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

6 files changed, 131 insertions, 48 deletions

diff --git a/software/mpu/MurSatMPU Debug.launch b/software/mpu/MurSatMPU Debug.launch
index 1bbeecc..8f240df 100644
--- a/software/mpu/MurSatMPU Debug.launch
+++ b/software/mpu/MurSatMPU Debug.launch
@@ -1,17 +1,32 @@
 <?xml version="1.0" encoding="UTF-8" standalone="no"?>

 <launchConfiguration type="com.crt.ctrlcenter.idleNative2">

-<stringAttribute key="com.crt.ctrlcenter.targetbase" value="NXP LPC1300"/>

+<stringAttribute key=".gdbinit" value=""/>

+<stringAttribute key="com.crt.ctrlcenter.targetbase" value="NXP LPC1300 (*)"/>

 <stringAttribute key="com.crt.ctrlcenter.targetconfig" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot;?&gt;&#13;&#10;&lt;config chipvendor=&quot;NXP&quot; genname=&quot;NXP LPC1300&quot; id=&quot;config.gdb.stub&quot;&gt;&lt;parameters&gt;&lt;params&gt;&lt;param description=&quot;Enter as XTAL[,PLL]. PLL is optional. Values are in kHz&quot; name=&quot;Crystal (XTAL) frequency and PLL value&quot; required=&quot;false&quot; type=&quot;nullString&quot; var=&quot;xtal.hz&quot;/&gt;&#13;&#10;&lt;/params&gt;&#13;&#10;&lt;initValue value=&quot;false&quot; var=&quot;vector.catch&quot;/&gt;&#13;&#10;&lt;params&gt;&lt;param default=&quot;true&quot; description=&quot;Vector catch&quot; name=&quot;Vector catch&quot; value=&quot;false&quot; var=&quot;vector.catch&quot;&gt;&lt;enum value=&quot;True&quot;/&gt;&#13;&#10;&lt;enum value=&quot;False&quot;/&gt;&#13;&#10;&lt;/param&gt;&#13;&#10;&lt;/params&gt;&#13;&#10;&lt;params&gt;&lt;param default=&quot;true&quot; description=&quot;Enable Red Trace&quot; name=&quot;Enable Red Trace &quot; value=&quot;true&quot; var=&quot;swv.enable&quot;&gt;&lt;enum value=&quot;true&quot;/&gt;&#13;&#10;&lt;enum value=&quot;false&quot;/&gt;&#13;&#10;&lt;/param&gt;&#13;&#10;&lt;/params&gt;&#13;&#10;&lt;params&gt;&lt;param default=&quot;Auto&quot; description=&quot;Enablement of semihosting support&quot; name=&quot;Semihosting support&quot; value=&quot;Auto&quot; var=&quot;internal.semihost&quot;&gt;&lt;enum value=&quot;On&quot;/&gt;&#13;&#10;&lt;enum value=&quot;Off&quot;/&gt;&#13;&#10;&lt;enum value=&quot;Auto&quot;/&gt;&#13;&#10;&lt;/param&gt;&#13;&#10;&lt;/params&gt;&#13;&#10;&lt;params&gt;&lt;param default=&quot;&quot; description=&quot;Switch debug interface between SWD and JTAG (leave blank for default [SWD])&quot; name=&quot;Debug interface&quot; option=&quot;&quot; value=&quot;&quot; var=&quot;internal.debug.interface&quot;&gt;&lt;enum value=&quot;&quot;/&gt;&#13;&#10;&lt;enum value=&quot;JTAG&quot;/&gt;&#13;&#10;&lt;enum value=&quot;SWD&quot;/&gt;&#13;&#10;&lt;/param&gt;&#13;&#10;&lt;/params&gt;&#13;&#10;&lt;params&gt;&lt;param default=&quot;&quot; description=&quot;Maximum wire speed in KHz (leave blank to Auto-detect). Not all values are supported by all targets&quot; name=&quot;Maximum wire speed&quot; type=&quot;nullString&quot; value=&quot;&quot; var=&quot;emu.speed&quot;&gt;&lt;enum value=&quot;&quot;/&gt;&#13;&#10;&lt;enum value=&quot;30000&quot;/&gt;&#13;&#10;&lt;enum value=&quot;15000&quot;/&gt;&#13;&#10;&lt;enum value=&quot;10000&quot;/&gt;&#13;&#10;&lt;enum value=&quot;7500&quot;/&gt;&#13;&#10;&lt;enum value=&quot;6000&quot;/&gt;&#13;&#10;&lt;enum value=&quot;5000&quot;/&gt;&#13;&#10;&lt;enum