Gershom Agim / Mbed 2 deprecated RTOS_EMBEDDED

GIU\ZF

Dependencies:   MCP23017 WattBob_TextLCD mbed-rtos mbed

Fork of rtos_basic by mbed official

main.cpp@12:90b5d8eae5ec, 2018-03-27 (annotated)

Committer:
ihexx
Date:
Tue Mar 27 14:35:09 2018 +0000
Revision:
12:90b5d8eae5ec
Parent:
11:0309bef74ba8
Child:
13:ab52f46c98ab
core loop functional.; Display task tested.; Debug frameowrk conceptualised.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ihexx 12:90b5d8eae5ec 1 #include "core.h"
ihexx 12:90b5d8eae5ec 2
ihexx 12:90b5d8eae5ec 3 DigitalOut led1(LED3);
emilmont 1:491820ee784d 4 DigitalOut led2(LED2);
ihexx 12:90b5d8eae5ec 5 Thread thread,thread_group_2HZ,thread_group_1HZ;
ihexx 12:90b5d8eae5ec 6
ihexx 12:90b5d8eae5ec 7 //Merge tasks with same frequency
ihexx 12:90b5d8eae5ec 8 namespace runTimeParams{
ihexx 12:90b5d8eae5ec 9 Mutex liveAccess;
ihexx 12:90b5d8eae5ec 10 float brakeForce = 0.0f;
ihexx 12:90b5d8eae5ec 11 float accelForce = 0.0f;
ihexx 12:90b5d8eae5ec 12 float avgSpeed = 0.0f;
ihexx 12:90b5d8eae5ec 13 float odometer = 0.0f;
ihexx 12:90b5d8eae5ec 14 #if DEBUG_MODE
ihexx 12:90b5d8eae5ec 15 string debugLog = "task,execution_time_ms,lastSleep,drift\n";
ihexx 12:90b5d8eae5ec 16 #endif
ihexx 12:90b5d8eae5ec 17 }
ihexx 12:90b5d8eae5ec 18
ihexx 12:90b5d8eae5ec 19
ihexx 12:90b5d8eae5ec 20 namespace task_group_1{
ihexx 12:90b5d8eae5ec 21 Thread thread;
ihexx 12:90b5d8eae5ec 22 Timer executionTimer,sleepTimer;
ihexx 12:90b5d8eae5ec 23 bool tick = false;
ihexx 12:90b5d8eae5ec 24
ihexx 12:90b5d8eae5ec 25 void init(){
ihexx 12:90b5d8eae5ec 26 executionTimer.reset();
ihexx 12:90b5d8eae5ec 27 sleepTimer.reset();
ihexx 12:90b5d8eae5ec 28 display::init();
ihexx 12:90b5d8eae5ec 29 }
ihexx 12:90b5d8eae5ec 30 void runTask(){
ihexx 12:90b5d8eae5ec 31 const int const_delay = int(1000.0f/display::freq);
ihexx 12:90b5d8eae5ec 32 int dynamic_delay = const_delay;
ihexx 12:90b5d8eae5ec 33 while(true){
ihexx 12:90b5d8eae5ec 34 sleepTimer.stop();
ihexx 12:90b5d8eae5ec 35 executionTimer.start();
ihexx 12:90b5d8eae5ec 36
ihexx 12:90b5d8eae5ec 37
ihexx 12:90b5d8eae5ec 38 int sleepTime = sleepTimer.read_ms();
ihexx 12:90b5d8eae5ec 39 const int drift = ((sleepTime - dynamic_delay) > 0)?
ihexx 12:90b5d8eae5ec 40 (sleepTime - dynamic_delay) : 0;
ihexx 12:90b5d8eae5ec 41
ihexx 12:90b5d8eae5ec 42
ihexx 12:90b5d8eae5ec 43 // Run all tasks
ihexx 12:90b5d8eae5ec 44 display::hotLoop();
ihexx 12:90b5d8eae5ec 45
ihexx 12:90b5d8eae5ec 46
ihexx 12:90b5d8eae5ec 47 executionTimer.stop();
ihexx 12:90b5d8eae5ec 48 int exec_time = executionTimer.read_ms();
ihexx 12:90b5d8eae5ec 49
ihexx 12:90b5d8eae5ec 50 #if DEBUG_MODE
ihexx 12:90b5d8eae5ec 51 runTimeParams::liveAccess.lock();
ihexx 12:90b5d8eae5ec 52 //runTimeParams::debugLog += "GROUP_1," + to_string(executionTimer.read_ms()) + ","
ihexx 12:90b5d8eae5ec 53 // + to_string(sleepTimer.read_ms()) + ", \n";
ihexx 12:90b5d8eae5ec 54 runTimeParams::odometer = float(sleepTime);
ihexx 12:90b5d8eae5ec 55 runTimeParams::avgSpeed = float(exec_time);
ihexx 12:90b5d8eae5ec 56 runTimeParams::liveAccess.unlock();
ihexx 12:90b5d8eae5ec 57 #endif
ihexx 12:90b5d8eae5ec 58
ihexx 12:90b5d8eae5ec 59 executionTimer.reset();
ihexx 12:90b5d8eae5ec 60 sleepTimer.reset();
ihexx 12:90b5d8eae5ec 61 sleepTimer.start();
ihexx 12:90b5d8eae5ec 62 dynamic_delay = const_delay - (exec_time + drift);
ihexx 12:90b5d8eae5ec 63 Thread::wait(dynamic_delay);
ihexx 12:90b5d8eae5ec 64 }
ihexx 12:90b5d8eae5ec 65 }
ihexx 12:90b5d8eae5ec 66 }
ihexx 12:90b5d8eae5ec 67
ihexx 12:90b5d8eae5ec 68 int init(){
ihexx 12:90b5d8eae5ec 69 //Run task initializers
ihexx 12:90b5d8eae5ec 70 task_group_1::init();
ihexx 12:90b5d8eae5ec 71
ihexx 12:90b5d8eae5ec 72 //Start task hotloops
ihexx 12:90b5d8eae5ec 73
ihexx 12:90b5d8eae5ec 74 task_group_1::thread.start(task_group_1::runTask);
ihexx 12:90b5d8eae5ec 75 // getControls::thread.start(getControls::runTask);
ihexx 12:90b5d8eae5ec 76 return 0;
ihexx 12:90b5d8eae5ec 77 }
emilmont 1:491820ee784d 78
geky 7:8d9919175929 79 void led2_thread() {
emilmont 1:491820ee784d 80 while (true) {
emilmont 1:491820ee784d 81 led2 = !led2;
mbed_official 11:0309bef74ba8 82 Thread::wait(1000);
emilmont 1:491820ee784d 83 }
emilmont 1:491820ee784d 84 }
emilmont 1:491820ee784d 85
emilmont 1:491820ee784d 86 int main() {
ihexx 12:90b5d8eae5ec 87 init();
geky 7:8d9919175929 88 thread.start(led2_thread);
emilmont 1:491820ee784d 89
emilmont 1:491820ee784d 90 while (true) {
emilmont 1:491820ee784d 91 led1 = !led1;
mbed_official 11:0309bef74ba8 92 Thread::wait(500);
emilmont 1:491820ee784d 93 }
emilmont 1:491820ee784d 94 }