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TweinStein/RTOS_Lab3_RTOSpriority/RTOS_Lab3.c
pulipakaa24 30406f4f49 all
2026-06-12 02:55:04 -07:00

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/* RTOS_Lab3.c
* Jonathan Valvano
* December 27, 2025
* 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)
*/
#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 <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)
uint32_t NumCreated; // number of foreground threads created
Sema4_t LCDFree; // SDC and LCD sharing
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;
}
//---------------------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 TogglePA9() (GPIOA->DOUTTGL31_0 = (1<<9))
#define TogglePA16() (GPIOA->DOUTTGL31_0 = (1<<16))
#define TogglePB4() (GPIOB->DOUTTGL31_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) // display results and quit when FilterWork==RUNLENGTH
uint32_t FilterOutput,Distance;
uint32_t FilterWork;
//******** 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(FilterWork < RUNLENGTH){ // 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 S2 button
// S2 negative logic switch on PB21
// one foreground task created with each button push
// foreground treads run for about 500ms and dies
uint32_t DataLost; // data sent by Producer, but not received by Consumer
// ***********ButtonWork*************
void ButtonWork(void){
uint32_t myId = OS_Id();
ST7735_Message(1,0,"myID =",myId);
OS_Sleep(500); // set this to sleep for 500msec
ST7735_Message(1,1,"Distance(mm)=",Distance);
ST7735_Message(1,2,"Checks =",Checks);
ST7735_Message(1,3,"DataLost =",DataLost);
ST7735_Message(1,5,"NumCreated =",NumCreated);
OS_Kill(); // done, OS does not return from a Kill
}
//************S2Push*************
// Called when S2 Button PA18 pushed
// Adds another foreground task
// background threads execute once and return
void S2Push(void){
TogglePA9(); // toggle PA9
TogglePA9(); // toggle PA9
if(OS_MsTime() > 20){ // debounce
if(OS_AddThread(&ButtonWork,100,0)){
NumCreated++;
}
OS_ClearMsTime(); // at least 20ms between touches
}
TogglePA9(); // toggle PA9
}
//--------------end of Task 2-----------------------------
//------------------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){ uint32_t dist2; // mm
if(FilterWork < RUNLENGTH){ // finite time run
TogglePA16(); // toggle PA16
dist2 = Median5((int32_t) data);
TogglePA16(); // toggle PA16
if(OS_Fifo_Put(dist2) == 0){ // send to consumer
DataLost++;
}
TogglePA16(); // toggle PA16
}
}
//******** Consumer ***************
// foreground thread, accepts data from producer
// calculates FFT, sends DC component to Display
// inputs: none
// outputs: none
void Display(void);
void Consumer(void){
uint32_t data,DCcomponent; // 12-bit raw ADC sample, 0 to 4095
uint32_t t; // time in 2.5 ms
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
NumCreated += OS_AddThread(&Display,128,0);
while(FilterWork < RUNLENGTH) {
for(t = 0; t < 16; t++){ // collect 64 ADC samples
data = OS_Fifo_Get(); // get from producer, mm
x[t] = data; // real part is 0 to 4095, imaginary part is 0
}
TogglePB4(); // toggle PB4
DFT16(x,ReX,ImX); // complex FFT of last 16 distance values
TogglePB4(); // toggle PB4
