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16_rtos_coop.c
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// RTOS Framework - Spring 2017
// J Losh
// Student Name: Ayushee Shah
// TO DO: Add your name on this line. Do not include your ID number.
// Submit only two .c files in an e-mail to me (not in a compressed file):
// xx_rtos_coop.c Cooperative version of your project
// xx_rtos_prempt.c Premptive version of your project
// (xx is a unique number that will be issued in class)
//-----------------------------------------------------------------------------
// Hardware Target
//-----------------------------------------------------------------------------
// Target Platform: EK-TM4C123GXL Evaluation Board
// Target uC: TM4C123GH6PM
// System Clock: 40 MHz
// Hardware configuration:
// 4 Pushbuttons and 5 LEDs, UART
//-----------------------------------------------------------------------------
// Device includes, defines, and assembler directives
//-----------------------------------------------------------------------------
//_putSP.asm:
/*
.thumb
.text
.def PUTSP
PUTSP:
mov sp,r0
bx lr
.endm
//_getSP.asm:
.thumb
.text
.def GETSP
GETSP:
mov r0,sp
bx lr
.endm
*/
#include <stdint.h>
#include <stdbool.h>
#include <string.h>
#include <stdio.h>
#include <stdlib.h>
#include "tm4c123gh6pm.h"
// REQUIRED: correct these bitbanding references for the off-board LEDs
#define BLUE_LED (*((volatile uint32_t *)(0x42000000 + (0x400253FC-0x40000000)*32 + 2*4))) // on-board blue LED
#define RED_LED (*((volatile uint32_t *)(0x42000000 + (0x400073FC-0x40000000)*32 + 3*4))) // off-board red LED
#define ORANGE_LED (*((volatile uint32_t *)(0x42000000 + (0x400073FC-0x40000000)*32 + 0*4))) // off-board orange LED
#define YELLOW_LED (*((volatile uint32_t *)(0x42000000 + (0x400073FC-0x40000000)*32 + 2*4))) // off-board yellow LED
#define GREEN_LED (*((volatile uint32_t *)(0x42000000 + (0x400073FC-0x40000000)*32 + 1*4))) // off-board green LED
//-----------------------------------------------------------------------------
// RTOS Defines and Kernel Variables
//-----------------------------------------------------------------------------
// function pointer
typedef void (*_fn)();
// semaphore
#define MAX_SEMAPHORES 5
#define MAX_QUEUE_SIZE 5
extern int GETSP (void);
extern void PUTSP (uint32_t *stackptr);
char str[15];
uint32_t *systemSP,Count=0;
int *temp;
struct semaphore
{
uint16_t count;
uint16_t queueSize;
uint32_t processQueue[MAX_QUEUE_SIZE]; // store task index here
char name[20];
} semaphores[MAX_SEMAPHORES];
uint8_t semaphoreCount = 0;
struct semaphore *keyPressed, *keyReleased, *flashReq, *resource;
// task
#define STATE_INVALID 0 // no task
#define STATE_READY 1 // ready to run
#define STATE_BLOCKED 2 // has run, but now blocked by semaphore
#define STATE_DELAYED 3 // has run, but now awaiting timer
#define MAX_TASKS 10 // maximum number of valid tasks
uint8_t taskCurrent = 0; // index of last dispatched task
uint8_t taskCount = 0; // total number of valid tasks
