Updated Aufgabe6

src/APP/Aufgabe6/ps7/core0/build/sources.mk

@@ -18,7 +18,7 @@ SRC += $(SRC_DIR)/APP/$(APP)/$(ARCH)/core$(CORE)/src/xttcps_g.c
 SRC += $(SRC_DIR)/APP/$(APP)/$(ARCH)/core$(CORE)/src/xgpiops_g.c
 SRC += $(SRC_DIR)/APP/$(APP)/$(ARCH)/core$(CORE)/src/xiicps_g.c
 
-SRC += $(SRC_DIR)/ucos_v1_42/micrium_source/uCOS-II/Ports/ARM-Cortex-A/Generic/GNU/os_cpu_a_vfp-none.S
+SRC += $(SRC_DIR)/ucos_v1_42/micrium_source/uCOS-II/Ports/ARM-Cortex-A/Generic/GNU/os_cpu_a_vfp-d32.S
 SRC += $(SRC_DIR)/ucos_v1_42/micrium_source/uCOS-II/Ports/ARM-Cortex-A/Generic/GNU/os_cpu_c.c
 
 SRC += $(SRC_DIR)/ucos_v1_42/micrium_source/uC-CPU/Cache/ARM/armv7_generic_l1/GNU/cpu_cache_armv7_generic_l1_a.S

src/APP/Aufgabe6/ps7/core0/cfg/imu.h

@@ -1,44 +0,0 @@
-/*
- * imu.h
- *
- *  Created on: Nov 6, 2018
- *      Author: laurenzb
- */
-
-#ifndef SRC_APP_AUFGABE7_PS7_CORE0_CFG_IMU_H_
-#define SRC_APP_AUFGABE7_PS7_CORE0_CFG_IMU_H_
-
-#include <stdio.h>
-#include "xiicps.h"
-#include "xparameters.h"
-
-
-
-
-#define MPU9250_AD   0x68   			//Adresse d. I²C slaves festlegen
-#define GYRO_CONFIG_AD 0x1B        		//Gyroskop config register
-#define ACCEL_CONFIG_1_AD 0x1C     		//Beschleunigungssensor config reg1
-#define ACCEL_CONFIG_2_AD 0x1D        	//Beschleunigungssensor config reg1
-#define CONFIG_AD 0x1A            		//IMU config reg
-#define PWR_MGMT_1_AD 0x6B				//cloc power management register
-#define GYRO_XOUT_H_AD 0x43     		//hier das Startregister der Gyroskopdaten
-#define ACCEL_XOUT_H_AD 0x3B    		//startreg Accel Daten
-
-#define IIC_DEVICE_ID	XPAR_XIICPS_1_DEVICE_ID //??? in xparameters.h noch die iic Daten für das Gerät festlegen?
-#define IIC_SCLK_RATE	100000
-
-int mpu9250_Imu_Init(void *pdata);
-uint8_t mpu9250_Iic_Init();
-void mpu9250_Init(void);
-uint8_t mpu9250_Write_Reg(uint8_t iic_address, uint8_t data);
-int8_t mpu9250_Read_Data(uint8_t iic_address, uint8_t length, u8 RecvBuffer[]);
-uint8_t mpu9250_Map_Gyro_Data(int16_t result[]);
-uint8_t mpu9250_Map_Acc_Data(int16_t result[]);
-uint8_t mpu9250_Read_Status(int16_t result[]);
-int mpu9250_Get_Data_Task(void *pdata);
-
-
-
-#endif /* SRC_APP_AUFGABE7_PS7_CORE0_CFG_IMU_H_ */
-
-

src/APP/Aufgabe6/ps7/core0/cfg/pid.h

@@ -1,18 +0,0 @@
-/*
- * pid.h
- *
- *  Created on: Jan 28, 2019
- *      Author: laurenzb
- */
-
-#ifndef SRC_APP_AUFGABE7_PS7_CORE0_CFG_PID_H_
-#define SRC_APP_AUFGABE7_PS7_CORE0_CFG_PID_H_
-
-unsigned int pid_Init(void *pdata);
-int16_t pid_Constrain(int16_t value, int16_t lowerBorder, int16_t higherBorder);
-int pid_Task(void *pdata);
-int16_t map(int16_t x, int16_t in_min, int16_t in_max, int16_t out_min, int16_t out_max);
-
-
-
-#endif /* SRC_APP_AUFGABE7_PS7_CORE0_CFG_PID_H_ */