DCcomponent = ReX[0]&0xFFFF; // Real part at frequency 0, imaginary part should be zero
OS_MailBox_Send(DCcomponent); // called every 10ms*16 = 160ms
}
OS_Kill(); // done
}
//******** Display ***************
// foreground thread, accepts data from consumer
// displays calculated results on the LCD
// inputs: none
// outputs: none
void Display(void){
uint32_t data,voltage,distance;
uint32_t myId = OS_Id();
ST7735_Message(0,1,"Run length = ",(RUNLENGTH)/FS); // top half used for Display
while(FilterWork < RUNLENGTH) {
TogglePB1(); // toggle PB1
data = OS_MailBox_Recv();
voltage = 3000*data/4095; // calibrate your device so voltage is in mV
distance = IRDistance_Convert(data,1); // you will calibrate this in Lab 6
TogglePB1(); // toggle PB1
ST7735_Message(0,2,"v(mV) =",voltage);
ST7735_Message(0,3,"d(mm) =",distance);
TogglePB1(); // toggle PB1
}
ST7735_Message(0,4,"Num samples =",FilterWork);
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 Lab3(void){int i;
UART_OutString("\r\nLab 3 performance data");
UART_OutString("\r\nFilterWork = "); UART_OutUDec(FilterWork);
UART_OutString("\r\nNumCreated = "); UART_OutUDec(NumCreated);
UART_OutString("\r\nChecksWork = "); UART_OutUDec(ChecksWork);
UART_OutString("\r\nDataLost = "); UART_OutUDec(DataLost);
UART_OutString("\r\nReal-time sampling jitter (cyc)");
UART_OutString("\r\nTime, Frequencies");
for(i=0; i<JitterSize3; i++){
if(JitterHistogram3[i]){ // skip blanks
UART_OutString("\r\n ");
UART_OutUDec5(i);
UART_OutUDec5(JitterHistogram3[i]);
}
}
UART_OutString("\r\nMaxJitter3(cyc) = "); UART_OutUDec(MaxJitter3);
}
void DFT(void){ int i; int32_t real,imag,mag;
UART_OutString("\r\nLab 2/3/4 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-----------------------------
//*******************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();
OS_InitSemaphore(&LCDFree, 1);
// initialize communication channels
OS_MailBox_Init();
OS_Fifo_Init(64); // ***note*** 4 is not big enough*****
// hardware init
ADC0_Init(3,ADCVREF_VDDA); // PA24 Center ADC0_3, sampling in DAS()
// attach background tasks
OS_AddS2Task(&S2Push,1);
OS_AddPA28Task(&S2Push,1);
OS_AddPeriodicThread(&DAS,PERIOD/80000,0); // 1 kHz real time sampling of ADC0_3
// create initial foreground threads
NumCreated = 0;
NumCreated += OS_AddThread(&Consumer,128,0);
NumCreated += OS_AddThread(&Interpreter,128,1);
NumCreated += OS_AddThread(&VirusDetector,128,2);
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);
}
//*******************Initial TEST**********
// This is the simplest configuration, test this first,
// run this with
// no UART interrupts
// no timer interrupts
// no switch interrupts
// no ADC serial port or LCD output
// no calls to semaphores
uint32_t Count0; // number of times thread0 loops
uint32_t Count1; // number of times thread1 loops
uint32_t Count2; // number of times thread2 loops
uint32_t Count3; // number of times thread3 loops
uint32_t Count4; // number of times thread4 loops
uint32_t Count5; // number of times thread5 loops
uint32_t Count6; // number of times thread6 loops
void Thread0(void){
Count0 = 0;
for(;;){
TogglePA8(); // toggle PA8
Count0++;
OS_Suspend(); // cooperative multitasking
}
}
void Thread1(void){
Count1 = 0;
for(;;){
TogglePA9(); // toggle PA9
Count1++;
OS_Suspend(); // cooperative multitasking
