From 3ab7176e463268a471eb0e90c8520be4ff15a42f Mon Sep 17 00:00:00 2001
From: Christian Pointner <equinox@mur.at>
Date: Tue, 28 May 2013 19:22:38 +0000
Subject: moved old FreeRTOS based MPU Softeware to mpu.old

git-svn-id: https://svn.spreadspace.org/mur.sat@768 7de4ea59-55d0-425e-a1af-a3118ea81d4c
---
 software/mpu.old/src/kernel.c | 117 ++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 117 insertions(+)
 create mode 100644 software/mpu.old/src/kernel.c

(limited to 'software/mpu.old/src/kernel.c')

diff --git a/software/mpu.old/src/kernel.c b/software/mpu.old/src/kernel.c
new file mode 100644
index 0000000..f5d04ea
--- /dev/null
+++ b/software/mpu.old/src/kernel.c
@@ -0,0 +1,117 @@
+/*
+ * 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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