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Labware/Lab2_4C123/Lab2.c 0 → 100644
// Lab2.c
// Runs on either MSP432 or TM4C123
// Starter project to Lab 2. Take sensor readings, process the data,
// and output the results. Specifically, this program will
// measure steps using the accelerometer, audio sound amplitude using
// microphone, and temperature. (we will add light back in Lab 3)
// Daniel and Jonathan Valvano
// July 12, 2016
/* This example accompanies the books
"Embedded Systems: Real Time Interfacing to ARM Cortex M Microcontrollers",
ISBN: 978-1463590154, Jonathan Valvano, copyright (c) 2016
"Embedded Systems: Real-Time Operating Systems for ARM Cortex-M Microcontrollers",
ISBN: 978-1466468863, Jonathan Valvano, copyright (c) 2016
"Embedded Systems: Introduction to the MSP432 Microcontroller",
ISBN: 978-1512185676, Jonathan Valvano, copyright (c) 2016
"Embedded Systems: Real-Time Interfacing to the MSP432 Microcontroller",
ISBN: 978-1514676585, Jonathan Valvano, copyright (c) 2016
Copyright 2016 by Jonathan W. Valvano, valvano@mail.utexas.edu
You may use, edit, run or distribute this file
as long as the above copyright notice remains
THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
VALVANO SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
For more information about my classes, my research, and my books, see
http://users.ece.utexas.edu/~valvano/
*/
#include <stdint.h>
#include "../inc/BSP.h"
#include "../inc/Profile.h"
#include "Texas.h"
#include "../inc/CortexM.h"
#include "os.h"
uint32_t sqrt32(uint32_t s);
#define THREADFREQ 1000 // frequency in Hz of round robin scheduler
//---------------- Global variables shared between tasks ----------------
uint32_t Time; // elasped time in 100 ms units
uint32_t Steps; // number of steps counted
uint32_t Magnitude; // will not overflow (3*1,023^2 = 3,139,587)
// Exponentially Weighted Moving Average
uint32_t EWMA; // https://en.wikipedia.org/wiki/Moving_average#Exponential_moving_average
uint16_t SoundData; // raw data sampled from the microphone
int32_t SoundAvg;
uint32_t LightData;
int32_t TemperatureData; // 0.1C
// semaphores
int32_t NewData; // true when new numbers to display on top of LCD
int32_t LCDmutex; // exclusive access to LCD
int ReDrawAxes = 0; // non-zero means redraw axes on next display task
enum plotstate{
Accelerometer,
Microphone,
Temperature
};
enum plotstate PlotState = Accelerometer;
//color constants
#define BGCOLOR LCD_BLACK
#define AXISCOLOR LCD_ORANGE
#define MAGCOLOR LCD_YELLOW
#define EWMACOLOR LCD_CYAN
#define SOUNDCOLOR LCD_CYAN
#define TEMPCOLOR LCD_LIGHTGREEN
#define TOPTXTCOLOR LCD_WHITE
#define TOPNUMCOLOR LCD_ORANGE
//------------ end of Global variables shared between tasks -------------
//---------------- Task0 samples sound from microphone ----------------
// Event thread run by OS in real time at 1000 Hz
#define SOUNDRMSLENGTH 1000 // number of samples to collect before calculating RMS (may overflow if greater than 4104)
int16_t SoundArray[SOUNDRMSLENGTH];
// *********Task0_Init*********
// initializes microphone
// Task0 measures sound intensity
// Inputs: none
// Outputs: none
void Task0_Init(void){
BSP_Microphone_Init();
}
// *********Task0*********
// Periodic event thread runs in real time at 1000 Hz
// collects data from microphone
// Inputs: none
// Outputs: none
void Task0(void){
static int32_t soundSum = 0;
static int time = 0; // units of microphone sampling rate
TExaS_Task0(); // record system time in array, toggle virtual logic analyzer
Profile_Toggle0(); // viewed by a real logic analyzer to know Task0 started
// ADC is shared, but on the TM4C123 it is not critical with other ADC inputs
BSP_Microphone_Input(&SoundData);
soundSum = soundSum + (int32_t)SoundData;
SoundArray[time] = SoundData;
time = time + 1;
if(time == SOUNDRMSLENGTH){
