adipu/TweinStein
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

all

Browse Source
This commit is contained in:
pulipakaa24
2026-06-12 02:55:04 -07:00
commit 30406f4f49
2040 changed files with 571534 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

954
RTOS_Lab5_ProcessLoader/RTOS_Lab5.c Normal file
View File

@@ -0,0 +1,954 @@
/* RTOS_Lab5.c
* Jonathan Valvano
* January 10, 2026
* Remove 3.3V J101 jumper to run RTOS sensor board or motor board
* A two-pin female header is required on the LaunchPad TP10(XDS_VCC) and TP9(!RSTN)
*/
// You need to run Testmain2 before Testmain3 Testmain5 Testmain6 and realmain
// Test Testmain2 formats the disk and loads to programs Blinky and Prog2
#include <ti/devices/msp/msp.h>
#include "../inc/LaunchPad.h"
#include "../RTOS_Labs_common/ADC.h"
#include "../inc/Clock.h"
#include "../RTOS_Labs_common/ST7735_SDC.h"
#include "../RTOS_Labs_common/RTOS_UART.h"
#include "../RTOS_Labs_common/Interpreter.h"
#include "../RTOS_Labs_common/IRDistance.h"
#include "../RTOS_Labs_common/LPF.h"
#include "../RTOS_Labs_common/DFT16.h"
#include "../RTOS_Labs_common/TFLuna2.h"
#include "../RTOS_Labs_common/OS.h"
#include "../RTOS_Labs_common/eDisk.h"
#include "../RTOS_Labs_common/eFile.h"
#include "../RTOS_Labs_common/heap.h"
#include <stdio.h>
// PA10 is UART0 Tx index 20 in IOMUX PINCM table
// PA11 is UART0 Rx index 21 in IOMUX PINCM table
// Insert jumper J25: Connects PA10 to XDS_UART
// Insert jumper J26: Connects PA11 to XDS_UART
// PA0 is red LED1, index 0 in IOMUX PINCM table, negative logic
// PB22 is BLUE LED2, index 49 in IOMUX PINCM table
// PB26 is RED LED2, index 56 in IOMUX PINCM table
// PB27 is GREEN LED2, index 57 in IOMUX PINCM table
// PA18 is S1 positive logic switch, conflict with TFLuna1, so S1 will not be used
// PB21 is S2 negative logic switch, used for aperiodic task
// IR analog distance sensors
// 30 cm GP2Y0A41SK0F or 80 cm long range GP2Y0A21YK0F
// PA26 Right ADC0_1
// PA24 Center ADC0_3, used in Labs 1,2,3,4
// PA22 Left ADC0_7
// PA27 Extra ADC0_0
// RTOS sensor board supported three TF-Luna sensors
// Serial TxD: PA17 is UART1 Tx (MSPM0 to TFLuna1)
// Serial RxD: PA18 is UART1 Rx (TFLuna1 to MSPM0), conflict with LaunchPad S1
// Serial TxD: PB17 is UART2 Tx (MSPM0 to TFLuna2), used in Labs 1,2,3,4
// Serial RxD: PB18 is UART2 Rx (TFLuna2 to MSPM0), used in Labs 1,2,3,4
// Serial TxD: PB12 is UART3 Tx (MSPM0 to TFLuna3),
// Serial RxD: PB13 is UART3 Rx (TFLuna3 to MSPM0), shared with LD19 Lidar
//UART3 is shared between LD19 and TFLuna3 (can have either but not both)
// **** OS must run disk_timerproc(); at 1000Hz, every 1ms *****
uint32_t Running; // true while robot is running
uint32_t NumCreated; // number of foreground threads created
uint32_t NumProcessCreated; // number of foreground processes created
extern Program_t ProgramBlock;
extern Program_t ProgramBlock2;
//---------------------User debugging-----------------------
// Unused sensor board pins, made outputs for debugging
// Jumper J14 select PA9
// Jumper J15 select PA16
void Logic_Init(void){
IOMUX->SECCFG.PINCM[PA8INDEX] = (uint32_t) 0x00000081;
IOMUX->SECCFG.PINCM[PA9INDEX] = (uint32_t) 0x00000081;
IOMUX->SECCFG.PINCM[PA16INDEX] = (uint32_t) 0x00000081;
IOMUX->SECCFG.PINCM[PB4INDEX] = (uint32_t) 0x00000081;
IOMUX->SECCFG.PINCM[PB1INDEX] = (uint32_t) 0x00000081;
IOMUX->SECCFG.PINCM[PB20INDEX] = (uint32_t) 0x00000081;
GPIOA->DOE31_0 |= (1<<8)|(1<<9)|(1<<16);
GPIOB->DOE31_0 |= (1<<4)|(1<<1)|(1<<20);
}
#define TogglePA8() (GPIOA->DOUTTGL31_0 = (1<<8))
#define SetPA8() (GPIOA->DOUTSET31_0 = (1<<8))
#define ClrPA8() (GPIOA->DOUTCLR31_0 = (1<<8))
#define TogglePA9() (GPIOA->DOUTTGL31_0 = (1<<9))
#define SetPA9() (GPIOA->DOUTSET31_0 = (1<<9))
#define ClrPA9() (GPIOA->DOUTCLR31_0 = (1<<9))
#define TogglePA16() (GPIOA->DOUTTGL31_0 = (1<<16))
#define TogglePB4() (GPIOB->DOUTTGL31_0 = (1<<4))
#define SetPB4() (GPIOB->DOUTSET31_0 = (1<<4))
#define ClrPB4() (GPIOB->DOUTCLR31_0 = (1<<4))
