Diff: main.cpp

Revision:

6:e0bf3b244d7c

Parent:

5:99594f4ab659

Child:

7:6576a287e563

--- a/main.cpp	Sat Dec 08 20:37:05 2012 +0000
+++ b/main.cpp	Tue Jan 29 14:54:14 2013 +0000
@@ -1,58 +1,178 @@
 // L. van der Kolk, ELVEDEKA, Holland //
-// File:  main.cpp   version  1.0
+// File:  main.cpp  Mbos O.S testversion  
 
 #include "mbed.h"
-#include "TextLCD.h"
-TextLCD lcd(p8, p9, p10, p11, p12, p13); // rs, e, d4-d7
+#include "MODSERIAL.h"
+#include "mbos.h"
+
+//--------------------------------------------------------------------------------
+#include "TextLCD.h"                    //  < LCD connected for testing only << !
+TextLCD lcd(p8, p9, p10, p11, p12, p13); // rs, e, d4-d7 << for testing only << !
+//--------------------------------------------------------------------------------
+
+DigitalOut led1(LED1); // : LED 1 on Mbed board toggles when CDU is alive
  
-DigitalOut led1(LED1); // Led1, only for testing
-
-extern Serial USB;      // >>>>>>>>>>> alleen t.b.v TEST output !!
+extern MODSERIAL USB; 
+extern int key_hit_ID;
+int CDU_FS_interface = 0;   // : defines interface to FS: 0 = USB, 1 = Ethernet
 
 void init_USB();
-void init_alivetimer();
-void check_alive();
+void set_initial_CDU_screen();
+void Send_KEY_message(int button); 
+void Send_ALIVE_message(int seconds);
+void collect_FSdata();
+
+//----------------------------------------------------------------
+void init_buttons_Mbed(); // << for testing only << !
+void scan_buttons_Mbed(); // << for testing only << !
+//----------------------------------------------------------------
+
+// ALIVE_TASK properties:
+#define ALIVE_TASK_ID           1
+#define ALIVE_TASK_PRIO         50
+#define ALIVE_TASK_STACK_SZ     100    // : must be 100 to prevent stack overflow error!
+
+// ALIVE_TIMER properties:
+#define ALIVE_TIMER_ID          1
+#define ALIVE_TIMER_PERIOD      500  // = 5 sec
+
+// RECEIVE_DECODE_TASK properties:
+#define RECEIVE_DECODE_TASK_ID       2
+#define RECEIVE_DECODE_TASK_PRIO     80
+#define RECEIVE_DECODE_TASK_STACK_SZ 256  // : must be 256 to prevent stack overflow error!
+
+// SEND_KEYMESSAGE_TASK properties:
+#define SEND_KEYMESSAGE_TASK_ID      3
+#define SEND_KEYMESSAGE_TASK_PRIO    60
+#define SEND_KEYMESSAGE_TASK_STACK_SZ 100   // : must be 100 to prevent stack overflow error!
+
+//------------------------------ LvdK button scan --------------
+// SCAN_KEYS_TASK properties:  
+#define SCAN_KEYS_TASK_ID      4
+#define SCAN_KEYS_TASK_PRIO    85
+#define SCAN_KEYS_TASK_STACK_SZ 100
+
+// SCAN_KEYS_TIMER properties: ( LvdK button scan )
+#define SCAN_KEYS_TIMER_ID          2
+#define SCAN_KEYS_TIMER_PERIOD      50  // = 50msec 
+//----------------------------------------------------------------  
 
-void init_buttons_Mbed();
-void scan_buttons_Mbed(); 
+// Mbos EVENTS:
+#define ALIVE_EVENT     1      
+#define RX_EVENT        2    // : Event flag caused by serial RX interrupt
+#define KEY_EVENT       4
+#define SCAN_KEYS_TIMER_EVENT 8    // : LvdK button scan timer event
+
+// Mbos resources:
+#define USB_TX_RESOURCE      1     // : for locking USB TX buffer
+#define USB_TX_PRIO         95     // : USB TX resource priority ( = highest! )
+
+
+mbos CDU_OS( 8, 6, 5); //instantiate mbos O.S (tasks, timers, resources)
 
