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@20:202e0046527e, 2018-03-28 (annotated)

Committer:
ihexx
Date:
Wed Mar 28 14:34:34 2018 +0000
Revision:
20:202e0046527e
Parent:
19:2044bb5d7f29 
LAST MINUTE CHJECKS

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 19:2044bb5d7f29 3 //Display on MBED text display: odometer value, average speed
ihexx 15:524de2b2ef8e 4 const float freq = 2.0f; //hz
ihexx 15:524de2b2ef8e 5 MCP23017 *port;
ihexx 15:524de2b2ef8e 6 WattBob_TextLCD *lcd;
ihexx 15:524de2b2ef8e 7
ihexx 15:524de2b2ef8e 8 void init(){
ihexx 15:524de2b2ef8e 9 port = new MCP23017(p9, p10, 0x40);
ihexx 15:524de2b2ef8e 10 lcd = new WattBob_TextLCD(port);
ihexx 15:524de2b2ef8e 11 port->write_bit(1,BL_BIT); // LCD backlight on.
ihexx 15:524de2b2ef8e 12 lcd->cls();
ihexx 15:524de2b2ef8e 13 }
ihexx 15:524de2b2ef8e 14 static inline void hotLoop(){
ihexx 15:524de2b2ef8e 15 lcd->cls();
ihexx 15:524de2b2ef8e 16
ihexx 15:524de2b2ef8e 17 runTimeParams::liveAccess.lock();
ihexx 15:524de2b2ef8e 18 float odometer = runTimeParams::odometer;
ihexx 15:524de2b2ef8e 19 float avgSpeed = runTimeParams::avgSpeed;
ihexx 15:524de2b2ef8e 20 runTimeParams::liveAccess.unlock();
ihexx 15:524de2b2ef8e 21
ihexx 15:524de2b2ef8e 22 lcd->locate(0,0); //located col, row.
ihexx 15:524de2b2ef8e 23 lcd->printf("Odo=%.2f",odometer);
ihexx 15:524de2b2ef8e 24
ihexx 15:524de2b2ef8e 25 lcd->locate(1,0); //located col, row.
ihexx 15:524de2b2ef8e 26 lcd->printf("Speed=%.2f",avgSpeed);
ihexx 15:524de2b2ef8e 27 }
ihexx 15:524de2b2ef8e 28 }
ihexx 17:a29ce6fc667c 29 namespace brakeIndicator{
ihexx 17:a29ce6fc667c 30 //Show use of the brake on a LED on the RedBox Unit
ihexx 17:a29ce6fc667c 31 const float freq = 2.0f; //hz
ihexx 20:202e0046527e 32 DigitalOut led2(PORT_REDBOX_LED1);
ihexx 17:a29ce6fc667c 33 static inline void init(){
ihexx 20:202e0046527e 34 // led2.period_ms(50);
ihexx 17:a29ce6fc667c 35 }
ihexx 17:a29ce6fc667c 36 static inline void hotLoop(){
ihexx 17:a29ce6fc667c 37 runTimeParams::liveAccess.lock();
ihexx 20:202e0046527e 38 if (runTimeParams::brakeForce>0.3f){
ihexx 20:202e0046527e 39 // led2.write(runTimeParams::brakeForce*100.0f);
ihexx 20:202e0046527e 40 led2 = 1;
ihexx 20:202e0046527e 41 }
ihexx 20:202e0046527e 42 else{
ihexx 20:202e0046527e 43 led2 = 0;
ihexx 20:202e0046527e 44 }
ihexx 17:a29ce6fc667c 45 runTimeParams::liveAccess.unlock();
ihexx 17:a29ce6fc667c 46
ihexx 17:a29ce6fc667c 47 }
ihexx 17:a29ce6fc667c 48 }
ihexx 17:a29ce6fc667c 49 namespace speedIndicator{
ihexx 17:a29ce6fc667c 50 //Monitor speed and if it goes over 88 mph switch on a LED on
ihexx 17:a29ce6fc667c 51 //the RedBox unit
ihexx 17:a29ce6fc667c 52 static const float freq = 1; //hz
ihexx 20:202e0046527e 53 DigitalOut led(PORT_REDBOX_LED2);
ihexx 17:a29ce6fc667c 54 static inline void init(){
ihexx 17:a29ce6fc667c 55 led = 0;
ihexx 17:a29ce6fc667c 56 }
ihexx 17:a29ce6fc667c 57 static inline void hotLoop(){
ihexx 17:a29ce6fc667c 58 runTimeParams::liveAccess.lock();
ihexx 20:202e0046527e 59 if (runTimeParams::avgSpeed>88.0f){
ihexx 20:202e0046527e 60 led = 1;
ihexx 20:202e0046527e 61 }
ihexx 20:202e0046527e 62 else{
ihexx 20:202e0046527e 63 led = 0;
ihexx 20:202e0046527e 64 }
ihexx 17:a29ce6fc667c 65 runTimeParams::liveAccess.unlock();
ihexx 17:a29ce6fc667c 66
ihexx 17:a29ce6fc667c 67 }
ihexx 17:a29ce6fc667c 68 }
ihexx 17:a29ce6fc667c 69 namespace sideLights{
