Gershom Agim / Mbed 2 deprecated RTOS_EMBEDDED

GIU\ZF

Dependencies:   MCP23017 WattBob_TextLCD mbed-rtos mbed

Fork of rtos_basic by mbed official

tasks/core.h@15:524de2b2ef8e, 2018-03-27 (annotated)

Committer:
ihexx
Date:
Tue Mar 27 18:55:43 2018 +0000
Revision:
15:524de2b2ef8e
Parent:
13:ab52f46c98ab
Child:
16:0ada6cbd41e2
Created and tested basic car simulator; scheduled accel/brake controls

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ihexx 12:90b5d8eae5ec 1 #pragma once
ihexx 12:90b5d8eae5ec 2
ihexx 12:90b5d8eae5ec 3 #include "mbed.h"
ihexx 12:90b5d8eae5ec 4 #include "rtos.h"
ihexx 12:90b5d8eae5ec 5 #include "MCP23017.h"
ihexx 12:90b5d8eae5ec 6 #include "WattBob_TextLCD.h"
ihexx 12:90b5d8eae5ec 7 #include <string>
ihexx 12:90b5d8eae5ec 8 #include <sstream>
ihexx 12:90b5d8eae5ec 9
ihexx 12:90b5d8eae5ec 10 //Compile Flags
ihexx 12:90b5d8eae5ec 11 #define DEBUG_MODE 1
ihexx 12:90b5d8eae5ec 12
ihexx 12:90b5d8eae5ec 13 //Inputs-------------------------
ihexx 15:524de2b2ef8e 14 #define PORT_TURN_SIGNAL_SWITCH_RIGHT p17
ihexx 15:524de2b2ef8e 15 #define PORT_TURN_SIGNAL_SWITCH_LEFT p18
ihexx 15:524de2b2ef8e 16 #define PORT_ACCEL p19
ihexx 12:90b5d8eae5ec 17 #define PORT_BRAKE p20
ihexx 12:90b5d8eae5ec 18 #define PORT_IGNITION p21
ihexx 15:524de2b2ef8e 19
ihexx 12:90b5d8eae5ec 20 //Outputs ----------------
ihexx 12:90b5d8eae5ec 21 #define PORT_REDBOX_LED1 p22
ihexx 12:90b5d8eae5ec 22 #define PORT_REDBOX_LED2 p23
ihexx 12:90b5d8eae5ec 23
ihexx 12:90b5d8eae5ec 24 #define PORT_SIDE_LIGHTS p5
ihexx 12:90b5d8eae5ec 25 #define IGNITION_LED p6
ihexx 12:90b5d8eae5ec 26 #define PORT_TURN_SIGNAL_LED_LEFT p25
ihexx 12:90b5d8eae5ec 27 #define PORT_TURN_SIGNAL_LED_RIGHT p26
ihexx 12:90b5d8eae5ec 28
ihexx 12:90b5d8eae5ec 29 //#define PORT_SIDE_LIGHTS LED1
ihexx 12:90b5d8eae5ec 30 //#define IGNITION_LED LED4
ihexx 12:90b5d8eae5ec 31 //#define PORT_TURN_SIGNAL_LED_LEFT LED2
ihexx 12:90b5d8eae5ec 32 //#define PORT_TURN_SIGNAL_LED_RIGHT LED3
ihexx 12:90b5d8eae5ec 33
ihexx 12:90b5d8eae5ec 34 namespace runTimeParams{
ihexx 12:90b5d8eae5ec 35 extern Mutex liveAccess;
ihexx 12:90b5d8eae5ec 36 extern float brakeForce;
ihexx 12:90b5d8eae5ec 37 extern float accelForce;
ihexx 12:90b5d8eae5ec 38 extern float avgSpeed;
ihexx 12:90b5d8eae5ec 39 extern float odometer;
ihexx 15:524de2b2ef8e 40 extern float newSpeed;
ihexx 12:90b5d8eae5ec 41 #if DEBUG_MODE
ihexx 12:90b5d8eae5ec 42 extern string debugLog;
ihexx 12:90b5d8eae5ec 43 #endif
ihexx 12:90b5d8eae5ec 44 }
ihexx 15:524de2b2ef8e 45
ihexx 15:524de2b2ef8e 46
ihexx 15:524de2b2ef8e 47
ihexx 12:90b5d8eae5ec 48
ihexx 15:524de2b2ef8e 49 namespace task_group_1{
ihexx 15:524de2b2ef8e 50 //Display,
ihexx 15:524de2b2ef8e 51 extern Thread thread;
ihexx 15:524de2b2ef8e 52 extern const float freq; //hz
ihexx 15:524de2b2ef8e 53
ihexx 15:524de2b2ef8e 54 void runTask();
ihexx 15:524de2b2ef8e 55 }
ihexx 15:524de2b2ef8e 56 namespace task_group_2{
ihexx 15:524de2b2ef8e 57 //Read Accel/Brake, carSimulator
ihexx 12:90b5d8eae5ec 58 extern Thread thread;
ihexx 12:90b5d8eae5ec 59 extern const float freq;
ihexx 12:90b5d8eae5ec 60 void runTask();
ihexx 12:90b5d8eae5ec 61 }
ihexx 12:90b5d8eae5ec 62
ihexx 12:90b5d8eae5ec 63 namespace mailData{
ihexx 12:90b5d8eae5ec 64 typedef struct{