struct _tcb
{
uint8_t state; // see STATE_ values above
void *pid; // used to uniquely identify thread
void *sp; // location of stack pointer for thread
uint8_t skipCount; // Used for scheduling
uint8_t priority; // 0=highest, 7=lowest
uint8_t currentPriority; // used for priority inheritance
uint32_t ticks; // ticks until sleep complete
char name[16]; // name of task used in ps command
void *semaphore; // pointer to the semaphore that is blocking the thread
uint32_t startCount;
uint32_t endCount;
uint32_t totalCount;
bool semaphoreUsing;
} tcb[MAX_TASKS];
uint32_t stack[MAX_TASKS][256];
//-----------------------------------------------------------------------------
// RTOS Kernel Functions
//-----------------------------------------------------------------------------
void rtosInit()
{
uint8_t i;
// no tasks running
taskCount = 0;
// clear out tcb records
for (i = 0; i < MAX_TASKS; i++)
{
tcb[i].state = STATE_INVALID;
tcb[i].pid = 0;
}
// REQUIRED: initialize systick for 1ms system timer
NVIC_ST_CTRL_R=0; //Disabling the system timer
NVIC_ST_RELOAD_R = 0x9C3F; // 40M/1K - 1
NVIC_ST_CURRENT_R=0; //Clears current
NVIC_ST_CTRL_R=0x07;
}
int rtosScheduler()
{
// REQUIRED: Implement prioritization to 16 levels
bool ok;
static uint8_t task = 0xFF;
ok = false;
tcb[taskCurrent].endCount=Count;
tcb[taskCurrent].totalCount=tcb[taskCurrent].endCount-tcb[taskCurrent].startCount;
while (!ok)
{
task++;
if (task >= MAX_TASKS)
task = 0;
if((tcb[task].state == STATE_READY) && (tcb[task].skipCount >= tcb[task].priority))
{
ok=1;
tcb[task].skipCount=0;
tcb[task].startCount=Count;
}
else
{
tcb[task].skipCount=tcb[task].skipCount+1;
}
}
//NVIC_ST_CURRENT_R=0;
return task;
}
void timer1Isr(void)
{
Count++;
TIMER1_ICR_R =TIMER_ICR_TATOCINT;
}
void init_timer()
{
SYSCTL_RCGCTIMER_R |= SYSCTL_RCGCTIMER_R1;
TIMER1_CTL_R &= ~TIMER_CTL_TAEN; // turn-off timer before reconfiguring
TIMER1_CFG_R = TIMER_CFG_32_BIT_TIMER; // configure as 16-bit timer (A)
TIMER1_TAMR_R = TIMER_TAMR_TAMR_PERIOD; // configure for periodic mode (count down)
TIMER1_TAILR_R = 400;
TIMER1_IMR_R = TIMER_IMR_TATOIM; // turn-on interrupts
NVIC_EN0_R |= 1 << (INT_TIMER1A-16); // turn-on interrupt 37 (TIMER1A)
TIMER1_CTL_R |= TIMER_CTL_TAEN;
}
void rtosStart()
{
// REQUIRED: add code to call the first task to be run, restoring the preloaded context
_fn fn;
extern void PUTSP (uint32_t*);
// __asm(" POP {r3,lr}");
systemSP=GETSP();
init_timer();
taskCurrent = rtosScheduler();
// Add code to initialize the SP with tcb[task_current].sp;
// uint32_t *a=tcb[taskCurrent].sp;
PUTSP(tcb[taskCurrent].sp);
// Restore the stack to run the first process
__asm(" POP {r4-r11 , pc}");
}
bool createThread(_fn fn, char name[], int priority)
{
bool ok = false;
uint8_t i = 0;
uint16_t j=0;
bool found = false;
// REQUIRED: store the thread name
// REQUIRED: take steps to ensure a task switch cannot occur
// add task if room in task list
if (taskCount < MAX_TASKS)
{
// make sure fn not already in list (prevent reentrancy)
while (!found && (i < MAX_TASKS))
