Felipe Neves
ftf connects queue lab
Diff: main.cpp
- Revision:
- 0:684e5d5adc13
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sun Nov 06 16:54:35 2016 +0000
@@ -0,0 +1,459 @@
+/**
+ * @brief NXP FTF LAB3 - Mbed OS Queue message to control tasks
+ */
+
+
+#include "mbed.h"
+#include "ST7567.h"
+#include "rtos.h"
+
+/* LCD screen dimensions */
+#define LCD_HEIGHT 64
+#define LCD_WIDTH 128
+
+/* LCD font dimensions */
+#define FONT_HEIGHT 10
+#define FONT_WIDTH 5
+
+
+/** led task command descriptor */
+typedef struct {
+ int led_nbr;
+ bool on_off;
+ bool make_color;
+ uint8_t color;
+
+}led_cmd_desc_t;
+
+
+/** glcd command descriptor */
+typedef struct {
+ char message[64];
+ int x;
+ int y;
+}glcd_cmd_desc_t;
+
+
+
+/** Instance a on board GLCD object */
+ ST7567 glcd(D11, D13, D12, D9, D10);
+
+ /* allocate statically stacks for the three threads */
+unsigned char led_stk[1024];
+unsigned char disp_stk[1024];
+unsigned char shell_stk[8192];
+
+/* creates three tread objects with different priorities */
+Thread led_thread(osPriorityRealtime, 1024, &led_stk[0]);
+Thread disp_thread(osPriorityRealtime, 1024, &disp_stk[0]);
+Thread shell_thread(osPriorityNormal, 8192, &shell_stk[0]);
+
+/* create two queues, one for led commands other to lcd commands */
+Mail<led_cmd_desc_t, 16> led_q;
+Mail<glcd_cmd_desc_t, 16> disp_q;
+
+
+ /** Instance a UART class to communicate with pc */
+Serial pc_serial(USBTX,USBRX);
+
+
+/**
+ * @brief application demo task
+ */
+void led_task(void) {
+ osEvent evt;
+ DigitalOut leds[3] = {LED1, LED2, LED3};
+ led_cmd_desc_t *cmd;
+
+
+ leds[0] = leds[1] = leds[2] = 1;
+
+ for(;;) {
+
+ /* wait for a new command */
+ evt = led_q.get(osWaitForever);
+ if(evt.status != osEventMail) continue;
+ cmd = (led_cmd_desc_t *)evt.value.p;
+ if(cmd == NULL) continue;
+
+
+
+ if(cmd->make_color != true) {
+
+ /* is a led on_off command */
+ if(cmd->on_off == true) {
+
+ if(cmd->led_nbr == 0) {
+ /* handle all leds */
+ leds[0] = leds[1] = leds[2] = 0;
+ } else {
+ /* handle specific led */
+ leds[cmd->led_nbr - 1] = 0;
+ }
+ } else {
+ if(cmd->led_nbr == 0) {
+ /* handle all leds */
+ leds[0] = leds[1] = leds[2] = 1;
+ } else {
+ /* handle specific led */
+ leds[cmd->led_nbr - 1] = 1;
+ }
+ }
+
+ /* free memory for next message */
+ led_q.free(cmd);
+
+ } else {
+ /* is a make color command */
+ int r, b, g;
+
+
+ /* extract color bitfields */
+ r = (cmd->color & 0x04 )>> 2;
+ b = cmd->color & 0x01;
+ g = (cmd->color & 0x02) >> 1;
+
+ leds[0] = ~(r) & 0x1;
+ leds[1] = ~(b) & 0x1;
+ leds[2] = ~(g) & 0x1;
+
+ /* free memory for next message */
+ led_q.free(cmd);
+
+ }
+
+ }
+}
+
+/**
+ * @brief application demo task
+ */
+void disp_task(void) {
+ osEvent evt;
+ glcd_cmd_desc_t *gl;
+
+ for(;;) {
+ /* wait for a new command */
+ evt = disp_q.get(osWaitForever);
+ /* check if not corrupted */
+ if(evt.status != osEventMail) continue;
+ gl = (glcd_cmd_desc_t *)evt.value.p;
+ if(gl == NULL) continue;
+
+ /* check consistency */
+ //pc_serial.printf("## %3d \n\r", gl->x);
+ //pc_serial.printf("## %2d \n\r", gl->y);
+ //pc_serial.printf("## %s \n\r", gl->message);
+
+
+
+ glcd.cls();
+ /* set the glcd cursor */
+ glcd.locate(gl->x * FONT_WIDTH, gl->y * FONT_HEIGHT);
+ /* and prints the message */
+ glcd.printf("%s", gl->message);
+
+ disp_q.free(gl);
+ }
+}
+
+
+
+
+/**
+ * @brief thread_command interpreter
+ */
+void shell_led_command(int argc, char **argv){
+ led_cmd_desc_t *led_cmd = led_q.alloc();
