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Complete listing of DMC Code (C Version):


#include "comatos8515.c" 
#include <stdio.h> 

#define begin {
   #define end } 

//task repetition times
   #define t0 30

   //initial task state variables
   #define NoPush 0
   #define MaybePush 1
   #define Pushed 2
   #define DebouncePress 3 
   #define Waiting 4 
   #define Done 10

#define error 5
   #define StillPressed 6 
 

#define MeasurePrep 7
   #define MeasureStart 8
   #define MeasureDone 9

//Comatos constants
   //Turn off debugger
   #define NODebug 0 
   #define OSDebug 1
   //Any task longer than 10 mS is an error 
   #define OSTimeOut 30
   //mask to define that a task does not listen to messages 
   #define NoMessage 0xff
   //mask to define that a task is not time-scheduled 
   #define NoTime 0
   #define CapISR 0x03; //task ID for ISR
   char KbdTask(void); 
   char MeasureTask(void); 
   char DisplayTask(void); 

   unsigned char led;
   char temp;
   interrupt [TIM1_CAPT] void T1CapISR(void) 
   {
   ISRSendMess(1, 3, 0x01); 
   
   } 

void main(void)
   begin
   DDRB = 0b11110011; //make most pins output except comparator 
   PORTB = 0x00; //discharge capacitor
   DDRD = 0x00; 
   
   TIMSK=TIMSK | 0x08; //only use input capture interrupt
   TCCR1B = 0; 
   TCNT1 = 0; //and zero the timer 
   
   ACSR = 0x07; //Interrupt enable, rising edge, input capture
   //Set up OS constants
   OSInit(OSTimeOut, OSDebug); 
   
   
   //Define the tasks to the OS
   OSCreateTask(KbdTask, t0, NoMessage, NoPush); 
   OSCreateTask(MeasureTask, 0, 0x01, MeasurePrep); //waiting for KbdTask
   OSCreateTask(DisplayTask, 0, 0x02, 0); //waiting for MeasureTask
   
   //Start the system
   OSStart(); //never returns
   end 

//blink LED 0
   char KbdTask(void) //debounce state machine
   begin 
   char pong[]="pong";
   if(OSGetState()==NoPush)
   { // OSUARTTransmitBytes(pong,4); 
   if(~PIND==0x01)
   {
   OSSendMess(0, StillPressed);
   OSSetState(MaybePush); 
   
   }
   else OSSetState(NoPush);
   
   } 
   if(OSGetState()==MaybePush) { 
   
   if(~PIND==0x01 && OSGetMess(0)==StillPressed)
   OSSetState(MaybePush); 
   else 
   {
   OSSendMess(0,error);
   OSSetState(NoPush); 
   
   }
   }
   if(OSGetState()==Pushed)
   {
   if(~PIND==0x01 && OSGetMess(0)==StillPressed)
   OSSetState(Pushed);
   else 
   OSSetState(DebouncePress);
   
   }
   if(OSGetState()==DebouncePress)
   {
   OSSendMess(1,1); 
   
   OSSetState(Waiting);
   OSSendMess(0,error);
   } 
   if(OSGetState()==Waiting && OSGetAck()==0x04)
   {
   OSSetState(NoPush); 
   //OSSetState(Done);
   } 
   
   return 0; 
   end 

//blink LED 1
   char MeasureTask(void)
   begin 
   
   
   if(OSGetState()==MeasurePrep)
   { 
   
   if((OSGetMessSrc & 0x01) !=0x01) 
   return 1; //halt if the message isn'tfrom keyboard
   else //discharge capacitor
   { 
   
   DDRB = 0b11110111; //set PIN2 output
   PORTB = 0x00; //pull-down to discharge capacitor 
   OSSetTimeout(25); //wait 25 ms before we start
   OSSetState(MeasureStart);
   return 0;
   }
   } 
   
   if(OSGetState()==MeasureStart)
   {
   DDRB = 0b11110011; //set PIN2 input again
   TCNT1 = 0; //clear timer
   PORTB.0 = 1; //raise Vcc to start charging 
   TCCR1B = 0b01000011; //capture on rising edge, 64x clock div. 
   OSSetMessMask(0x08); //wait for on the completion of charging
   OSSetTimeout(0); 
   OSSetState(MeasureDone); 
   // OSUARTTransmitBytes(ping,4); 
   return 0; 
   
   //note to self, creat a task that monitors TCNT1 and see what's going on in    there.
   }
   if(OSGetState()==MeasureDone)
   {
   if( (OSGetMessSrc() & 0x08) !=0x08)
   return 1; //halt if the message isn't from ISR
   else
   {
   
   //fix the OSGetMessSrc problem
   TCCR1B=0; //shut off timer
   PORTB.0=0; //Drop Vcc to discharge capacitor 

 temp = ICR1L; //Grab the capacitance value
   OSSendMess(2, temp); //send the value to be displayed
   OSSetState(MeasurePrep); //set the state back to original 
   OSSetMessMask(0x01);
   // OSUARTTransmitBytes(pong,4); 
   
   return 0;
   }
   
   }
 

end

char DisplayTask(void)
   begin
   char Cap[5];
   char nf[]="nf";

 putsf("Capacitance: \r\n"); 
   sprintf(Cap,"%-i\n",temp);
   OSUARTTransmitBytes(Cap,4); 
   OSUARTTransmitBytes(nf,2); 

 OSSendAck(0); //turn on the debounce state machine
   return 0;

end



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