}
}
void Thread2(void){
Count2 = 0;
for(;;){
TogglePA16(); // toggle PA16
Count2++;
OS_Suspend(); // cooperative multitasking
}
}
int Testmain1(void){ // Testmain1
OS_Init(); // initialize, disable interrupts
Logic_Init(); // profile user threads
NumCreated = 0 ;
NumCreated += OS_AddThread(&Thread0,128,0);
NumCreated += OS_AddThread(&Thread1,128,0);
NumCreated += OS_AddThread(&Thread2,128,2);
// Count0 Count1 should be equal or off by one at all times
// With a priority scheduler, Count2 should remain 0
OS_Launch(TIME_2MS); // doesn't return, interrupts enabled in here
return 0; // this never executes
}
//*******************Second TEST**********
// Once the initalize test runs, test this
// no UART interrupts
// SYSTICK interrupts, with period established by OS_Launch
// no timer interrupts
// no switch interrupts
// no ADC serial port or LCD output
// no calls to semaphores
void Thread0b(void){
Count0 = 0;
for(;;){
TogglePA8(); // toggle PA8
Count0++;
}
}
void Thread1b(void){
Count1 = 0;
for(;;){
TogglePA9(); // toggle PA9
Count1++;
}
}
void Thread2b(void){
Count2 = 0;
for(;;){
TogglePA16(); // toggle PA16
Count2++;
}
}
int Testmain2(void){ // Testmain2
OS_Init(); // initialize, disable interrupts
Logic_Init(); // profile user threads
NumCreated = 0 ;
NumCreated += OS_AddThread(&Thread0b,128,0);
NumCreated += OS_AddThread(&Thread1b,128,0);
NumCreated += OS_AddThread(&Thread2b,128,2);
// Count0 Count1 should be equal on average
// With a priority scheduler, Count2 should remain 0
// Count0 Count1 are much larger than Testmain1
OS_Launch(TIME_2MS); // doesn't return, interrupts enabled in here
return 0; // this never executes
}
//*******************Third TEST**********
// Once the second test runs, test this
// no UART interrupts
// SYSTICK interrupts, with period established by OS_Launch
// no timer interrupts
// no switch interrupts
// no ADC serial port or LCD output
// no calls to semaphores
// tests AddThread, Sleep, priority and Kill
void Thread0c(void){
for(int i=0; i<500; i++){
TogglePA8(); // toggle PA8
Clock_Delay(800); // 10 us
}
Count0++;
OS_Kill();
}
void Thread1c(void){
Count1 = 0;
for(;;){
TogglePA9(); // toggle PA9
NumCreated += OS_AddThread(&Thread0c,128,0);
Count1++;
OS_Sleep(10);
}
}
void Thread2c(void){
Count2 = 0;
for(;;){
TogglePA16(); // toggle PA16
Count2++;
Clock_Delay(80); // 1 us
}
}
// logic analyzer should show this pattern
// PA9 toggles once
// PA8 toggles every 10us 500 times (about 5ms),
// PA16 toggles every 1us for about 5 ms
int Testmain3(void){ // Testmain3
OS_Init(); // initialize, disable interrupts
Logic_Init(); // profile user threads
Count0 = 0;
NumCreated = 0 ;
NumCreated += OS_AddThread(&Thread1c,128,1);
NumCreated += OS_AddThread(&Thread2c,128,2);
// Count2 should be huge
// Count0 and Count1 should be equal +/- 1
// NumCreated should slowly increase creating 1000s of threads (which kill)
OS_Launch(TIME_2MS); // doesn't return, interrupts enabled in here
return 0; // this never executes
}
//*******************Fourth TEST**********
// no UART interrupts
// SYSTICK interrupts, with period established by OS_Launch
// Timer interrupts, with period established by OS_AddPeriodicThread
// PA18 edge triggered interrupts, falling edge because S2 and PA28 are both negative positive logic
