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Tool/software: TI-RTOS
Hi,
I am using GP EVM AM572x, TI_RTOS processor_sdk_rtos_am57xx_3_02_00_05, pdk_am57xx_1_0_5, CCSV6.
I am using the UART3 (P10 Serial Debug on board) in call back mode to read no of bytes received.
Sometime it works properly and some time the callback function is not called with JTAG XDS200.
Due to this some time my code works properly and some time not. will you please help me out to resolve this issue.
Thanks and regards,
Anjana Pathak
Hi,
Please fine the attached test code.
/*
* Copyright (C) 2015 Texas Instruments Incorporated - http://www.ti.com/
*
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the
* distribution.
*
* Neither the name of Texas Instruments Incorporated nor the names of
* its contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*/
/* ========================================================================== */
/* Include Files */
/* ========================================================================== */
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <xdc/std.h>
#include <xdc/cfg/global.h>//anjana
#include <xdc/runtime/Error.h>
#include <xdc/runtime/System.h>
#include <xdc/runtime/Types.h>
#include <xdc/runtime/Timestamp.h>
#include <ti/sysbios/BIOS.h>
#include <ti/sysbios/knl/Task.h>
#include <ti/ndk/inc/stkmain.h>
//tagged by anjana
#include <ti/ndk/inc/netmain.h>
#include <ti/sysbios/timers/dmtimer/Timer.h>
#include <ti/drv/emac/emac_drv.h>
#include <ti/drv/emac/src/v4/emac_drv_v4.h>
#include <ti/csl/soc.h>
#include <ti/csl/cslr_device.h>
#include <ti/drv/gpio/GPIO.h>//anjana
#include <ti/drv/gpio/soc/GPIO_soc.h>//anjana
#include <ti/board/board.h>
/* TI-RTOS Header files */
#include <ti/drv/i2c/I2C.h>
#include <ti/drv/i2c/soc/I2C_v1.h>
/* UART Header files */
#include <ti/drv/uart/UART.h>
#include <ti/drv/uart/UART_stdio.h>
#include <ti/drv/uart/src/UART_osal.h>
#include <ti/drv/uart/soc/UART_soc.h>
#include <ti/drv/uart/src/UART_utils_defs.h>
#include <ti/csl/soc/am572x/src/csl_device_xbar.h>
/*GPIO_board.h*/
#include <ti/board/src/evmAM572x/include/board_cfg.h>
#include <ti/csl/soc/am572x/src/cslr_soc_mpu_baseaddress.h>
/* Enable the below macro to have prints on the IO Console */
//#define IO_CONSOLE
#ifndef IO_CONSOLE
#define NIMU_log UART_printf
#else
#define NIMU_log printf
#endif
/* ========================================================================== */
/* Macros */
/* ========================================================================== */
/* LM Board PBx pins which are connected to GPIO pins. */
typedef enum GPIO_PUSHButton {
USER_PB1 = 0,
USER_PB2,
USER_PB3
}GPIO_PUSHButton;
/**Phy address of port 0 */
#define EMAC_CPSW_PORT0_PHY_ADDR_EVM 1
/**Phy address of port 1 */
#define EMAC_CPSW_PORT1_PHY_ADDR_EVM 2
#define MAX_TABLE_ENTRIES 3
//tagged by anjana
#define NMFACTOR 0.08099
#define DEGFACTOR 0.00015