#define TogglePB1() (GPIOB->DOUTTGL31_0 = (1<<1))
#define TogglePB20() (GPIOB->DOUTTGL31_0 = (1<<20))
uint32_t Checks; // number of times virus checking has run
uint32_t ChecksWork; // number of checks in 10 second
//------------------Task 1--------------------------------
// real-time sampling ADC0 channel 3, using software start trigger
// 60-Hz notch high-Q, IIR filter, assuming fs=1000 Hz
// y(n) = (256x(n) -476x(n-1) + 256x(n-2) + 471y(n-1)-251y(n-2))/256 (1k sampling)
#define PERIOD TIME_1MS // DAS 1kHz sampling period in system time units
#define FS 1000 // DAS sampling
#define RUNLENGTH (10000) // 10 seconds, display results and quit when FilterWork==RUNLENGTH
uint32_t FilterOutput,Distance;
Sema4_t LCDFree; // SDC and LCD sharing
uint32_t FilterWork;
uint32_t MaxJitter3;
#define JITTERSIZE3 512
uint32_t const JitterSize3=JITTERSIZE3;
uint32_t JitterHistogram3[JITTERSIZE3]={0,};
void Jitter3_Init(void){
for(int i=0;i<JitterSize3;i++){
JitterHistogram3[i] = 0;
}
MaxJitter3 = 0;
}
//******** DAS ***************
// background thread, calculates 60Hz notch filter
// runs 1000 times/sec
// samples PA24 Center ADC0_3, calculates Distance
// inputs: none
// outputs: none
void DAS(void){
uint32_t input;
static uint32_t LastTime; // time at previous ADC sample, 12.5 ns
uint32_t thisTime; // time at current ADC sample, 12.5 ns
uint32_t jitter; // time between measured and expected, 12.5 ns
TogglePA8(); // toggle PA8
input = ADC0_In(); // channel 3 set when calling ADC0_Init
TogglePA8(); // toggle PA8
thisTime = OS_Time(); // current time, 12.5 ns
FilterOutput = Filter(input);
Distance = IRDistance_Convert(FilterOutput,0); // in mm
if(Running){ // finite time run
FilterWork++; // calculation finished
if(FilterWork>2){ // ignore timing of first interrupt
uint32_t diff = OS_TimeDifference(LastTime,thisTime);
if(diff>PERIOD){
jitter = (diff-PERIOD); // in 12.5 ns
}else{
jitter = (PERIOD-diff); // in 12.5 ns
}
if(jitter > MaxJitter3){
MaxJitter3 = jitter; // in 12.5 ns
} // jitter should be 0
JitterHistogram3[jitter]++;
}
ChecksWork = Checks;
LastTime = thisTime;
}
TogglePA8(); // toggle PA8
}
//--------------end of Task 1-----------------------------
//------------------Task 2--------------------------------
// background thread executes with PA28 button
// PA28 negative logic switch
// one foreground task created with each button push
// foreground tread outputs a message and dies
uint32_t DataLost; // data sent by Producer, but not received by Consumer
// ***********PA28Push*************
int ArmCrash=1;
void HandleCrash(void){
TogglePA9();
TogglePA9();
uint32_t myId = OS_Id();
ST7735_Message(1,0,"myID =",myId);
ST7735_Message(1,1,"*Crash*, t= ",OS_MsTime());
ArmCrash=1;
TogglePA9();
OS_Kill();
}
void PA28Push(void){ // real time task
if(ArmCrash){
ArmCrash = 0; // debounce
NumCreated += OS_AddThread(&HandleCrash,128,1); // test eDisk
}
}
//------------------Task 3--------------------------------
// hardware-triggered TFLuna distance sampling at 100Hz
// Producer runs as part of UART2 ISR
// Producer uses fifo to transmit 100 distance samples/sec to Consumer
// every 64 samples, Consumer calculates FFT
// every 2.5ms*64 = 160 ms (6.25 Hz), consumer sends data to Display via mailbox
// Display thread updates LCD with measurement
uint32_t DataLost; // data sent by Producer, but not received by Consumer
uint32_t Distance2; // mm
int32_t x[16],ReX[16],ImX[16]; // input and output arrays for FFT
//******** Producer ***************
// The Producer in this lab will be called from the UART2 ISR
// The TFLuna2 samples distance at about 100 Hz
// sends data to the consumer, runs periodically at 100Hz
void Producer(uint32_t data){
if(Running){ // finite time run
TogglePA16(); // toggle PA16
Distance2 = Median5((int32_t) data);
TogglePA16(); // toggle PA16
if(OS_Fifo_Put(Distance2) == 0){ // send to consumer
DataLost++;
}
TogglePA16(); // toggle PA16
}
}
void Display(void);
// Describe the error with text on the LCD and then stall.
