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/*
* 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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