+
+ if(led_cmd == NULL) {
+ pc_serial.printf("leds: FATAL! Not enough memory! \n\r");
+ return;
+ }
+ if(argc < 1) {
+ pc_serial.printf("## leds: too few arguments! \n\r");
+ led_q.free(led_cmd);
+ return;
+ }
+
+ /* if has only one argument, the command can be a color */
+ if(argc == 1) {
+ /* extract and limit the color value */
+ sscanf(argv[0],"%d", &led_cmd->color);
+ led_cmd->color &= 0x07;
+ led_cmd->on_off = false;
+ led_cmd->make_color = true;
+ } else if(( argc > 1) && (argc <= 2)) {
+ /* selects the led */
+ if(strcmp("LED1", argv[0]) == 0) {
+ led_cmd->led_nbr = 1;
+ }else if(strcmp("LED2",argv[0]) == 0) {
+ led_cmd->led_nbr = 2;
+ }else if(strcmp("LED3",argv[0]) == 0) {
+ led_cmd->led_nbr = 3;
+ }else if(strcmp("all",argv[0]) == 0) {
+ led_cmd->led_nbr = 0;
+ }else {
+ pc_serial.printf("## leds: invalid led! \n\r");
+ led_q.free(led_cmd);
+ return;
+ }
+
+
+ /* take the action */
+ if(strcmp("on", argv[1])== 0) {
+ led_cmd->make_color = false;
+ led_cmd->on_off = true;
+ }else if (strcmp("off", argv[1])==0){
+ led_cmd->make_color = false;
+ led_cmd->on_off = false;
+ } else {
+ pc_serial.printf("## leds: invalid option! \n\r");
+ led_q.free(led_cmd);
+ return;
+ }
+ } else {
+ pc_serial.printf("## leds: too many arguments! \n\r");
+ led_q.free(led_cmd);
+ return;
+ }
+
+ /* send the command descriptor to be executed in thread */
+ led_q.put(led_cmd);
+ pc_serial.printf("## leds: running! \n\r");
+
+
+}
+
+/**
+ * @brief parses the glcd commands
+ */
+static void shell_disp_command(int argc, char **argv){
+ glcd_cmd_desc_t *gl = disp_q.alloc();
+
+ memset(&gl->message,0, 64);
+
+ int position_x = 0;
+ int position_y = 0;
+
+ if(argc < 3) {
+ pc_serial.printf("display: Too few arguments, exiting \n\r");
+ disp_q.free(gl);
+ } else {
+ sscanf(argv[0], "%3d", &gl->x);
+ sscanf(argv[1], "%2d", &gl->y);
+
+ /* check position range */
+ if(position_x > 127 || position_x < 0) {
+ pc_serial.printf("## display: Invalid arguments, exiting");
+ disp_q.free(gl);
+ return;
+ }
+
+ if(position_y > 63 || position_y < 0) {
+ pc_serial.printf("## display: Invalid arguments, exiting");
+ disp_q.free(gl);
+ return;
+ }
+
+ /* rebuild the string */
+ for(int i = 0; i < (argc - 2); i++) {
+ strcat(&gl->message[0], argv[2 + i]);
+ strcat(&gl->message[0],(const char *)" ");
+ }
+
+
+ /* check consistency */
+ //pc_serial.printf("## %3d \n\r", gl->x);
+ //pc_serial.printf("## %2d \n\r", gl->y);
+ //pc_serial.printf("## %s \n\r", gl->message);
+
+ /* sends the text command to lcd task */
+ disp_q.put(gl);
+ }
+}
+
+/**
+ * @brief show help menu
+ */
+static void print_usage(void) {
+ pc_serial.printf("## use with the syntax below: \n\r");
+ pc_serial.printf("## command <arg1> <arg2> ... <arg16> \n\r");
+ pc_serial.printf("## Available commands: \n\r");
+ pc_serial.printf ("## leds [LED1/2/3] [color1 -- 8] [on/off] : controls on board leds in multithread mode \n\r");
+ pc_serial.printf ("## leds LED1 on : for example turns on led 1\n\r");
+ pc_serial.printf ("## leds 5 : for example show purple color \n\r");
+ pc_serial.printf ("##\n\r");
+ pc_serial.printf ("## disp <x> <y> <message> : prints a message on lcd \n\r");
+ pc_serial.printf ("## disp 0 3 Hello world! : prints hello world at 0 colunm and 3 row \n\r");
+}
+
+
+/**
+ * @brief parse the command received via comport
+ */
+static void shell_parser (char *cmd, int size) {
+ int cmd_ptr = 0;
+ int arg_ptr = 0;
+ int cmd_size = 0;
+ char command_buffer[256];
+