// If you are getting disk errors, rerun Testmain1 Testmain2 Testmain3
void diskError(char *errtype, int32_t code){
OS_bSignal(&LCDFree);
ST7735_DrawString(0, 1, "Err: ", ST7735_LIGHTGREY);
ST7735_DrawString(5, 1, errtype, ST7735_LIGHTGREY);
ST7735_DrawString(0, 2, "Code: ", ST7735_LIGHTGREY);
ST7735_SetCursor(6, 2);
ST7735_SetTextColor(ST7735_RED);
ST7735_OutUDec(code);
Running = 0;
OS_Kill();
}
void StartFileDump(char *pt){
OS_bWait(&LCDFree);
eFile_Create(pt); // ignore error if file already exists
if(eFile_WOpen(pt)) diskError("eFile_WOpen",0);
if(eFile_WriteString("time(s)\tdist(mm)\tdist(mm)\n\r")) diskError("eFile_WriteString",0);
OS_bSignal(&LCDFree);
}
void EndFileDump(){
OS_bWait(&LCDFree);
if(eFile_WClose()) diskError("eFile_WClose",0);
OS_bSignal(&LCDFree);
}
void FileDump(uint32_t data, uint32_t data2){
SetPB4();
OS_bWait(&LCDFree);
eFile_WriteUFix2(OS_MsTime()/10); eFile_Write('\t');
eFile_WriteUDec(data); eFile_Write('\t');
eFile_WriteUDec(data2); eFile_WriteString("\n\r");
OS_bSignal(&LCDFree);
ClrPB4();
}
//******** Robot ***************
// foreground Consumer thread, accepts data from producer
// inputs: none
// outputs: none
char FileName[8]="robot0";
void Robot(void){
DataLost = 0; // new run with no lost data
FilterWork = 0;
Running = 1;
Jitter3_Init();
OS_ClearMsTime();
OS_Fifo_Init(256);
NumCreated += OS_AddThread(&Display,128,0);
UART_OutString("Robot running...");
StartFileDump(FileName);
while(FilterWork < RUNLENGTH) {
uint32_t data; // in mm, from TFLuna
uint32_t sum=0;
for(int t = 0; t < 16; t++){ // collect 16 TFLuna samples
data = OS_Fifo_Get(); // get from producer, mm
x[t] = data;
sum += data; // average
}
Distance2 = sum>>4; // in mm
FileDump(Distance,Distance2);
OS_MailBox_Send(Distance2); // called every 10ms*16 = 160ms
}
EndFileDump();
UART_OutString("done.\n\r>");
FileName[5] = (FileName[5]+1)&0xF7; // 0 to 7
Running = 0; // robot no longer running
OS_Kill();
}
//************S2Push*************
// Called when S2 Button pushed, fall of PB21
// Adds another Robot foreground task
// background threads execute once and return
void S2Push(void){
if(Running==0){
Running = 1; // prevents you from starting two test threads
NumCreated += OS_AddThread(&Robot,128,1); // test eDisk
}
}
//--------------end of Task 2-----------------------------
//******** Display ***************
// foreground thread, accepts data from consumer
// displays results on the LCD
// inputs: none
// outputs: none
void Display(void){
uint32_t distance;
uint32_t myId = OS_Id();
ST7735_Message(1,1,"myId = ",myId); // top half used for Display
ST7735_Message(1,2,"Run length = ",(RUNLENGTH)/FS); // top half used for Display
while(Running) {
TogglePB1(); // toggle PB1
distance = OS_MailBox_Recv();
// you will calibrate this in Lab 6
TogglePB1(); // toggle PB1
ST7735_Message(1,3,"Time(ms) =",OS_MsTime());
ST7735_Message(1,4,"work =",FilterWork);
ST7735_Message(1,5,"d(mm) =",distance);
TogglePB1(); // toggle PB1
}
OS_Kill(); // done
}
//--------------end of Task 3-----------------------------
//------------------Task 4--------------------------------
// foreground thread that runs without waiting or sleeping
// it executes a virus detector
uint32_t Check(uint32_t start, uint32_t end){
uint32_t sum=0;
uint32_t *pt; pt = (uint32_t *)start;
while((uint32_t)pt < end){
sum += *pt++;
}
return sum;
}
//******** Virus Detector ***************
// foreground thread, performs a checksum of all ROM
// never blocks, never sleeps, never dies
// inputs: none
// outputs: none
uint32_t Checksum; // sum of data stored in ROM
uint32_t ChecksumOriginal; // sum of data stored in ROM
uint32_t ChecksumErrors;
void VirusDetector(void){
Checks = ChecksumErrors = 0;
ChecksumOriginal = Check(0,0x20000);
while(1) {
TogglePB20(); // toggle PB20
Checksum = Check(0,0x20000);
Checks++;
if(Checksum != ChecksumOriginal){