// no ADC serial port or LCD output
// tests the blocking semaphores, tests Sleep and Kill
Sema4_t Readyd; // set in background
int Lost;
int volatile Dummycount;
void DummyWork(int n){
Dummycount = n;
while(Dummycount){
Dummycount--;
}
}
void Thread4d(void);
void BackgroundThread0d(void){ // called when S2 or bump switch PA28 button pushed
NumCreated += OS_AddThread(&Thread4d,128,0);
Count0++;
TogglePB20(); // toggle PB20
}
void BackgroundThread1d(void){ // called periodically at 1000 Hz
TogglePA8(); // toggle PA8
TogglePA8(); // toggle PA8
Count1++;
DummyWork(Random5());
OS_Signal(&Readyd);
TogglePA8(); // toggle PA8
}
void Thread2d(void){
OS_InitSemaphore(&Readyd,0);
Count1 = 0; // number of times signal is called
Count2 = 0;
Count5 = 0; // Count2 + Count5 should equal Count1
OS_AddPeriodicThread(&BackgroundThread1d,1,1);
for(;;){
OS_Wait(&Readyd);
TogglePA16(); // toggle PA16
Count2++; // Count2 + Count5 should equal Count1
}
}
void BackgroundThread3d(void){ // runs every 2ms
TogglePB4(); // toggle PB4
TogglePB4(); // toggle PB4
DummyWork(Random5());
Count3++;
TogglePB4(); // toggle PB4
}
void Thread4d(void){ int i;
for(i=0;i<64;i++){
Count4++;
TogglePB1(); // toggle PB1
OS_Sleep(Random5()); // 0 to 31 ms
}
OS_Kill();
Count4 = 0;
}
void Thread5d(void){
for(;;){
OS_Wait(&Readyd);
TogglePA9(); // toggle PA9
Count5++; // Count2 + Count5 should equal Count1
Lost = Count1-Count5-Count2;
}
}
void Thread6d(void){
while(1){
Count6++; // idle thread
}
}
int Testmain4(void){ // Testmain4
Count0 = Count3 = Count4 = 0;
OS_Init(); // initialize, disable interrupts
Logic_Init();
// Count2 + Count5 should equal Count1
// Count0 increases by 1 every time PA28 or S2 is pressed
// Thread4d runs once making Count4 64 (the line Count4=0 should NOT run)
// Count3 increments every 2ms
// Count4 increases by 64 every time PA28 or S2 is pressed
NumCreated = 0 ;
OS_AddS2Task(&BackgroundThread0d,1);
OS_AddPA28Task(&BackgroundThread0d,1);
OS_AddPeriodicThread(&BackgroundThread3d,2,0);
NumCreated += OS_AddThread(&Thread2d,128,0);
NumCreated += OS_AddThread(&Thread4d,128,1);
NumCreated += OS_AddThread(&Thread5d,128,0);
NumCreated += OS_AddThread(&Thread6d,128,2); // idle thread
OS_Launch(TIME_2MS); // doesn't return, interrupts enabled in here
return 0; // this never executes
}
//*******************Fifth TEST**********
// no UART interrupts
// SYSTICK interrupts, with period established by OS_Launch
// TimerG7 interrupts, with period established by OS_AddPeriodicThread
// S2 PA28 switch interrupts, negative logic, falling edge
// no ADC serial port or LCD output
// tests the blocking semaphores, tests Sleep and Kill
Sema4_t Readye; // set in background
void BackgroundThread1e(void){ // called at 1000 Hz
static int i=0;
i++;
if(i==50){
i = 0; //every 50 ms
Count1++;
TogglePA8();
OS_bSignal(&Readye);
}
}
void Thread2e(void){
OS_InitSemaphore(&Readye,0);
Count1 = 0;
Count2 = 0;
for(;;){
OS_bWait(&Readye);
TogglePA9();
Count2++; // Count2 should be equal to Count1
}
}
void Thread3e(void){
Count3 = 0;
for(;;){
Count3++; // Count3 should be large
TogglePA16();
}
}
void Thread4e(void){ int i;
for(i=0;i<640;i++){
Count4++; // Count4 should increase on button press
TogglePA16();
OS_Sleep(1);
}
OS_Kill();