{
found = (tcb[i++].pid == fn);
}
if (!found)
{
// find first available tcb record
i = 0;
while (tcb[i].state != STATE_INVALID) {i++;}
tcb[i].state = STATE_READY;
tcb[i].pid = fn;
// REQUIRED: preload stack to look like the task had run before
for(j=254;j>246;j--)
stack[i][j]=j;
stack[i][255]=tcb[i].pid;
tcb[i].sp = &stack[i][247]; // REQUIRED: + offset as needed for the pre-loaded stack
tcb[i].priority = priority;
tcb[i].currentPriority = priority;
tcb[i].skipCount = 0;
strcpy(tcb[i].name,name);
// increment task count
taskCount++;
ok = true;
}
else
{
tcb[i-1].state= STATE_READY;
tcb[i-1].priority = priority;
tcb[i-1].currentPriority = priority;
tcb[i-1].skipCount = 0;
}
}
// REQUIRED: allow tasks switches again
return ok;
}
// REQUIRED: modify this function to destroy a thread
void destroyThread(_fn fn)
{
uint8_t i;
for(i=0;i<taskCount;i++)
{
if(fn==tcb[i].pid)
{
//tcb[i].pid=0;
tcb[i].state=STATE_INVALID;
}
}
}
struct semaphore* createSemaphore(int count, char name[])
{
struct semaphore *pSemaphore = 0;
if (semaphoreCount < MAX_SEMAPHORES)
{
pSemaphore = &semaphores[semaphoreCount++];
pSemaphore->count = count;
strcpy(pSemaphore->name,name);
}
return pSemaphore;
}
// REQUIRED: modify this function to yield execution back to scheduler
void yield()
{
__asm(" POP {r3, lr}");
__asm(" PUSH {r4-r11 , lr}");
//REFERENCE:http://stackoverflow.com/questions/32953949/saving-value-of-stack-pointer-in-c-variable-in-code-composer-studio-for-arm-cort
tcb[taskCurrent].sp=GETSP();
PUTSP(systemSP);
taskCurrent=rtosScheduler();
PUTSP(tcb[taskCurrent].sp);
__asm(" POP {r4-r11 , pc}");
}
// REQUIRED: modify this function to support 1ms system timer
// execution yielded back to scheduler until time elapses
void sleep(uint32_t tick)
{
// push registers, set state to delayed, store timeout, call scheduler, pop registers,
// return to new function (separate unrun or ready processing)
tcb[taskCurrent].ticks=tick;
__asm(" POP {r3, lr}");
__asm(" PUSH {r4-r11 , lr}");
//REFERENCE:http://stackoverflow.com/questions/32953949/saving-value-of-stack-pointer-in-c-variable-in-code-composer-studio-for-arm-cort
tcb[taskCurrent].sp=GETSP();
tcb[taskCurrent].state=STATE_DELAYED;
// wait for count flag
PUTSP(systemSP);
taskCurrent=rtosScheduler();
PUTSP(tcb[taskCurrent].sp);
__asm(" POP {r4-r11 , pc}");
}
void systickIsr()
{
uint8_t i;
for(i=0;i<MAX_TASKS;i++)
{
if(tcb[i].state==STATE_DELAYED)
{
tcb[i].ticks=tcb[i].ticks-1;
if(tcb[i].ticks==0)
tcb[i].state=STATE_READY;
}
}
}
uint8_t getSpWait()
{
__asm(" mov r0,sp");
__asm(" add r0, #0x08");
}
// REQUIRED: modify this function to wait a semaphore with priority inheri n tance
// return if avail (separate unrun or ready processing), else yield to scheduler
void wait(struct semaphore *pSemaphore)
{
//REFERENCE:http://stackoverflow.com/questions/32953949/saving-value-of-stack-pointer-in-c-variable-in-code-composer-studio-for-arm-cort
/* if(pSemaphore->count >0)
{
pSemaphore->count=pSemaphore->count-1;
}
else
{
tcb[taskCurrent].state= STATE_BLOCKED;
