WebSVN – svnkaklik – Diff – /programy/C/avr/AVRcam/Executive.c


/*
    Copyright (C) 2004    John Orlando
    
   AVRcam: a small real-time image processing engine.
 
    This program is free software; you can redistribute it and/or
    modify it under the terms of the GNU General Public
    License as published by the Free Software Foundation; either
    version 2 of the License, or (at your option) any later version.
 
    This program is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
    General Public License for more details.
 
    You should have received a copy of the GNU General Public
    License along with this program; if not, write to the Free Software
    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 
   For more information on the AVRcam, please contact:
 
   john@jrobot.net
 
   or go to www.jrobot.net for more details regarding the system.
*/
/***********************************************************
	Module Name: Executive.c
	Module Date: 04/12/2004
	Module Auth: John Orlando
	
	Description: This file is responsible for implementing a
	minimalist event dispatcher.  It keeps track of an event
	fifo that waits for new events to come in, and dispatches
	them to any entities that care about them.
    
    Revision History:
    Date        Rel Ver.    Notes
    4/10/2004      0.1     Module created
    6/30/2004      1.0     Initial release for Circuit Cellar
                           contest.
    1/16/2005      1.4     Fixed issue where the interrupts weren't
                           being turned off when the fastEventBitmask
                           was being accessed.  Also removed redundant
                           interrupt masking when accessing the
                           main event fifo.  Also fixed issue where
                           the main event fifo wasn't being checked
                           for events if an event was pending in
                           the fast event fifo.
***********************************************************/
 
/*	Includes */
#include <stdlib.h>
#include "CommonDefs.h"
#include "Executive.h"
#include "FrameMgr.h"
#include "CamInterface.h"
#include "UIMgr.h"
#include "UartInterface.h"
#include "CamConfig.h"
#include "Utility.h"
 
/*  Local Variables */
unsigned char Exec_eventFifo[EXEC_EVENT_FIFO_SIZE];
unsigned char Exec_eventFifoHead=0;
unsigned char Exec_eventFifoTail=0;
 
/*  Local Function Definitions */
static unsigned char Exec_readEventFifo(void);
 
/* 	Local Structures and Typedefs */
 
/*  Extern Variables */
/* This bitmask holds events that need to be processed as fast as possible */
unsigned char fastEventBitmask = 0x00;
 
/*  Definitions */
#define IS_DATA_IN_EVENT_FIFO() (!(Exec_eventFifoHead == Exec_eventFifoTail))
/***********************************************************
	Function Name: Exec_run
	Function Description: This function is responsible for
	running the main control loop.  The control loop is 
	based on checking both the fast-event bitmask (for high
    priority events) and the event FIFO to determine if an
    event needs to be handled.  The event is then dispatched
    to the appropriate handler.
	Inputs:  none
	Outputs: none
***********************************************************/	
void Exec_run(void)
{
	unsigned char eventGenerated;
	
	while(1)
	{
		if (fastEventBitmask)
		{
			/* an event needing fast processing has been received */
			/* a received line needs to be processed...this
			needs to be processed as quickly as possible */
			if (fastEventBitmask & FEV_ACQUIRE_LINE_COMPLETE)
			{
                DISABLE_INTS();
				fastEventBitmask &= ~FEV_ACQUIRE_LINE_COMPLETE;	
                ENABLE_INTS();
				FrameMgr_processLine();				
			
				/* also check if serial data needs to be sent
				out through UIMgr */
				UIMgr_transmitPendingData();	
 
