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main.cpp@9:5d1d36c2664f, 2020-03-26 (annotated)
- Committer:
- sebbarpar
- Date:
- Thu Mar 26 11:02:19 2020 +0000
- Revision:
- 9:5d1d36c2664f
- Parent:
- 8:041c4841cd96
- Child:
- 10:0edd1ab03f84
Lab6 V2;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Manel_Marin | 0:5ce3cfc57999 | 1 | #include "mbed.h" |
WilliamMarshQMUL | 1:159a09ac60ba | 2 | #include "wdt.h" |
sebbarpar | 8:041c4841cd96 | 3 | // Watchdog with better fault coverage |
WilliamMarshQMUL | 2:c31a1758ac38 | 4 | // --------------------------------- |
WilliamMarshQMUL | 3:32a940251192 | 5 | // * Three threads co-operate to flash two LEDs |
WilliamMarshQMUL | 3:32a940251192 | 6 | // * A simple way to inject a fault, by pressing a button |
sebbarpar | 8:041c4841cd96 | 7 | // * The watchdog is configured with a 1024ms timeout |
sebbarpar | 8:041c4841cd96 | 8 | // * If hardware fails, set flag to trigger watchdog so it resets the system |
WilliamMarshQMUL | 3:32a940251192 | 9 | |
WilliamMarshQMUL | 3:32a940251192 | 10 | #define ON 1 |
WilliamMarshQMUL | 3:32a940251192 | 11 | #define OFF 0 |
WilliamMarshQMUL | 3:32a940251192 | 12 | DigitalOut led_red(LED_RED, ON); |
WilliamMarshQMUL | 3:32a940251192 | 13 | DigitalIn button(PTD0, PullUp); |
WilliamMarshQMUL | 3:32a940251192 | 14 | DigitalOut led1(PTC12, OFF); |
WilliamMarshQMUL | 3:32a940251192 | 15 | DigitalOut led2(PTC13, OFF); |
sebbarpar | 9:5d1d36c2664f | 16 | DigitalOut redled(LED1,ON); |
sebbarpar | 8:041c4841cd96 | 17 | AnalogIn ain(PTB0) ; |
sebbarpar | 8:041c4841cd96 | 18 | AnalogIn anin(PTE20) ; |
WilliamMarshQMUL | 6:8b0ca28c88a4 | 19 | Serial pc(USBTX, USBRX); // tx, rx, useful for debugging |
WilliamMarshQMUL | 3:32a940251192 | 20 | Ticker tick; |
WilliamMarshQMUL | 3:32a940251192 | 21 | |
WilliamMarshQMUL | 3:32a940251192 | 22 | // Threads |
sebbarpar | 8:041c4841cd96 | 23 | Thread threadT(osPriorityNormal, 2000); ; // timer thread |
sebbarpar | 8:041c4841cd96 | 24 | Thread threadLED1(osPriorityNormal, 2000); ; // thread LED1 |
sebbarpar | 8:041c4841cd96 | 25 | Thread threadLED2(osPriorityNormal, 2000); ; // thread LED2 |
sebbarpar | 9:5d1d36c2664f | 26 | Thread threadkick(osPriorityNormal, 2000); ; // thread LED2 |
WilliamMarshQMUL | 3:32a940251192 | 27 | |
sebbarpar | 8:041c4841cd96 | 28 | # define ON1 (1UL << 0) |
sebbarpar | 8:041c4841cd96 | 29 | # define ON2 (1UL << 1) |
sebbarpar | 8:041c4841cd96 | 30 | # define OFF1 (1UL << 2) |
sebbarpar | 8:041c4841cd96 | 31 | # define OFF2 (1UL << 3) |
sebbarpar | 9:5d1d36c2664f | 32 | # define kick1 (1UL << 4) |
sebbarpar | 9:5d1d36c2664f | 33 | # define kick2 (1UL << 5) |
WilliamMarshQMUL | 6:8b0ca28c88a4 | 34 | EventFlags signals; // event flags for signalling |
