Collin Curry
Pont Architecture Time Triggered OS
Revision 0:823a9a4db739, committed 2011-10-27
- Comitter:
- Lachrymosa
- Date:
- Thu Oct 27 22:01:30 2011 +0000
- Commit message:
- Incomplete Time Triggered OS
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Constants.h Thu Oct 27 22:01:30 2011 +0000 @@ -0,0 +1,6 @@ +#ifndef CONSTANT_H_GUARD +#define CONSTANT_H_GUARD +#define NumTask (1) // change for number of array spaces. +#define ArrayFull (-1) //If SCHAddTask runs out of room before adding task. +#define NothingFound (-2) //If the remove fails due to lack of something to remove. +#endif \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Debug.h Thu Oct 27 22:01:30 2011 +0000 @@ -0,0 +1,5 @@ +#ifndef DEBUG_H_GUARD +#define DEBUG_H_GUARD +#include "mbed.h" + +#endif \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Globals.h Thu Oct 27 22:01:30 2011 +0000 @@ -0,0 +1,6 @@ +#ifndef GLOBALS_H_GUARD +#define GLOBALS_H_GUARD +float GyroX; +float GyroY; +float GyroZ; +#endif \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Gyrotask.c Thu Oct 27 22:01:30 2011 +0000
@@ -0,0 +1,16 @@
+//#ifndef GYROTASK_C_GUARD
+//#define GYROTASK_C_GUARD
+#include "Gyrotask.h"
+extern Serial debug;
+void Gyrotask()
+{
+ debug.printf("Now starting ITG-3200... \n");
+
+ float GyroX = gyro.getGyroX()/0.0612; //+- the offset then / 0.0612 for divisions of voltage to = degrees/second.
+ float GyroY = gyro.getGyroY()/0.0612;
+ float GyroZ = gyro.getGyroZ()/0.0612;
+
+ //debug.printf("%i, %i, %i\n", gyro.getGyroX(),
+ //gyro.getGyroY(), gyro.getGyroZ());
+}
+//#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Gyrotask.h Thu Oct 27 22:01:30 2011 +0000 @@ -0,0 +1,6 @@ +#ifndef GYROTASK_H_GUARD +#define GYROTASK_H_GUARD +#include "ITG3200.h" +ITG3200 gyro(p9, p10); +void Gyrotask(); +#endif \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ITG3200.lib Thu Oct 27 22:01:30 2011 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/aberk/code/ITG3200/#b098d99dd81e
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Ledtask.c Thu Oct 27 22:01:30 2011 +0000
@@ -0,0 +1,19 @@
+//#ifndef LEDTASK_C_GUARD
+//#define LEDTASK_C_GUARD
+#include "mbed.h"
+
+extern Serial debug;
+DigitalOut Led1(LED1);
+void Led1Run(void);
+
+void Led1Init()
+{
+ Led1 = 0;
+}
+
+void Led1Run()
+{
+ Led1 = !Led1;
+ debug.printf("LED Switched \n \r");
+}
+//#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Ledtask.h Thu Oct 27 22:01:30 2011 +0000 @@ -0,0 +1,5 @@ +#ifndef LEDTASK_H_GUARD +#define LEDTASK_H_GUARD +void Led1Init(void); +void Led1Run(void); +#endif \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/OS.c Thu Oct 27 22:01:30 2011 +0000
@@ -0,0 +1,67 @@
+#include "mbed.h"
+#include "Constants.h"
+#include "OS.h"
+extern Serial debug;
+
+pTask TaskList[NumTask];
+
+int SCHAddTask(void(*fP)(void), int P, int D)
+{
+ int i = 0;
+ while(i <= NumTask && TaskList[i].fP != 0)
+ {
+ i++;
+ }
+ if (i > NumTask)
+ {
+ return ArrayFull;
+ }
+ TaskList[i].fP = fP;
+ TaskList[i].Delay = D;
+ TaskList[i].Period = P;
+ TaskList[i].RunMe = 0;
+
+ return i;
+}
+
+int SCHRemoveTask(int i)
+{
+ if (TaskList[i].fP == 0)
+ {
+ return NothingFound;
+ }
+ TaskList[i].fP = 0;
+ TaskList[i].Delay = 0;
+ TaskList[i].Period = 0;
+ TaskList[i].RunMe = 0;
+ return i;
+}
+
+void SCHDispatch()
+{
+debug.printf("Entered Dispatch");
+int i = 0;
+ for (i = 0; i <NumTask; i++)
+ {
+ if (TaskList[i].RunMe > 0)
+ {
+ TaskList[i].fP();
+ TaskList[i].RunMe--;
+ }
+ }
+}
+
+void SCHUpdate()
+{
+debug.printf("Interrupted \n \r");
+int i = 0;
+for (i = 0; i < NumTask; i++) //run through the whole tasklist array.
+ {
+ TaskList[i].Delay--;
+ if (TaskList[i].Delay <=0)
+ {
+ TaskList[i].RunMe++; //Add 1 to runme per timeout.
+ TaskList[i].Delay = TaskList[i].Period; //reset the timeout to the period.
+ }
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/OS.h Thu Oct 27 22:01:30 2011 +0000
@@ -0,0 +1,15 @@
+#ifndef OS_H_GUARD
+#define OS_H_GUARD
+#include "mbed.h"
+typedef struct {
+ void(*fP)(void);
+ int Delay;
+ int Period;
+ int RunMe;
+}pTask; //The Task List array structure
+
+void SCHUpdate();
+void SCHDispatch();
+int SCHRemoveTask(int i);
+int SCHAddTask(void(*fP)(void), int P, int D);
+#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Oct 27 22:01:30 2011 +0000
@@ -0,0 +1,34 @@
+#include "mbed.h"
+//#include "ITG3200.h"
+Serial debug(USBTX, USBRX); // tx, rx
+//#include "Debug.h"
+//#include "Globals.h"
+#include "Constants.h"
+#include "Ledtask.h"
+//#include "Ledtask.c"
+//#include "Gyrotask.h"
+//#include "Gyrotask.c"
+#include "OS.h"
+//#include "OS.c"
+
+
+Ticker interrupt;
+
+
+int main()
+{
+debug.printf("ticker start");
+void Led1Init();
+debug.printf("LED1InitComplete \n \r");
+interrupt.attach(&SCHUpdate, 1); //Starting up the ticker for SCHUpdate.
+debug.printf("Interrupt Started \n \r");
+SCHAddTask(Led1Run,1,1); //adding our LED task.
+//SCHAddTask(Gyrotask,0.2,0.2); //adding the Gyro Task.
+debug.printf("Task Added \n \r");
+
+ while(1)
+ {
+ SCHDispatch();
+ }
+}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Oct 27 22:01:30 2011 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/63bcd7ba4912