diff options
Diffstat (limited to 'software/mpu/src/kernel.c')
| -rw-r--r-- | software/mpu/src/kernel.c | 47 |
1 files changed, 43 insertions, 4 deletions
diff --git a/software/mpu/src/kernel.c b/software/mpu/src/kernel.c index d75f9dd..f5d04ea 100644 --- a/software/mpu/src/kernel.c +++ b/software/mpu/src/kernel.c @@ -7,12 +7,18 @@ #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,
@@ -21,11 +27,12 @@ static Task_Param_t kernel_Param; * */
static void kernel_Process_Task(void *Param)
{
- Message_t Msg;
+ 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)
{
@@ -37,25 +44,57 @@ static void kernel_Process_Task(void *Param) {
vTaskDelayUntil(&tick, MS(3));
- if( xQueueReceive( kernel_Param.QueueHandles.hxq_Kernel, &Msg, MS(5)))
+ if( xQueueReceive( kernel_Param.QueueHandles.hxq_Kernel, &RcvMsg, MS(5)))
{
/*
* switch Msg.Sender and act accordingly.
*/
- switch (Msg.Sender)
+ 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;
- xQueueSend(kernel_Param.QueueHandles.hxq_LightSens, &SndMsg, MS(10));
+ 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: {;}
}
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