ChecksumErrors++;
}
}
}
//--------------end of Task 4-----------------------------
//------------------Task 5--------------------------------
// UART0 background ISR performs serial input/output
// Two software fifos are used to pass I/O data to foreground
// The interpreter runs as a foreground thread
// The UART0 driver should call OS_Wait(&RxDataAvailable) when foreground tries to receive
// The UART0 ISR should call OS_Signal(&RxDataAvailable) when it receives data from Rx
// Similarly, the transmit channel waits on a semaphore in the foreground
// and the UART0 ISR signals this semaphore (TxRoomLeft) when getting data from fifo
//******** Interpreter ***************
// Modify your intepreter from Lab 1, adding commands to help debug
// Interpreter is a foreground thread, accepts input from serial port, outputs to serial port
// inputs: none
// outputs: none
void Interpreter(void); // just a prototype, link to your interpreter
// add the following commands, leave other commands, if they make sense
// 1) print performance measures
// time-jitter, number of data points lost, number of calculations performed
// i.e., NumCreated, MaxJitter, DataLost, FilterWork, Checks
// 2) print debugging parameters
// i.e., Checks, ChecksumErrors
// Call these from your interpreter
void Lab5(void){ heap_stats_t heap;
UART_OutString("\r\nLab 5 performance data");
UART_OutString("\r\nNumCreated = "); UART_OutUDec(NumCreated);
UART_OutString("\r\nNumProcesses = "); UART_OutUDec(NumProcessCreated);
if(!Heap_Stats(&heap)){
UART_OutString("\r\nHeap size = "); UART_OutUDec(heap.size); UART_OutString(" bytes");
UART_OutString("\r\nHeap used = "); UART_OutUDec(heap.used); UART_OutString(" bytes");
UART_OutString("\r\nHeap free = "); UART_OutUDec(heap.free); UART_OutString(" bytes");
UART_OutString("\r\nHeap waste = "); UART_OutUDec(heap.size - heap.used - heap.free); UART_OutString(" bytes");
}
}
void DFT(void){ int i; int32_t real,imag,mag;
UART_OutString("\r\nLab 2/3 DFT data");
UART_OutString("\r\nInput, Output Real, Output Imaginary, Magnitude");
for(i=0; i<8; i++){
real = ReX[i];
imag = ImX[i];
mag = sqrt2(real*real+imag*imag);
UART_OutString("\r\n"); UART_OutUDec(x[i]); UART_OutChar(' '); UART_OutSDec(real); UART_OutChar(' '); UART_OutSDec(imag);
UART_OutChar(' '); UART_OutSDec(mag);
}
}
//--------------end of Task 5-----------------------------
void ProcessLoadBlinky(void){
UART_OutString("\n\rECE445M Lab 5 Load Blinky\n\r");
OS_bWait(&LCDFree);
if(eFile_Init()) diskError("eFile_Init",0);
if(eFile_Mount()) diskError("eFile_Mount",0);
OS_bSignal(&LCDFree);
NumProcessCreated += OS_LoadProgram("Blinky",2);
NumProcessCreated += OS_LoadProgram("Prog2",1);
UART_OutString("\n\rOS_LoadProgram Blinky ok\n\r>");
OS_Kill();
}
//*******************final user main DEMONTRATE THIS TO TA**********
int realmain(void){ // realmain
OS_Init(); // initialize, disable interrupts
Logic_Init();
DataLost = 0; // lost data between producer and consumer
FilterWork = 0;
Jitter3_Init();
// initialize communication channels
OS_MailBox_Init();
OS_Fifo_Init(256); // ***note*** 4 is not big enough*****
// hardware init
ADC0_Init(3,ADCVREF_VDDA); // PA24 Center ADC0_3, sampling in DAS()
OS_InitSemaphore(&LCDFree, 1);
// attach background tasks
OS_AddS2Task(&S2Push,1); // fall of PB21
OS_AddPA28Task(&PA28Push,1); // fall of PA28
OS_AddPeriodicThread(&DAS,PERIOD/80000,0); // 1 kHz real time sampling of ADC0_3
OS_AddPeriodicThread(&disk_timerproc,1,0); // time out routines for disk
// create initial foreground threads
NumCreated = 0;
NumCreated += OS_AddThread(&Interpreter,128,1);
NumCreated += OS_AddThread(&ProcessLoadBlinky,128,2);
NumCreated += OS_AddThread(&VirusDetector,128,2);
NumProcessCreated = 0;
LPF_Init7(500,7);
TFLuna2_Init(&Producer);
TFLuna2_Format_Standard_mm(); // format in mm
