Antoine C
Copy_Assignment3
Dependencies: mbed MCP23017 WattBob_TextLCD mbed-rtos
Diff: main.cpp
- Revision:
- 0:8940db3353d7
diff -r 000000000000 -r 8940db3353d7 main.cpp
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+/*******************************************************************************
+
+ filename :: main.cpp
+ ======================
+
+ Description
+ Assignment 3 of the B31DG Embedded Software Course.
+ It consists in writing a simple microcontroller based on the MBED RTOS
+ library for the LPC1768 board. The repetitive tasks have been implemented
+ by using RTOS Timers, 4 to be specific. One for the car simulator, one
+ launching tasks whose frequency is either 5 Hz or 10 Hz, one launching
+ tasks whose frequency is either 2 Hz, 1 Hz or 0.5 Hz and the last one
+ is launching tasks running at a frequency of 0.2 Hz and 0.5Hz.
+
+ Version
+ Antoine V1.3 February 2018
+
+ History
+ v1.2 Wrote documentation
+ v1.1 Added timers calling tasks multiple of their execution frequency
+ v1.0 First Complete Version (all tasks done and 11 Timers)
+ ...
+ v0.2 Build main structure of program
+ v0.1 Initial Version
+ ........................................................................
+
+ Detailed Description
+ 11 tasks were to be performed:
+ - SIMULATOR - 20 Hz
+ Write a simple car simulator which will compute the car speed based
+ on the values of the accelerator (%), the brake (%) and the state
+ of the engine.
+ - TASK 1 - 10 Hz
+ Read the value of 2 analog inputs which correspond to the values of
+ acceleration and brake.
+ - TASK 2 - 2 Hz
+ Read a digital input switch corresponding to the state of the engine
+ - TASK 3 - 5 Hz
+ Filter the speed with an averaging filter.
+ - TASK 4 - 2 Hz
+ Show the use of a brake with a digital output
+ - TASK 5 - 1 Hz
+ Monitor the speed, and if it goes above a given threshold, switch on
+ a digital output
+ - TASK 6 - 2 Hz
+ Display on the screen travelled distance & the last average speed
+ - TASK 7 - 0.2 Hz
+ Send into a MAIL queue object the values of speed, accelerometer and
+ brake. The queue has a size of 100.
+ - TASK 8 - 0.05 Hz
+ Dump the the content of the queue into the serial port.
+ - TASK 9 - 1 Hz
+ Read a digital switch and set a digital output based on its state
+ - TASK 10 - 0.5 Hz
+ Read two switches and set two LEDs according to their state. They
+ blink at 1 Hz if only one of the switch is on, at 2 Hz is they
+ are both on.
+
+ .........................................................................
+
+ Personnal Values None
+ ..............................
+
+ Method
+ I decided not to use global variables between the different functions called
+ by the RTOS timer as a challenge and because it is not safe to use global
+ variables in most of the case because you lose control on the origin of
+ a modification on them.
+ Hence, I declared a structure which is used by the different tasks and
+ contains pointers to every variables, structures or object needed.
+ To make it work, I had to slightly modify the RTOSTimer library and remove
+ the 'const' keyword protecting the given pointer to function calls.
+
+ The functions used by for the different task execution are located in the
+ included files "my_tasks" while "my_tools" contains functions called by the
+ tasks in order to simplify their code.
+
+ The header "my_stucture" contains 3 small structures:
+ - engineRAWValues which stores the RAW values of the car
+ - carStatistics which stores values about speed and distance
+ - mailStruct which is the structure required by the mail Queue object
+
+ ..........................................................................
+
+
+
+*******************************************************************************/
+
+
+#include "mbed.h"
+#include "rtos.h"
+#include "my_tools.h"
+#include "my_structures.h"
+#include "my_tasks.h"
+
+#define BACK_LIGHT_ON(INTERFACE) INTERFACE->write_bit(ON,BL_BIT)
+#define BACK_LIGHT_OFF(INTERFACE) INTERFACE->write_bit(OFF,BL_BIT)
+
+/*******************************************************************************
+ * PIN DECLARATION
+ ******************************************************************************/
+#define ANALOG_INPUT_1 p20
+#define ANALOG_INPUT_2 p18
+
+#define DIGITAL_IN_ENGINE p15
+#define DIGITAL_IN_SIDE p16
+#define DIGITAL_IN_LEFT p11
+#define DIGITAL_IN_RIGHT p14
+
+#define DIGITAL_OUT_OVERSPEED p26
+#define DIGITAL_OUT_BRAKE p25
+
+using namespace std;
+
+// ===============
+// System Inputs
+// ===============
+AnalogIn ACCELERATOR(ANALOG_INPUT_1);
+AnalogIn BRAKE(ANALOG_INPUT_2);
+DigitalIn ENGINE_SWITCH(DIGITAL_IN_ENGINE);
+DigitalIn SIDE_LIGHT_SWITCH(DIGITAL_IN_SIDE);
+DigitalIn LEFT_SWITCH(DIGITAL_IN_LEFT);
+DigitalIn RIGHT_SWITCH(DIGITAL_IN_RIGHT);
+
+// ================