value=&quot;3750&quot;/&gt;&#13;&#10;&lt;enum value=&quot;3000&quot;/&gt;&#13;&#10;&lt;enum value=&quot;2500&quot;/&gt;&#13;&#10;&lt;enum value=&quot;2000&quot;/&gt;&#13;&#10;&lt;enum value=&quot;1500&quot;/&gt;&#13;&#10;&lt;enum value=&quot;1250&quot;/&gt;&#13;&#10;&lt;enum value=&quot;1200&quot;/&gt;&#13;&#10;&lt;enum value=&quot;1000&quot;/&gt;&#13;&#10;&lt;enum value=&quot;750&quot;/&gt;&#13;&#10;&lt;enum value=&quot;600&quot;/&gt;&#13;&#10;&lt;enum value=&quot;500&quot;/&gt;&#13;&#10;&lt;enum value=&quot;400&quot;/&gt;&#13;&#10;&lt;enum value=&quot;300&quot;/&gt;&#13;&#10;&lt;enum value=&quot;250&quot;/&gt;&#13;&#10;&lt;enum value=&quot;200&quot;/&gt;&#13;&#10;&lt;enum value=&quot;150&quot;/&gt;&#13;&#10;&lt;/param&gt;&#13;&#10;&lt;/params&gt;&#13;&#10;&lt;params&gt;&lt;param default=&quot;&quot; description=&quot;Additional options&quot; name=&quot;Additional options&quot; value=&quot;&quot; var=&quot;misc.options&quot;/&gt;&#13;&#10;&lt;param default=&quot;2&quot; description=&quot;Set stub debug level (1-4)&quot; name=&quot;Debug Level &quot; value=&quot;2&quot; var=&quot;debug.level&quot;/&gt;&#13;&#10;&lt;param default=&quot;True&quot; description=&quot;when True, executable image will be loaded into the target&quot; name=&quot;Load image&quot; type=&quot;boolean&quot; value=&quot;True&quot; var=&quot;load&quot;&gt;&lt;enum value=&quot;True&quot;/&gt;&#13;&#10;&lt;enum value=&quot;False&quot;/&gt;&#13;&#10;&lt;/param&gt;&#13;&#10;&lt;param default=&quot;cont&quot; description=&quot;Run, continue or (do nothing)&quot; name=&quot;Run/Continue image&quot; value=&quot;cont&quot; var=&quot;run&quot;&gt;&lt;enum value=&quot;run&quot;/&gt;&#13;&#10;&lt;enum value=&quot;cont&quot;/&gt;&#13;&#10;&lt;enum value=&quot;&quot;/&gt;&#13;&#10;&lt;/param&gt;&#13;&#10;&lt;param default=&quot;off&quot; description=&quot;If on is specified, make the debugger treat unknown memory as non-existent and refuse \naccesses to such memory. If off is specified, treat the memory as RAM&quot; name=&quot;Memory Access Checking&quot; value=&quot;off&quot; var=&quot;mem.access&quot;&gt;&lt;enum value=&quot;on&quot;/&gt;&#13;&#10;&lt;enum value=&quot;off&quot;/&gt;&#13;&#10;&lt;/param&gt;&#13;&#10;&lt;param default=&quot;cont&quot; description=&quot;choose the disconnect behavior for the target&quot; name=&quot;Disconnect behavior&quot; value=&quot;cont&quot; var=&quot;ondisconnect&quot;&gt;&lt;enum value=&quot;nochange&quot;/&gt;&#13;&#10;&lt;enum value=&quot;stop&quot;/&gt;&#13;&#10;&lt;enum value=&quot;cont&quot;/&gt;&#13;&#10;&lt;enum value=&quot;run_cont&quot;/&gt;&#13;&#10;&lt;/param&gt;&#13;&#10;&lt;/params&gt;&#13;&#10;&lt;/parameters&gt;&#13;&#10;&lt;script emulators=&quot;${gdb.stub} -mi -info-emu&quot; silent=&quot;false&quot; swv=&quot;true&quot; type=&quot;init&quot;&gt;set remotetimeout 60000&amp;#x0A;target extended-remote | ${gdb.stub} -g -mi -${debug.level:2} ${-c+speed:$null} ${-s+emu.speed:$null} ${-p+package:$null} ${-e+emulator:$null} ${vector.catch?-vc:} ${misc.options}&amp;#x0A;set mem inaccessible-by-default ${mem.access}&amp;#x0A;mon ondisconnect ${ondisconnect}&amp;#x0A;set arm force-mode thumb&amp;#x0A;${load}&lt;/script&gt;&#13;&#10;&lt;script silent=&quot;false&quot; type=&quot;run&quot;&gt;${run}&lt;/script&gt;&#13;&#10;&lt;/config&gt;&#10;"/>

