From 7446bd874823bb058d872fa0718ff774379e8118 Mon Sep 17 00:00:00 2001
From: Roland Sahlsten <Roland.Sahlsten.ASE10@fh-joanneum.at>
Date: Tue, 8 May 2012 06:43:34 +0000
Subject: git-svn-id: https://svn.spreadspace.org/mur.sat@403
 7de4ea59-55d0-425e-a1af-a3118ea81d4c

---
 software/mpu/src/kernel.c | 47 +++++++++++++++++++++++++++++++++++++++++++----
 1 file changed, 43 insertions(+), 4 deletions(-)

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

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: {;}
 			}
-- 
cgit v1.2.3