4. Main program and cumulative interrupt processing routine implementation code

\qquad Here is HD-GR GNSS Implementation code of main program and cumulative interrupt processing routine of navigation software ：

// agrs_gp_1_ucos.c -- Setup and mainline for HD-GR GNSS, including the main 
// program and the accumulation interrupt routine 
// accum_int_handler(…).

/* * Copyright (C) 2005 Andrew Greenberg * Distributed under the GNU GENERAL PUBLIC LICENSE (GPL) Version 2 (June 1991). * See the "COPYING" file distributed with this software for more information. */

/* Namuru GPS receiver project * Original : gpl-gps.c * Modes : GP4020 HW I/O handling commented/replaced * version : V1.0 * date : 21st/Dec/2006 */

/* Namuru GPS receiver project * Original : interrupts.c * Modes : driving LED part has replaced for Namuru HW * version : V1.0 * date : 21st/Dec/2006 */

/* * HD-GR GNSS receiver project * Modes : Inherited the code of gpl-gps.c and interrupts.c in the Namuru * GPS receiver project V1.0, and made necessary adjustments to * adapt to the new HW, RTOS. * version : V1.0 * date : xx/xx/2015 */

#include <io.h>
#include <stdio.h>
#include <string.h>
#include <math.h>
#include "includes.h"
#include "system.h"
#include "altera_avalon_pio_regs.h"
#include "alt_types.h"
#include "sys/alt_irq.h"
#include "main_accum_task.h"
#include "main_allocate.h"
#include "main_message.h"
#include "main_measure.h"
#include "main_pseudorange.h"
#include "main_position.h"
#include "main_ephemeris.h"
#include "spi_max2769.h"
#include "rtc.h"
#include "display.h"

#define TASK_STACKSIZE 1024
OS_STK accum_task_stk[TASK_STACKSIZE] __attribute__ ((section(".isrdata.rwdata")));
OS_STK meas_task_stk[TASK_STACKSIZE];
OS_STK messa_task_stk[TASK_STACKSIZE] __attribute__ ((section(".isrdata.rwdata")));
OS_STK ephem_task_stk[TASK_STACKSIZE];
OS_STK posit_task_stk[TASK_STACKSIZE];
OS_STK disp_task_stk[TASK_STACKSIZE];
OS_STK alloc_task_stk[TASK_STACKSIZE];
// OS_STK rs232_task_stk[TASK_STACKSIZE];

OS_EVENT *m_SemISR __attribute__ ((section(".isrdata.rwdata")));

static void accum_int_handler(void *context) __attribute__ ((section(".isrcode.txt")));

//
// DISP
//

/* void rs232_task(void *pdata) { int n, ch; char cmd[81]; while (1) { n = scanf("%s %d", cmd, &ch); if (n >= 2) { // if (strcmpi(cmd, "DEL") == 0 && ch >= 0 && ch < MAX_CHANNELS) { // m_CH[ch].state = CHANNEL_OFF; // } } OSTimeDlyHMSM(0, 0, 1, 0); } } */

static void accum_int_handler(void *context)
{
    
	OSIntEnter();

	// Read STATUS register to clear interrupt flag
	m_status = (unsigned short)read_from_correlator(STATUS);

	OSIntExit();

	OSSemPost(m_SemISR);
}

//
// MAIN
//
int main(void)
{
    
	// printf("Hello HD-GR GNSS :)\r\n");
	spi_max2769_2_init();
	spi_max2769_2_setup();

	m_rtc_inited = (ds32x35_get_time(0) > 0) ? 1:-1;
	cycgps_init_backup();

	// Reset baseband processor
	write_to_correlator(RESET, 0);

	// Set PROG_PPS_DIV counter for 1ms: (16.368MHz*6)*1000us-1 = 98207
	write_to_correlator(PROG_PPS_DIV, VALUE_PPS_DIV);