ihexx 17:a29ce6fc667c 70 //Read a single side light switch and set side lights accordingly
ihexx 17:a29ce6fc667c 71 static const float freq = 1; //hz
ihexx 17:a29ce6fc667c 72 DigitalIn lightSwitch(PORT_BRAKE);
ihexx 17:a29ce6fc667c 73 DigitalOut led(PORT_SIDE_LIGHTS);
ihexx 17:a29ce6fc667c 74 static inline void hotLoop(){
ihexx 17:a29ce6fc667c 75 led = lightSwitch;
ihexx 17:a29ce6fc667c 76 }
ihexx 17:a29ce6fc667c 77
ihexx 17:a29ce6fc667c 78 }
ihexx 17:a29ce6fc667c 79 namespace turnSignal{
ihexx 17:a29ce6fc667c 80 //Read the two turn indicator switches and flash appropriate
ihexx 19:2044bb5d7f29 81 //indicator LEDs at a rate of 1Hz
ihexx 17:a29ce6fc667c 82 static const float freq = 0.5; //hz
ihexx 17:a29ce6fc667c 83 DigitalIn lSwitch(PORT_TURN_SIGNAL_SWITCH_LEFT);
ihexx 17:a29ce6fc667c 84 DigitalIn rSwitch(PORT_TURN_SIGNAL_SWITCH_RIGHT);
ihexx 17:a29ce6fc667c 85
ihexx 17:a29ce6fc667c 86 PwmOut lLed(PORT_TURN_SIGNAL_LED_LEFT);
ihexx 17:a29ce6fc667c 87 PwmOut rLed(PORT_TURN_SIGNAL_LED_RIGHT);
ihexx 17:a29ce6fc667c 88
ihexx 17:a29ce6fc667c 89 static inline void hotLoop(){
ihexx 17:a29ce6fc667c 90 int a = lSwitch.read();
ihexx 17:a29ce6fc667c 91 int b = rSwitch.read();
ihexx 19:2044bb5d7f29 92
ihexx 19:2044bb5d7f29 93 //If both switches are switched on
ihexx 19:2044bb5d7f29 94 //then flash both indicator LEDs at a rate of 2Hz (hazard mode)
ihexx 17:a29ce6fc667c 95 if(a&&b){
ihexx 20:202e0046527e 96 lLed.period(0.5f);
ihexx 20:202e0046527e 97 rLed.period(0.5f);
ihexx 17:a29ce6fc667c 98 }
ihexx 17:a29ce6fc667c 99 else{
ihexx 17:a29ce6fc667c 100 lLed.period(1.0f);
ihexx 17:a29ce6fc667c 101 rLed.period(1.0f);
ihexx 17:a29ce6fc667c 102 }
ihexx 17:a29ce6fc667c 103 a ? lLed.write(0.5f) : lLed.write(0.0f);
ihexx 17:a29ce6fc667c 104 b ? rLed.write(0.5f) : rLed.write(0.0f);
ihexx 17:a29ce6fc667c 105 }
ihexx 17:a29ce6fc667c 106
ihexx 17:a29ce6fc667c 107 }
ihexx 17:a29ce6fc667c 108
ihexx 17:a29ce6fc667c 109
ihexx 17:a29ce6fc667c 110
ihexx 13:ab52f46c98ab 111 namespace task_group_1{
ihexx 13:ab52f46c98ab 112 Thread thread;
ihexx 13:ab52f46c98ab 113 const float freq = 2.0f; //hz
ihexx 13:ab52f46c98ab 114
ihexx 13:ab52f46c98ab 115
ihexx 13:ab52f46c98ab 116 void runTask(){
ihexx 13:ab52f46c98ab 117 Timer executionTimer,sleepTimer;
ihexx 13:ab52f46c98ab 118 executionTimer.reset();
ihexx 13:ab52f46c98ab 119 sleepTimer.reset();
ihexx 17:a29ce6fc667c 120
ihexx 13:ab52f46c98ab 121 display::init();
ihexx 17:a29ce6fc667c 122 brakeIndicator::init();
ihexx 17:a29ce6fc667c 123 speedIndicator::init();
ihexx 13:ab52f46c98ab 124
ihexx 19:2044bb5d7f29 125 const int const_delay = int((1000.0f/freq)+0.5f); //ideal sched delay
ihexx 19:2044bb5d7f29 126 int dynamic_delay = const_delay; //real sched delay (updated in loop)
ihexx 19:2044bb5d7f29 127
ihexx 19:2044bb5d7f29 128 int tick = 0; //freq subsampler
ihexx 19:2044bb5d7f29 129 #if DEBUG_MODE
ihexx 19:2044bb5d7f29 130 int max_exec_time = 0; //for logging
ihexx 19:2044bb5d7f29 131 #endif
ihexx 17:a29ce6fc667c 132
ihexx 13:ab52f46c98ab 133 while(true){
ihexx 19:2044bb5d7f29 134 //Determine scheduling compensators:
ihexx 19:2044bb5d7f29 135 //1: release time drift
ihexx 19:2044bb5d7f29 136 //2: execution time
ihexx 13:ab52f46c98ab 137 sleepTimer.stop();
ihexx 13:ab52f46c98ab 138 executionTimer.start();
ihexx 13:ab52f46c98ab 139 int sleepTime = sleepTimer.read_ms();
ihexx 13:ab52f46c98ab 140 const int drift = ((sleepTime - dynamic_delay) > 0)?