#define PRT 1274 //for 784 prf
#define PI 3.14159265
#define RADIAN 0.0174 //PI/180
#define PIXEL_SCALE 75//450/6Nm//37.5//150//450/3Nm //18.75 as 450/24Nm //4.4118 as 450/102NM
#define UART_INSTANCE 2
#define INPUT_LENGTH (8U)
#define AZMTH_CNT_DEG 11.37 //for 360 deg = 4096 pulses
/* ========================================================================== */
/* Global Variables */
/* ========================================================================== */
/**Task handle for EIP*/
Task_Handle main_task;
static int nimu_device_index = 0U;
NIMU_DEVICE_TABLE_ENTRY NIMUDeviceTable[MAX_TABLE_ENTRIES];
void InitialiseUART_3(void);
extern int CpswEmacInit (STKEVENT_Handle hEvent);
//tagged by anjana
void Init_variables(void);
void TimerInitialization();
void myIsr(UArg arg);
void app_delay(uint32_t delayValue);
void MicroSecDelay( UInt32 uSDelay );
void SendDataToPC();
void PixelCalc();
void CopyfirstPRT();
void Cmp_Copy_FivePRT();
/* Callback function */
void AppGpioCallbackFxn(void);
void AppGpioCallbackFxn_1(void);
void AppGpioCallbackFxn_2(void);
void UART_callback(UART_Handle, void *buf, size_t);
void Read_AzimuthCnt();
extern UART_HwAttrs uartInitCfg[];
extern void UART_putNum_Anjana(int32_t value);
struct sockaddr_in sin1;
//---------------------------------------------------------------------------
// Configuration
//
//char *HostName1 = "tidsp";
volatile uint32_t gpio_intr_triggered = 0,gpio_intr_triggered_1=0;
char HeadingMark=0,prv_HeadingMark=0;
char *LocalIPAddr1 = "192.168.1.2";
char *IPAddr = "192.168.1.144";
unsigned int CountPRT,CountSecond,TCP_TXBuffer,BearingCount;
//float Bearingangle;
char scanPrompt[256] __attribute__ ((aligned (128)));
char scanPrompt_try[4];
/* Length of the input in number of characters */
#define UART_TEST_READ_LEN (8U)
Bool Start_Count,NextData,NextTheta,NextSerialData;
UInt16 NoOfSwipe,NoOfPRT,PrvRow,row,clmn,NoofdataSend,test=2200;
Int16 THIndx_prv,t,target_end,target_start,THIndex;
Bool Start_PRT,Trigger,target_Flag,targetEnd_Flag,RangeEnd_flag,targetStart_Flag,BufferFillFlg,FalledgeFlag,RiseedgeFlag, NextPRTFlg,ThetaFlg,NextTrgtFlg_start,NextTrgtFlg_end;
UInt16 XY_buffer_1[360][1274];
UInt16 XY_buffer_2[1100];
UInt16 XY_OneSwipe_buff[6][13];
SemaphoreP_Handle callbackSem = NULL;
int32_t AzimuthCnt=0;
//int32_t addrScanPrompt;
UART_Handle uart = NULL;
Timer_Handle timerHandle;
float SinTheta[360]={0,0.02,0.03,0.05,0.07,0.09,0.10,0.12,0.14,0.16,0.17,0.19,0.21,0.22,0.24,0.26,0.28,0.29,0.31,0.33,0.34,0.36,0.37,0.39,0.41,
0.42,0.44,0.45,0.47,0.48,0.50,0.52,0.53,0.54,0.56,0.57,0.59,0.60,0.62,0.63,0.64,0.66,0.67,0.68,0.69,0.71,0.72,0.73,0.74,0.75,
0.77,0.78,0.79,0.80,0.81,0.82,0.83,0.84,0.85,0.86,0.87,0.87,0.88,0.89,0.90,0.91,0.91,0.92,0.93,0.93,0.94,0.95,0.95,0.96,0.96,
0.97,0.97,0.97,0.98,0.98,0.98,0.99,0.99,0.99,0.99,1.00,1.00,1.00,1.00,1.00,1.00,1.00,1.00,1.00,1.00,1.00,0.99,0.99,0.99,0.99,