 <stringAttribute key="org.eclipse.cdt.debug.mi.core.DEBUG_NAME" value="arm-none-eabi-gdb"/>

 <stringAttribute key="org.eclipse.cdt.debug.mi.core.GDB_INIT" value=""/>

+<booleanAttribute key="org.eclipse.cdt.debug.mi.core.breakpointsFullPath" value="false"/>

+<stringAttribute key="org.eclipse.cdt.debug.mi.core.commandFactory" value="com.crt.ctrlcenter.cmdfactory"/>

+<stringAttribute key="org.eclipse.cdt.debug.mi.core.protocol" value="mi"/>

+<booleanAttribute key="org.eclipse.cdt.debug.mi.core.verboseMode" value="false"/>

+<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_ID" value="com.crt.ctrlcenter.CRTEmbeddedCDebugger"/>

 <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_REGISTER_GROUPS" value=""/>

+<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="run"/>

 <booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>

 <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>

-<stringAttribute key="org.eclipse.cdt.launch.FORMAT" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&lt;contentList&gt;&lt;content id=&quot;u-prvLoopBackTestTask-(format)&quot; val=&quot;1&quot;/&gt;&lt;/contentList&gt;"/>

+<booleanAttribute key="org.eclipse.cdt.launch.ENABLE_REGISTER_BOOKKEEPING" value="false"/>

+<booleanAttribute key="org.eclipse.cdt.launch.ENABLE_VARIABLE_BOOKKEEPING" value="false"/>

+<stringAttribute key="org.eclipse.cdt.launch.FORMAT" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&lt;contentList&gt;&lt;content id=&quot;pData-Msg-kernel_Process_Task-(cast)&quot; val=&quot;char*&quot;/&gt;&lt;content id=&quot;*pxQueue_Kernel-pxQueue_Kernel-boot_CreateQueues-(cast_to_array)&quot; val=&quot;0:1&quot;/&gt;&lt;content id=&quot;u-prvLoopBackTestTask-(format)&quot; val=&quot;1&quot;/&gt;&lt;/contentList&gt;"/>

 <stringAttribute key="org.eclipse.cdt.launch.GLOBAL_VARIABLES" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;globalVariableList/&gt;&#13;&#10;"/>

 <stringAttribute key="org.eclipse.cdt.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;memoryBlockExpressionList/&gt;&#13;&#10;"/>

 <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="Debug\MurSatMPU.axf"/>

 <stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="MurSatMPU"/>

 <stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="com.crt.advproject.config.exe.debug.1738945474"/>