SoundAvg = soundSum/SOUNDRMSLENGTH;
soundSum = 0;
OS_Signal(&NewData); // makes task5 run every 1 sec
time = 0;
}
}
/* ****************************************** */
/* End of Task0 Section */
/* ****************************************** */
//---------------- Task1 measures acceleration ----------------
// Event thread run by OS in real time at 10 Hz
uint16_t AccX, AccY, AccZ; // returned by BSP as 10-bit numbers
// *********Task1_Init*********
// initializes accelerometer
// Task1 counts Steps
// Inputs: none
// Outputs: none
void Task1_Init(void){
BSP_Accelerometer_Init();
// initialize the exponential weighted moving average filter
BSP_Accelerometer_Input(&AccX, &AccY, &AccZ);
Magnitude = sqrt32(AccX*AccX + AccY*AccY + AccZ*AccZ);
EWMA = Magnitude; // this is a guess; there are many options
Steps = 0;
}
// *********Task1*********
// collects data from accelerometer
// sends data to Task2
// Inputs: none
// Outputs: none
void Task1(void){uint32_t squared;
TExaS_Task1(); // records system time in array, toggles virtual logic analyzer
Profile_Toggle1(); // viewed by a real logic analyzer to know Task1 started
BSP_Accelerometer_Input(&AccX, &AccY, &AccZ);
squared = AccX*AccX + AccY*AccY + AccZ*AccZ;
OS_MailBox_Send(squared); // makes Task2 run every 100ms
Time++; // in 100ms units
}
/* ****************************************** */
/* End of Task1 Section */
/* ****************************************** */
//---------------- Task2 calculates steps and plots data on LCD ----------------
// Main thread scheduled by OS round robin preemptive scheduler
// accepts data from accelerometer, calculates steps, plots on LCD, and output to LED
// If no data are lost, the main loop in Task2 runs exactly at 10 Hz, but not in real time
enum state{ // the step counting algorithm cycles through four states
LookingForMax, // looking for a local maximum in current magnitude
LookingForCross1, // looking for current magnitude to cross average magnitude, minus a constant
LookingForMin, // looking for a local minimum in current magnitude
LookingForCross2 // looking for current magnitude to cross average magnitude, plus a constant
};
enum state AlgorithmState = LookingForMax;
#define LOCALCOUNTTARGET 5 // The number of valid measured magnitudes needed to confirm a local min or local max. Increase this number for longer strides or more frequent measurements.
#define AVGOVERSHOOT 25 // The amount above or below average a measurement must be to count as "crossing" the average. Increase this number to reject increasingly hard shaking as steps.
#define ACCELERATION_MAX 1400
#define ACCELERATION_MIN 600
#define ALPHA 128 // The degree of weighting decrease, a constant smoothing factor between 0 and 1,023. A higher ALPHA discounts older observations faster.
// basic step counting algorithm is based on a forum post from
// http://stackoverflow.com/questions/16392142/android-accelerometer-profiling/16539643#16539643
#define SOUND_MAX 900
#define SOUND_MIN 300
#define LIGHT_MAX 200000
#define LIGHT_MIN 0
#define TEMP_MAX 1023
#define TEMP_MIN 0
void drawaxes(void){
OS_Wait(&LCDmutex);
if(PlotState == Accelerometer){
BSP_LCD_Drawaxes(AXISCOLOR, BGCOLOR, "Time", "Mag", MAGCOLOR, "Ave", EWMACOLOR, ACCELERATION_MAX, ACCELERATION_MIN);
} else if(PlotState == Microphone){
BSP_LCD_Drawaxes(AXISCOLOR, BGCOLOR, "Time", "Sound", SOUNDCOLOR, "", 0, SoundData+100, SoundData-100);
} else if(PlotState == Temperature){
BSP_LCD_Drawaxes(AXISCOLOR, BGCOLOR, "Time", "Temp", TEMPCOLOR, "", 0, TEMP_MAX, TEMP_MIN);
}
OS_Signal(&LCDmutex); ReDrawAxes = 0;
}
void Task2(void){uint32_t data;
uint32_t localMin; // smallest measured magnitude since odd-numbered step detected
uint32_t localMax; // largest measured magnitude since even-numbered step detected
uint32_t localCount; // number of measured magnitudes above local min or below local max
localMin = 1024;