0.98,0.98,0.98,0.97,0.97,0.97,0.96,0.96,0.95,0.95,0.94,0.93,0.93,0.92,0.91,0.91,0.90,0.89,0.88,0.87,0.87,0.86,0.85,0.84,0.83,
0.82,0.81,0.80,0.79,0.78,0.77,0.75,0.74,0.73,0.72,0.71,0.69,0.68,0.67,0.66,0.64,0.63,0.62,0.60,0.59,0.57,0.56,0.54,0.53,0.52,
0.50,0.48,0.47,0.45,0.44,0.42,0.41,0.39,0.37,0.36,0.34,0.33,0.31,0.29,0.28,0.26,0.24,0.22,0.21,0.19,0.17,0.16,0.14,0.12,0.10,
0.09,0.07,0.05,0.03,0.02,0.00,-0.02,-0.03,-0.05,-0.07,-0.09,-0.10,-0.12,-0.14,-0.16,-0.17,-0.19,-0.21,-0.22,-0.24,-0.26,-0.28,
-0.29,-0.31,-0.33,-0.34,-0.36,-0.37,-0.39,-0.41,-0.42,-0.44,-0.45,-0.47,-0.48,-0.50,-0.52,-0.53,-0.54,-0.56,-0.57,-0.59,-0.60,
-0.62,-0.63,-0.64,-0.66,-0.67,-0.68,-0.69,-0.71,-0.72,-0.73,-0.74,-0.75,-0.77,-0.78,-0.79,-0.80,-0.81,-0.82,-0.83,-0.84,-0.85,
-0.86,-0.87,-0.87,-0.88,-0.89,-0.90,-0.91,-0.91,-0.92,-0.93,-0.93,-0.94,-0.95,-0.95,-0.96,-0.96,-0.97,-0.97,-0.97,-0.98,-0.98,
-0.98,-0.99,-0.99,-0.99,-0.99,-1.00,-1.00,-1.00,-1.00,-1.00,-1.00,-1.00,-1.00,-1.00,-1.00,-1.00,-0.99,-0.99,-0.99,-0.99,-0.98,
-0.98,-0.98,-0.97,-0.97,-0.97,-0.96,-0.96,-0.95,-0.95,-0.94,-0.93,-0.93,-0.92,-0.91,-0.91,-0.90,-0.89,-0.88,-0.87,-0.87,-0.86,
-0.85,-0.84,-0.83,-0.82,-0.81,-0.80,-0.79,-0.78,-0.77,-0.75,-0.74,-0.73,-0.72,-0.71,-0.69,-0.68,-0.67,-0.66,-0.64,-0.63,-0.62,
-0.60,-0.59,-0.57,-0.56,-0.54,-0.53,-0.52,-0.50,-0.48,-0.47,-0.45,-0.44,-0.42,-0.41,-0.39,-0.37,-0.36,-0.34,-0.33,-0.31,-0.29,
-0.28,-0.26,-0.24,-0.22,-0.21,-0.19,-0.17,-0.16,-0.14,-0.12,-0.10,-0.09,-0.07,-0.05,-0.03,-0.02};
float CosTheta[360]={1.00,1.00,1.00,1.00,1.00,1.00,0.99,0.99,0.99,0.99,0.98,0.98,0.98,0.97,0.97,0.97,0.96,0.96,0.95,0.95,0.94,0.93,0.93,0.92,0.91,
0.91,0.90,0.89,0.88,0.87,0.87,0.86,0.85,0.84,0.83,0.82,0.81,0.80,0.79,0.78,0.77,0.75,0.74,0.73,0.72,0.71,0.69,0.68,0.67,0.66,
0.64,0.63,0.62,0.60,0.59,0.57,0.56,0.54,0.53,0.52,0.50,0.48,0.47,0.45,0.44,0.42,0.41,0.39,0.37,0.36,0.34,0.33,0.31,0.29,0.28,
0.26,0.24,0.22,0.21,0.19,0.17,0.16,0.14,0.12,0.10,0.09,0.07,0.05,0.03,0.02,0.00,-0.02,-0.03,-0.05,-0.07,-0.09,-0.10,-0.12,-0.14,
-0.16,-0.17,-0.19,-0.21,-0.22,-0.24,-0.26,-0.28,-0.29,-0.31,-0.33,-0.34,-0.36,-0.37,-0.39,-0.41,-0.42,-0.44,-0.45,-0.47,-0.48,
-0.50,-0.52,-0.53,-0.54,-0.56,-0.57,-0.59,-0.60,-0.62,-0.63,-0.64,-0.66,-0.67,-0.68,-0.69,-0.71,-0.72,-0.73,-0.74,-0.75,-0.77,
-0.78,-0.79,-0.80,-0.81,-0.82,-0.83,-0.84,-0.85,-0.86,-0.87,-0.87,-0.88,-0.89,-0.90,-0.91,-0.91,-0.92,-0.93,-0.93,-0.94,-0.95,
-0.95,-0.96,-0.96,-0.97,-0.97,-0.97,-0.98,-0.98,-0.98,-0.99,-0.99,-0.99,-0.99,-1.00,-1.00,-1.00,-1.00,-1.00,-1.00,-1.00,-1.00,
-1.00,-1.00,-1.00,-0.99,-0.99,-0.99,-0.99,-0.98,-0.98,-0.98,-0.97,-0.97,-0.97,-0.96,-0.96,-0.95,-0.95,-0.94,-0.93,-0.93,-0.92,
-0.91,-0.91,-0.90,-0.89,-0.88,-0.87,-0.87,-0.86,-0.85,-0.84,-0.83,-0.82,-0.81,-0.80,-0.79,-0.78,-0.77,-0.75,-0.74,-0.73,-0.72,
-0.71,-0.69,-0.68,-0.67,-0.66,-0.64,-0.63,-0.62,-0.60,-0.59,-0.57,-0.56,-0.54,-0.53,-0.52,-0.50,-0.48,-0.47,-0.45,-0.44,-0.42,