}
void BackgroundThread5e(void){ // called when S2 or PA28 button pushed
Count5++;
TogglePB4();
NumCreated += OS_AddThread(&Thread4e,128,0);
}
int Testmain5(void){ // Testmain5
Count4 = 0;
OS_Init(); // initialize, disable interrupts
Logic_Init();
// Count1 should exactly equal Count2
// Count3 should be very large
// Thread4e runs once making Count4 640
// Count5 increments by 1, and Count4 increases by 640 every time S2 or PA28 is pressed
NumCreated = 0 ;
OS_AddPeriodicThread(&BackgroundThread1e,1,0); // 1ms, 1000Hz
OS_AddS2Task(&BackgroundThread5e,1);
OS_AddPA28Task(&BackgroundThread5e,1);
NumCreated += OS_AddThread(&Thread2e,128,0);
NumCreated += OS_AddThread(&Thread3e,128,2);
NumCreated += OS_AddThread(&Thread4e,128,1);
OS_Launch(TIME_2MS); // doesn't return, interrupts enabled in here
return 0; // this never executes
}
//*******************Measurement of context switch time**********
// Run this to measure the time it takes to perform a task switch
// UART0 not needed
// SYSTICK interrupts, period established by OS_Launch
// first timer not needed
// second timer not needed
// S1 not needed,
// S2 not needed
// logic analyzer on PB22 for systick interrupt (in your OS)
// on PA8 to measure context switch time
void ThreadCS(void){ // only thread running
while(1){
TogglePA8(); // toggle PA8
}
}
int TestmainCS(void){ // TestmainCS
Logic_Init();
OS_Init(); // initialize, disable interrupts
NumCreated = 0 ;
NumCreated += OS_AddThread(&ThreadCS,128,0);
OS_Launch(TIME_1MS/10); // 100us, doesn't return, interrupts enabled in here
return 0; // this never executes
}
//*******************FIFO TEST**********
// FIFO test
// Count1 should exactly equal Count2
// Count3 should be very large
// Error8 should be 0
// Lost should be 0
// Timer interrupts, with period established by OS_AddPeriodicThread
uint32_t OtherCount1;
uint32_t Expected8; // last data read+1
uint32_t Error8;
void ConsumerThreadFIFO(void){
Count2 = 0;
for(;;){
OtherCount1 = OS_Fifo_Get();
TogglePA8();
if(OtherCount1 != Expected8){
Error8++;
}
Expected8 = OtherCount1+1; // should be sequential
Count2++;
}
}
void FillerThreadFIFO(void){
Count3 = 0;
for(;;){
TogglePA16();
Count3++;
}
}
void BackgroundThreadFIFOProducer(void){ // called periodically at 1000 Hz
TogglePA9();
if(OS_Fifo_Put(Count1) == 0){ // send to consumer
Lost++;
}
Count1++;
}
int TestmainFIFO(void){ // TestmainFIFO
Count1 = 0; Lost = 0;
Expected8 = 0; Error8 = 0;
OS_Init(); // initialize, disable interrupts
Logic_Init();
NumCreated = 0 ;
OS_AddPeriodicThread(&BackgroundThreadFIFOProducer,1,0);
OS_Fifo_Init(16);
NumCreated += OS_AddThread(&ConsumerThreadFIFO,128,0);
NumCreated += OS_AddThread(&FillerThreadFIFO,128,1);
OS_Launch(TIME_2MS); // doesn't return, interrupts enabled in here
return 0; // this never executes
}
//*******************Sixth TEST**********
// Once the fifo test runs, run this example
// no UART interrupts
// SYSTICK interrupts, with period established by OS_Launch
// Timer interrupts, with period established by OS_AddPeriodicThread
// no switch interrupts
// no ADC serial port or LCD output
// tests the periodic scheduler with 4 periodic threads
// Performance Measurements
uint32_t MaxJitter[4]; // largest time jitter between interrupts in 10 usec