TFLuna2_Frame_Rate(); // 100 samples/sec
TFLuna2_SaveSettings(); // save format and rate
TFLuna2_System_Reset(); // start measurements
// if(eFile_Init()) diskError("eFile_Init",0);
// if(eFile_Format()) diskError("eFile_Format",0);
// if(eFile_Mount()) diskError("eFile_Mount",0);
OS_Launch(TIME_2MS); // doesn't return, interrupts enabled in here
return 0; // this never executes
}
//+++++++++++++++++++++++++DEBUGGING CODE++++++++++++++++++++++++
// ONCE YOUR RTOS WORKS YOU CAN COMMENT OUT THE REMAINING CODE
//
uint32_t M=1;
uint32_t Random32(void){
M = 1664525*M+1013904223;
return M;
}
// 0 to 31
uint32_t Random5(void){
return (Random32()>>27);
}
// 0 to 127
uint32_t Random7(void){
return (Random32()>>25);
}
// 0 to 255
uint8_t Random8(void){
return (Random32()>>24);
}
//*****************Test project 1*************************
// Syntax check of Program structure
unsigned char buffer[512]; // don't put on stack
void DumpProgramInformation(void){
uint32_t start,code,stack,data,number;
char *name; char *pt;
pt = (char*)&ProgramBlock;
start = ProgramBlock.StartOffset;
code = ProgramBlock.CodeSize;
stack = ProgramBlock.StackSize;
data = ProgramBlock.DataSize;
name = ProgramBlock.Name;
UART_OutString("ECE445M Spring 2026 testmain1");
UART_OutString("Name="); UART_OutString(name); UART_OutString("\n\r");
UART_OutString("Start offset="); UART_OutUDec(start); UART_OutString("\n\r");
UART_OutString("Code size="); UART_OutUDec(code); UART_OutString("\n\r");
UART_OutString("Stack size="); UART_OutUDec(stack); UART_OutString("\n\r");
UART_OutString("Data size="); UART_OutUDec(data); UART_OutString("\n\r");
for(int i=0; i<code;i++){
number = *pt++;
UART_OutUHex2(number);
if((i%10)==9) UART_OutString("\n\r");
}
OS_Kill();
}
int Testmain1(void){ // Testmain1
OS_Init(); // initialize, disable interrupts
Logic_Init();
Running = 0;
// attach background tasks
OS_AddPeriodicThread(&disk_timerproc,1,0); // time out routines for disk
// create initial foreground threads
NumCreated = 0 ;
NumCreated += OS_AddThread(&DumpProgramInformation,128,1);
NumCreated += OS_AddThread(&VirusDetector,128,3);
OS_Launch(TIME_2MS); // doesn't return, interrupts enabled in here
return 0; // this never executes
}
//*****************Test project 2*************************
// Test of saving object files
// Warning: this reformats the disk, all existing data will be lost
void PrintDirectory(void){ char *name; unsigned long size;
unsigned int num;
unsigned long total;
num = 0;
total = 0;
UART_OutString("\n\r");
if(eFile_DOpen("")) diskError("eFile_DOpen",0);
while(!eFile_DirNext(&name, &size)){
UART_OutString("Filename = "); UART_OutString(name); UART_OutString(" ");
UART_OutString("Size (bytes)= "); UART_OutUDec(size); UART_OutString("\n\r");
total = total+size;
num++;
}
UART_OutString("Number of Files = "); UART_OutUDec(num); UART_OutString("\n\r");
UART_OutString("Number of Bytes = "); UART_OutUDec(total); UART_OutString("\n\r");
if(eFile_DClose()) diskError("eFile_DClose",0);
}
void SaveProgram(char *name, uint32_t codesize, char *pt ){int i;
if(eFile_Create(name)) diskError("eFile_Create",0);
if(eFile_WOpen(name)) diskError("eFile_WOpen",0);
for(i=0; i<codesize; i++){
eFile_Write(*pt);
pt++;
}
if(eFile_WClose()) diskError("eFile_WClose",0);
}
void PrintCode(char *name){int i; char data; int status;
if(eFile_ROpen(name)) diskError("eFile_ROpen",0);
i=0;
do{
status = eFile_ReadNext(&data);
if(status == 0) {
UART_OutUHex2(data);
if((i%10)==9) UART_OutString("\n\r");
i++;
}
}while(status==0);
UART_OutString("\n\r");
if(eFile_RClose()) diskError("eFile_RClose",0);
}
void PrintObjectCode(char *name){int i; char data; int status;
uint32_t startoffset,codesize,stacksize,datasize;
if(eFile_ROpen(name)) diskError("eFile_ROpen",0);
if(eFileReadNextWord(&startoffset)) diskError("eFileReadNextWord",0);
if(startoffset<20){