-0.41,-0.39,-0.37,-0.36,-0.34,-0.33,-0.31,-0.29,-0.28,-0.26,-0.24,-0.22,-0.21,-0.19,-0.17,-0.16,-0.14,-0.12,-0.10,-0.09,-0.07,
-0.05,-0.03,-0.02,0.00,0.02,0.03,0.05,0.07,0.09,0.10,0.12,0.14,0.16,0.17,0.19,0.21,0.22,0.24,0.26,0.28,0.29,0.31,0.33,0.34,0.36,
0.37,0.39,0.41,0.42,0.44,0.45,0.47,0.48,0.50,0.52,0.53,0.54,0.56,0.57,0.59,0.60,0.62,0.63,0.64,0.66,0.67,0.68,0.69,0.71,0.72,0.73,
0.74,0.75,0.77,0.78,0.79,0.80,0.81,0.82,0.83,0.84,0.85,0.86,0.87,0.87,0.88,0.89,0.90,0.91,0.91,0.92,0.93,0.93,0.94,0.95,0.95,0.96,
0.96,0.97,0.97,0.97,0.98,0.98,0.98,0.99,0.99,0.99,0.99,1.00,1.00,1.00,1.00,1.00};
/* ========================================================================== */
/* Function Definitions */
/* ========================================================================== */
/**
* \name main
* \brief Main Function
* \param none
* \return none
*
*/
int main()
{
/* Call board init functions */
Board_initCfg boardCfg;
Task_Params taskParams;
EMAC_HwAttrs_V4 cfg;
boardCfg = BOARD_INIT_PINMUX_CONFIG |
BOARD_INIT_MODULE_CLOCK | BOARD_INIT_UART_STDIO;
Board_init(boardCfg);
CSL_xbarMpuIrqConfigure(CSL_XBAR_INST_MPU_IRQ_92, CSL_XBAR_GMAC_SW_IRQ_RX_PULSE);
CSL_xbarMpuIrqConfigure(CSL_XBAR_INST_MPU_IRQ_93, CSL_XBAR_GMAC_SW_IRQ_TX_PULSE);
/* Select RGMII 2 ports GMIIx_SEL = 2 for RGMII*/
CSL_FINS (((CSL_control_coreRegs *) CSL_MPU_CTRL_MODULE_CORE_CORE_REGISTERS_REGS)->CONTROL_IO_1,
CONTROL_CORE_CONTROL_IO_1_GMII1_SEL, 2U);
CSL_FINS (((CSL_control_coreRegs *) CSL_MPU_CTRL_MODULE_CORE_CORE_REGISTERS_REGS)->CONTROL_IO_1,
CONTROL_CORE_CONTROL_IO_1_GMII2_SEL, 2U);
/*GMAC RESET ISOLATION Enable*/
CSL_FINS (((CSL_control_coreRegs *) CSL_MPU_CTRL_MODULE_CORE_CORE_REGISTERS_REGS)->CONTROL_IO_2,
CONTROL_CORE_CONTROL_IO_2_GMAC_RESET_ISOLATION_ENABLE, 0U);
CSL_FINS (((CSL_control_coreRegs *) CSL_MPU_CTRL_MODULE_CORE_CORE_REGISTERS_REGS)->CONTROL_IO_2,
CONTROL_CORE_CONTROL_IO_2_GMAC_RESET_ISOLATION_ENABLE, 1U);
EMAC_socGetInitCfg(0, &cfg);
cfg.port[0].phy_addr = EMAC_CPSW_PORT0_PHY_ADDR_EVM;
cfg.port[1].phy_addr = EMAC_CPSW_PORT1_PHY_ADDR_EVM;
EMAC_socSetInitCfg(0, &cfg);
NIMUDeviceTable[nimu_device_index++].init = &CpswEmacInit ;
NIMUDeviceTable[nimu_device_index].init = NULL ;
//UART_stdioDeInit();
Init_variables();
TimerInitialization();
/***********************/
GPIO_init();
/* Set the callback function */
GPIO_setCallback(USER_PB1, AppGpioCallbackFxn);
GPIO_setCallback(USER_PB2, AppGpioCallbackFxn_1);
GPIO_setCallback(USER_PB3, AppGpioCallbackFxn_2);
/******************************/
/*Task_Params_init(&taskParams);
taskParams.priority = 1;
taskParams.stackSize = 0x1400;
main_task = Task_create (TaskFxn, &taskParams, NULL);*/
//Tagged by anjana
/* Task_Params_init(&taskParams);
taskParams.priority = 5;
taskParams.stackSize = 0x1400;
main_task = Task_create (PixelCalc, &taskParams, NULL);*/
Task_Params_init(&taskParams);
taskParams.priority = 1;//4;
taskParams.stackSize = 0x1400;
