diff options
Diffstat (limited to 'software/mpu/src/kernel.c')
| -rw-r--r-- | software/mpu/src/kernel.c | 117 |
1 files changed, 0 insertions, 117 deletions
diff --git a/software/mpu/src/kernel.c b/software/mpu/src/kernel.c deleted file mode 100644 index f5d04ea..0000000 --- a/software/mpu/src/kernel.c +++ /dev/null @@ -1,117 +0,0 @@ -/*
- * kernel.c
- *
- * Created on: 13.09.2011
- * Author: Roland
- */
-#include "Types.h"
-#include "FreeRTOS.h"
-#include "queue.h"
-#include "uart.h"
-
-#define kernel_TASK_PRIORITY ( tskIDLE_PRIORITY + 5 )
-#define kernel_TASK_STACK_SIZE ( ( unsigned short ) 64 )
-
-void UARTSend(uint8_t *BufferPtr, uint32_t Length);
-
-/* Globals */
-#define BUFSIZE 0x40 // fixme: ...is sdefined in hart.h
-static Task_Param_t kernel_Param;
-extern volatile uint32_t UARTCount;
-extern volatile uint8_t UARTBuffer[BUFSIZE];
-
-/*
- * Wake up other tasks, send them messages telling what to do,
- * wait for them to have processed the commands or not, maybe
- * put them to sleep again, ...
- * */
-static void kernel_Process_Task(void *Param)
-{
- Message_t RcvMsg;
- Message_t SndMsg;
- portTickType tick;
- portCHAR chBufCam[10] = "Seas Cam!";
- portCHAR chBufLSen[10] = "Seas LSe!";
- portCHAR l = 'l';
-
- if(NULL == kernel_Param.QueueHandles.hxq_Kernel)
- {
- return;
- }
-
- tick = xTaskGetTickCount();
- while(1)
- {
- vTaskDelayUntil(&tick, MS(3));
-
- if( xQueueReceive( kernel_Param.QueueHandles.hxq_Kernel, &RcvMsg, MS(5)))
- {
- /*
- * switch Msg.Sender and act accordingly.
- */
- switch (RcvMsg.Sender)
- {
- case Sender_Camera:
- {
- SndMsg.Sender = Sender_Kernel;
- SndMsg.pData = chBufCam;
- xQueueSend(kernel_Param.QueueHandles.hxq_Camera, &SndMsg, MS(10));
- break;
- }
-
- case Sender_LightSens:
- {
- SndMsg.Sender = Sender_Kernel;
- SndMsg.pData = chBufLSen;
- for(l = 0; l < 8; l ++)
- {
- UARTBuffer[l*4 +0] = 48+(((uint8_t *)(RcvMsg.pData))[l])%1000 / 100;
- UARTBuffer[l*4 +1] = 48+(((uint8_t *)(RcvMsg.pData))[l])%100 / 10;
- UARTBuffer[l*4 +2] = 48+(((uint8_t *)(RcvMsg.pData))[l])%10;
- UARTBuffer[l*4 +3] = ' ';
- }
- UARTCount = 34;
- UARTBuffer[32] = '\r';
- UARTBuffer[33] = '\n';
- UARTSend( (uint8_t *)UARTBuffer, UARTCount );
-// UARTSend( (uint8_t *)(RcvMsg.pData), 10 );
-// xQueueSend(kernel_Param.QueueHandles.hxq_LightSens, &SndMsg, MS(10));
- break;
- }
- case Sender_UART:
- {
- if (UARTBuffer[UARTCount-1] != 'i')
- break;
- if ( UARTCount != 0 )
- {
- LPC_UART->IER = IER_THRE | IER_RLS; /* Disable RBR */
- UARTSend( (uint8_t *)UARTBuffer, UARTCount );
- UARTCount = 0;
- LPC_UART->IER = IER_THRE | IER_RLS | IER_RBR; /* Re-enable RBR */
-
- l = 'r';
- SndMsg.pData = &l;
-
- xQueueSend(kernel_Param.QueueHandles.hxq_LightSens, &SndMsg, MS(10));
- }
- break;
- }
- default: {;}
- }
- }
- }
-}
-
-Status_t kernel_Init_Kernel(QH_t hxQueues)
-{
-portBASE_TYPE xResult;
-
- xResult = xTaskCreate( kernel_Process_Task, (signed char *) "Kernel",
- kernel_TASK_STACK_SIZE, &kernel_Param,
- kernel_TASK_PRIORITY, &(kernel_Param.hxTask_Self) );
-
- kernel_Param.QueueHandles = hxQueues;
-
- /*TODO: check for success and pass it over to caller. */
- return STATUS_OK;
-}
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