				/* we can't just call acquire line again here,
				since we don't know if we need to acquire another
				line or not (it depends on the FrameMgr to figure
				this out) */
			}
			if (fastEventBitmask & FEV_PROCESS_LINE_COMPLETE)
			{
                DISABLE_INTS();
				fastEventBitmask &= ~FEV_PROCESS_LINE_COMPLETE;
                ENABLE_INTS();
				FrameMgr_acquireLine();
			}
		}		
		
        if (IS_DATA_IN_EVENT_FIFO() == TRUE)		
		{			
            eventGenerated = Exec_readEventFifo();
			switch(eventGenerated)
			{
				case (EV_DUMP_FRAME):
					FrameMgr_dispatchEvent(eventGenerated);
					break;
					
				case (EV_ENABLE_TRACKING):
					FrameMgr_dispatchEvent(eventGenerated);
					break;
					
				case (EV_DISABLE_TRACKING):
					FrameMgr_dispatchEvent(eventGenerated);
					break;
					
				case (EV_ACQUIRE_LINE_COMPLETE):
					FrameMgr_dispatchEvent(eventGenerated);
					UIMgr_dispatchEvent(eventGenerated);
					break;
					
				case (EV_ACQUIRE_FRAME_COMPLETE):				
					FrameMgr_dispatchEvent(eventGenerated);
					break;
					
				case (EV_PROCESS_LINE_COMPLETE):
					FrameMgr_dispatchEvent(eventGenerated);
					break;
				
				case (EV_PROCESS_FRAME_COMPLETE):
					FrameMgr_dispatchEvent(eventGenerated);
					break;
					
				case (EV_SERIAL_DATA_RECEIVED):
					UIMgr_dispatchEvent(eventGenerated);
					FrameMgr_dispatchEvent(eventGenerated);
					break;																
 
				case (EV_SERIAL_DATA_PENDING_TX):
					UIMgr_dispatchEvent(eventGenerated);
					break;
								
				default:		
					break;
			}			
		}
        
        /* toggle the debug line */
 
	}
}
 
/***********************************************************
	Function Name: Exec_readEventFifo
	Function Description: This function is responsible for
	reading a single event out of the event fifo.
	Inputs:  none 
	Outputs: unsigned char-the data read
***********************************************************/	
static unsigned char Exec_readEventFifo(void)
{
	unsigned char dataByte, tmpTail;
	
	DISABLE_INTS();
	/* just return the current tail from the tx fifo */
	dataByte = Exec_eventFifo[Exec_eventFifoTail];	
	tmpTail = (Exec_eventFifoTail+1) & (EXEC_EVENT_FIFO_MASK);
	Exec_eventFifoTail = tmpTail;
	ENABLE_INTS();
	
	return(dataByte);
}
 
/***********************************************************
	Function Name: Exec_writeEventFifo
	Function Description: This function is responsible for
	writing a single event to the event fifo and
	updating the appropriate pointers.
	Inputs:  data - the byte to write to the Fifo 
	Outputs: none
***********************************************************/	
void Exec_writeEventFifo(unsigned char event)
{
	unsigned char tmpHead;
 
	DISABLE_INTS();
	Exec_eventFifo[Exec_eventFifoHead] = event;
 
    /* now move the head up */
    tmpHead = (Exec_eventFifoHead + 1) & (EXEC_EVENT_FIFO_MASK);
    Exec_eventFifoHead = tmpHead;
	ENABLE_INTS();
}
 