 <booleanAttribute key="org.eclipse.cdt.launch.use_terminal" value="false"/>

+<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">

+<listEntry value="/MurSatMPU"/>

+</listAttribute>

+<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">

+<listEntry value="4"/>

+</listAttribute>

 </launchConfiguration>

diff --git a/software/mpu/MurSatMPU Release.launch b/software/mpu/MurSatMPU Release.launch
index f7927bc..8183be3 100644
--- a/software/mpu/MurSatMPU Release.launch
+++ b/software/mpu/MurSatMPU Release.launch
@@ -1,13 +1,28 @@
 <?xml version="1.0" encoding="UTF-8" standalone="no"?>

 <launchConfiguration type="com.crt.ctrlcenter.idleNative2">

-<stringAttribute key="com.crt.ctrlcenter.targetbase" value="NXP LPC1300"/>

+<stringAttribute key=".gdbinit" value=""/>

+<stringAttribute key="com.crt.ctrlcenter.targetbase" value="NXP LPC1300 (*)"/>

 <stringAttribute key="com.crt.ctrlcenter.targetconfig" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot;?&gt;&#13;&#10;&lt;config chipvendor=&quot;NXP&quot; genname=&quot;NXP LPC1300&quot; id=&quot;config.gdb.stub&quot;&gt;&lt;parameters&gt;&lt;params&gt;&lt;param description=&quot;Enter as XTAL[,PLL]. PLL is optional. Values are in kHz&quot; name=&quot;Crystal (XTAL) frequency and PLL value&quot; required=&quot;false&quot; type=&quot;nullString&quot; var=&quot;xtal.hz&quot;/&gt;&#13;&#10;&lt;/params&gt;&#13;&#10;&lt;initValue value=&quot;false&quot; var=&quot;vector.catch&quot;/&gt;&#13;&#10;&lt;params&gt;&lt;param default=&quot;true&quot; description=&quot;Vector catch&quot; name=&quot;Vector catch&quot; value=&quot;false&quot; var=&quot;vector.catch&quot;&gt;&lt;enum value=&quot;True&quot;/&gt;&#13;&#10;&lt;enum value=&quot;False&quot;/&gt;&#13;&#10;&lt;/param&gt;&#13;&#10;&lt;/params&gt;&#13;&#10;&lt;params&gt;&lt;param default=&quot;true&quot; description=&quot;Enable Red Trace&quot; name=&quot;Enable Red Trace &quot; value=&quot;true&quot; var=&quot;swv.enable&quot;&gt;&lt;enum value=&quot;true&quot;/&gt;&#13;&#10;&lt;enum value=&quot;false&quot;/&gt;&#13;&#10;&lt;/param&gt;&#13;&#10;&lt;/params&gt;&#13;&#10;&lt;params&gt;&lt;param default=&quot;Auto&quot; description=&quot;Enablement of semihosting support&quot; name=&quot;Semihosting support&quot; value=&quot;Auto&quot; var=&quot;internal.semihost&quot;&gt;&lt;enum value=&quot;On&quot;/&gt;&#13;&#10;&lt;enum value=&quot;Off&quot;/&gt;&#13;&#10;&lt;enum value=&quot;Auto&quot;/&gt;&#13;&#10;&lt;/param&gt;&#13;&#10;&lt;/params&gt;&#13;&#10;&lt;params&gt;&lt;param default=&quot;&quot; description=&quot;Switch debug interface between SWD and JTAG (leave blank for default [SWD])&quot; name=&quot;Debug interface&quot; option=&quot;&quot; value=&quot;&quot; var=&quot;internal.debug.interface&quot;&gt;&lt;enum value=&quot;&quot;/&gt;&#13;&#10;&lt;enum value=&quot;JTAG&quot;/&gt;&#13;&#10;&lt;enum value=&quot;SWD&quot;/&gt;&#13;&#10;&lt;/param&gt;&#13;&#10;&lt;/params&gt;&#13;&#10;&lt;params&gt;&lt;param default=&quot;&quot; description=&quot;Maximum wire speed in KHz (leave blank to Auto-detect). Not all values are supported by all targets&quot; name=&quot;Maximum wire speed&quot; type=&quot;nullString&quot; value=&quot;&quot; var=&quot;emu.speed&quot;&gt;&lt;enum value=&quot;&quot;/&gt;&#13;&#10;&lt;enum value=&quot;30000&quot;/&gt;&#13;&#10;&lt;enum value=&quot;15000&quot;/&gt;&#13;&#10;&lt;enum value=&quot;10000&quot;/&gt;&#13;&#10;&lt;enum