tcb[taskCurrent].semaphore = pSemaphore;
pSemaphore->processQueue[pSemaphore->queueSize]=tcb[taskCurrent].pid;
pSemaphore->queueSize=pSemaphore->queueSize+1;
__asm(" POP {r3, lr}");
__asm(" PUSH {r4-r11 , lr}");
tcb[taskCurrent].sp=GETSP();
PUTSP(systemSP);
taskCurrent=rtosScheduler();
PUTSP(tcb[taskCurrent].sp);
__asm(" POP {r4-r11 , pc}");
}*/
temp=pSemaphore;
__asm(" POP {r3, lr}");
__asm(" POP {r3,lr}");
__asm(" PUSH {r4-r11 , lr}");
tcb[taskCurrent].sp=getSpWait();
PUTSP(systemSP);
uint8_t i=0;
pSemaphore=temp;
if(pSemaphore->count >0)
pSemaphore->count=pSemaphore->count-1;
else
{
tcb[taskCurrent].state= STATE_BLOCKED;
tcb[taskCurrent].semaphore = pSemaphore;
pSemaphore->processQueue[pSemaphore->queueSize]=tcb[taskCurrent].pid;
pSemaphore->queueSize=pSemaphore->queueSize+1;
while(i<taskCount)
{
if(tcb[taskCurrent].semaphore == tcb[i].semaphore)
{
if(tcb[i].priority>tcb[taskCurrent].priority)
tcb[i].priority=tcb[taskCurrent].priority;
tcb[i].skipCount=tcb[i].priority;
}
i++;
}
taskCurrent=rtosScheduler();
}
PUTSP(tcb[taskCurrent].sp);
__asm(" POP {r4-r11 , pc}");
}
// REQUIRED: modify this function to signal a semaphore is available
void post(struct semaphore *pSemaphore)
{
/*temp = pSemaphore;
__asm(" PUSH {r4-r11, lr}");
__asm( " POP {r3,lr}");
tcb[taskCurrent].sp=GETSP();
*/
uint8_t i;
// pSemaphore=temp;
pSemaphore->count=pSemaphore->count+1;
if(pSemaphore->count==1)
{
for(i=0;i<taskCount;i++)
{
tcb[i].priority=tcb[i].currentPriority;
tcb[i].skipCount=tcb[i].currentPriority;
if(pSemaphore->processQueue[0]==tcb[i].pid)
{
tcb[i].state=STATE_READY;
pSemaphore->count--;
//tcb[taskCurrent].semaphoreUsing=false;
//taskCurrent=i;
}
}
for(i=0;i<MAX_QUEUE_SIZE-1;i++)
pSemaphore->processQueue[i]=pSemaphore->processQueue[i+1];
if(pSemaphore->queueSize>0)
pSemaphore->queueSize=pSemaphore->queueSize-1;
//pSemaphore->processQueue[pSemaphore->queueSize]=pSemaphore->processQueue[pSemaphore->queueSize];
}
/*PUTSP(tcb[taskCurrent].sp);
__asm(" PUSH {r3,lr}");
__asm(" POP {r4-r11, lr}");*/
}
/*
// REQUIRED: modify this function to add support for the system timer
// REQUIRED: modify this function to add support for the service call
void svCallIsr()
{
}
// REQUIRED: modify this function to add support for the service call
void pendSvIsr()
{
}
//-----------------------------------------------------------------------------
// Subroutines
//-----------------------------------------------------------------------------
*/
// Initialize Hardware
void initHw()
{
// REQUIRED: Add initialization for blue, orange, red, green, and yellow LEDs
// 4 pushbuttons, and uart
// Configure HW to work with 16 MHz XTAL, PLL enabled, system clock of 40 MHz
SYSCTL_RCC_R = SYSCTL_RCC_XTAL_16MHZ | SYSCTL_RCC_OSCSRC_MAIN | SYSCTL_RCC_USESYSDIV | (4 << SYSCTL_RCC_SYSDIV_S);
// Set GPIO ports to use APB (not needed since default configuration -- for clarity)
// Note UART on port A must use APB
SYSCTL_GPIOHBCTL_R = 0;
// Enable GPIO port A and F peripherals
