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@19:2044bb5d7f29, 2018-03-28 (annotated)

Committer:
ihexx
Date:
Wed Mar 28 01:32:01 2018 +0000
Revision:
19:2044bb5d7f29
Parent:
17:a29ce6fc667c
Child:
20:202e0046527e
Fully commented listings;

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