git-svn-id: https://svn.spreadspace.org/mur.sat@180 7de4ea59-55d0-425e-a1af-a3118ea81d4c

3 files changed, 87 insertions, 42 deletions

diff --git a/software/mpu/src/boot.c b/software/mpu/src/boot.c
index 1f18918..d3b4d59 100644
--- a/software/mpu/src/boot.c
+++ b/software/mpu/src/boot.c
@@ -10,46 +10,63 @@
 #include "task.h"

 #include "queue.h"

 

-//static void kernel_Process_Task(void *Param);

-//static xTaskHandle *pkernel_TaskHandle;

-//static Task_Param_t kernel_Param;

+#define NUM_QUEUE_ITEMS_KERNEL		((unsigned long) 2)

+#define NUM_QUEUE_ITEMS_CAMERA		((unsigned long) 2)

+#define NUM_QUEUE_ITEMS_LIGHTSENS	((unsigned long) 2)

 

-Status_t kernel_Init_Kernel(xQueueHandle * pxQueue);

+Status_t kernel_Init_Kernel(QH_t xQueues);

+Status_t camera_Init_Camera(QH_t xQueues);

+Status_t lightsens_Init_LightSens(QH_t xQueues);

 

-Status_t boot_Init_Kernel(xQueueHandle * pxQueue)

+/*

+ * Globals */

+static QH_t qh;

+

+Status_t boot_Init_Kernel(QH_t  xQueues)

 {

-	return kernel_Init_Kernel( pxQueue );

+	return kernel_Init_Kernel( xQueues );

 }

-Status_t boot_Init_Camera(xQueueHandle * pxQueue)

+Status_t boot_Init_Camera(QH_t xQueues)

 {

-	return STATUS_OK;

+	return camera_Init_Camera( xQueues );

 }

-Status_t boot_Init_LightSens(xQueueHandle * pxQueue)

+Status_t boot_Init_LightSens(QH_t xQueues)

 {

-	return STATUS_OK;

+	return lightsens_Init_LightSens( xQueues );

 }

 

-Status_t boot_CreateQueues( xQueueHandle *pxQueue_Kernel,

-							xQueueHandle *pxQueue_Camera,

-							xQueueHandle *pxQueue_LightSens)

+Status_t boot_CreateQueues( xQueueHandle *phxQueue_Kernel,

+							xQueueHandle *phxQueue_Camera,

+							xQueueHandle *phxQueue_LightSens)

 {

+	*phxQueue_Kernel = xQueueCreate(NUM_QUEUE_ITEMS_KERNEL, sizeof(Message_t));

+	*phxQueue_Camera = xQueueCreate(NUM_QUEUE_ITEMS_CAMERA, sizeof(Message_t));

+	*phxQueue_LightSens = xQueueCreate(NUM_QUEUE_ITEMS_LIGHTSENS, sizeof(Message_t));

+

 	return STATUS_OK;

+

 }

 void boot_Main(void)

 {

 	/*

 	 *

 	 * */

+

+	xQueueHandle    hxQueue_Kernel;

+	xQueueHandle	hxQueue_Camera;

+	xQueueHandle    hxQueue_LightSens;

+

 	Status_t Status;

-	xQueueHandle * pxQueue_Kernel = NULL,

-				 * pxQueue_Camera = NULL,

-				 * pxQueue_LightSens = NULL;

 

-	Status = boot_CreateQueues(pxQueue_Kernel, pxQueue_Camera, pxQueue_LightSens);

+	Status = boot_CreateQueues(&hxQueue_Kernel, &hxQueue_Camera, &hxQueue_LightSens);

+

+	qh.hxq_Kernel = hxQueue_Kernel;

+	qh.hxq_Camera = hxQueue_Camera;

+	qh.hxq_LightSens = hxQueue_LightSens;

 

-	Status = boot_Init_Kernel(pxQueue_Kernel);

-	Status = boot_Init_Camera(pxQueue_Camera);

-	Status = boot_Init_LightSens(pxQueue_LightSens);

+	Status = boot_Init_Kernel(qh);

+	Status = boot_Init_Camera(qh);

+	Status = boot_Init_LightSens(qh);

 

