#include #include #include #include #include #include #include #include #include #include #include #include #include #define $\_\_$MSP$432$P$4$XX$\_\_$ #include #define TASKSTACKSIZE $2048$ Void clockHandler$1($UArg arg$)$; Void task$1($UArg arg$0,$ UArg arg$1)$; Void task$2($UArg arg$0,$ UArg arg$1)$; Void task$3($UArg arg$0,$ UArg arg$1)$; $//$ New task for temperature sampling Task$\_$Struct task$1$Struct, task$2$Struct, task$3$Struct; $//$ Task structures Char task$1$Stack$[$TASKSTACKSIZE$],$ task$2$Stack$[$TASKSTACKSIZE$],$ task$3$Stack$[$TASKSTACKSIZE$]$; $//$ Task stacks Semaphore$\_$Struct semaStruct; Semaphore$\_$Handle semaphoreHandle $=$ NULL; int main$()\{//$ Init drivers Board$\_$init$()$; srand$($time$($NULL$))$; Task$\_$Params taskParams; Task$\_$Params$\_$init$($&taskParams$)$; taskParams.stackSize $=$ TASKSTACKSIZE; $//$ Task $1$ taskParams.stack $=$ &task$1$Stack; Task$\_$construct$($&task$1$Struct, $($Task$\_$FuncPtr$)$task$1,$ &taskParams, NULL$)$; $//$ Task $2$ taskParams.stack $=$ &task$2$Stack; Task$\_$construct$($&task$2$Struct, $($Task$\_$FuncPtr$)$task$2,$ &taskParams, NULL$)$; $//$ Task $3$ for temperature sampling taskParams.stack $=$ &task$3$Stack; Task$\_$construct$($&task$3$Struct, $($Task$\_$FuncPtr$)$task$3,$ &taskParams, NULL$)$; $//$ Construct a semaphore object Semaphore$\_$Params semaParams; Semaphore$\_$Params$\_$init$($&semaParams$)$; Semaphore$\_$construct$($&semaStruct, $0,$ &semaParams$)$; semaphoreHandle $=$ Semaphore$\_$handle$($&semaStruct$)$; Clock$\_$Params clockParams; Clock$\_$Handle myClk$0$; Clock$\_$Params$\_$init$($&clockParams$)$; clockParams.period $=10$; clockParams.startFlag $=$ TRUE; $//$ Start immediately myClk$0=$ Clock$\_$create$(($Clock$\_$FuncPtr$)$clockHandler$1,1,$ &clockParams, NULL$)$; $//2$nd argument must be greater than $0$ if $($myClk$0==$ NULL$)$ System$\_$abort$("$Clock$0$ create failed"$)$; BIOS$\_$start$()$; $//$ Jump to the OS and won't return return$(0)$; $\}$ Void task$1($UArg arg$0,$ UArg arg$1)//$ Task $1\{$ while$(1)\{$ printf$("$Task $1")$; Semaphore$\_$post$($semaphoreHandle$)$; $//$ Signal semaphore Task$\_$sleep$(1000)$; $//$ Delay for $1$ second $\}\}$ Void task$2($UArg arg$0,$ UArg arg$1)//$ Task $2\{$ printf$("$Task $2")$; MAP$\_$GPIO$\_$setAsOutputPin$($GPIO$\_$PORT$\_$P$1,$ GPIO$\_$PIN$0)$; MAP$\_$GPIO$\_$setOutputLowOnPin$($GPIO$\_$PORT$\_$P$1,$ GPIO$\_$PIN$0)$; while$(1)\{$ Semaphore$\_$pend$($semaphoreHandle$,$ BIOS$\_$WAIT$\_$FOREVER$)$; $//$ Wait for semaphore signal MAP$\_$GPIO$\_$toggleOutputOnPin$($GPIO$\_$PORT$\_$P$1,$ GPIO$\_$PIN$0)$; $//$ Toggle LED $\}\}$ Void task$3($UArg arg$0,$ UArg arg$1)//$ Task $3$ for temperature sampling $\{$ while $(1)\{/*$ Trigger ADC conversion $*/$ ADC$14\_$toggleConversionTrigger$($ADC$\_$TRIGGER$\_$MANUAL$)$; $/*$ Wait for conversion to complete $*/$ while $($ADC$14\_$isBusy$())\{\}/*$ Get temperature reading $*/$ uint$32\_$t adcValue $=$ ADC$14\_$getResult$($ADC$\_$MEM$0)$; double temperature $=($adcValue $*3\mathrm{.}3)/16384*100$; $//$ Assuming $3\mathrm{.}3$V reference and $14-$bit resolution $/*$ Send temperature reading to terminal $*/$ printf$("$T$\%\mathrm{.}1$f $",$ temperature$)$; $/*$ Wait for next sampling period $*/$ Task$\_$sleep$(5000)$; $//$ Sampling period of $5000$ ms $\}\}$ Void clockHandler$1($UArg arg$)\{$ Task$\_$yield$()$; $//$ To force a task switch if needed $\}$