X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=int%2Fnucleo-f767-blinky%2Fsrc%2Fmain.c;h=0be5c0f1a79b936c7382010d6f7b925974b52da9;hb=0efbd98973520d55ec4e80e443911f43b3c28a0d;hp=25a0728d6049c77ed736b4195c9bb8da50dca6d1;hpb=c0713ad3a24ba71c79dd55ed208fcb72ad6bee08;p=mTask.git

diff --git a/int/nucleo-f767-blinky/src/main.c b/int/nucleo-f767-blinky/src/main.c
index 25a0728..0be5c0f 100644
--- a/int/nucleo-f767-blinky/src/main.c
+++ b/int/nucleo-f767-blinky/src/main.c
@@ -22,108 +22,13 @@
 #include "mTaskSymbols.h"
 #include "sds.h"
 #include "task.h"
-#include "misc.h"
+#include "interface.h"
 
 #define MSG_GET_TASK 't'
 #define MSG_DEL_TASK 'd'
 #define MSG_SDS_SPEC 's'
 #define MSG_SDS_UPD 'u'
 
-void _exit(int i){
-	while(1);
-}
-
-//Globals
-#ifdef STM32F767xx
-volatile char uartf = 0;
-#else
-struct timeval tv1;
-int sock_fd = -1;
-int fd = -1;
-int *argc;
-char **argv;
-#endif
-uint8_t bt;
-
-#define SET_LED_RED GPIOB->BSRR = GPIO_PIN_14
-#define RESET_LED_RED GPIOB->BSRR = GPIO_PIN_14 << 16
-
-#define SET_LED_BLUE GPIOB->BSRR = GPIO_PIN_7
-#define RESET_LED_BLUE GPIOB->BSRR = GPIO_PIN_7 << 16
-
-#define SET_LED_GREEN GPIOB->BSRR = GPIO_PIN_0
-#define RESET_LED_GREEN GPIOB->BSRR = GPIO_PIN_0 << 16
-
-long millis() {
-#ifdef STM32F767xx
-	return HAL_GetTick();
-#else
-	if (gettimeofday(&tv1, NULL) == -1)
-		pdie("gettimeofday");
-	return tv1.tv_sec*1000 + tv1.tv_usec/1000;
-#endif
-}
-
-bool input_available(){
-#ifdef STM32F767xx
-	return true;
-#else
-	struct timeval tv;
-	fd_set fds;
-	tv.tv_sec = 0;
-	tv.tv_usec = 0;
-	FD_ZERO(&fds);
-	FD_SET(fd, &fds);
-	if (select(fd+1, &fds, NULL, NULL, &tv) == -1)
-		pdie("select");
-	return FD_ISSET(fd, &fds);
-#endif
-}
-
-uint8_t read_byte()
-{
-#ifdef STM32F767xx
-	HAL_UART_Receive(&huart3, &bt, 1, 1000);
-	return 0;
-#else
-	read(fd, &bt, 1);
-	return bt;
-#endif
-}
-
-void write_byte(uint8_t b)
-{
-#ifdef STM32F767xx
-	HAL_UART_Transmit_DMA(&huart3, &b, 1);
-#else
-	write(fd, &b, 1);
-#endif
-}
-
-void delay(int ms)
-{
-#ifdef STM32F767xx
-	HAL_Delay(ms);
-#else
-	usleep(ms*1000);
-#endif
-}
-
-#ifndef STM32F767xx
-void killHandler(int i)
-{
-	printf("%i caught, Bye...\n", i);
-	exit(1);
-}
-#endif
-
-#ifdef STM32F767xx
-void HAL_UART_TxCpltCallback(UART_HandleTypeDef *UartHandle)
-{
-	uartf=1;
-}
-#endif
-
 void read_message()
 {
 	//Find next task
@@ -154,72 +59,15 @@ void read_message()
 	}
 }
 
-void usage(FILE *o, char *arg0){
-	fprintf(o, "Usage: %s [opts]\n\nOptions\n"
-		"-p PORT  Custom port number, default: 8123\n" , arg0);
-}
-
-void setup()
-{
-#ifdef STM32F767xx
-#else
-	int port = 8123, opti = 1;
-	//Register signal handler
-	if(signal(SIGINT, killHandler) == SIG_ERR){
-		die("Couldn't register signal handler...\n");
-	}
-	if(signal(SIGTERM, killHandler) == SIG_ERR){
-		die("Couldn't register signal handler...\n");
-	}
-	//Command line arguments
-	while(opti < *argc){
-		if(strcmp((*argv)+opti, "-h") == 0){
-			usage(stdout, argv[0]);
-			exit(EXIT_SUCCESS);
-		} else if(strcmp(argv[opti], "-p") == 0 && opti+1<*argc){
-			port = atoi(argv[++opti]);
-			if(port < 1)
-				die("Port numbers are > 1\n");
-		} else {
-			usage(stderr, argv[0]);
-			exit(EXIT_FAILURE);
-		}
-		opti++;
-	}
-
-	//Open file descriptors
-	struct sockaddr_in sa;
-
-	memset(&sa, 0, sizeof(sa));
-	sa.sin_family = AF_INET;
-	sa.sin_addr.s_addr = INADDR_ANY;
-	sa.sin_port = htons(port);
-
-	if((sock_fd = socket(AF_INET, SOCK_STREAM, 0)) == -1)
-		pdie("socket");
-	if(bind(sock_fd, (struct sockaddr*)&sa, sizeof(sa)) == -1)
-		pdie("bind");
-	if(listen(sock_fd, 10) == -1)
-		pdie("listen");
-
-	printf("Listening on %d\n", port);
-	fflush(stdout);
-	if((fd = accept(sock_fd, (struct sockaddr*)NULL, NULL)) == -1)
-		pdie("accept");
-#endif
-
-	//Initialize systems
-	sds_init();
-	task_init();
-}
-
 void loop()
 {
 	int ct;
 	long cyclestart;
 	struct task *curtask;
+
 	if(input_available())
 		read_message();
+
 	//Run tasks
 	cyclestart = millis();
 	for(ct = 0; ct<MAXTASKS; ct++){
@@ -233,35 +81,35 @@ void loop()
 //			debug("Task %d not scheduled\n", ct);
 			continue;
 		}
-#ifdef DEBUG
-		printf("Current task to run: %d\n", ct);
-		getchar();
-#endif
+		debug("Current task to run: %d\n", ct);
 		run_task(curtask);
+		curtask->lastrun = cyclestart;
+		write_byte('\n');
 	}
-	debug("Waiting for 500ms\n");
-	delay(500);
-	debug("done waiting\n");
-	write_byte('\n');
 }
 
 #ifdef STM32F767xx
-int main1(void)
+char s[128] = "";
+int main1(void){
 #else
-int main(int ac, char *av[])
-#endif
-{
-#ifndef STM32F767xx
-	argc = &ac;
-	argv = av;
+int main(int argc, char *argv[]){
+	gargc = argc;
+	gargv = argv;
 #endif
+	debug("booting up\r\n");
+
+	//Initialize systems
 	setup();
+	sds_init();
+	task_init();
 
 	write_byte('\n');
 
 	while(true){
 		//Check for new tasks
+		debug("loop\r\n");
 		loop();
+		delay(100);
 	}
 	return 0;
 }