value=&quot;7500&quot;/&gt;&#13;&#10;&lt;enum value=&quot;6000&quot;/&gt;&#13;&#10;&lt;enum value=&quot;5000&quot;/&gt;&#13;&#10;&lt;enum value=&quot;3750&quot;/&gt;&#13;&#10;&lt;enum value=&quot;3000&quot;/&gt;&#13;&#10;&lt;enum value=&quot;2500&quot;/&gt;&#13;&#10;&lt;enum value=&quot;2000&quot;/&gt;&#13;&#10;&lt;enum value=&quot;1500&quot;/&gt;&#13;&#10;&lt;enum value=&quot;1250&quot;/&gt;&#13;&#10;&lt;enum value=&quot;1200&quot;/&gt;&#13;&#10;&lt;enum value=&quot;1000&quot;/&gt;&#13;&#10;&lt;enum value=&quot;750&quot;/&gt;&#13;&#10;&lt;enum value=&quot;600&quot;/&gt;&#13;&#10;&lt;enum value=&quot;500&quot;/&gt;&#13;&#10;&lt;enum value=&quot;400&quot;/&gt;&#13;&#10;&lt;enum value=&quot;300&quot;/&gt;&#13;&#10;&lt;enum value=&quot;250&quot;/&gt;&#13;&#10;&lt;enum value=&quot;200&quot;/&gt;&#13;&#10;&lt;enum value=&quot;150&quot;/&gt;&#13;&#10;&lt;/param&gt;&#13;&#10;&lt;/params&gt;&#13;&#10;&lt;params&gt;&lt;param default=&quot;&quot; description=&quot;Additional options&quot; name=&quot;Additional options&quot; value=&quot;&quot; var=&quot;misc.options&quot;/&gt;&#13;&#10;&lt;param default=&quot;2&quot; description=&quot;Set stub debug level (1-4)&quot; name=&quot;Debug Level &quot; value=&quot;2&quot; var=&quot;debug.level&quot;/&gt;&#13;&#10;&lt;param default=&quot;True&quot; description=&quot;when True, executable image will be loaded into the target&quot; name=&quot;Load image&quot; type=&quot;boolean&quot; value=&quot;True&quot; var=&quot;load&quot;&gt;&lt;enum value=&quot;True&quot;/&gt;&#13;&#10;&lt;enum value=&quot;False&quot;/&gt;&#13;&#10;&lt;/param&gt;&#13;&#10;&lt;param default=&quot;cont&quot; description=&quot;Run, continue or (do nothing)&quot; name=&quot;Run/Continue image&quot; value=&quot;cont&quot; var=&quot;run&quot;&gt;&lt;enum value=&quot;run&quot;/&gt;&#13;&#10;&lt;enum value=&quot;cont&quot;/&gt;&#13;&#10;&lt;enum value=&quot;&quot;/&gt;&#13;&#10;&lt;/param&gt;&#13;&#10;&lt;param default=&quot;off&quot; description=&quot;If on is specified, make the debugger treat unknown memory as non-existent and refuse \naccesses to such memory. If off is specified, treat the memory as RAM&quot; name=&quot;Memory Access Checking&quot; value=&quot;off&quot; var=&quot;mem.access&quot;&gt;&lt;enum value=&quot;on&quot;/&gt;&#13;&#10;&lt;enum value=&quot;off&quot;/&gt;&#13;&#10;&lt;/param&gt;&#13;&#10;&lt;param default=&quot;cont&quot; description=&quot;choose the disconnect behavior for the target&quot; name=&quot;Disconnect behavior&quot; value=&quot;cont&quot; var=&quot;ondisconnect&quot;&gt;&lt;enum value=&quot;nochange&quot;/&gt;&#13;&#10;&lt;enum value=&quot;stop&quot;/&gt;&#13;&#10;&lt;enum value=&quot;cont&quot;/&gt;&#13;&#10;&lt;enum value=&quot;run_cont&quot;/&gt;&#13;&#10;&lt;/param&gt;&#13;&#10;&lt;/params&gt;&#13;&#10;&lt;/parameters&gt;&#13;&#10;&lt;script emulators=&quot;${gdb.stub} -mi -info-emu&quot; silent=&quot;false&quot; swv=&quot;true&quot; type=&quot;init&quot;&gt;set remotetimeout 60000&amp;#x0A;target extended-remote | ${gdb.stub} -g -mi -${debug.level:2} ${-c+speed:$null} ${-s+emu.speed:$null} ${-p+package:$null} ${-e+emulator:$null} ${vector.catch?-vc:} ${misc.options}&amp;#x0A;set mem inaccessible-by-default ${mem.access}&amp;#x0A;mon ondisconnect ${ondisconnect}&amp;#x0A;set arm force-mode thumb&amp;#x0A;${load}&lt;/script&gt;&#13;&#10;&lt;script silent=&quot;false&quot; type=&quot;run&quot;&gt;${run}&lt;/script&gt;&#13;&#10;&lt;/config&gt;&#10;"/>