+ int argc = 0;
+ char *argv[16];
+
+ /* copy to the root command */
+ memset(&command_buffer, 0, sizeof(command_buffer));
+
+ /* find the root command terminator (space) */
+ while(cmd_ptr < size) {
+ if(cmd[cmd_ptr] == ' ') break;
+ cmd_ptr++;
+ }
+ cmd_size = size - cmd_ptr;
+
+
+ /* extract command arguments */
+ strncpy(&command_buffer[0], &cmd[cmd_ptr + 1], (size - cmd_ptr));
+
+ /* terminates the root command */
+ cmd[cmd_ptr] = 0;
+ arg_ptr = 0;
+
+ //pc_serial.printf("## command: %s \n\r", cmd);
+ //pc_serial.printf("## arguments: %s \n\r", command_buffer);
+
+
+ /* extract the further arguments */
+ while(arg_ptr < (cmd_size)) {
+
+ argc++;
+ *(argv + (argc- 1)) = &command_buffer[arg_ptr];
+
+ /* find terminator */
+ while(command_buffer[arg_ptr] != ' ') {
+ arg_ptr++;
+ }
+
+ /* adds to argument list */
+ command_buffer[arg_ptr] = 0;
+ arg_ptr++;
+ // pc_serial.printf("## argument no: %d : %s \n\r", argc, argv[argc-1]);
+ }
+
+
+
+ /* finds and execute the command table */
+ if(strcmp("leds", cmd) == 0) {
+ shell_led_command(argc, argv);
+ } else if(strcmp("disp", cmd) == 0){
+ shell_disp_command(argc, argv);
+ } else {
+ print_usage();
+ }
+
+}
+
+
+
+
+/**
+ * @brief shell commands processing thread
+ */
+static void shell_task(void)
+{
+ char serial_buffer[1024] = {0};
+ int read_ptr = 0;
+ const char msg[] = {"Welcome to NXP FTF !\0"};
+
+ /* setup the serial as 115200 bps */
+ pc_serial.baud(115200);
+
+/* setup our on-board glcd */
+ glcd.set_contrast(0x35);
+ glcd.cls();
+
+ /* Center the LCD cursor based on message size*/
+ glcd.locate(LCD_WIDTH - (sizeof(msg) * FONT_WIDTH),
+ (LCD_HEIGHT - FONT_HEIGHT) / 2);
+
+
+ /* prints a welcome message */
+ glcd.printf(msg);
+
+ glcd.cls();
+ Thread::wait(1000);
+
+
+ pc_serial.printf("******************************************************************\n\r");
+ pc_serial.printf("*** Welcome to NXP FTF Simple Shell application ****\n\r");
+ pc_serial.printf("*** Type some commands or just Enter key to see the available ****\n\r");
+ pc_serial.printf("******************************************************************\n\r");
+ pc_serial.printf(">>");
+
+ for(;;Thread::wait(50)) {
+ /* check if we have character available */
+ if(pc_serial.readable()) {
+ bool new_cmd = false;
+
+ /* get the incoming character */
+ char c = pc_serial.getc();
+
+ if( (c == '\n') || (c == '\r')) {
+ /* handle enter key */
+ new_cmd = true;
+ pc_serial.printf("\n\r");
+
+ }else if( (c == 0x7F) || (c == 0x08)){
+ /* handle backspace and del keys */
+ pc_serial.printf("\033[1D");
+ pc_serial.putc(' ');
+ pc_serial.printf("\033[1D");
+
+ read_ptr--;
+ if(read_ptr < -1) read_ptr = 1023;
+ serial_buffer[read_ptr] = ' ';
+
+
+ } else {
+ /* loopback the pressed key */
+ pc_serial.putc(c);
+
+ /* store the incoming character on command circular buffer */
+ serial_buffer[read_ptr] = c;
+ read_ptr = (read_ptr + 1) % 1024;
+ }
+
+
+
+ if(new_cmd != false) {
+ /* command arrived, has other characters? */
+ if(read_ptr != 0) {
+ shell_parser(&serial_buffer[0], read_ptr);
+ } else {
+ print_usage();
+ }
+ /* reset the buffer command */
+ memset(&serial_buffer, 0, sizeof(serial_buffer));
+ read_ptr = 0;
+ pc_serial.printf(">>");
+ }
+
+ }
+ }
+}
+
+
+/**
+ * @brief main application loop
+ */
+int main(void)
+{
+
+ glcd.cls();
+
+ /* starts the shell task and applications task*/
+ shell_thread.start(shell_task);
+ led_thread.start(led_task);
+ disp_thread.start(disp_task);
+ return 0;
+}