Gershom Agim / Mbed 2 deprecated RTOS_EMBEDDED

GIU\ZF

Dependencies:   MCP23017 WattBob_TextLCD mbed-rtos mbed

Fork of rtos_basic by mbed official

tasks/task_group1.cpp@16:0ada6cbd41e2, 2018-03-27 (annotated)

Committer:
ihexx
Date:
Tue Mar 27 22:03:07 2018 +0000
Revision:
16:0ada6cbd41e2
Parent:
15:524de2b2ef8e
Child:
17:a29ce6fc667c
completed task merging of carSim, getControls, and engine switch;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ihexx 13:ab52f46c98ab 1 #include "core.h"
ihexx 15:524de2b2ef8e 2 namespace display{
ihexx 15:524de2b2ef8e 3 //Display on MBED text display • odometer value • average speed
ihexx 15:524de2b2ef8e 4 const float freq = 2.0f; //hz
ihexx 15:524de2b2ef8e 5
ihexx 15:524de2b2ef8e 6 //I/O
ihexx 15:524de2b2ef8e 7 MCP23017 *port;
ihexx 15:524de2b2ef8e 8 WattBob_TextLCD *lcd;
ihexx 15:524de2b2ef8e 9
ihexx 15:524de2b2ef8e 10 void init(){
ihexx 15:524de2b2ef8e 11 port = new MCP23017(p9, p10, 0x40);
ihexx 15:524de2b2ef8e 12 lcd = new WattBob_TextLCD(port);
ihexx 15:524de2b2ef8e 13 port->write_bit(1,BL_BIT); // LCD backlight on.
ihexx 15:524de2b2ef8e 14 lcd->cls();
ihexx 15:524de2b2ef8e 15 }
ihexx 15:524de2b2ef8e 16 static inline void hotLoop(){
ihexx 15:524de2b2ef8e 17 lcd->cls();
ihexx 15:524de2b2ef8e 18
ihexx 15:524de2b2ef8e 19 runTimeParams::liveAccess.lock();
ihexx 15:524de2b2ef8e 20 float odometer = runTimeParams::odometer;
ihexx 15:524de2b2ef8e 21 float avgSpeed = runTimeParams::avgSpeed;
ihexx 15:524de2b2ef8e 22 runTimeParams::liveAccess.unlock();
ihexx 15:524de2b2ef8e 23
ihexx 15:524de2b2ef8e 24 lcd->locate(0,0); //located col, row.
ihexx 15:524de2b2ef8e 25 lcd->printf("Odo=%.2f",odometer);
ihexx 15:524de2b2ef8e 26
ihexx 15:524de2b2ef8e 27 lcd->locate(1,0); //located col, row.
ihexx 15:524de2b2ef8e 28 lcd->printf("Speed=%.2f",avgSpeed);
ihexx 15:524de2b2ef8e 29 }
ihexx 15:524de2b2ef8e 30 }
ihexx 13:ab52f46c98ab 31
ihexx 13:ab52f46c98ab 32 namespace task_group_1{
ihexx 13:ab52f46c98ab 33 Thread thread;
ihexx 13:ab52f46c98ab 34 const float freq = 2.0f; //hz
ihexx 13:ab52f46c98ab 35
ihexx 13:ab52f46c98ab 36
ihexx 13:ab52f46c98ab 37 void runTask(){
ihexx 13:ab52f46c98ab 38 Timer executionTimer,sleepTimer;
ihexx 13:ab52f46c98ab 39 executionTimer.reset();
ihexx 13:ab52f46c98ab 40 sleepTimer.reset();
ihexx 13:ab52f46c98ab 41 display::init();
ihexx 13:ab52f46c98ab 42
ihexx 13:ab52f46c98ab 43 const int const_delay = int((1000.0f/freq)+0.5f);
ihexx 13:ab52f46c98ab 44 int dynamic_delay = const_delay;
ihexx 14:8a6c20435523 45 int tick = 0;
ihexx 13:ab52f46c98ab 46 while(true){
ihexx 13:ab52f46c98ab 47 sleepTimer.stop();
ihexx 13:ab52f46c98ab 48 executionTimer.start();
ihexx 13:ab52f46c98ab 49
ihexx 13:ab52f46c98ab 50
ihexx 13:ab52f46c98ab 51 int sleepTime = sleepTimer.read_ms();
ihexx 13:ab52f46c98ab 52 const int drift = ((sleepTime - dynamic_delay) > 0)?
ihexx 13:ab52f46c98ab 53 (sleepTime - dynamic_delay) : 0;
ihexx 13:ab52f46c98ab 54
ihexx 13:ab52f46c98ab 55
ihexx 13:ab52f46c98ab 56 // Run all tasks
ihexx 16:0ada6cbd41e2 57
ihexx 16:0ada6cbd41e2 58 display::hotLoop();
ihexx 16:0ada6cbd41e2 59
ihexx 13:ab52f46c98ab 60
ihexx 13:ab52f46c98ab 61
ihexx 14:8a6c20435523 62 tick++;
ihexx 13:ab52f46c98ab 63 executionTimer.stop();
ihexx 13:ab52f46c98ab 64 int exec_time = executionTimer.read_ms();
ihexx 13:ab52f46c98ab 65
ihexx 13:ab52f46c98ab 66 #if DEBUG_MODE
ihexx 15:524de2b2ef8e 67 static const int tick_interval_debug_log = int((freq/dequeueMail::freq)+0.5f);
ihexx 15:524de2b2ef8e 68 if (!(tick%tick_interval_debug_log)){
ihexx 14:8a6c20435523 69 runTimeParams::liveAccess.lock();
ihexx 14:8a6c20435523 70 runTimeParams::debugLog += "task_group_1," + to_string(exec_time) + ","
ihexx 14:8a6c20435523 71 + to_string(sleepTime) + ","
ihexx 14:8a6c20435523 72 + to_string(drift) + "\n\r";
ihexx 14:8a6c20435523 73 runTimeParams::liveAccess.unlock();
ihexx 14:8a6c20435523 74 }
ihexx 15:524de2b2ef8e 75 if (tick==tick_interval_debug_log*1) tick=0;
ihexx 13:ab52f46c98ab 76 #endif
ihexx 13:ab52f46c98ab 77
ihexx 13:ab52f46c98ab 78 executionTimer.reset();
ihexx 13:ab52f46c98ab 79 sleepTimer.reset();
ihexx 13:ab52f46c98ab 80 sleepTimer.start();
ihexx 13:ab52f46c98ab 81 dynamic_delay = const_delay - (exec_time + drift);
ihexx 13:ab52f46c98ab 82 Thread::wait(dynamic_delay);
ihexx 13:ab52f46c98ab 83 }
ihexx 13:ab52f46c98ab 84 }
ihexx 13:ab52f46c98ab 85 }