UART_OutString("\n\rBad start offset = ");UART_OutString(name);
UART_OutString("\n\r");
if(eFile_RClose()) diskError("eFile_RClose",0);
return;
}
if(eFileReadNextWord(&codesize)) diskError("eFileReadNextWord",0);
if(eFileReadNextWord(&stacksize)) diskError("eFileReadNextWord",0);
if(eFileReadNextWord(&datasize) ) diskError("eFileReadNextWord",0);
UART_OutString("\n\rFilename = ");
i=16; int endofName=1;
while(i<startoffset){
status = eFile_ReadNext(&data);
if(status == 0) {
if(data){
if(endofName) UART_OutChar(data);
}
else endofName=0;
}
i++;
}
UART_OutString("\n\r StartOffset= "); UART_OutUDec(startoffset);
UART_OutString("\n\r CodeSize = "); UART_OutUDec(codesize);
UART_OutString("\n\r StackSize = "); UART_OutUDec(stacksize);
UART_OutString("\n\r DataSize = "); UART_OutUDec(datasize); UART_OutString("\n\r");
do{
status = eFile_ReadNext(&data);
if(status == 0) {
UART_OutUHex2(data);
if(((i+startoffset)&0x0F)==0x0F) UART_OutString("\n\r");
i++;
}
}while(status==0);
UART_OutString("\n\r");
if(eFile_RClose()) diskError("eFile_RClose",0);
}
void TestSaveProgram(void){ uint32_t code; char *pt; int i; char data; int status;
UART_OutString("\n\rECE445M Lab 5 save program\n\r");
ST7735_DrawString(0, 1, "Save program ", ST7735_WHITE);
// simple test of eFile
if(eFile_Init()) diskError("eFile_Init",0);
if(eFile_Format()) diskError("eFile_Format",0);
if(eFile_Mount()) diskError("eFile_Mount",0);
PrintDirectory();
SaveProgram(ProgramBlock.Name, ProgramBlock.CodeSize, (char*) &ProgramBlock);
SaveProgram(ProgramBlock2.Name, ProgramBlock2.CodeSize, (char*) &ProgramBlock2);
PrintDirectory();
// PrintCode(ProgramBlock.Name);
PrintObjectCode(ProgramBlock.Name);
PrintObjectCode(ProgramBlock2.Name);
if(eFile_Unmount()) diskError("eFile_Unmount",0);
UART_OutString("\n\rSuccessful test\n\r");
ST7735_DrawString(0, 1, "eFile successful", ST7735_YELLOW);
Running=0; // launch again
OS_Kill();
}
void StartFileTest(void){
if(Running==0){
Running = 1; // prevents you from starting two test threads
NumCreated += OS_AddThread(&TestSaveProgram,128,1); // test eFile
}
}
int Testmain2(void){ // Testmain2
OS_Init(); // initialize, disable interrupts
Logic_Init();
Running = 1;
// attach background tasks
OS_AddPeriodicThread(&disk_timerproc,1,0); // time out routines for disk
OS_AddS2Task(&StartFileTest,1);
OS_AddPA28Task(&StartFileTest,1);
// create initial foreground threads
NumCreated = 0 ;
NumCreated += OS_AddThread(&TestSaveProgram,128,1);
NumCreated += OS_AddThread(&VirusDetector,128,3);
OS_Launch(TIME_2MS); // doesn't return, interrupts enabled in here
return 0; // this never executes
}
//*****************Test project 3*************************
// Test of loading object files
// Testmain2 must have been successfully run (it creates Blinky on disk)
// Warning: this reformats the disk, all existing data will be lost
char Buffer3[256]; // big enough for Blinky
uint32_t Count3;
void LoadObjectCode(char *name, char* buffer){int i; char data; int status;
OS_bWait(&LCDFree);
if(eFile_ROpen(name)) diskError("eFile_ROpen",0);
i=0;
do{
status = eFile_ReadNext(&data);
Buffer3[i] = data;
i++;
}while((status==0)&&(i<256));
if(eFile_RClose()) diskError("eFile_RClose",0);
OS_bSignal(&LCDFree);
}
void Chaos3(void){
ST7735_Message(1,0,"Chaos",3);
while(1){
for(int l=1; l<5; l++){
ST7735_Message(1,l,"n =",Random8());
}
OS_Sleep(100);
}
}
void FileTest3(void){
UART_OutString("\n\rECE445M Lab 5 load program\n\r");
OS_bWait(&LCDFree);
if(eFile_Init()) diskError("eFile_Init",0);
if(eFile_Mount()) diskError("eFile_Mount",0);
OS_bSignal(&LCDFree);
LoadObjectCode("Blinky",Buffer3);
Count3++;
UART_OutString("LoadObjectCode ok, Count3=");UART_OutUDec(Count3); UART_OutString("\n\r");
ST7735_Message(0,1,"Count3=",Count3);
Running=0; // launch again
OS_Kill();
}
void StartFileTest3(void){
if(Running==0){