ihexx 12:90b5d8eae5ec 65 float speed;
ihexx 12:90b5d8eae5ec 66 float accel;
ihexx 12:90b5d8eae5ec 67 float brake;
ihexx 12:90b5d8eae5ec 68 } mail_t;
ihexx 12:90b5d8eae5ec 69 extern Mail<mail_t, 100> mailBox;
ihexx 12:90b5d8eae5ec 70 }
ihexx 12:90b5d8eae5ec 71 namespace getIgnition{
ihexx 12:90b5d8eae5ec 72 //Read engine on/off switch and show current state on a LED
ihexx 12:90b5d8eae5ec 73 extern Thread thread;
ihexx 12:90b5d8eae5ec 74 extern const float freq;
ihexx 12:90b5d8eae5ec 75 void runTask();
ihexx 12:90b5d8eae5ec 76 }
ihexx 12:90b5d8eae5ec 77
ihexx 12:90b5d8eae5ec 78 namespace filterSpeed{
ihexx 12:90b5d8eae5ec 79 //Filter speed with averaging filter
ihexx 12:90b5d8eae5ec 80 extern Thread thread;
ihexx 12:90b5d8eae5ec 81 extern const float freq;
ihexx 12:90b5d8eae5ec 82 void runTask();
ihexx 12:90b5d8eae5ec 83 }
ihexx 12:90b5d8eae5ec 84
ihexx 12:90b5d8eae5ec 85 namespace brakeIndicator{
ihexx 12:90b5d8eae5ec 86 //Read brake and accelerator values from variable resistors
ihexx 12:90b5d8eae5ec 87 extern Thread thread;
ihexx 12:90b5d8eae5ec 88 extern const float freq;
ihexx 12:90b5d8eae5ec 89 void runTask();
ihexx 12:90b5d8eae5ec 90 }
ihexx 12:90b5d8eae5ec 91
ihexx 12:90b5d8eae5ec 92 namespace speedIndicator{
ihexx 12:90b5d8eae5ec 93 //Read brake and accelerator values from variable resistors
ihexx 12:90b5d8eae5ec 94 extern Thread thread;
ihexx 12:90b5d8eae5ec 95 extern const float freq;
ihexx 12:90b5d8eae5ec 96 void runTask();
ihexx 12:90b5d8eae5ec 97 }
ihexx 12:90b5d8eae5ec 98
ihexx 12:90b5d8eae5ec 99 namespace sideLights{
ihexx 12:90b5d8eae5ec 100 //Read brake and accelerator values from variable resistors
ihexx 12:90b5d8eae5ec 101 extern Thread thread;
ihexx 12:90b5d8eae5ec 102 extern const float freq;
ihexx 12:90b5d8eae5ec 103 void runTask();
ihexx 12:90b5d8eae5ec 104 }
ihexx 12:90b5d8eae5ec 105
ihexx 12:90b5d8eae5ec 106 namespace turnSignal{
ihexx 12:90b5d8eae5ec 107 //Read brake and accelerator values from variable resistors
ihexx 12:90b5d8eae5ec 108 extern Thread thread;
ihexx 12:90b5d8eae5ec 109 extern const float freq;
ihexx 12:90b5d8eae5ec 110 void runTask();
ihexx 12:90b5d8eae5ec 111 }
ihexx 12:90b5d8eae5ec 112
ihexx 13:ab52f46c98ab 113 namespace enqueueMail{
ihexx 13:ab52f46c98ab 114 //Send speed, accelerometer and brake values to a 100 element
ihexx 13:ab52f46c98ab 115 //MAIL queue
ihexx 13:ab52f46c98ab 116 extern Thread thread;
ihexx 13:ab52f46c98ab 117 extern const float freq;
ihexx 13:ab52f46c98ab 118 void runTask();
ihexx 13:ab52f46c98ab 119 }
ihexx 13:ab52f46c98ab 120 namespace dequeueMail{
ihexx 12:90b5d8eae5ec 121 //Send speed, accelerometer and brake values to a 100 element
ihexx 12:90b5d8eae5ec 122 //MAIL queue
ihexx 12:90b5d8eae5ec 123 extern Thread thread;
ihexx 12:90b5d8eae5ec 124 extern const float freq;
ihexx 12:90b5d8eae5ec 125 void runTask();
ihexx 12:90b5d8eae5ec 126 }
ihexx 12:90b5d8eae5ec 127
ihexx 12:90b5d8eae5ec 128
ihexx 12:90b5d8eae5ec 129 template <typename T>
ihexx 12:90b5d8eae5ec 130 static inline std::string to_string(T value)
ihexx 12:90b5d8eae5ec 131 {
ihexx 12:90b5d8eae5ec 132 std::ostringstream os ;
ihexx 12:90b5d8eae5ec 133 os << value ;
ihexx 12:90b5d8eae5ec 134 return os.str() ;
ihexx 12:90b5d8eae5ec 135 }