SYSCTL_RCGC2_R = SYSCTL_RCGC2_GPIOA | SYSCTL_RCGC2_GPIOC | SYSCTL_RCGC2_GPIOD | SYSCTL_RCGC2_GPIOF;
// Configure LED and pushbutton pins
GPIO_PORTD_DIR_R = 0x0F; // bits 1 and 3 are outputs, other pins are inputs
GPIO_PORTD_DR2R_R = 0x0F; // set drive strength to 2mA (not needed since default configuration -- for clarity)
GPIO_PORTD_DEN_R = 0x0F; // enable LEDs
GPIO_PORTF_DIR_R = 0x04; // bits 1 and 3 are outputs, other pins are inputs
GPIO_PORTF_DR2R_R = 0x04; // set drive strength to 2mA (not needed since default configuration -- for clarity)
GPIO_PORTF_DEN_R = 0x04; // enable LEDs
// Configure LED and pushbutton pins
GPIO_PORTC_DEN_R = 0xF0; // enable LEDs and pushbuttons
GPIO_PORTC_PUR_R = 0xF0; // enable internal pull-up for push button
// Configure UART0 pins
SYSCTL_RCGCUART_R |= SYSCTL_RCGCUART_R0; // turn-on UART0, leave other uarts in same status
GPIO_PORTA_DEN_R |= 3; // default, added for clarity
GPIO_PORTA_AFSEL_R |= 3; // default, added for clarity
GPIO_PORTA_PCTL_R = GPIO_PCTL_PA1_U0TX | GPIO_PCTL_PA0_U0RX;
// Configure UART0 to 115200 baud, 8N1 format (must be 3 clocks from clock enable and config writes)
UART0_CTL_R = 0; // turn-off UART0 to allow safe programming
UART0_CC_R = UART_CC_CS_SYSCLK; // use system clock (40 MHz)
UART0_IBRD_R = 21; // r = 40 MHz / (Nx115.2kHz), set floor(r)=21, where N=16
UART0_FBRD_R = 45; // round(fract(r)*64)=45
UART0_LCRH_R = UART_LCRH_WLEN_8 | UART_LCRH_FEN; // configure for 8N1 w/ 16-level FIFO
UART0_CTL_R = UART_CTL_TXE | UART_CTL_RXE | UART_CTL_UARTEN; // enable TX, RX, and module
}
void putcUart0(char c)
{
while (UART0_FR_R & UART_FR_TXFF);
UART0_DR_R = c;
}
// Blocking function that writes a string when the UART buffer is not full
void putsUart0(char* str)
{
int i;
for (i = 0; i < strlen(str); i++)
putcUart0(str[i]);
}
// Blocking function that returns with serial data once the buffer is not empty
char getcUart0()
{
while (UART0_FR_R & UART_FR_RXFE)
yield();
return UART0_DR_R & 0xFF;
}
uint8_t isbks(char s)
{
if(s==8)
return 1;
else
return 0;
}
uint8_t isenter(char s)
{
if(s==13)
return 1;
else
return 0;
}
char iscapital(char s)
{
if(s>=65 && s<=90)
s=s+32;
return s;
}
uint8_t isdelim(char s)
{
if((s>=48 && s<=57)||s==46||(s>=97 && s<=122)||s==32||s==45)
return 0;
else return 1;
}
uint8_t isvalid(char s)
{
if(s>=32)
return 1;
else
return 0;
}
void getsUart0()
{
uint8_t i,j,count=0;
str[count]=getcUart0();
while(!isenter(str[count]))
{
if(count<strlen(str))
{
if((isbks(str[count]) && count!=0))
{
count--;
str[count]=NULL;
putsUart0("\r");
putsUart0(str);
}
else if(isvalid(str[count]))
{
putcUart0(str[count]);
count++;
}
str[count]=getcUart0();
}
else
break;
}
for(j=count;j<=strlen(str);j++)
str[j]=NULL;
for(i=0;(i<strlen(str) && str[i]!=NULL);i++)
{
str[i]=iscapital(str[i]);
if(isdelim(str[i]))
{
for(j=i;str[j]!=NULL;j++)
str[j]=str[j+1];
str[j]=NULL;
i--;
}
}
}
// Approximate busy waiting (in units of microseconds), given a 40 MHz system clock
void waitMicrosecond(uint32_t us)
{
// Approx clocks per us