 	/* Start the tasks. */

 	vTaskStartScheduler();

diff --git a/software/mpu/src/kernel.c b/software/mpu/src/kernel.c
index 71ef57f..d75f9dd 100644
--- a/software/mpu/src/kernel.c
+++ b/software/mpu/src/kernel.c
@@ -8,15 +8,11 @@
 #include "FreeRTOS.h"

 #include "queue.h"

 

-#define	kernel_TASK_PRIORITY		    ( tskIDLE_PRIORITY + 2 )

-#define kernel_TASK_STACK_SIZE			( ( unsigned short ) 32 )

+#define	kernel_TASK_PRIORITY		    ( tskIDLE_PRIORITY + 5 )

+#define kernel_TASK_STACK_SIZE			( ( unsigned short ) 64 )

 

 /* Globals */

-xQueueHandle * gpxQueue_Kernel;

-//static xTaskHandle *pkernel_TaskHandle;

-//static Task_Param_t kernel_Param;

-xTaskHandle *pkernel_TaskHandle;

-Task_Param_t kernel_Param;

+static Task_Param_t kernel_Param;

 

 /*

  * Wake up other tasks, send them messages telling what to do,

@@ -26,29 +22,56 @@ Task_Param_t kernel_Param;
 static void kernel_Process_Task(void *Param)

 {

 	Message_t Msg;

+	Message_t SndMsg;

+	portTickType tick;

+	portCHAR chBufCam[10] = "Seas Cam!";

+	portCHAR chBufLSen[10] = "Seas LSe!";

 

+	if(NULL == kernel_Param.QueueHandles.hxq_Kernel)

+	{

+		return;

+	}

+

+	tick = xTaskGetTickCount();

 	while(1)

 	{

-		xQueueReceive( gpxQueue_Kernel, &Msg, portMAX_DELAY );

-		/*TODO: execute desired command of message */

-

-		/*

-		 * switch Msg.Sender

-		 *

-		 * case Sender_Kernel:

-		 * 		yeah, that's myself

-		 *

-		 */

+		vTaskDelayUntil(&tick, MS(3));

+

+		if( xQueueReceive( kernel_Param.QueueHandles.hxq_Kernel, &Msg, MS(5)))

+		{

+			/*

+			 * switch Msg.Sender and act accordingly.

+			 */

+			switch (Msg.Sender)

+			{

+			case Sender_Camera:

+			{

+				SndMsg.Sender = Sender_Kernel;

+				SndMsg.pData = chBufCam;

+				xQueueSend(kernel_Param.QueueHandles.hxq_Camera, &SndMsg, MS(10));

+			}

+

+			case Sender_LightSens:

+			{

+				SndMsg.Sender = Sender_Kernel;

+				SndMsg.pData = chBufLSen;

+				xQueueSend(kernel_Param.QueueHandles.hxq_LightSens, &SndMsg, MS(10));

+			}

+			default: {;}

+			}

+		}

 	}

 }

 

-Status_t kernel_Init_Kernel(xQueueHandle * pxQueue)

+Status_t kernel_Init_Kernel(QH_t  hxQueues)

 {

-	kernel_Param.pxQueue = pxQueue;

+portBASE_TYPE xResult;

+

+	xResult = xTaskCreate( kernel_Process_Task, (signed char *) "Kernel",

+						   kernel_TASK_STACK_SIZE, &kernel_Param,

+						   kernel_TASK_PRIORITY, &(kernel_Param.hxTask_Self) );

 

-	xTaskCreate( kernel_Process_Task, (signed char *) "Kernel",

-			kernel_TASK_STACK_SIZE, &kernel_Param,

-			kernel_TASK_PRIORITY, pkernel_TaskHandle );

+	kernel_Param.QueueHandles = hxQueues;

 

 	/*TODO: check for success and pass it over to caller. */

 	return STATUS_OK;

diff --git a/software/mpu/src/main.c b/software/mpu/src/main.c
index e23c44b..e7f69f1 100644
--- a/software/mpu/src/main.c
+++ b/software/mpu/src/main.c
@@ -11,5 +11,10 @@ void boot_Main(void);
 

 int main(void)

 {

+#if 1

 	boot_Main();

+#endif

+

+	/* If we ever reach this point, then there is something very wrong. */

+	return -1;

 }