Running = 1; // prevents you from starting two test threads
NumCreated += OS_AddThread(&FileTest3,128,1); // test eFile
}
}
int Testmain3(void){ // Testmain3
OS_Init(); // initialize, disable interrupts
Logic_Init();
Running = 1;
OS_InitSemaphore(&LCDFree, 1);
Count3 = 0;
// attach background tasks
OS_AddPeriodicThread(&disk_timerproc,1,0); // time out routines for disk
OS_AddS2Task(&StartFileTest3,1);
OS_AddPA28Task(&StartFileTest3,1);
// create initial foreground threads
NumCreated = 0 ;
NumCreated += OS_AddThread(&FileTest3,128,1);
NumCreated += OS_AddThread(&Chaos3,128,1);
NumCreated += OS_AddThread(&VirusDetector,128,3);
OS_Launch(TIME_2MS); // doesn't return, interrupts enabled in here
return 0; // this never executes
}
//*****************Test project 4*************************
// Heap test, allocate and deallocate memory
void heapError(char* errtype, char* v,uint32_t n){
UART_OutString("\n\rErr: "); UART_OutString(errtype);
UART_OutString(" heap error "); UART_OutString(v);
UART_OutUDec(n); UART_OutString("\n\r");
OS_Kill();
}
heap_stats_t stats;
void heapStats(void){
if(Heap_Stats(&stats)) heapError("Heap_Stats","",0);
ST7735_Message(1,0,"Heap size =",stats.size);
ST7735_Message(1,1,"Heap used =",stats.used);
ST7735_Message(1,2,"Heap free =",stats.free);
ST7735_Message(1,3,"Heap waste =",stats.size - stats.used - stats.free);
UART_OutString("\n\rHeap size ="); UART_OutUDec(stats.size);
UART_OutString("\n\rHeap used ="); UART_OutUDec(stats.used);
UART_OutString("\n\rHeap free ="); UART_OutUDec(stats.free);
UART_OutString("\n\rHeap waste ="); UART_OutUDec(stats.size - stats.used - stats.free);
}
int16_t* ptr; // Global so easier to see with the debugger
int16_t* p1; // Proper style would be to make these variables local
int16_t* p2;
int16_t* p3;
uint8_t* q1;
uint8_t* q2;
uint8_t* q3;
uint8_t* q4;
uint8_t* q5;
uint8_t* q6;
int16_t maxBlockSize;
uint8_t* bigBlock;
void TestHeap(void){ int16_t i;
ST7735_DrawString(0, 0, "Heap test ", ST7735_WHITE);
UART_OutString("\n\rECE445M, Lab 5 Heap Test");
if(Heap_Init()) heapError("Heap_Init","",0);
ptr = Heap_Malloc(sizeof(int16_t));
if(!ptr) heapError("Heap_Malloc","ptr",0);
*ptr = 0x1111;
if(Heap_Free(ptr)) heapError("Heap_Free","ptr",0);
ptr = Heap_Malloc(1);
if(!ptr) heapError("Heap_Malloc","ptr",1);
if(Heap_Free(ptr)) heapError("Heap_Free","ptr",1);
p1 = (int16_t*) Heap_Malloc(1 * sizeof(int16_t));
if(!p1) heapError("Heap_Malloc","p",1);
p2 = (int16_t*) Heap_Malloc(2 * sizeof(int16_t));
if(!p2) heapError("Heap_Malloc","p",2);
p3 = (int16_t*) Heap_Malloc(3 * sizeof(int16_t));
if(!p3) heapError("Heap_Malloc","p",3);
p1[0] = 0xAAAA;
p2[0] = 0xBBBB;
p2[1] = 0xBBBB;
p3[0] = 0xCCCC;
p3[1] = 0xCCCC;
p3[2] = 0xCCCC;
heapStats();
if(Heap_Free(p1)) heapError("Heap_Free","p",1);
if(Heap_Free(p3)) heapError("Heap_Free","p",3);
if(Heap_Free(p2)) heapError("Heap_Free","p",2);
heapStats();
for(i = 0; i <= (stats.size / sizeof(int32_t)); i++){
ptr = Heap_Malloc(sizeof(int16_t));
if(!ptr) break;
}
if(ptr) heapError("Heap_Malloc","i",i);
heapStats();
UART_OutString("\n\rRealloc test\n\r");
if(Heap_Init()) heapError("Heap_Init","",1);
q1 = Heap_Malloc(1);
if(!q1) heapError("Heap_Malloc","q",1);
q2 = Heap_Malloc(2);
if(!q2) heapError("Heap_Malloc","q",2);
q3 = Heap_Malloc(3);
if(!q3) heapError("Heap_Malloc","q",3);
q4 = Heap_Malloc(4);
if(!q4) heapError("Heap_Malloc","q",4);
q5 = Heap_Malloc(5);
if(!q5) heapError("Heap_Malloc","q",5);
*q1 = 0xDD;
q6 = Heap_Realloc(q1, 6);
heapStats();
for(i = 0; i < 6; i++){
q6[i] = 0xEE;
}
q1 = Heap_Realloc(q6, 2);
heapStats();
UART_OutString("\n\rLarge block test");
if(Heap_Init()) heapError("Heap_Init","",2);
heapStats();
maxBlockSize = stats.free;
bigBlock = Heap_Malloc(maxBlockSize);
for(i = 0; i < maxBlockSize; i++){
bigBlock[i] = 0xFF;
}
heapStats();
if(Heap_Free(bigBlock)) heapError("Heap_Free","bigBlock",0);