localMax = 0;
localCount = 0;
drawaxes();
while(1){
data = OS_MailBox_Recv(); // acceleration data from Task 1
TExaS_Task2(); // records system time in array, toggles virtual logic analyzer
Profile_Toggle2(); // viewed by a real logic analyzer to know Task2 started
Magnitude = sqrt32(data);
EWMA = (ALPHA*Magnitude + (1023 - ALPHA)*EWMA)/1024;
if(AlgorithmState == LookingForMax){
if(Magnitude > localMax){
localMax = Magnitude;
localCount = 0;
} else{
localCount = localCount + 1;
if(localCount >= LOCALCOUNTTARGET){
AlgorithmState = LookingForCross1;
}
}
} else if(AlgorithmState == LookingForCross1){
if(Magnitude > localMax){
// somehow measured a very large magnitude
localMax = Magnitude;
localCount = 0;
AlgorithmState = LookingForMax;
} else if(Magnitude < (EWMA - AVGOVERSHOOT)){
// step detected
Steps = Steps + 1;
localMin = 1024;
localCount = 0;
AlgorithmState = LookingForMin;
}
} else if(AlgorithmState == LookingForMin){
if(Magnitude < localMin){
localMin = Magnitude;
localCount = 0;
} else{
localCount = localCount + 1;
if(localCount >= LOCALCOUNTTARGET){
AlgorithmState = LookingForCross2;
}
}
} else if(AlgorithmState == LookingForCross2){
if(Magnitude < localMin){
// somehow measured a very small magnitude
localMin = Magnitude;
localCount = 0;
AlgorithmState = LookingForMin;
} else if(Magnitude > (EWMA + AVGOVERSHOOT)){
// step detected
Steps = Steps + 1;
localMax = 0;
localCount = 0;
AlgorithmState = LookingForMax;
}
}
if(ReDrawAxes){
drawaxes();
ReDrawAxes = 0;
}
OS_Wait(&LCDmutex);
if(PlotState == Accelerometer){
BSP_LCD_PlotPoint(Magnitude, MAGCOLOR);
BSP_LCD_PlotPoint(EWMA, EWMACOLOR);
} else if(PlotState == Microphone){
BSP_LCD_PlotPoint(SoundData, SOUNDCOLOR);
} else if(PlotState == Temperature){
BSP_LCD_PlotPoint(TemperatureData, TEMPCOLOR);
}
BSP_LCD_PlotIncrement();
OS_Signal(&LCDmutex);
// update the LED
switch(AlgorithmState){
case LookingForMax: BSP_RGB_Set(500, 0, 0); break;
case LookingForCross1: BSP_RGB_Set(350, 350, 0); break;
case LookingForMin: BSP_RGB_Set(0, 500, 0); break;
case LookingForCross2: BSP_RGB_Set(0, 0, 500); break;
default: BSP_RGB_Set(0, 0, 0);
}
}
}
/* ****************************************** */
/* End of Task2 Section */
/* ****************************************** */
//------------Task3 handles switch input, buzzer output, LED output-------
// *********Task3*********
// Main thread scheduled by OS round robin preemptive scheduler
// non-real-time task
// checks the switches, updates the mode, and outputs to the buzzer
// Inputs: none
// Outputs: none
void Task3(void){
static uint8_t prev1 = 0, prev2 = 0;
uint8_t current;
BSP_Button1_Init();
BSP_Button2_Init();
BSP_Buzzer_Init(0);
BSP_RGB_Init(0, 0, 0);
while(1){
TExaS_Task3(); // records system time in array, toggles virtual logic analyzer
Profile_Toggle3(); // viewed by a real logic analyzer to know Task3 started
BSP_Buzzer_Set(0);
current = BSP_Button1_Input();
if((current == 0) && (prev1 != 0)){
// Button1 was pressed since last loop
if(PlotState == Accelerometer){
PlotState = Microphone;
} else if(PlotState == Microphone){
PlotState = Temperature;
} else if(PlotState == Temperature){
PlotState = Accelerometer;
}
ReDrawAxes = 1; // redraw axes on next call of display task
BSP_Buzzer_Set(512); // beep until next call of this task
}
prev1 = current;
current = BSP_Button2_Input();
if((current == 0) && (prev2 != 0)){
// Button2 was pressed since last loop
if(PlotState == Accelerometer){
PlotState = Temperature;
} else if(PlotState == Microphone){
PlotState = Accelerometer;
} else if(PlotState == Temperature){
PlotState = Microphone;
}
ReDrawAxes = 1; // redraw axes on next call of display task
BSP_Buzzer_Set(512); // beep until next call of this task
}
prev2 = current;
BSP_Delay1ms(5); // very inefficient, but does debounce the switches
}
}
/* ****************************************** */
