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Diffstat (limited to 'software/mpu/src/Kopie von main.c')
| -rw-r--r-- | software/mpu/src/Kopie von main.c | 185 |
1 files changed, 185 insertions, 0 deletions
diff --git a/software/mpu/src/Kopie von main.c b/software/mpu/src/Kopie von main.c new file mode 100644 index 0000000..bb1399b --- /dev/null +++ b/software/mpu/src/Kopie von main.c @@ -0,0 +1,185 @@ +/*
+===============================================================================
+ Name : main.c
+ Author :
+ Version :
+ Copyright : Copyright (C)
+ Description : main definition
+===============================================================================
+*/
+
+/* Kernel includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+#include "queue.h"
+
+/* SSP includes */
+#include "ssp.h"
+
+/* Priorities at which the tasks are created. */
+#define mainQUEUE_RECEIVE_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
+#define mainQUEUE_SEND_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
+#define mainQUEUE_SSP_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
+
+#define configSND_TASK_STACK_SIZE ( ( unsigned short ) 32 )
+#define configRCV_TASK_STACK_SIZE ( ( unsigned short ) 32 )
+#define configSPI_LOOP_TASK_STACK_SIZE ( ( unsigned short ) 32 )
+
+/* The bit of port 0 that the LPCXpresso LPC13xx LED is connected. */
+#define mainLED_BIT ( 7 )
+
+/* The rate at which data is sent to the queue, specified in milliseconds. */
+#define mainQUEUE_SEND_FREQUENCY_MS ( 500 / portTICK_RATE_MS )
+
+/* The number of items the queue can hold. This is 1 as the receive task
+will remove items as they are added, meaning the send task should always find
+the queue empty. */
+#define mainQUEUE_LENGTH ( 1 )
+
+/*
+ * The tasks.
+ */
+static void prvQueueReceiveTask( void *pvParameters );
+static void prvQueueSendTask( void *pvParameters );
+static void prvLoopBackTestTask( void *pvParameters );
+
+/*
+ * Simple function to toggle the LED on the LPCXpresso LPC13xx board.
+ */
+static void prvToggleLED( void );
+
+/* The queue used by both tasks. */
+static xQueueHandle xQueue = NULL;
+
+/* SSP buffer */
+ uint8_t src_addr[SSP_BUFSIZE];
+ uint8_t dest_addr[SSP_BUFSIZE];
+/*-----------------------------------------------------------*/
+
+int main(void) {
+
+ /* Set the LPCXpresso LPC13xx LED port to output. */
+ LPC_GPIO0->DIR |= ( 0x1 << mainLED_BIT );
+
+ /* Create the queue. */
+ xQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( unsigned long ) );
+
+ if( xQueue != NULL )
+ {
+ /* Start the two tasks as described in the accompanying application
+ note. */
+ xTaskCreate( prvQueueReceiveTask, ( signed char * ) "Rx", configRCV_TASK_STACK_SIZE, NULL, mainQUEUE_RECEIVE_TASK_PRIORITY, NULL );
+ xTaskCreate( prvQueueSendTask, ( signed char * ) "TX", configSND_TASK_STACK_SIZE, NULL, mainQUEUE_SEND_TASK_PRIORITY, NULL );
+ xTaskCreate( prvLoopBackTestTask, ( signed char * ) "LoopBckTst", configSPI_LOOP_TASK_STACK_SIZE, NULL, mainQUEUE_SSP_TASK_PRIORITY, NULL );
+
+ /* Start the tasks running. */
+ vTaskStartScheduler();
+ }
+
+ /* If all is well we will never reach here as the scheduler will now be
+ running. If we do reach here then it is likely that there was insufficient
+ heap available for the idle task to be created. */
+ for( ;; );
+/*
+ // Enter an infinite loop, just incrementing a counter
+ volatile static int i = 0 ;
+ while(1) {
+ i++ ;
+ }
+*/
+ return 0 ;
+}
+
+
+/*
+ * -------------------------------------------------------------
+ */
+static void prvQueueSendTask( void *pvParameters )
+{
+ portTickType xNextWakeTime;
+ unsigned long ulValueToSend = 100UL;
+
+ /* Initialise xNextWakeTime - this only needs to be done once. */
+ xNextWakeTime = xTaskGetTickCount();
+
+ for( ;; )
+ {
+ /* Place this task in the blocked state until it is time to run again.
+ The block state is specified in ticks, the constant used converts ticks
+ to ms. While in the blocked state this task will not consume any CPU
+ time. */
+ vTaskDelayUntil( &xNextWakeTime, mainQUEUE_SEND_FREQUENCY_MS );
+
+ /* Send to the queue - causing the queue receive task to flash its LED.
+ 0 is used as the block time so the sending operation will not block -
+ it shouldn't need to block as the queue should always be empty at this
+ point in the code. */
+ if(ulValueToSend == 200UL)
+ ulValueToSend = 100UL;
+ else
+ ulValueToSend = 200UL;
+ xQueueSend( xQueue, &ulValueToSend, 0 );
+
+ }
+}
+/*-----------------------------------------------------------*/
+
+static void prvQueueReceiveTask( void *pvParameters )
+{
+unsigned long ulReceivedValue;
+
+ for( ;; )
+ {
+ /* Wait until something arrives in the queue - this task will block
+ indefinitely provided INCLUDE_vTaskSuspend is set to 1 in
+ FreeRTOSConfig.h. */
+ xQueueReceive( xQueue, &ulReceivedValue, portMAX_DELAY );
+
+ /* To get here something must have been received from the queue, but
+ is it the expected value? If it is, toggle the LED. */
+ if( ulReceivedValue == 100UL )
+ {
+ prvToggleLED();
+ }
+ }
+}
+/*-----------------------------------------------------------*/
+static void prvLoopBackTestTask( void *pvParameters )
+{
+ uint8_t u;
+ unsigned long ulReceivedValue;
+ portTickType xNextWakeTime;
+
+ xNextWakeTime = xTaskGetTickCount();
+ u = 3;
+ SSPInit();
+
+ for(;;)
+ {
+ xQueueReceive( xQueue, &ulReceivedValue, portMAX_DELAY );
+ if(ulReceivedValue == 200UL)
+ {
+ prvToggleLED();
+ vTaskDelayUntil( &xNextWakeTime, (500 / portTICK_RATE_MS) );
+ prvToggleLED();
+ vTaskDelayUntil( &xNextWakeTime, (500 / portTICK_RATE_MS) );
+ prvToggleLED();
+ }
+ vTaskDelayUntil( &xNextWakeTime, (100 / portTICK_RATE_MS) );
+ u++;
+ LoopbackTest();
+ }
+}
+/*-----------------------------------------------------------*/
+
+static void prvToggleLED( void )
+{
+/* This function is only called from one task so does not have to be reentrant,
+so the static qualifier is acceptable. */
+static unsigned long ulLEDState = 1;
+
+ /* Turn the LED off if it was on, and on if it was off. */
+ ulLEDState = !ulLEDState;
+ LPC_GPIO0->MASKED_ACCESS[ ( 1 << mainLED_BIT) ] = ( ulLEDState << mainLED_BIT );
+}
+/*-----------------------------------------------------------*/
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