#define JITTERSIZE 100
uint32_t const JitterSize=JITTERSIZE;
uint32_t JitterHistogram[4][JITTERSIZE]={0,};
void Jitter_Init(void){
for(int j=0; j<4; j++){
for(int i=0;i<JitterSize;i++){
JitterHistogram[j][i] = 0;
}
MaxJitter[j] = 0;
}
}
void Jitter4(void){ int i;
UART_OutString("\r\nLab 3 Real-time sampling jitter (10us)");
UART_OutString("\r\nTime, Frequencies");
for(i=0; i<JitterSize; i++){
if(JitterHistogram[0][i]||JitterHistogram[1][i]||JitterHistogram[2][i]||JitterHistogram[3][i]){ // skip blanks
UART_OutString("\r\n"); UART_OutUDec3(i);
for(int j=0; j<4;j++) UART_OutUDec5(JitterHistogram[j][i]);
}
}
UART_OutString("\r\nMaxJitter(cyc) = ");
for(int j=0; j<4;j++) {
UART_OutUDec(MaxJitter[j]); UART_OutString(" ");
}
}
#define RUNLENGTH6 10000 // 10 sec
#define HISTOSCALE 800 // converts 12.5ns to 10us
// executes in less than 50us (measured at 3us min to 22us max)
#define PERIOD0F 1
void BackgroundThread0f(void){ // called periodically at 1000 Hz
uint32_t thisTime,jitter;
static uint32_t LastTime; // time at previous execution, 12.5 ns
TogglePA8(); // toggle PA8
TogglePA8(); // toggle PA8
thisTime = OS_Time(); // current time, 12.5 ns
Count0++;
if(Count0 <= RUNLENGTH6){ // finite time run
if(Count0>2){ // ignore timing of first interrupt
uint32_t diff = OS_TimeDifference(LastTime,thisTime);
if(diff > 80000*PERIOD0F){ // should be 1ms (12.5ns units)
jitter = (diff-80000*PERIOD0F); // in 12.5ns
}else{
jitter = (80000*PERIOD0F-diff); // in 12.5ns
}
if(jitter > MaxJitter[0]){
MaxJitter[0] = jitter; // in 12.5ns
} // jitter should be 0
uint32_t i = (jitter+HISTOSCALE/2)/HISTOSCALE; //10us
if(i >= JitterSize){
i = JitterSize-1;
}
JitterHistogram[0][i]++;
}
LastTime = thisTime;
}
DummyWork(Random7());
TogglePA8(); // toggle PA8
}
// executes in less than 50us (measured at 3us min to 22us max)
#define PERIOD1F 10
void BackgroundThread1f(void){ // called periodically at 100 Hz
uint32_t thisTime,jitter;
static uint32_t LastTime; // time at previous execution, 12.5 ns
TogglePA9(); // toggle PA9
TogglePA9(); // toggle PA9
thisTime = OS_Time(); // current time, 12.5 ns
Count1++;
if(Count0 <= RUNLENGTH6){ // finite time run
if(Count1>2){ // ignore timing of first interrupt
uint32_t diff = OS_TimeDifference(LastTime,thisTime);
if(diff > 80000*PERIOD1F){ // 2ms +/ jitter
jitter = (diff-80000*PERIOD1F); // in 12.5 ns
}else{
jitter = (80000*PERIOD1F-diff); // in 12.5 ns
}
if(jitter > MaxJitter[1]){
MaxJitter[1] = jitter; // in 12.5 ns
} // jitter should be 0
uint32_t i = (jitter+HISTOSCALE/2)/HISTOSCALE; //10us
if(i >= JitterSize){
i = JitterSize-1;
}
JitterHistogram[1][i]++;
}
LastTime = thisTime;
}
DummyWork(Random7());
TogglePA9(); // toggle PA9
}
// executes in less than 50us (measured at 3us min to 22us max)
#define PERIOD2F 4
void BackgroundThread2f(void){ // called periodically at 250 Hz
uint32_t thisTime,jitter;
static uint32_t LastTime; // time at previous execution, 12.5 ns
TogglePA16(); // toggle PA16
TogglePA16(); // toggle PA16
thisTime = OS_Time(); // current time, 12.5 ns
Count2++;
if(Count0 <= RUNLENGTH6){ // finite time run
if(Count2>2){ // ignore timing of first interrupt
uint32_t diff = OS_TimeDifference(LastTime,thisTime);
if(diff > 80000*PERIOD2F){ // 2ms +/ jitter
jitter = (diff-80000*PERIOD2F); // in 12.5 ns