main_task = Task_create (SendDataToPC, &taskParams, NULL);
BIOS_start();
return -1;
}
void Init_variables(void)
{
//TCP_TXBuffer=0,
THIndx_prv=0;
NextData=0;
NextSerialData=0;
NextTheta=0;
Start_Count=0;
CountPRT=0;
CountSecond=0;
BearingCount=0;
// Bearingangle=0;
row=0;
PrvRow=0;
NoofdataSend=0;
clmn =0;
NoOfPRT=0;
NoOfSwipe=0;
BufferFillFlg =0;
NextPRTFlg=0;
ThetaFlg=0;
NextTrgtFlg_start=0;
target_Flag=0;
targetEnd_Flag=0;
RangeEnd_flag=0;
targetStart_Flag=0;
target_start=0;
target_end=0;
Trigger=0;
Start_PRT=0;
FalledgeFlag=0;
RiseedgeFlag=0;
AzimuthCnt=0;
memset(scanPrompt, 0, sizeof(scanPrompt));
}
/*initialization for 1 microsecond timer*/
void TimerInitialization()
{
Timer_Params timerParams;
Timer_Handle myTimer;
Error_Block eb;
Error_init(&eb);
Timer_Params_init(&timerParams);
timerParams.period = 1;
timerParams.periodType = Timer_PeriodType_MICROSECS;
timerParams.arg = 1;
timerParams.startMode = Timer_StartMode_AUTO;
myTimer = Timer_create(Timer_ANY, myIsr, &timerParams, &eb);
if (myTimer == NULL) {
System_abort("Timer create failed");
}
}
void myIsr(UArg arg)
{
if(Start_Count)
{
CountPRT++;
/* BearingCount++;
if(BearingCount==518)
{
Bearingangle=Bearingangle+1;
if(Bearingangle>=4096)
{
Bearingangle=0;
NoOfPRT=0;
//THIndx_prv=0;
NoOfSwipe++;
}
BearingCount=0;
}*/
//if(CountSecond<2342857)
{
CountSecond++;
}
/*else
{CountSecond=0;}*/
}
//System_exit(0);
}
void InitialiseUART_3()
{
int32_t addrScanPrompt;//,byterd;
//char HeadingMark_1, prv_HeadingMark_1;
//UART_Handle uart = NULL;
UART_Params uartParams;
/* UART SoC init configuration */
UART_HwAttrs uart_cfg;
SemaphoreP_Params semParams;
UART_init();
/***************************************UART_In_Callback();***************/
/* Create call back semaphore */
UART_osalSemParamsInit(&semParams);
semParams.mode = SemaphoreP_Mode_BINARY;
callbackSem = UART_osalCreateBlockingLock(0, &semParams);
/* Get the default UART init configurations */
UART_socGetInitCfg(UART_INSTANCE, &uart_cfg);
uart_cfg.edmaHandle = NULL;
uart_cfg.dmaMode = FALSE;
uart_cfg.loopback = FALSE;
UART_socSetInitCfg(UART_INSTANCE, &uart_cfg);
/* Set callback mode for read */
UART_Params_init(&uartParams);
uartParams.baudRate = 76800;
uartParams.parityType= UART_PAR_EVEN;
uartParams.readCallback = UART_callback;
uartParams.readMode = UART_MODE_CALLBACK;
//uartParams.readDataMode = UART_DATA_BINARY;
/*uartParams.writeCallback = NULL;
uartParams.writeMode = UART_MODE_CALLBACK;*/
uart = UART_open(UART_INSTANCE, &uartParams);
if (uart == NULL)
{
// goto Err;
}
/*************************************************************************/
addrScanPrompt= (int32_t)scanPrompt;
if(UART_read(uart, (void *)addrScanPrompt,INPUT_LENGTH)==UART_ERROR)
{
//goto Err;
}
}
void UART_putNum_Anjana(int32_t value)
{
char num[10] = {0};
uint32_t quotient = 0;
uint32_t dividend = 0;
uint32_t mod_val = 0;
int32_t i,count = 0;
/* if (value < 0)