Subversion Repositories svnkaklik

(root)/programy/C/avr/AVRcam/Executive.c @ 567 – Rev 409 → 410

Rev 409		Rev 410
1	`/*`	1	`/*`
2	`Copyright (C) 2004 John Orlando`	2	`Copyright (C) 2004 John Orlando`
3		3
4	`AVRcam: a small real-time image processing engine.`	4	`AVRcam: a small real-time image processing engine.`
5		5
6	`This program is free software; you can redistribute it and/or`	6	`This program is free software; you can redistribute it and/or`
7	`modify it under the terms of the GNU General Public`	7	`modify it under the terms of the GNU General Public`
8	`License as published by the Free Software Foundation; either`	8	`License as published by the Free Software Foundation; either`
9	`version 2 of the License, or (at your option) any later version.`	9	`version 2 of the License, or (at your option) any later version.`
10		10
11	`This program is distributed in the hope that it will be useful,`	11	`This program is distributed in the hope that it will be useful,`
12	`but WITHOUT ANY WARRANTY; without even the implied warranty of`	12	`but WITHOUT ANY WARRANTY; without even the implied warranty of`
13	`MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU`	13	`MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU`
14	`General Public License for more details.`	14	`General Public License for more details.`
15		15
16	`You should have received a copy of the GNU General Public`	16	`You should have received a copy of the GNU General Public`
17	`License along with this program; if not, write to the Free Software`	17	`License along with this program; if not, write to the Free Software`
18	`Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA`	18	`Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA`
19		19
20	`For more information on the AVRcam, please contact:`	20	`For more information on the AVRcam, please contact:`
21		21
22	`john@jrobot.net`	22	`john@jrobot.net`
23		23
24	`or go to www.jrobot.net for more details regarding the system.`	24	`or go to www.jrobot.net for more details regarding the system.`
25	`*/`	25	`*/`
26	`/***********************************************************`	26	`/***********************************************************`
27	`Module Name: Executive.c`	27	`Module Name: Executive.c`
28	`Module Date: 04/12/2004`	28	`Module Date: 04/12/2004`
29	`Module Auth: John Orlando`	29	`Module Auth: John Orlando`
30		30
31	`Description: This file is responsible for implementing a`	31	`Description: This file is responsible for implementing a`
32	`minimalist event dispatcher. It keeps track of an event`	32	`minimalist event dispatcher. It keeps track of an event`
33	`fifo that waits for new events to come in, and dispatches`	33	`fifo that waits for new events to come in, and dispatches`
34	`them to any entities that care about them.`	34	`them to any entities that care about them.`
35		35
36	`Revision History:`	36	`Revision History:`
37	`Date Rel Ver. Notes`	37	`Date Rel Ver. Notes`
38	`4/10/2004 0.1 Module created`	38	`4/10/2004 0.1 Module created`
39	`6/30/2004 1.0 Initial release for Circuit Cellar`	39	`6/30/2004 1.0 Initial release for Circuit Cellar`
40	`contest.`	40	`contest.`
41	`1/16/2005 1.4 Fixed issue where the interrupts weren't`	41	`1/16/2005 1.4 Fixed issue where the interrupts weren't`
42	`being turned off when the fastEventBitmask`	42	`being turned off when the fastEventBitmask`
43	`was being accessed. Also removed redundant`	43	`was being accessed. Also removed redundant`
44	`interrupt masking when accessing the`	44	`interrupt masking when accessing the`