-void collect_decode_FSdata();
-void collect_and_send_FSdata();
-//void Braat_test_update_flag_van_LvdK_en_doet_wat_met_de_nieuwe_data();
+ // Task function prototypes:
+ void ALIVE_TASK(void);
+ void RECEIVE_DECODE_TASK(void);
+ void SCAN_KEYS_TASK(void);
+ void SEND_KEYMESSAGE_TASK(void);
+ 
+ void char_received(MODSERIAL_IRQ_INFO *q) {
+    // -- This functiom will be called on EACH rx interrupt --
+    // Note: this is Rx interrupt handling, NOT a mbos task.
+    // It only set an mbos Event.
+    CDU_OS.SetEvent(RX_EVENT,RECEIVE_DECODE_TASK_ID); // : set event flag for Read Serial Task
+}
+
+//------------ USB error handling ------------------------------------------------------------
+void rx_buf_overflow(MODSERIAL_IRQ_INFO *q) {
+    // This functiom will be called when RX buffer overflows
+    // Blue-Leds-of-Death will be showed, USB is dead so message itself will not be seen !
+    error("RX OVERFLOW !"); 
+}
+
+void tx_buf_overflow(MODSERIAL_IRQ_INFO *q) {
+    // This functiom will be called when TX buffer overflows
+    // Blue-Leds-of-Death will be showed, USB is dead so message itself will not be seen !
+    error("TX OVERFLOW !");  
+}
+//---------------------------------------------------------------------------------------------
+
+void init_USB()
+{   // -- This function controls the setup for the CDU-FS USB communication --
+    // Function char_received() is attached to Rx interrupt.
+    USB.baud(38400); // allways set default baudrate to 38400
+    USB.attach(&char_received, MODSERIAL::RxIrq);    // : attach function char_received to RX inerrupt
+    USB.attach(&rx_buf_overflow, MODSERIAL::RxOvIrq); //: attach function to call when RX buffer overflows
+    USB.attach(&tx_buf_overflow, MODSERIAL::TxOvIrq); //: attach function to call when TX buffer overflows
+}
  
 main()
 {
-// -- This is main.cpp created by LvdK to test all FS communication --
-
-    init_USB();  // : setup USB communication and Rx interrupt
-    init_alivetimer();    // : setup alive message timer
-    init_buttons_Mbed();   // : <<<<<<<<<<<<<<<<<<<<< test only
-    
-    lcd.cls(); // : clear LCD display
-    lcd.printf(" -- Mbed CDU --\n");
-    USB.printf(" --- Mbed CDU ---\n");
-    
-        
-    while (1==1) { // this is my endless main loop
+  init_USB();  // : setup USB communication 
+  set_initial_CDU_screen();
+  
+  //------------------ for testing only ! ----------------------------------
+  init_buttons_Mbed();   
+  lcd.cls(); // : clear LCD display
+  lcd.printf("CDU USB Mbos\n");
+  USB.printf("\n--- CDU USB Mbos ---\n");
+  //------------------------------------------------------------------------
     
