1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
|
#include "init.h"
#include "tshield/tshield.h"
#include "mux/sched.h"
#include "mux/io.h"
#include "mcu/usart.h"
#include "mcu/context.h"
#include <stdio.h>
#define BUFFER_SIZE 64
#define WAIT_CYCLES(cycles) for (unsigned volatile long i = 0; i < cycles; ++i){}
void setup() {
tshield_init();
}
void task1(char args) {
open(&usart0);
ioctl(&usart0, IOCTL_SET_BAUD, 115200);
char in[BUFFER_SIZE];
while(1) {
int length = read(&usart0, in, BUFFER_SIZE);
int led;
int value;
if (sscanf(in, "leds/%d:%d", &led, &value) == 2) {
debug_led(led, value);
} else if (sscanf(in, "servo/0:%d", &value) == 1) {
tshield_servo((char) value);
} else {
char* msg = "unknown command";
write(&usart0, msg, 15);
debug_led(0,1);
WAIT_CYCLES(300000);
debug_led(0,0);
}
}
}
void task2(char args) {
while(1){
}
}
|