45	`main event fifo. Also fixed issue where`	45	`main event fifo. Also fixed issue where`
46	`the main event fifo wasn't being checked`	46	`the main event fifo wasn't being checked`
47	`for events if an event was pending in`	47	`for events if an event was pending in`
48	`the fast event fifo.`	48	`the fast event fifo.`
49	`***********************************************************/`	49	`***********************************************************/`
50		50
51	`/* Includes */`	51	`/* Includes */`
52	`#include <stdlib.h>`	52	`#include <stdlib.h>`
53	`#include "CommonDefs.h"`	53	`#include "CommonDefs.h"`
54	`#include "Executive.h"`	54	`#include "Executive.h"`
55	`#include "FrameMgr.h"`	55	`#include "FrameMgr.h"`
56	`#include "CamInterface.h"`	56	`#include "CamInterface.h"`
57	`#include "UIMgr.h"`	57	`#include "UIMgr.h"`
58	`#include "UartInterface.h"`	58	`#include "UartInterface.h"`
59	`#include "CamConfig.h"`	59	`#include "CamConfig.h"`
60	`#include "Utility.h"`	60	`#include "Utility.h"`
61		61
62	`/* Local Variables */`	62	`/* Local Variables */`
63	`unsigned char Exec_eventFifo[EXEC_EVENT_FIFO_SIZE];`	63	`unsigned char Exec_eventFifo[EXEC_EVENT_FIFO_SIZE];`
64	`unsigned char Exec_eventFifoHead=0;`	64	`unsigned char Exec_eventFifoHead=0;`
65	`unsigned char Exec_eventFifoTail=0;`	65	`unsigned char Exec_eventFifoTail=0;`
66		66
67	`/* Local Function Definitions */`	67	`/* Local Function Definitions */`
68	`static unsigned char Exec_readEventFifo(void);`	68	`static unsigned char Exec_readEventFifo(void);`
69		69
70	`/* Local Structures and Typedefs */`	70	`/* Local Structures and Typedefs */`
71		71
72	`/* Extern Variables */`	72	`/* Extern Variables */`
73	`/* This bitmask holds events that need to be processed as fast as possible */`	73	`/* This bitmask holds events that need to be processed as fast as possible */`
74	`unsigned char fastEventBitmask = 0x00;`	74	`unsigned char fastEventBitmask = 0x00;`
75		75
76	`/* Definitions */`	76	`/* Definitions */`
77	`#define IS_DATA_IN_EVENT_FIFO() (!(Exec_eventFifoHead == Exec_eventFifoTail))`	77	`#define IS_DATA_IN_EVENT_FIFO() (!(Exec_eventFifoHead == Exec_eventFifoTail))`
78	`/***********************************************************`	78	`/***********************************************************`
79	`Function Name: Exec_run`	79	`Function Name: Exec_run`
80	`Function Description: This function is responsible for`	80	`Function Description: This function is responsible for`
81	`running the main control loop. The control loop is`	81	`running the main control loop. The control loop is`
82	`based on checking both the fast-event bitmask (for high`	82	`based on checking both the fast-event bitmask (for high`
83	`priority events) and the event FIFO to determine if an`	83	`priority events) and the event FIFO to determine if an`
84	`event needs to be handled. The event is then dispatched`	84	`event needs to be handled. The event is then dispatched`
85	`to the appropriate handler.`	85	`to the appropriate handler.`
86	`Inputs: none`	86	`Inputs: none`
87	`Outputs: none`	87	`Outputs: none`
88	`***********************************************************/`	88	`***********************************************************/`
89	`void Exec_run(void)`	89	`void Exec_run(void)`
90	`{`	90	`{`
91	`unsigned char eventGenerated;`	91	`unsigned char eventGenerated;`
92		92
93	`while(1)`	93	`while(1)`
94	`{`	94	`{`
95	`if (fastEventBitmask)`	95	`if (fastEventBitmask)`
96	`{`	96	`{`
97	`/* an event needing fast processing has been received */`	97	`/* an event needing fast processing has been received */`