src/APP/Aufgabe6/ps7/core0/cfg/tasks.h

@@ -1,20 +0,0 @@
-/*
- *  Created on: Nov 6, 2018
- *      Author: laurenzb
- */
-
-
-int Task_A(void *pdata);
-int task_a_init(void *pdata);
-
-int Task_B(void *pdata);
-int task_b_init(void *pdata);
-
-int Task_C(void *pdata);
-int task_c_init(void *pdata);
-
-int Task_D(void *pdata);
-int task_d_init(void *pdata);
-
-int Task_E(void *pdata);
-int task_e_init(void *pdata);

src/APP/Aufgabe6/ps7/core0/cfg/ttc_timer.h

@@ -1,32 +0,0 @@
-/*
- * ttc_timer.h
- *
- *  Created on: Nov 13, 2018
- *      Author: laurenzb
- */
-
-#include <stdint.h>
-
-#ifndef SRC_APP_AUFGABE7_PS7_CORE0_CFG_TTC_TIMER_H_
-#define SRC_APP_AUFGABE7_PS7_CORE0_CFG_TTC_TIMER_H_
-
-//#define INTC_DEVICE_ID		XPAR_SCUGIC_0_DEVICE_ID
-//#define TTC_DEVICE_ID	    XPAR_XTTCPS_0_DEVICE_ID
-//#define	TICK_TIMER_FREQ_HZ	100  /* Tick timer counter's output frequency */
-//#define TTC_PWM_DEVICE_ID	XPAR_XTTCPS_0_DEVICE_ID
-//
-//
-//#define TTC_PWM_DEVICE_ID	XPAR_XTTCPS_0_DEVICE_ID
-//#define TTC_PWM_INTR_ID		XPAR_XTTCPS_0_INTR
-//#define TTCPS_CLOCK_HZ		XPAR_XTTCPS_0_CLOCK_HZ
-//
-//
-//#define	TICK_TIMER_FREQ_HZ	100  /* Tick timer counter's output frequency */
-//#define	PWM_OUT_FREQ		350  /* PWM timer counter's output frequency */
-//
-//#define TICKS_PER_CHANGE_PERIOD TICK_TIMER_FREQ_HZ * 5 /* Tick signals PWM */
-
-int timer_Task(void *pdata);
-int timer_Init();
-
-#endif /* SRC_APP_AUFGABE7_PS7_CORE0_CFG_TTC_TIMER_H_ */

src/APP/Aufgabe6/ps7/core0/main.c

@@ -4,7 +4,7 @@
  Author      : Kai-Björn Gemlau
  Version     :
  Copyright   : Copyright belongs to the authors
- Description : Hello World in C, Praktikum Aufgabe 7s
+ Description : Hello World in C, Praktikum Aufgabe 6
  ============================================================================
  */
 
@@ -15,8 +15,6 @@
 #include "ucos_bsp.h"
 #include "xil_testmem.h"
 #include "xil_printf.h"
-#include "imu.h"
-#include "ttc_timer.h"
 #include "gt_core.h"
 #include "gt_cpu.h"
 
@@ -26,19 +24,14 @@ void InitDoneCallback(void * p_arg) {
 	(void) p_arg;
 	UCOS_Print("OS started!\r\n");
 	GT_Init();
-
-
 }
 
 int main(void) {
 	MMUInit();
 
-
     GT_Calibrate();
 