 <stringAttribute key="org.eclipse.cdt.debug.mi.core.DEBUG_NAME" value="arm-none-eabi-gdb"/>

 <stringAttribute key="org.eclipse.cdt.debug.mi.core.GDB_INIT" value=""/>

+<booleanAttribute key="org.eclipse.cdt.debug.mi.core.breakpointsFullPath" value="false"/>

+<stringAttribute key="org.eclipse.cdt.debug.mi.core.commandFactory" value="com.crt.ctrlcenter.cmdfactory"/>

+<stringAttribute key="org.eclipse.cdt.debug.mi.core.protocol" value="mi"/>

+<booleanAttribute key="org.eclipse.cdt.debug.mi.core.verboseMode" value="false"/>

+<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_ID" value="com.crt.ctrlcenter.CRTEmbeddedCDebugger"/>

+<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="run"/>

 <booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>

 <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>

+<booleanAttribute key="org.eclipse.cdt.launch.ENABLE_REGISTER_BOOKKEEPING" value="false"/>

+<booleanAttribute key="org.eclipse.cdt.launch.ENABLE_VARIABLE_BOOKKEEPING" value="false"/>

 <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="Release\MurSatMPU.axf"/>

 <stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="MurSatMPU"/>

 <stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="com.crt.advproject.config.exe.release.1384247445"/>

 <booleanAttribute key="org.eclipse.cdt.launch.use_terminal" value="false"/>

+<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">

+<listEntry value="/MurSatMPU"/>

+</listAttribute>

+<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">

+<listEntry value="4"/>

+</listAttribute>

 </launchConfiguration>

diff --git a/software/mpu/inc/Types.h b/software/mpu/inc/Types.h
index 501d359..1ceeaad 100644
--- a/software/mpu/inc/Types.h
+++ b/software/mpu/inc/Types.h
@@ -2,6 +2,8 @@
 #include "task.h"

 #include "queue.h"

 

+#define MS(ms) portTICK_RATE_MS * (ms)

+

 typedef enum

 {

 	STATUS_OK = 0x0U,

@@ -27,7 +29,13 @@ typedef struct
 

 typedef struct

 {

-	xTaskHandle  *pxTask_Lightsens;

-	xQueueHandle *pxQueue;

-}Task_Param_t;

+	xQueueHandle hxq_Kernel;

+	xQueueHandle hxq_Camera;

+	xQueueHandle hxq_LightSens;

+}QH_t;

 

+typedef struct

+{

+	xTaskHandle  hxTask_Self;

+	QH_t QueueHandles;

+}Task_Param_t;

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;

 }