-        led1 = !led1; // : toggle LED1 to show running program
-        //wait(0.02);    
-        
-        // Check on new received characters from FS in filled Rx ringbuffer
-        // and decode to data if relevant:
-        collect_decode_FSdata();
-        
-        // Proces new received FS data:
-        // Braat_test_update_flag_van_LvdK_en_doet_wat_met_de_nieuwe_data();
-                
-        // Send relevant data to FS:
-        // LvdK test updates van data Braat en leest de data uit afgesproken datagebied
-        // en stuurt dit naar de FS:
-        scan_buttons_Mbed();
-        
-        collect_and_send_FSdata();
-        
-        check_alive(); // : if 5 sec passed, send alive message
-        
+  // Configure all tasks, timers and resources:
+  CDU_OS.CreateTask(ALIVE_TASK_ID, ALIVE_TASK_PRIO, ALIVE_TASK_STACK_SZ, ALIVE_TASK);
+  CDU_OS.CreateTask(RECEIVE_DECODE_TASK_ID, RECEIVE_DECODE_TASK_PRIO, RECEIVE_DECODE_TASK_STACK_SZ, RECEIVE_DECODE_TASK);
+  CDU_OS.CreateTask(SEND_KEYMESSAGE_TASK_ID, SEND_KEYMESSAGE_TASK_PRIO, SEND_KEYMESSAGE_TASK_STACK_SZ, SEND_KEYMESSAGE_TASK);  
+  CDU_OS.CreateTask(SCAN_KEYS_TASK_ID, SCAN_KEYS_TASK_PRIO, SCAN_KEYS_TASK_STACK_SZ, SCAN_KEYS_TASK );
+  CDU_OS.CreateTimer(ALIVE_TIMER_ID, ALIVE_TASK_ID, ALIVE_EVENT);  
+  CDU_OS.CreateTimer(SCAN_KEYS_TIMER_ID, SCAN_KEYS_TASK_ID, SCAN_KEYS_TIMER_EVENT);    
+  CDU_OS.CreateResource(USB_TX_RESOURCE, USB_TX_PRIO);
+  //CDU_OS.CreateTask(TASK4_ID, TASK4_PRIO, TASK4_STACK_SZ, task4);
+     
+  // Start mbos O.S with final statement in main() :
+  CDU_OS.Start(); // : will never return!    
+}        
+
+void RECEIVE_DECODE_TASK(void)
+{    // Task waits for RX_EVENT, then 
+     // collects and decodes data from FS
+    while(1){  
+        CDU_OS.WaitEvent(RX_EVENT); // : wait for RX event
+        collect_FSdata();
+    } 
+}
+
+void SEND_KEYMESSAGE_TASK(void) 
+{
+    while(1){  
+        CDU_OS.WaitEvent(KEY_EVENT); // : wait for KEY event ( = CDU key pressed )
+        Send_KEY_message(key_hit_ID);
+        key_hit_ID = 0;  // : reset Id flag
     }
-}
\ No newline at end of file
+}
+
+void ALIVE_TASK(void)
+{   // Mbos task started by mbos timer to send ALIVE message to FS every 5 sec.
+    CDU_OS.SetTimer( ALIVE_TIMER_ID, ALIVE_TIMER_PERIOD, ALIVE_TIMER_PERIOD );
+    static int seconds = 0;
+    while(1){  // : loop forever because it is a mbos taskfunction
+        CDU_OS.WaitEvent(ALIVE_EVENT ); // : wait for Mbos timer event (5 sec)
+        seconds += 5 ; // : increase seconds by 5 
+        if (seconds >= 60) seconds = 0 ;
+        Send_ALIVE_message(seconds);
+        led1 = !led1;
+    }
+}     
+
+// ------------- LvdK button scan, test only -------------------------------------------------
+void SCAN_KEYS_TASK(void) // : Test if button pressed
+{     // Will be task written by W.B
+      // Is now LvdK test Task, scans some buttons attached to Mbed board.
+      // Task scans buttons every 50msec.
+    CDU_OS.SetTimer( SCAN_KEYS_TIMER_ID, SCAN_KEYS_TIMER_PERIOD, SCAN_KEYS_TIMER_PERIOD );
+  
+    while(1){  // : loop forever because it is a mbos taskfunction
+        CDU_OS.WaitEvent(SCAN_KEYS_TIMER_EVENT );   // : scan buttons every 50msec
+        scan_buttons_Mbed(); 
+    } 
+}
+// -------------------------------------------------------------------------------------------
\ No newline at end of file