ihexx 13:ab52f46c98ab 141 (sleepTime - dynamic_delay) : 0;
ihexx 13:ab52f46c98ab 142
ihexx 13:ab52f46c98ab 143
ihexx 19:2044bb5d7f29 144 // Run all tasks--------------
ihexx 17:a29ce6fc667c 145 brakeIndicator::hotLoop();
ihexx 16:0ada6cbd41e2 146
ihexx 17:a29ce6fc667c 147 static const int tick_interval_sIndicator = int((freq/speedIndicator::freq)+0.5f);
ihexx 17:a29ce6fc667c 148 if (!(tick%tick_interval_sIndicator)){
ihexx 17:a29ce6fc667c 149 speedIndicator::hotLoop();
ihexx 17:a29ce6fc667c 150 sideLights::hotLoop();
ihexx 17:a29ce6fc667c 151 }
ihexx 17:a29ce6fc667c 152 static const int tick_interval_tSignal = int((freq/turnSignal::freq)+0.5f);
ihexx 17:a29ce6fc667c 153 if (!(tick%tick_interval_tSignal)){
ihexx 17:a29ce6fc667c 154 turnSignal::hotLoop();
ihexx 17:a29ce6fc667c 155 }
ihexx 17:a29ce6fc667c 156 display::hotLoop();
ihexx 19:2044bb5d7f29 157 //--------------Completed tasks
ihexx 13:ab52f46c98ab 158
ihexx 14:8a6c20435523 159 tick++;
ihexx 13:ab52f46c98ab 160 executionTimer.stop();
ihexx 13:ab52f46c98ab 161 int exec_time = executionTimer.read_ms();
ihexx 19:2044bb5d7f29 162
ihexx 13:ab52f46c98ab 163
ihexx 13:ab52f46c98ab 164 #if DEBUG_MODE
ihexx 19:2044bb5d7f29 165 //Debug Logs (once per dequeue call to avoid memory issues)
ihexx 19:2044bb5d7f29 166 if (exec_time > max_exec_time) max_exec_time=exec_time;
ihexx 15:524de2b2ef8e 167 static const int tick_interval_debug_log = int((freq/dequeueMail::freq)+0.5f);
ihexx 15:524de2b2ef8e 168 if (!(tick%tick_interval_debug_log)){
ihexx 17:a29ce6fc667c 169 runTimeParams::debugAccess.lock();
ihexx 17:a29ce6fc667c 170 *runTimeParams::debugLog += "task_group_1," + to_string(max_exec_time) + ","
ihexx 14:8a6c20435523 171 + to_string(sleepTime) + ","
ihexx 14:8a6c20435523 172 + to_string(drift) + "\n\r";
ihexx 17:a29ce6fc667c 173 runTimeParams::debugAccess.unlock();
ihexx 14:8a6c20435523 174 }
ihexx 17:a29ce6fc667c 175 #else
ihexx 17:a29ce6fc667c 176 static const int tick_interval_debug_log = 1;
ihexx 13:ab52f46c98ab 177 #endif
ihexx 19:2044bb5d7f29 178 //Reset tick count
ihexx 17:a29ce6fc667c 179 static const int tick_LCM =
ihexx 17:a29ce6fc667c 180 tick_interval_debug_log*
ihexx 17:a29ce6fc667c 181 tick_interval_sIndicator*
ihexx 17:a29ce6fc667c 182 tick_interval_tSignal;
ihexx 17:a29ce6fc667c 183
ihexx 17:a29ce6fc667c 184 if (tick==tick_LCM) tick=0;
ihexx 17:a29ce6fc667c 185
ihexx 19:2044bb5d7f29 186
ihexx 13:ab52f46c98ab 187 executionTimer.reset();
ihexx 13:ab52f46c98ab 188 sleepTimer.reset();
ihexx 13:ab52f46c98ab 189 sleepTimer.start();
ihexx 19:2044bb5d7f29 190 //compensate for delays
ihexx 13:ab52f46c98ab 191 dynamic_delay = const_delay - (exec_time + drift);
ihexx 13:ab52f46c98ab 192 Thread::wait(dynamic_delay);
ihexx 13:ab52f46c98ab 193 }
ihexx 13:ab52f46c98ab 194 }
ihexx 13:ab52f46c98ab 195 }