}else{
jitter = (80000*PERIOD2F-diff); // in 12.5 ns
}
if(jitter > MaxJitter[2]){
MaxJitter[2] = jitter; // in 12.5 ns
} // jitter should be 0
uint32_t i = (jitter+HISTOSCALE/2)/HISTOSCALE; //10us
if(i >= JitterSize){
i = JitterSize-1;
}
JitterHistogram[2][i]++;
}
LastTime = thisTime;
}
DummyWork(Random7());
TogglePA16(); // toggle PA16
}
// executes in less than 50us (measured at 3us min to 22us max)
#define PERIOD3F 5
void BackgroundThread3f(void){ // called periodically at 200 Hz
uint32_t thisTime,jitter;
static uint32_t LastTime; // time at previous execution, 12.5 ns
TogglePB4(); // toggle PB4
TogglePB4(); // toggle PB4
thisTime = OS_Time(); // current time, 12.5 ns
Count3++;
if(Count0 <= RUNLENGTH6){ // finite time run
if(Count3 > 2){ // ignore timing of first interrupt
uint32_t diff = OS_TimeDifference(LastTime,thisTime);
if(diff > 80000*PERIOD3F){ // 2ms +/ jitter
jitter = (diff-80000*PERIOD3F); // in 12.5 ns
}else{
jitter = (80000*PERIOD3F-diff); // in 12.5 ns
}
if(jitter > MaxJitter[3]){
MaxJitter[3] = jitter; // in 12.5 ns
} // jitter should be 0
uint32_t i = (jitter+HISTOSCALE/2)/HISTOSCALE; //10us
if(i >= JitterSize){
i = JitterSize-1;
}
JitterHistogram[3][i]++;
}
LastTime = thisTime;
}
DummyWork(Random7());
TogglePB4(); // toggle PA16
}
uint32_t Work4;
void Thread4f(void){
Count4 = Work4 = 0;
for(;;){
Count4++; // Count4 should be large
TogglePB1();
if(Count0 <= RUNLENGTH6){ // finite time run
Work4 = Count4;
}
}
}
int Testmain6(void){ // Testmain6
Logic_Init();
OS_Init(); // initialize, disable interrupts
Jitter_Init();
Count0 = Count1 = Count2 = Count3 = Count4 = 0;
NumCreated = 0;
NumCreated += OS_AddThread(&Interpreter,128,0);
NumCreated += OS_AddThread(&Thread4f,128,1);
// 0.05*(1/1+1/10+1/4+1/5) = 0.0775
OS_AddPeriodicThread(&BackgroundThread0f,PERIOD0F,1); // 1ms 1000Hz
OS_AddPeriodicThread(&BackgroundThread1f,PERIOD1F,0); // 10ms 100Hz
OS_AddPeriodicThread(&BackgroundThread2f,PERIOD2F,2); // 4ms 250Hz
OS_AddPeriodicThread(&BackgroundThread3f,PERIOD3F,3); // 5ms 200Hz
// Note: my solution took 30 seconds to find an optimal schedule for four periodic threads
OS_Launch(TIME_2MS); // doesn't return, interrupts enabled in here
return 0; // this never executes
}
//******************* Testmain7**********
// Modify this so it runs with your RTOS used to test blocking semaphores
// run this with
// UART0, 115200 baud rate, used to output results
// SYSTICK interrupts, period established by OS_Launch
// TimerG7 interrupts, period established by call to OS_AddPeriodicThread
Sema4_t s; // test of this counting semaphore
uint32_t SignalCount1; // number of times s is signaled
uint32_t SignalCount2; // number of times s is signaled
uint32_t SignalCount3; // number of times s is signaled
uint32_t WaitCount1; // number of times s is successfully waited on
uint32_t WaitCount2; // number of times s is successfully waited on
uint32_t WaitCount3; // number of times s is successfully waited on
#define MAXCOUNT7 1000000
void OutputThread(void){ // foreground thread
UART_OutString("\n\rECE445M, Lab 3 Semaphore Test\n\r");
while(SignalCount1+SignalCount2+SignalCount3<MAXCOUNT7){
OS_Sleep(1000); // 1 second
UART_OutString(".");
}
UART_OutString(" done\n\r");