bigBlock = Heap_Calloc(maxBlockSize);
if(!bigBlock) heapError("Heap_Calloc","bigBlock",0);
if(*bigBlock) heapError("Zero initialization","bigBlock",0);
heapStats();
if(Heap_Free(bigBlock)) heapError("Heap_Free","bigBlock",0);
heapStats();
UART_OutString("\n\rSuccessful heap test\n\r");
ST7735_DrawString(0, 0, "Heap test successful", ST7735_YELLOW);
OS_Kill();
}
void StartHeapTest4(void){
if(OS_MsTime() > 20){ // debounce
if(OS_AddThread(&TestHeap,128,1)){
NumCreated++;
}
OS_ClearMsTime(); // at least 20ms between touches
}
}
int Testmain4(void){ // Testmain4
OS_Init(); // initialize, disable interrupts
Logic_Init();
OS_InitSemaphore(&LCDFree, 1);
// attach background tasks
OS_AddS2Task(&StartHeapTest4,1);
OS_AddPA28Task(&StartHeapTest4,1);
// create initial foreground threads
NumCreated = 0 ;
NumCreated += OS_AddThread(&TestHeap,128,1);
NumCreated += OS_AddThread(&VirusDetector,128,3);
OS_Launch(10*TIME_1MS); // doesn't return, interrupts enabled in here
return 0; // this never executes
}
//*****************Test project 5*************************
// Testmain2 must have been successfully run (it creates Blinky on disk)
// Load Blinky from disk
// Allocate space for data, stack code segments
// Add Blinky as a process and execute
// Blinky does no OS calls and never returns
void ProcessLoadTest5(void){
UART_OutString("\n\rECE445M Lab 5 load program\n\r");
OS_bWait(&LCDFree);
if(eFile_Init()) diskError("eFile_Init",0);
if(eFile_Mount()) diskError("eFile_Mount",0);
OS_bSignal(&LCDFree);
NumProcessCreated += OS_LoadProgram("Blinky",2);
UART_OutString("\n\rOS_LoadProgram ok\n\r");
OS_Kill();
}
int Testmain5(void){ // Testmain5
OS_Init(); // initialize, disable interrupts
Logic_Init();
OS_InitSemaphore(&LCDFree, 1);
// attach background tasks
OS_AddPeriodicThread(&disk_timerproc,1,0); // time out routines for disk
// OS_AddS2Task(&ProcessLoadTest5,1);
// OS_AddPA28Task(&ProcessLoadTest5,1);
// create initial foreground threads
NumCreated = 0 ;
NumCreated += OS_AddThread(&ProcessLoadTest5,128,1);
NumCreated += OS_AddThread(&Chaos3,128,1);
NumCreated += OS_AddThread(&VirusDetector,128,3);
NumProcessCreated = 0;
OS_Launch(TIME_2MS); // doesn't return, interrupts enabled in here
return 0; // this never executes
}
//*****************Test project 6*************************
// Testmain2 must have been successfully run (it creates Blinky and Prog2 on disk)
// Load Blinky from disk
// Allocate space for data, stack code segments
// Add Blinky as a process and execute
// Blinky does no OS calls and never returns
void ProcessLoadTest6(void){
UART_OutString("\n\rECE445M Lab 5 testmain6\n\r");
OS_bWait(&LCDFree);
if(eFile_Init()) diskError("eFile_Init",0);
if(eFile_Mount()) diskError("eFile_Mount",0);
OS_bSignal(&LCDFree);
NumProcessCreated += OS_LoadProgram("Blinky",2);
UART_OutString("\n\rOS_LoadProgram Blinky ok\n\r");
OS_Kill();
}
void ProcessLoadProg2(void){
NumProcessCreated += OS_LoadProgram("Prog2",1);
}
int Testmain6(void){ // Testmain6
OS_Init(); // initialize, disable interrupts
Logic_Init();
OS_InitSemaphore(&LCDFree, 1);
// attach background tasks
OS_AddPeriodicThread(&disk_timerproc,1,0); // time out routines for disk
OS_AddS2Task(&ProcessLoadProg2,1);
OS_AddPA28Task(&ProcessLoadProg2,1);
// create initial foreground threads
NumCreated = 0 ;
NumCreated += OS_AddThread(&ProcessLoadTest6,128,1);
NumCreated += OS_AddThread(&Chaos3,128,1);
NumCreated += OS_AddThread(&VirusDetector,128,3);
NumProcessCreated = 0;
OS_Launch(TIME_2MS); // doesn't return, interrupts enabled in here
return 0; // this never executes
}
//*******************Trampoline for selecting which main to execute**********
int main(void) { // main
__disable_irq();
Clock_Init80MHz(0); // no clock out to pin
LaunchPad_Init(); // LaunchPad_Init must be called once and before other I/O initializations
realmain();
}