+// System Outputs
+// ================
+DigitalOut SIDE_LIGHT_INDICATOR(LED1);
+PwmOut LEFT_LIGHT(LED2);
+PwmOut RIGHT_LIGHT(LED3);
+DigitalOut ENGINE_LIGHT(LED4);
+DigitalOut OVERSPEED_LIGHT(DIGITAL_OUT_OVERSPEED);
+DigitalOut BRAKE_LIGHT(DIGITAL_OUT_BRAKE);
+
+/*******************************************************************************
+ * FUNCTION PROTOTYPES
+ ******************************************************************************/
+
+/** Initialize the main structure used in the program
+ *
+ * @param: Set a arguments used to initalize the structure, all pointers
+ */
+void initializeStructure(carStructure &car,
+ engineRAWValues *rawValues,
+ carStatistics *carStat,
+ Mail<mailStruct,100> *mailQueue,
+ Mutex *rawMutex,
+ Mutex *speedMutex,
+ Mutex *mailMutex,
+ MCP23017 *par_port,
+ WattBob_TextLCD *lcd,
+ Serial *pcSerial
+ );
+
+/*******************************************************************************
+ * MAIN FUNCTION
+ ******************************************************************************/
+int main()
+{
+ /****************************
+ * MAIN SETUP
+ ****************************/
+ // ---------------------------------------------------------------------- //
+ // Screen Variables
+ MCP23017 *par_port;
+ WattBob_TextLCD *lcd;
+ par_port = new MCP23017(p9, p10, 0x40); // initialise 16-bit I/O chip
+ lcd = new WattBob_TextLCD(par_port); // initialise 2*26 char display
+
+ // Turn LCD backlight ON
+ par_port->write_bit(ON,BL_BIT);
+
+ // Init Message on Screen
+ lcd->cls();
+ lcd->locate(0,0);
+ lcd->printf("Init...");
+ wait(0.5);
+
+
+ // ---------------------------------------------------------------------- //
+ // USB Connection to PC
+ Serial PCSerial(USBTX,USBRX);
+ // Increase Baud Rate of Serial Connection
+ PCSerial.baud(115200);
+
+ /****************************
+ * DECLARE STRUCTURES
+ ****************************/
+ // ---------------------------------------------------------------------- //
+ // ENGINE RAW VALUES
+ Mutex rawMutex;
+ engineRAWValues rawValues;
+ initRAWValuesStruct(rawValues);
+ // ---------------------------------------------------------------------- //
+ // CAR STATISTICS VALUES
+ vector<float> speedVec(SIZE_SPEED_VECTOR);
+ Mutex speedMutex;
+ carStatistics carStats;
+ initCarStatisticsStruct(carStats, &speedVec);
+
+ // ---------------------------------------------------------------------- //
+ // MAIL QUEUE STRUCTURE
+ Mail<mailStruct,100> mailQueue;
+ Mutex mailMutex;
+
+ // ---------------------------------------------------------------------- //
+ // Declare structure to be used by the different task functions
+ carStructure myCar;
+ initializeStructure(myCar,
+ &rawValues, &carStats,
+ &mailQueue,
+ &rawMutex, &speedMutex, &mailMutex,
+ par_port, lcd,
+ &PCSerial
+ );
+
+ // ---------------------------------------------------------------------- //
+ // ---------------------------------------------------------------------- //
+ /****************************
+ * DECLARE RTOS TIMER
+ ****************************/
+ RtosTimer carSimulator(task0_carSim, osTimerPeriodic, (void *) &myCar);
+ RtosTimer timer_1(timer1, osTimerPeriodic, (void *) &myCar);
+ RtosTimer timer_2(timer2, osTimerPeriodic, (void *) &myCar);
+ RtosTimer timer_3(timer3, osTimerPeriodic, (void *) &myCar);
+
+
+ /****************************
+ * START RTOS TIMER
+ ****************************/
+ carSimulator.start(50); // 20Hz
+ timer_1.start(100); // 10 Hz
+ timer_2.start(500); // 2 Hz
+ timer_3.start(5000); // 0.2 Hz
+
+ // RtosTimer will run forever
+ Thread::wait(osWaitForever);
+
+ return 0;
+}
+
+
+void initializeStructure(carStructure &car,
+ engineRAWValues *rawValues,
+ carStatistics *carStat,
+ Mail<mailStruct,100> *mailQueue,
+ Mutex *rawMutex,
+ Mutex *speedMutex,
+ Mutex *mailMutex,
+ MCP23017 *par_port,
+ WattBob_TextLCD *lcd,
+ Serial *pcSerial
+ )
+{
+ // System Inputs
+ car.p_accelerator = &ACCELERATOR ;
+ car.p_brake = &BRAKE ;
+ car.p_engineSwitch = &ENGINE_SWITCH ;
+ car.p_sideLightSwitch = &SIDE_LIGHT_SWITCH ;
+ car.p_leftSwitch = &LEFT_SWITCH ;
+ car.p_rightSwitch = &RIGHT_SWITCH ;
+
+ // System Outputs
+ car.p_sideLightIndicator = &SIDE_LIGHT_INDICATOR ;
+ car.p_leftLight = &LEFT_LIGHT ;
+ car.p_rightLight = &RIGHT_LIGHT ;
+ car.p_engineLight = &ENGINE_LIGHT ;
+ car.p_overspeedLight = &OVERSPEED_LIGHT ;
+ car.p_brakeLight = &BRAKE_LIGHT ;
+
+ // Values Structure;
+ car.p_rawValues = rawValues;
+ car.p_carStats = carStat;
+ car.p_mailQueue = mailQueue;
+ car.nbElementInQueue = 0;
+
+ // Mutex
+ car.p_rawMutex = rawMutex;
+ car.p_statMutex = speedMutex;
+ car.p_mailMutex = mailMutex;
+
+ // Serial Connection
+ car.p_PC = pcSerial;
+
+ // Screen variables
+ car.p_par_port = par_port;
+ car.p_lcd = lcd;
+}
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