UART_OutString("Signalled="); UART_OutUDec(SignalCount1+SignalCount2+SignalCount3);
UART_OutString(", Waited="); UART_OutUDec(WaitCount1+WaitCount2+WaitCount3);
UART_OutString("\n\r");
OS_Kill();
}
void Wait1(void){ // foreground thread
WaitCount1 = 0; // number of times s is successfully waited on
for(;;){
OS_Wait(&s); // three threads waiting
TogglePB4(); // debugging toggle bit
WaitCount1++;
DummyWork(Random5());
}
}
void Wait2(void){ // foreground thread
WaitCount2 = 0; // number of times s is successfully waited on
for(;;){
OS_Wait(&s); // three threads waiting
TogglePB1(); // debugging toggle bit
WaitCount2++;
DummyWork(Random5());
}
}
void Wait3(void){ // foreground thread
WaitCount3 = 0; // number of times s is successfully waited on
for(;;){
OS_Wait(&s); // three threads waiting
TogglePB20(); // debugging toggle bit
WaitCount3++;
}
}
void Signal1(void){ // fixed rate every 1ms in background
TogglePA8(); // debugging toggle bit
if(SignalCount1+SignalCount2+SignalCount3 < MAXCOUNT7){
OS_Signal(&s);
SignalCount1++;
}
}
void Signal2(void){ // variable rate in foreground
SignalCount2 = 0;;
while (SignalCount1+SignalCount2+SignalCount3 < MAXCOUNT7){
TogglePA9(); // debugging toggle bit
OS_Signal(&s);
SignalCount2++;
DummyWork(Random7());
}
OS_Kill();
}
void Signal3(void){ // variable rate in foreground
SignalCount3 = 0;
while(SignalCount1+SignalCount2+SignalCount3 < MAXCOUNT7){
TogglePA16(); // debugging toggle bit
OS_Signal(&s);
SignalCount3++;
DummyWork(Random7());
}
OS_Kill();
}
void IdleThread(void){ // foreground thread
Count1 = 0;
for(;;){
Count1++;
}
}
int Testmain7(void){ // Testmain7 Lab 3
OS_Init(); // initialize, disable interrupts
Logic_Init();
SignalCount1 = 0; // number of times s is signaled
OS_InitSemaphore(&s,0); // this is the test semaphore
OS_AddPeriodicThread(&Signal1,1,0); // 1 ms, higher priority
NumCreated = 0 ;
NumCreated += OS_AddThread(&OutputThread,128,2); // results output thread
NumCreated += OS_AddThread(&Signal2,128,2); // signalling thread
NumCreated += OS_AddThread(&Signal3,128,2); // signalling thread
NumCreated += OS_AddThread(&Wait1,128,2); // waiting thread
NumCreated += OS_AddThread(&Wait2,128,2); // waiting thread
NumCreated += OS_AddThread(&Wait3,128,2); // waiting thread
NumCreated += OS_AddThread(&IdleThread,128,5); // idle thread to keep from crashing
OS_Launch(TIME_1MS); // 1ms, doesn't return, interrupts enabled in here
return 0; // this never executes
}
/***********************PA28 Test ***********************/
// Should toggle PA8 then PA9 when switch is pressed, then PA16 42 times when scheduler runs
// Switch latency will be lower of AddThread preempts current thread
void OtherThread(void){
for (int i = 0; i < 42; i++){
TogglePA16(); // This will show latency of PA28
}
OS_Kill();
}
void SwitchTask(void){ // Called from ISR
if (OS_MsTime() > 20){ // Debounce
TogglePA9();
NumCreated += OS_AddThread(&OtherThread, 128, 0);
OS_ClearMsTime();
}
}
void DummyThread(void){
while(1){
TogglePA8();
Clock_Delay(80);
}
}
int TestmainPA28(void){
OS_Init();
Logic_Init();
OS_AddPA28Task(&SwitchTask, 1);
NumCreated += OS_AddThread(&DummyThread, 128, 7);
OS_Launch(TIME_1MS);
return 0; // 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();
}
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