__asm("WMS_LOOP0: MOV R1, #6"); // 1
__asm("WMS_LOOP1: SUB R1, #1"); // 6
__asm(" CBZ R1, WMS_DONE1"); // 5+1*3
__asm(" NOP"); // 5
__asm(" B WMS_LOOP1"); // 5*3
__asm("WMS_DONE1: SUB R0, #1"); // 1
__asm(" CBZ R0, WMS_DONE0"); // 1
__asm(" B WMS_LOOP0"); // 1*3
__asm("WMS_DONE0:"); // ---
// 40 clocks/us + error
}
// REQUIRED: add code to return a value from 0-15 indicating which of 4 PBs are pressed
uint8_t readPbs()
{
while(!(GPIO_PORTC_DATA_R & 0x10))
{
return 1;
}
while(!(GPIO_PORTC_DATA_R & 0x20))
{
return 2;
}
while(!(GPIO_PORTC_DATA_R & 0x40))
{
return 4;
}
while(!(GPIO_PORTC_DATA_R & 0x80))
{
return 8;
}
return 0;
}
// ------------------------------------------------------------------------------
// Task functions
// ------------------------------------------------------------------------------
// one task must be ready at all times or the scheduler will fail
// the idle task is implemented for this purpose
void idle()
{
while(true)
{
ORANGE_LED = 1;
waitMicrosecond(1000);
ORANGE_LED = 0;
yield();
}
}
void idle2()
{
while(true)
{
GREEN_LED = 1;
waitMicrosecond(1000);
GREEN_LED = 0;
yield();
}
}
void flash4Hz()
{
while(true)
{
GREEN_LED ^= 1;
sleep(125);
}
}
void oneshot()
{
while(true)
{
wait(flashReq);
YELLOW_LED = 1;
sleep(1000);
YELLOW_LED = 0;
}
}
void important()
{
while(true)
{
wait(resource);
BLUE_LED = 1;
sleep(1000);
BLUE_LED = 0;
post(resource);
}
}
void partOfLengthyFn()
{
// represent some lengthy operation
waitMicrosecond(1000);
// give another process a chance
yield();
}
void lengthyFn()
{
uint16_t i;
while(true)
{
wait(resource);
for (i = 0; i < 4000; i++)
{
partOfLengthyFn();
}
RED_LED ^= 1;
post(resource);
}
}
void readKeys()
{
uint8_t buttons;
while(true)
{
wait(keyReleased);
buttons = 0;
while (buttons == 0)
{
buttons = readPbs();
yield();
}
post(keyPressed);
if ((buttons & 1) != 0)
{
YELLOW_LED ^= 1;
RED_LED = 1;
}
if ((buttons & 2) != 0)
{
post(flashReq);
RED_LED = 0;
}
if ((buttons & 4) != 0)
{
createThread(flash4Hz, "Flash4hz", 0);
}
if ((buttons & 8) != 0)
{
destroyThread(flash4Hz);
}
yield();
}
}
void debounce()
{
uint8_t count;
while(true)
{
wait(keyPressed);
count = 10;
while (count != 0)
{
sleep(10);
if (readPbs() == 0)
count--;
else
count = 10;
}
post(keyReleased);
}
}
void uncooperative()
{
while(true)
{
while (readPbs() == 8)
{
}
yield();
}
}
void ps()
{
uint8_t i,j;
uint32_t totalTime=0;
char pid[10],cpuTime[10];
for(i=0;i<taskCount;i++)
{
totalTime=totalTime+tcb[i].totalCount;
}
putsUart0("\r\n");
putsUart0("\n\rPID\tName\t\t%CPU\n\r");
for(i=0;i<taskCount;i++)
{
if(tcb[i].state!=STATE_INVALID)
{
sprintf(pid,"%d",tcb[i].pid);
sprintf(cpuTime,"%d",(tcb[i].totalCount*100/totalTime));
putsUart0(pid);
putsUart0("\t");
for(j=(strlen(tcb[i].name)+1);j<10;j++)
strcat(tcb[i].name, " ");
putsUart0(tcb[i].name);
putsUart0("\t");
putsUart0(cpuTime);
putsUart0("\r\n");
}
}
}
void ipcs()
{
uint8_t i,j,k;
char count[10],queueSize[10],queueElement[10];
putsUart0("\n\rName\t\t\tCount QueueSize Process\tQueue\n\r");
for(i=0;i<semaphoreCount;i++)
{
putsUart0(semaphores[i].name);
putsUart0("\t");
