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@13:ab52f46c98ab, 2018-03-27 (annotated)

Committer:
ihexx
Date:
Tue Mar 27 15:56:27 2018 +0000
Revision:
13:ab52f46c98ab
Child:
14:8a6c20435523
enqueue and dequeue mail tasks completed.; Improved debug framework; Moved task groups to separate files

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ihexx 13:ab52f46c98ab 1 #include "core.h"
ihexx 13:ab52f46c98ab 2
ihexx 13:ab52f46c98ab 3 namespace task_group_1{
ihexx 13:ab52f46c98ab 4 Thread thread;
ihexx 13:ab52f46c98ab 5 const float freq = 2.0f; //hz
ihexx 13:ab52f46c98ab 6
ihexx 13:ab52f46c98ab 7
ihexx 13:ab52f46c98ab 8 void runTask(){
ihexx 13:ab52f46c98ab 9 Timer executionTimer,sleepTimer;
ihexx 13:ab52f46c98ab 10 executionTimer.reset();
ihexx 13:ab52f46c98ab 11 sleepTimer.reset();
ihexx 13:ab52f46c98ab 12 display::init();
ihexx 13:ab52f46c98ab 13
ihexx 13:ab52f46c98ab 14 const int const_delay = int((1000.0f/freq)+0.5f);
ihexx 13:ab52f46c98ab 15 int dynamic_delay = const_delay;
ihexx 13:ab52f46c98ab 16
ihexx 13:ab52f46c98ab 17 while(true){
ihexx 13:ab52f46c98ab 18 sleepTimer.stop();
ihexx 13:ab52f46c98ab 19 executionTimer.start();
ihexx 13:ab52f46c98ab 20
ihexx 13:ab52f46c98ab 21
ihexx 13:ab52f46c98ab 22 int sleepTime = sleepTimer.read_ms();
ihexx 13:ab52f46c98ab 23 const int drift = ((sleepTime - dynamic_delay) > 0)?
ihexx 13:ab52f46c98ab 24 (sleepTime - dynamic_delay) : 0;
ihexx 13:ab52f46c98ab 25
ihexx 13:ab52f46c98ab 26
ihexx 13:ab52f46c98ab 27 // Run all tasks
ihexx 13:ab52f46c98ab 28 display::hotLoop();
ihexx 13:ab52f46c98ab 29
ihexx 13:ab52f46c98ab 30
ihexx 13:ab52f46c98ab 31 executionTimer.stop();
ihexx 13:ab52f46c98ab 32 int exec_time = executionTimer.read_ms();
ihexx 13:ab52f46c98ab 33
ihexx 13:ab52f46c98ab 34 #if DEBUG_MODE
ihexx 13:ab52f46c98ab 35 runTimeParams::liveAccess.lock();
ihexx 13:ab52f46c98ab 36 //runTimeParams::debugLog += "GROUP_1," + to_string(executionTimer.read_ms()) + ","
ihexx 13:ab52f46c98ab 37 // + to_string(sleepTimer.read_ms()) + ", \n";
ihexx 13:ab52f46c98ab 38 runTimeParams::odometer = float(sleepTime);
ihexx 13:ab52f46c98ab 39 runTimeParams::avgSpeed = float(exec_time);
ihexx 13:ab52f46c98ab 40 runTimeParams::liveAccess.unlock();
ihexx 13:ab52f46c98ab 41 #endif
ihexx 13:ab52f46c98ab 42
ihexx 13:ab52f46c98ab 43 executionTimer.reset();
ihexx 13:ab52f46c98ab 44 sleepTimer.reset();
ihexx 13:ab52f46c98ab 45 sleepTimer.start();
ihexx 13:ab52f46c98ab 46 dynamic_delay = const_delay - (exec_time + drift);
ihexx 13:ab52f46c98ab 47 Thread::wait(dynamic_delay);
ihexx 13:ab52f46c98ab 48 }
ihexx 13:ab52f46c98ab 49 }
ihexx 13:ab52f46c98ab 50 }