time_t check_period;
printf( "Task3 PID=%u\r\n",nrk_get_pid());
// init bmac on channel 25
bmac_init (25);
bmac_rx_pkt_set_buffer (rx_buf, RF_MAX_PAYLOAD_SIZE);
while (!bmac_started ())
nrk_wait_until_next_period ();
/* while (1) {
// Wait until an RX packet is received
nrk_kprintf( PSTR( "Waiting for packet\r\n" ));
val = bmac_wait_until_rx_pkt ();
// Get the RX packet
nrk_led_set (ORANGE_LED);
local_rx_buf = bmac_rx_pkt_get (&len, &rssi);
printf ("Got RX packet len=%d RSSI=%d [", len, rssi);
for (i = 0; i < len; i++)
printf ("%c", rx_buf[i]);
printf ("]\r\n");
nrk_led_clr (ORANGE_LED);
// Release the RX buffer so future packets can arrive
bmac_rx_pkt_release ();
}
*/
while (1) {
// Build a TX packet
sprintf (tx_buf, "This is a test %d", cnt);
cnt++;
nrk_led_set (RED_LED);
// For blocking transmits, use the following function call.
// For this there is no need to register
val=bmac_tx_pkt(tx_buf, strlen(tx_buf)+1);
// Task gets control again after TX complete
nrk_kprintf (PSTR ("Tx task sent data!\r\n"));
nrk_led_clr (RED_LED);
nrk_wait_until_next_period ();
}
}
void Task3 ()
{
int8_t v;
uint8_t pckts=0;
printf ("radio stuff Task3 PID=%d\r\n", nrk_get_pid ());
while (slip_started () != 1)
nrk_wait_until_next_period ();
while (1) {
v = slip_rx (slip_rx_buf, MAX_SLIP_BUF);
printf("nanork@ bytesread %d\n",v);
//for (i=0;i<v;i++) printf("<%d>",slip_rx_buf[i]);
//printf("\n");
if (v > HDR_SIZE) {
ack_buf[0] = 'Z';
ack_buf[1] = slip_rx_buf[1];
ack_buf[2] = slip_rx_buf[2];
while(uart_tx_busy==1) nrk_wait_until_next_period();
uart_tx_busy=1;
slip_tx (ack_buf, 3);
uart_tx_busy=0;
rfTxInfo.pPayload = slip_rx_buf;
rfTxInfo.length= v;
rfTxInfo.destAddr = 0xFFFF;
rfTxInfo.cca = 0;
rfTxInfo.ackRequest = 0;
nrk_led_toggle (RED_LED);
pckts++;
PORTG=0x1;
if(rf_tx_packet(&rfTxInfo) != 1) {
printf("--- RF_TX ERROR ---\r\n");
nrk_spin_wait_us(10000);
}
}
}
}
void retrans_task() {
if(log_g) printf ("log:retrans_task PID=%d\r\n", nrk_get_pid ());
uint8_t cnt = 0;
uint8_t connection_l;
uint8_t data_cnt;
uint8_t prev_data_seq = 0;
// while (!bmac_started ())
nrk_wait_until_next_period ();
while(1) {
nrk_sem_pend(conn_sem);
connection_l = connection_g;
nrk_sem_post(conn_sem);
if(pending_retransmit_g == 1) {
if(log_g) printf("log:Re-transmitting packet\r\n");
bmac_tx_pkt(uart_rx_buf, strlen(uart_rx_buf));
retransmit_count_g++;
if(retransmit_count_g==5)
terminate_connection();
} else {
// this checks if there is a connection and one is receivng data then
// if the sender shuts down then the connection is terminated after a while
if(connection_l == 1 && data_index_g < 0) {
if(recv_data_seq_g == prev_data_seq)
data_cnt++;
if(recv_data_seq_g > prev_data_seq)
{
data_cnt = 0;
prev_data_seq = recv_data_seq_g;
}
if(data_cnt > 5) {
if(log_g)nrk_kprintf(PSTR("log:Recv cn term\n"));
terminate_connection();
data_cnt = 0;
}
}
cnt++;
//if(log_g) printf("log:ver activ con:%d cnt:%d\n",connection_l,cnt);
if(cnt>0 && connection_l == 0) {
cnt = 0;
vertsk_active_g = 1;
}
}
nrk_wait_until_next_period();
}
}