/* End of Task3 Section */
/* ****************************************** */
//------------Task4 measures temperature-------
// *********Task4*********
// Main thread scheduled by OS round robin preemptive scheduler
// measures temperature
// Inputs: none
// Outputs: none
void Task4(void){int32_t voltData,tempData;
int done;
BSP_TempSensor_Init();
while(1){
TExaS_Task4(); // records system time in array, toggles virtual logic analyzer
Profile_Toggle4(); // viewed by a real logic analyzer to know Task4 started
BSP_TempSensor_Start();
done = 0;
while(done == 0){
done = BSP_TempSensor_End(&voltData,&tempData); // waits about 1 sec
}
TemperatureData = tempData/10000;
}
}
/* ****************************************** */
/* End of Task4 Section */
/* ****************************************** */
/* ------------------------------------------ */
//------- Task5 displays text on LCD -----------
/* ------------------------------------------ */
// If no data are lost, the main loop in Task5 runs exactly at 1 Hz, but not in real time
// *********Task5*********
// Main thread scheduled by OS round robin preemptive scheduler
// updates the text at the top of the LCD
// Inputs: none
// Outputs: none
void Task5(void){int32_t soundSum;
uint32_t soundRMS; // Root Mean Square average of most recent sound samples
OS_Wait(&LCDmutex);
BSP_LCD_DrawString(0, 0, "Time=", TOPTXTCOLOR);
BSP_LCD_DrawString(0, 1, "Step=", TOPTXTCOLOR);
BSP_LCD_DrawString(10, 0, "Temp =", TOPTXTCOLOR);
BSP_LCD_DrawString(10, 1, "Sound=", TOPTXTCOLOR);
OS_Signal(&LCDmutex);
while(1){
OS_Wait(&NewData);
TExaS_Task5(); // records system time in array, toggles virtual logic analyzer
Profile_Toggle5(); // viewed by a real logic analyzer to know Task5 started
soundSum = 0;
for(int i=0; i<SOUNDRMSLENGTH; i=i+1){
soundSum = soundSum + (SoundArray[i] - SoundAvg)*(SoundArray[i] - SoundAvg);
}
soundRMS = sqrt32(soundSum/SOUNDRMSLENGTH);
OS_Wait(&LCDmutex);
BSP_LCD_SetCursor(5, 0); BSP_LCD_OutUDec4(Time/10, TOPNUMCOLOR);
BSP_LCD_SetCursor(5, 1); BSP_LCD_OutUDec4(Steps, MAGCOLOR);
BSP_LCD_SetCursor(16, 0); BSP_LCD_OutUFix2_1(TemperatureData, TEMPCOLOR);
BSP_LCD_SetCursor(16, 1); BSP_LCD_OutUDec4(soundRMS, SOUNDCOLOR);
OS_Signal(&LCDmutex);
}
}
/* ****************************************** */
/* End of Task5 Section */
/* ****************************************** */
int main(void){
OS_Init();
Profile_Init(); // initialize the 7 hardware profiling pins
Task0_Init(); // microphone init
Task1_Init(); // accelerometer init
BSP_LCD_Init();
BSP_LCD_FillScreen(BSP_LCD_Color565(0, 0, 0));
Time = 0;
OS_InitSemaphore(&NewData, 0); // 0 means no data
OS_InitSemaphore(&LCDmutex, 1); // 1 means free
OS_MailBox_Init(); // initialize mailbox used to send data between Task1 and Task2
// Task 0 should run every 1ms and Task 1 should run every 100ms
OS_AddPeriodicEventThreads(&Task0, 1, &Task1, 100);
// Task2, Task3, Task4, Task5 are main threads
OS_AddThreads(&Task2, &Task3, &Task4, &Task5);
// when grading change 1000 to 4-digit number from edX
TExaS_Init(GRADER, 1000); // initialize the Lab 2 grader
// TExaS_Init(LOGICANALYZER, 1000); // initialize the Lab 2 logic analyzer
OS_Launch(BSP_Clock_GetFreq()/THREADFREQ); // doesn't return, interrupts enabled in here
return 0; // this never executes
}
//******************Step 1**************************
// implement and test the semaphores
int32_t s1,s2;
int main_step1(void){
OS_InitSemaphore(&s1,0);
OS_InitSemaphore(&s2,1);
while(1){
OS_Wait(&s2); //now s1=0, s2=0
OS_Signal(&s1); //now s1=1, s2=0
OS_Signal(&s2); //now s1=1, s2=1
OS_Signal(&s1); //now s1=2, s2=1
OS_Wait(&s1); //now s1=1, s2=1
OS_Wait(&s1); //now s1=0, s2=1
}
}
//***************Step 2*************************
// Implement the three mailbox functions as defined in OS.c and OS.h
// Use this a simple main program to test the mailbox functions.