98	`/* a received line needs to be processed...this`	98	`/* a received line needs to be processed...this`
99	`needs to be processed as quickly as possible */`	99	`needs to be processed as quickly as possible */`
100	`if (fastEventBitmask & FEV_ACQUIRE_LINE_COMPLETE)`	100	`if (fastEventBitmask & FEV_ACQUIRE_LINE_COMPLETE)`
101	`{`	101	`{`
102	`DISABLE_INTS();`	102	`DISABLE_INTS();`
103	`fastEventBitmask &= ~FEV_ACQUIRE_LINE_COMPLETE;`	103	`fastEventBitmask &= ~FEV_ACQUIRE_LINE_COMPLETE;`
104	`ENABLE_INTS();`	104	`ENABLE_INTS();`
105	`FrameMgr_processLine();`	105	`FrameMgr_processLine();`
106		106
107	`/* also check if serial data needs to be sent`	107	`/* also check if serial data needs to be sent`
108	`out through UIMgr */`	108	`out through UIMgr */`
109	`UIMgr_transmitPendingData();`	109	`UIMgr_transmitPendingData();`
110		110
111	`/* we can't just call acquire line again here,`	111	`/* we can't just call acquire line again here,`
112	`since we don't know if we need to acquire another`	112	`since we don't know if we need to acquire another`
113	`line or not (it depends on the FrameMgr to figure`	113	`line or not (it depends on the FrameMgr to figure`
114	`this out) */`	114	`this out) */`
115	`}`	115	`}`
116	`if (fastEventBitmask & FEV_PROCESS_LINE_COMPLETE)`	116	`if (fastEventBitmask & FEV_PROCESS_LINE_COMPLETE)`
117	`{`	117	`{`
118	`DISABLE_INTS();`	118	`DISABLE_INTS();`
119	`fastEventBitmask &= ~FEV_PROCESS_LINE_COMPLETE;`	119	`fastEventBitmask &= ~FEV_PROCESS_LINE_COMPLETE;`
120	`ENABLE_INTS();`	120	`ENABLE_INTS();`
121	`FrameMgr_acquireLine();`	121	`FrameMgr_acquireLine();`
122	`}`	122	`}`
123	`}`	123	`}`
124		124
125	`if (IS_DATA_IN_EVENT_FIFO() == TRUE)`	125	`if (IS_DATA_IN_EVENT_FIFO() == TRUE)`
126	`{`	126	`{`
127	`eventGenerated = Exec_readEventFifo();`	127	`eventGenerated = Exec_readEventFifo();`
128	`switch(eventGenerated)`	128	`switch(eventGenerated)`
129	`{`	129	`{`
130	`case (EV_DUMP_FRAME):`	130	`case (EV_DUMP_FRAME):`
131	`FrameMgr_dispatchEvent(eventGenerated);`	131	`FrameMgr_dispatchEvent(eventGenerated);`
132	`break;`	132	`break;`
133		133
134	`case (EV_ENABLE_TRACKING):`	134	`case (EV_ENABLE_TRACKING):`
135	`FrameMgr_dispatchEvent(eventGenerated);`	135	`FrameMgr_dispatchEvent(eventGenerated);`
136	`break;`	136	`break;`
137		137
138	`case (EV_DISABLE_TRACKING):`	138	`case (EV_DISABLE_TRACKING):`
139	`FrameMgr_dispatchEvent(eventGenerated);`	139	`FrameMgr_dispatchEvent(eventGenerated);`
140	`break;`	140	`break;`
141		141
142	`case (EV_ACQUIRE_LINE_COMPLETE):`	142	`case (EV_ACQUIRE_LINE_COMPLETE):`
143	`FrameMgr_dispatchEvent(eventGenerated);`	143	`FrameMgr_dispatchEvent(eventGenerated);`
144	`UIMgr_dispatchEvent(eventGenerated);`	144	`UIMgr_dispatchEvent(eventGenerated);`
145	`break;`	145	`break;`
146		146
147	`case (EV_ACQUIRE_FRAME_COMPLETE):`	147	`case (EV_ACQUIRE_FRAME_COMPLETE):`
148	`FrameMgr_dispatchEvent(eventGenerated);`	148	`FrameMgr_dispatchEvent(eventGenerated);`
149	`break;`	149	`break;`
150		150
151	`case (EV_PROCESS_LINE_COMPLETE):`	151	`case (EV_PROCESS_LINE_COMPLETE):`
152	`FrameMgr_dispatchEvent(eventGenerated);`	152	`FrameMgr_dispatchEvent(eventGenerated);`
153	`break;`	153	`break;`
154		154
155	`case (EV_PROCESS_FRAME_COMPLETE):`	155	`case (EV_PROCESS_FRAME_COMPLETE):`
156	`FrameMgr_dispatchEvent(eventGenerated);`	156	`FrameMgr_dispatchEvent(eventGenerated);`
157	`break;`	157	`break;`
158		158
159	`case (EV_SERIAL_DATA_RECEIVED):`	159	`case (EV_SERIAL_DATA_RECEIVED):`
160	`UIMgr_dispatchEvent(eventGenerated);`	160	`UIMgr_dispatchEvent(eventGenerated);`