	// Set ACCUM_INT for 500us: (16.368MHz*6)*500us-1 = 49103,
	// (16.368MHz*6)*800us-1 = 78565,
	write_to_correlator(PROG_ACCUM_INT, VALUE_ACCUM_INT);

	// Set PROG_TIC counter for 0.1s: (16.368MHz*6)*0.1s-1=9820799
	write_to_correlator(PROG_TIC_DIV, VALUE_TIC_DIV);

	// Reset baseband processor
	write_to_correlator(RESET, 0);

	// These have been moved from the bottom of the file to fix an initialization issue
	initialize_ephetable();
	initialize_tracking();
	initialize_measurements();
	initialize_allocation();

	// Create uC/OS-II tasks
	OSTaskCreateExt(accum_task,
	                 NULL,
	                 (void *)&accum_task_stk[TASK_STACKSIZE-1],
	                 ACCUM_TASK_PRIORITY,
	                 ACCUM_TASK_PRIORITY,
	                 accum_task_stk,
	                 TASK_STACKSIZE,
	                 NULL,
	                 0);

	OSTaskCreateExt(meas_task,
	                 NULL,
	                 (void *)&meas_task_stk[TASK_STACKSIZE-1],
	                 MEAS_TASK_PRIORITY,
	                 MEAS_TASK_PRIORITY,
	                 meas_task_stk,
	                 TASK_STACKSIZE,
	                 NULL,
	                 0);

	OSTaskCreateExt(message_task,
	                 NULL,
	                 (void *)&messa_task_stk[TASK_STACKSIZE-1],
	                 MESSA_TASK_PRIORITY,
	                 MESSA_TASK_PRIORITY,
	                 messa_task_stk,
	                 TASK_STACKSIZE,
	                 NULL,
	                 0);

	OSTaskCreateExt(ephemeris_task,
	                 NULL,
	                 (void *)&ephem_task_stk[TASK_STACKSIZE-1],
	                 EPHEM_TASK_PRIORITY,
	                 EPHEM_TASK_PRIORITY,
	                 ephem_task_stk,
	                 TASK_STACKSIZE,
	                 NULL,
	                 0);

	OSTaskCreateExt(position_task,
	                 NULL,
	                 (void *)&posit_task_stk[TASK_STACKSIZE-1],
	                 POSIT_TASK_PRIORITY,
	                 POSIT_TASK_PRIORITY,
	                 posit_task_stk,
	                 TASK_STACKSIZE,
	                 NULL,
	                 0);

	OSTaskCreateExt(allocate_task,
	                 NULL,
	                 (void *)&alloc_task_stk[TASK_STACKSIZE-1],
	                 ALLOC_TASK_PRIORITY,
	                 ALLOC_TASK_PRIORITY,
	                 alloc_task_stk,
	                 TASK_STACKSIZE,
	                 NULL,
	                 0);

	OSTaskCreateExt(disp_task,
	                 NULL,
	                 (void *)&disp_task_stk[TASK_STACKSIZE-1],
	                 DISP_TASK_PRIORITY,
	                 DISP_TASK_PRIORITY,
	                 disp_task_stk,
	                 TASK_STACKSIZE,
	                 NULL,
	                 0);

/* OSTaskCreateExt(rs232_task, NULL, (void *)&rs232_task_stk[TASK_STACKSIZE-1], RS232_TASK_PRIORITY, RS232_TASK_PRIORITY, rs232_task_stk, TASK_STACKSIZE, NULL, 0); */

	// Register ISR handler
	alt_ic_isr_register(
			GNSS_BDMOD_IRQ_INTERRUPT_CONTROLLER_ID,
			GNSS_BDMOD_IRQ,
			accum_int_handler,
			//(void*)&m_status,
			NULL,
			0x0);

	// Create semaphores
	m_SemISR = OSSemCreate(0);

	// Start uC/OS-II real time kernel
	OSStart();

	return 0;
}