{
UART_putc(((uint8_t)('-')));*/
/*
** Making the negative number as positive.
** This is done to simplify further processing and printing.
*/
/*value = -value;
}*/
dividend = (uint32_t)value;
do
{
quotient = dividend / 10U;
mod_val = dividend % 10U;
num[count] = (char) (mod_val);
if (0U == quotient)
{
break;
}
count++;
dividend = quotient;
} while (count < 10);
/* Avoid warning for overflow. Can't actually happen since 10 digits
* is sufficent to print any 32-bit number */
if(count == 10)
{
count--;
}
for(i=0;i<=count;i++)
{
scanPrompt[i]=(uint8_t)num[count-i] + (uint8_t)0x30U;
}
}
void Read_AzimuthCnt()
{
int32_t addrScanPrompt_1;
char HeadingMark_1, prv_HeadingMark_1;
if(NextSerialData)
{
NextSerialData=0;
HeadingMark=scanPrompt[0];
memset(scanPrompt, 0, sizeof(scanPrompt));
addrScanPrompt_1= (int32_t)scanPrompt;
UART_read(uart, (void *)addrScanPrompt_1,INPUT_LENGTH);
//UART_osalPendLock(callbackSem, SemaphoreP_WAIT_FOREVER);
HeadingMark_1=HeadingMark & 0x80;
prv_HeadingMark_1=prv_HeadingMark & 0x80;
if(HeadingMark_1 != prv_HeadingMark_1)
{
AzimuthCnt=0;
NoOfPRT=0;
NoOfSwipe++;
}
else if(AzimuthCnt>=4096)
{
AzimuthCnt=0;
NoOfPRT=0;
}
prv_HeadingMark=HeadingMark;
}
}
void PixelCalc()
{
Int16 Pixel_X,Pixel_Y;
float RangeInNM,Theta;
if(NoOfPRT<1800)
{
if(target_Flag)
{
target_Flag=0;
}
}
}
void Cmp_Copy_FivePRT()
{
int R,C,count,index=0;
for(C=0;C<NoofdataSend;C++)
{
for(R=0;R<4;R++)
{
if(XY_buffer_1[R][C]== XY_buffer_1[R+1][C])
{count++;}
else
{count--;}
}
if(count>2)
{
XY_buffer_2[index]=XY_buffer_1[R][C];
index++;
}
count=0;
}
NoofdataSend=index;
}
void CopyfirstPRT()
{
UInt16 C;
for(C=0;C<NoofdataSend;C++)
{
XY_buffer_2[C]=XY_buffer_1[0][C];
}
}
void SendDataToPC()
{
SOCKET s = INVALID_SOCKET;
struct sockaddr_in sin1;
int K,I,respose,NoOfBytes;
UInt16 *pBuf = 0;
struct timeval timeout;
// Allocate the file descriptor environment for this Task
fdOpenSession( (HANDLE)Task_self() );
NIMU_log("\n== Start TCP Client Test ==\n");
// Create test socket
// s = socket(AF_INET, SOCK_STREAM, IPPROTO_TCP);
s = socket(AF_INET, SOCK_STREAM, 0);
if( s == INVALID_SOCKET )
{
NIMU_log("failed socket create (%d)\n",fdError());
goto leave;
}
// Prepare address for connect
bzero( &sin1, sizeof(struct sockaddr_in) );
sin1.sin_family = AF_INET;
sin1.sin_addr.s_addr = inet_addr(IPAddr);//inet_addr(SERVER_IP);//htonl(-1);
sin1.sin_port = htons(5060);//htons(9000);
// Configure our Tx and Rx timeout to be 5 seconds For TCPIP
timeout.tv_sec = 5;
timeout.tv_usec = 0;