uint32_t Out;
int main_step2(void){ uint32_t in=0;
OS_MailBox_Init();
while(1){
OS_MailBox_Send(in);
Out = OS_MailBox_Recv();
in++;
}
}
//***************Step 3*************************
// Test the round robin scheduler
// The minimal set of functions you need to write to get the system running is
// SysTick_Handler (without calling the C function and without running periodic threads)
// StartOS
// OS_Init
// OS_AddThreads3 (with just 3 threads for now)
// OS_Launch
int main_step3(void){
OS_Init();
Profile_Init(); // initialize the 7 hardware profiling pins
Task0_Init(); // microphone init
Task1_Init(); // accelerometer init
BSP_LCD_Init();
BSP_LCD_FillScreen(BSP_LCD_Color565(0, 0, 0));
Time = 0;
// semaphores and mailbox not used
// Tasks 0, 1, 2 will not run
// Task3, Task4, Task5 are main threads
// Task2 will stall
OS_AddThreads3(&Task3, &Task4, &Task5);
// when grading change 1000 to 4-digit number from edX
TExaS_Init(GRADER, 1000); // initialize the Lab 2 grader
// TExaS_Init(LOGICANALYZER, 1000); // initialize the Lab 2 logic analyzer
OS_Launch(BSP_Clock_GetFreq()/THREADFREQ); // doesn't return, interrupts enabled in here
return 0; // this never executes
}
//***************Step 4*************************
// Increase to 4 threads
int main_step4(void){
OS_Init();
Profile_Init(); // initialize the 7 hardware profiling pins
Task0_Init(); // microphone init
Task1_Init(); // accelerometer init
BSP_LCD_Init();
BSP_LCD_FillScreen(BSP_LCD_Color565(0, 0, 0));
Time = 0;
OS_InitSemaphore(&NewData, 0); // 0 means no data
OS_InitSemaphore(&LCDmutex, 1); // 1 means free
OS_MailBox_Init(); // initialize mailbox used to send data between Task1 and Task2
// Tasks 0, 1 will not run
// Task2, Task3, Task4, Task5 are main threads
// Tasks 2 and 5 will stall
OS_AddThreads(&Task2, &Task3, &Task4, &Task5);
// when grading change 1000 to 4-digit number from edX
TExaS_Init(GRADER, 1000); // initialize the Lab 2 grader
// TExaS_Init(LOGICANALYZER, 1000); // initialize the Lab 2 logic analyzer
OS_Launch(BSP_Clock_GetFreq()/THREADFREQ); // doesn't return, interrupts enabled in here
return 0; // this never executes
}
//***************Step 5*************************
// add one periodic task
void Dummy(void){}; // place holder
int main_step5(void){
OS_Init();
Profile_Init(); // initialize the 7 hardware profiling pins
Task0_Init(); // microphone init
Task1_Init(); // accelerometer init
BSP_LCD_Init();
BSP_LCD_FillScreen(BSP_LCD_Color565(0, 0, 0));
Time = 0;
OS_InitSemaphore(&NewData, 0); // 0 means no data
OS_InitSemaphore(&LCDmutex, 1); // 1 means free
OS_MailBox_Init(); // initialize mailbox used to send data between Task1 and Task2
// Task1 will not run
// Task5 will stall
// Task 0 should run every 1ms and dummy is not run
OS_AddPeriodicEventThreads(&Task0, 1, &Dummy, 100);
// Task2, Task3, Task4, Task5 are main threads
OS_AddThreads(&Task2, &Task3, &Task4, &Task5);
// when grading change 1000 to 4-digit number from edX
TExaS_Init(GRADER, 1000); // initialize the Lab 2 grader
// TExaS_Init(LOGICANALYZER, 1000); // initialize the Lab 2 logic analyzer
OS_Launch(BSP_Clock_GetFreq()/THREADFREQ); // doesn't return, interrupts enabled in here
return 0; // this never executes
}
// Newton's method
// s is an integer
// sqrt(s) is an integer
uint32_t sqrt32(uint32_t s){
uint32_t t; // t*t will become s
int n; // loop counter
t = s/16+1; // initial guess
for(n = 16; n; --n){ // will finish
t = ((t*t+s)/t)/2;
}
return t;
}
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