sprintf(count,"%d",semaphores[i].count);
putsUart0("\t");
putsUart0(count);
sprintf(queueSize,"%d",semaphores[i].queueSize);
putsUart0("\t");
putsUart0(queueSize);
for(j=0;j<MAX_QUEUE_SIZE;j++)
{
for(k=0;k<10;k++)
queueElement[k]=0;
putsUart0("\t");
sprintf(queueElement,"%d",semaphores[i].processQueue[j]);
putsUart0(" ");
putsUart0(queueElement);
}
putsUart0("\n\r");
}
}
void kill()
{
uint32_t pid;
uint8_t i;
for(i=0;i<strlen(str);i++)
if( (str[i] >= '0' && str[i] <= '9'))
break;
pid=atoi(&str[i]);
for(i=0;i<taskCount;i++)
{
if(tcb[i].name=="Shell")
break;
}
if(tcb[i-1].pid==pid)
{
putsUart0("Can't kill Shell thread!");
putsUart0("\n\r");
}
else
destroyThread(pid);
putsUart0("\n\r");
}
void pidof()
{
uint8_t i,j;
char pid[10];
char tcb_temp[10];
for(i=0;i<taskCount;i++)
{
for(j=0;j<strlen(tcb[i].name);j++)
tcb_temp[j]=iscapital(tcb[i].name[j]);
if(strstr(str,tcb_temp))
{
putsUart0("\t");
sprintf(pid,"%d",tcb[i].pid);
putsUart0(pid);
putsUart0("\n\r");
break;
}
else
for(j=0;j<strlen(tcb[i].name);j++)
tcb_temp[j]=0;
}
}
uint8_t process()
{
char tcb_temp[15];
uint8_t i,j;
for(i=0;i<taskCount;i++)
{
for(j=0;j<strlen(tcb[i].name);j++)
tcb_temp[j]=iscapital(tcb[i].name[j]);
if(strstr(tcb_temp,str))
{
if(tcb[i].state==STATE_INVALID)
{
tcb[i].state=STATE_READY;
tcb[i].skipCount=tcb[i].priority;
putsUart0("\n\r");
putsUart0("Process Created!");
putsUart0("\n\r");
return(1);
}
else
{
putsUart0("\n\r");
putsUart0("Process already running!");
putsUart0("\n\r");
return(1);
}
}
else
for(j=0;j<strlen(tcb[i].name);j++)
tcb_temp[j]=0;
}
return(0);
}
void shell()
{
uint8_t i,Process_temp;
while (true)
{
// REQUIRED: add processing for the shell commands here through the UART
for(i=0;i<15;i++)
str[i]=NULL;
getsUart0();
if(strstr(str,"ps"))
ps();
else if(strstr(str,"ipcs"))
{
putsUart0("\r\n");
ipcs();
}
else if(strstr(str,"kill"))
kill();
else if(strstr(str,"reboot"))
{
putsUart0("\r\n");
__asm(" .global _c_int00\n"
" b.w _c_int00");
putsUart0("\r\n");
}
else if(strstr(str,"pidof"))
pidof();
else
{
Process_temp=process();
if(Process_temp==0)
{
putsUart0("\r\n");
putsUart0("Invalid Command!");
}
}
}
}
//-----------------------------------------------------------------------------
// Main
//-----------------------------------------------------------------------------
int main(void)
{
bool ok;
// Initialize hardware
initHw();
rtosInit();
// Power-up flash
RED_LED = 1;
waitMicrosecond(250000);
RED_LED = 0;
waitMicrosecond(250000);
// Initialize semaphores
keyPressed = createSemaphore(1, "KeyPressed");
keyReleased = createSemaphore(0, "keyReleased");
flashReq = createSemaphore(5, "flashReq");
resource = createSemaphore(1, "resource");
// Add required idle process
ok = createThread(idle, "Idle", 15);
//ok = createThread(idle2, "Idle2", 0);
// Add other processes
ok &= createThread(lengthyFn, "LengthyFn", 12);
ok &= createThread(flash4Hz, "Flash4hz", 4);
ok &= createThread(oneshot, "OneShot", 4);
ok &= createThread(readKeys, "ReadKeys", 8);
ok &= createThread(debounce, "Debounce", 8);