if(setsockopt( s, SOL_SOCKET, SO_SNDTIMEO, &timeout, sizeof( timeout ) ) < 0 )
{
NIMU_log("failed Socket opt(%d)\n",fdError());
goto leave;
}
else
{NIMU_log("Socket opt succesful\n");}
//setsockopt( s, SOL_SOCKET, SO_RCVTIMEO, &timeout, sizeof( timeout ) );
// Connect socket
if( connect( s, (PSA) &sin1, sizeof(sin1) ) < 0 )
{
NIMU_log("failed connect (%d)\n",fdError());
goto leave;
}
// Allocate a working buffer
if( !(pBuf = malloc( test )) )
{
NIMU_log("failed temp buffer allocation\n");
goto leave;
}
//Task_sleep(50);
// Fill buffer with a test pattern
K=0;
NIMU_log("Start Send\n");
UART_stdioDeInit();
InitialiseUART_3();
Task_sleep(10);
Start_PRT=1;
NoOfPRT=0;
GPIO_enableInt(USER_PB1);
GPIO_enableInt(USER_PB2);
GPIO_enableInt(USER_PB3);
while(NoOfSwipe<10)
{
if(Start_Count==1)
{
if(NoOfPRT<1800)
{
Read_AzimuthCnt();
PixelCalc ();
if(BufferFillFlg==1)
{
BufferFillFlg=0;
//for(K=0;K<THIndex;K++)
//{
for(I=0; I<NoofdataSend; I++)
{
*(pBuf+I) =XY_buffer_2[I];//XY_buffer_1[0][I];
//XY_OneSwipe_buff[NoOfSwipe][I]=XY_buffer_2[I];
}
//}
NoOfBytes = NoofdataSend*2;
//row=0;
/*I=50;
*(pBuf+I)='\n';*/
//respose=send( s, pBuf, NoOfBytes, 0 );
respose=send( s, &XY_buffer_2, NoOfBytes, 0 );
}
else
{
NoOfPRT=0;
//NoOfSwipe++;
}
}
}
}
row=0;
// NIMU_log("Second1:%d\n",CountSecond);
// NIMU_log("Total PRT= %d\n",K);
leave:
if( pBuf )
free( pBuf );
if( s != INVALID_SOCKET )
fdClose( s );
//NIMU_log("Second2:%d\n",CountSecond);
//NIMU_log("== End TCP Client Test ==\n\n");
// Free the file descriptor environment for this Task
fdCloseSession( (HANDLE)Task_self() );
Task_exit();
}
/*
* ======== Callback function ========
*/
void AppGpioCallbackFxn(void)
{
//gpio_intr_triggered = 1;
if((CountPRT<70)&&(Trigger==1))
{
target_Flag=1;
targetStart_Flag=1;
target_start=CountPRT;
}
else if(Trigger==1)
{Trigger=0;
//target_Flag=0;
//targetEnd_Flag=0;
RangeEnd_flag=1;
target_end=CountPRT;}
}
void AppGpioCallbackFxn_1(void)
{
if(targetStart_Flag==1)
{
targetStart_Flag=0;
targetEnd_Flag=1;
target_end=CountPRT;
//target_Flag=0;
}
}
void AppGpioCallbackFxn_2(void)
{
if(Start_PRT==1)
{
Start_Count=1;
Start_PRT=0;
}
if(Start_Count==1)
{
Trigger=1;
//BufferFillFlg =0;
NextData=1;
//targetEnd_Flag=0;
CountPRT=0;
NoOfPRT++;
ThetaFlg=0;
}
}
void UART_callback(UART_Handle handle, void *buf, size_t count)
{
AzimuthCnt=AzimuthCnt+count;
NextSerialData=1;
//memset(buf,0,INPUT_LENGTH);
//UART_osalPostLock(callbackSem);
}
/******************************/
void app_delay(uint32_t delayValue)
{
volatile uint32_t delay = delayValue*10;
while (delay--);
}