-
 	UCOSStartup(InitDoneCallback);
-
 	while (1)
 		;
 }

src/APP/Aufgabe6/ps7/core0/src/app_hooks.c

@@ -151,6 +151,9 @@ void  App_TaskDelHook (OS_TCB *ptcb)
 #if OS_VERSION >= 251
 void  App_TaskIdleHook (void)
 {
+    __asm volatile( "dsb" );
+    __asm volatile( "wfi" );
+    __asm volatile( "isb" );
 }
 #endif
 

src/APP/Aufgabe6/ps7/core0/src/gt_tasks.c

@@ -5,20 +5,14 @@
  *      Author: matthiasb
  */
 
-
 #include "ucos_uartps.h"
 #include "xil_printf.h"
 #include "ucos_ii.h"
 #include "ucos_bsp.h"
 #include "gt_types.h"
-//#include "gt_cfg_types.h"
 #include "gt_cfg.h"
 
 #include <string.h>						/* memset */
-#include "tasks.h"
-
-
-
 
 #define TASK_A_PRIO 11
 #define TASK_B_PRIO 
@@ -26,12 +20,6 @@
 #define TASK_D_PRIO 
 #define TASK_E_PRIO 
 
-#define TASK_STK_SIZE 256
-
-static OS_STK TaskStacks[GT_NUM_OF_TASKS][TASK_STK_SIZE];
-
-/*-------------------------------Task model internal struct definitions-------------------------------*/
-
 
 
 /*------------------------------------Execution times and periods-------------------------------------*/
@@ -51,15 +39,12 @@ GT_TASK_EXT_T GT_AllTasks[GT_NUM_OF_TASKS] = {
 		{200,		0,		0,		{2,		5}},
 };
 
-/*------------------------------------Internal call back functions-------------------------------------*/
-
-
 /*
  * Main task table, used for GT_Init call
  */
 GT_TASK_T GT_Tasks[GT_NUM_OF_TASKS] =
 {
-		/*Type			Activation	    Id	Prio	        Next Activation				CET						Task init Function 	Task Function	TaskArg		D		WL/Runable						Internal 			External				*/
+		/*Type			Activation	    Id	Prio	        init Function 	Task Function	TaskArg	WL/Runable				Internal 			External				*/
 		{ GT_TASK_DEF , GT_ACT_INT	,	0,	TASK_A_PRIO, 	NULL			,NULL			, NULL, GT_RUNABLE_NULL,		GT_INTERNAL_NULL,	(void *)&GT_AllTasks[0]},
 		{ GT_TASK_DEF , GT_ACT_INT 	,	1,	TASK_B_PRIO, 	NULL 		    ,NULL			, NULL, GT_RUNABLE_NULL,		GT_INTERNAL_NULL,	(void *)&GT_AllTasks[1]},
 		{ GT_TASK_DEF , GT_ACT_INT	,	2,	TASK_C_PRIO, 	NULL			,NULL			, NULL, GT_RUNABLE_NULL,		GT_INTERNAL_NULL,	(void *)&GT_AllTasks[2]},
@@ -67,15 +52,9 @@ GT_TASK_T GT_Tasks[GT_NUM_OF_TASKS] =
 		{ GT_TASK_DEF , GT_ACT_INT	,	4,	TASK_E_PRIO, 	NULL			,NULL			, NULL, GT_RUNABLE_NULL,		GT_INTERNAL_NULL,	(void *)&GT_AllTasks[4]},
 };
 
-/*
+void _taskActivated(void){
- * Internal activation
+	return;
- */
+}
-
-/*
- *
- * start and end hooks
- *
- */
  
 void _taskScheduled(void){
     return;
@@ -93,6 +72,9 @@ void _taskFinished(void){
 	return;
 }
 
+void GT_TaskActivationHook(GT_TASK_T *pMyOwnTask) {
+	//call _taskActivated
+}
 
 void GT_TaskStartHook(GT_TASK_T *pMyOwnTask) {
 	//call _taskStarted
@@ -112,4 +94,7 @@ void GT_TaskSwHook(GT_TASK_T *pMyOwnTask) {
     //call Task scheduled or not
 }
 
+void GT_TaskMissHook(GT_TASK_T *pMyOwnTask){
+	//This is called if a deadline is missed (implicit deadlines)
+}