161	`FrameMgr_dispatchEvent(eventGenerated);`	161	`FrameMgr_dispatchEvent(eventGenerated);`
162	`break;`	162	`break;`
163		163
164	`case (EV_SERIAL_DATA_PENDING_TX):`	164	`case (EV_SERIAL_DATA_PENDING_TX):`
165	`UIMgr_dispatchEvent(eventGenerated);`	165	`UIMgr_dispatchEvent(eventGenerated);`
166	`break;`	166	`break;`
167		167
168	`default:`	168	`default:`
169	`break;`	169	`break;`
170	`}`	170	`}`
171	`}`	171	`}`
172		172
173	`/* toggle the debug line */`	173	`/* toggle the debug line */`
174		174
175	`}`	175	`}`
176	`}`	176	`}`
177		177
178	`/***********************************************************`	178	`/***********************************************************`
179	`Function Name: Exec_readEventFifo`	179	`Function Name: Exec_readEventFifo`
180	`Function Description: This function is responsible for`	180	`Function Description: This function is responsible for`
181	`reading a single event out of the event fifo.`	181	`reading a single event out of the event fifo.`
182	`Inputs: none`	182	`Inputs: none`
183	`Outputs: unsigned char-the data read`	183	`Outputs: unsigned char-the data read`
184	`***********************************************************/`	184	`***********************************************************/`
185	`static unsigned char Exec_readEventFifo(void)`	185	`static unsigned char Exec_readEventFifo(void)`
186	`{`	186	`{`
187	`unsigned char dataByte, tmpTail;`	187	`unsigned char dataByte, tmpTail;`
188		188
189	`DISABLE_INTS();`	189	`DISABLE_INTS();`
190	`/* just return the current tail from the tx fifo */`	190	`/* just return the current tail from the tx fifo */`
191	`dataByte = Exec_eventFifo[Exec_eventFifoTail];`	191	`dataByte = Exec_eventFifo[Exec_eventFifoTail];`
192	`tmpTail = (Exec_eventFifoTail+1) & (EXEC_EVENT_FIFO_MASK);`	192	`tmpTail = (Exec_eventFifoTail+1) & (EXEC_EVENT_FIFO_MASK);`
193	`Exec_eventFifoTail = tmpTail;`	193	`Exec_eventFifoTail = tmpTail;`
194	`ENABLE_INTS();`	194	`ENABLE_INTS();`
195		195
196	`return(dataByte);`	196	`return(dataByte);`
197	`}`	197	`}`
198		198
199	`/***********************************************************`	199	`/***********************************************************`
200	`Function Name: Exec_writeEventFifo`	200	`Function Name: Exec_writeEventFifo`
201	`Function Description: This function is responsible for`	201	`Function Description: This function is responsible for`
202	`writing a single event to the event fifo and`	202	`writing a single event to the event fifo and`
203	`updating the appropriate pointers.`	203	`updating the appropriate pointers.`
204	`Inputs: data - the byte to write to the Fifo`	204	`Inputs: data - the byte to write to the Fifo`
205	`Outputs: none`	205	`Outputs: none`
206	`***********************************************************/`	206	`***********************************************************/`
207	`void Exec_writeEventFifo(unsigned char event)`	207	`void Exec_writeEventFifo(unsigned char event)`
208	`{`	208	`{`
209	`unsigned char tmpHead;`	209	`unsigned char tmpHead;`
210		210
211	`DISABLE_INTS();`	211	`DISABLE_INTS();`
212	`Exec_eventFifo[Exec_eventFifoHead] = event;`	212	`Exec_eventFifo[Exec_eventFifoHead] = event;`
213		213
214	`/* now move the head up */`	214	`/* now move the head up */`
215	`tmpHead = (Exec_eventFifoHead + 1) & (EXEC_EVENT_FIFO_MASK);`	215	`tmpHead = (Exec_eventFifoHead + 1) & (EXEC_EVENT_FIFO_MASK);`
216	`Exec_eventFifoHead = tmpHead;`	216	`Exec_eventFifoHead = tmpHead;`
217	`ENABLE_INTS();`	217	`ENABLE_INTS();`
218	`}`	218	`}`
219		219