WilliamMarshQMUL | 6:8b0ca28c88a4 | 35 | |
WilliamMarshQMUL | 6:8b0ca28c88a4 | 36 | |
WilliamMarshQMUL | 3:32a940251192 | 37 | // ------------Fault Injection Button------------- |
WilliamMarshQMUL | 3:32a940251192 | 38 | // Wait while the button is down |
WilliamMarshQMUL | 3:32a940251192 | 39 | // Use this to simulate a STUCK fault |
WilliamMarshQMUL | 3:32a940251192 | 40 | // ----------------------------------------------- |
WilliamMarshQMUL | 3:32a940251192 | 41 | void waitButton() { |
WilliamMarshQMUL | 3:32a940251192 | 42 | while (!button) ; |
WilliamMarshQMUL | 3:32a940251192 | 43 | } |
WilliamMarshQMUL | 2:c31a1758ac38 | 44 | |
sebbarpar | 9:5d1d36c2664f | 45 | void kickthread(){ |
sebbarpar | 9:5d1d36c2664f | 46 | while(1){ |
sebbarpar | 9:5d1d36c2664f | 47 | signals.wait_all(kick1, kick2); |
sebbarpar | 9:5d1d36c2664f | 48 | wdt_kickA();//kick watchdog channel A |
sebbarpar | 9:5d1d36c2664f | 49 | } |
sebbarpar | 9:5d1d36c2664f | 50 | } |
sebbarpar | 9:5d1d36c2664f | 51 | |
WilliamMarshQMUL | 3:32a940251192 | 52 | // ---Thread for controlling LED 1---------------- |
WilliamMarshQMUL | 3:32a940251192 | 53 | // Turn LED1 on/off in response to signals |
WilliamMarshQMUL | 3:32a940251192 | 54 | // ----------------------------------------------- |
WilliamMarshQMUL | 3:32a940251192 | 55 | void led1_thread() { // method to run in thread |
WilliamMarshQMUL | 6:8b0ca28c88a4 | 56 | int evt ; |
WilliamMarshQMUL | 3:32a940251192 | 57 | while (true) { |
sebbarpar | 9:5d1d36c2664f | 58 | evt = signals.wait_any(ON1 | OFF1); // wait for either signal |
WilliamMarshQMUL | 6:8b0ca28c88a4 | 59 | if (evt & ON1) led1 = ON ; |
WilliamMarshQMUL | 6:8b0ca28c88a4 | 60 | if (evt & OFF1) led1 = OFF ; |
sebbarpar | 9:5d1d36c2664f | 61 | signals.set(kick1); |
sebbarpar | 8:041c4841cd96 | 62 | //waitButton() ; // POSSIBLE FAULT HERE |
WilliamMarshQMUL | 3:32a940251192 | 63 | } |
WilliamMarshQMUL | 3:32a940251192 | 64 | } |
Manel_Marin | 0:5ce3cfc57999 | 65 | |
WilliamMarshQMUL | 3:32a940251192 | 66 | // ---Thread for controlling LED 2---------------- |
WilliamMarshQMUL | 3:32a940251192 | 67 | // Turn LED2 on/off in response to signals |
WilliamMarshQMUL | 3:32a940251192 | 68 | // ----------------------------------------------- |
WilliamMarshQMUL | 3:32a940251192 | 69 | void led2_thread() { // method to run in thread |
WilliamMarshQMUL | 6:8b0ca28c88a4 | 70 | int evt ; |
WilliamMarshQMUL | 3:32a940251192 | 71 | while (true) { |
sebbarpar | 9:5d1d36c2664f | 72 | evt = signals.wait_any(ON2 | OFF2); // wait for any signal |
WilliamMarshQMUL | 6:8b0ca28c88a4 | 73 | if (evt & ON2) led2 = ON ; |
WilliamMarshQMUL | 6:8b0ca28c88a4 | 74 | if (evt & OFF2) led2 = OFF ; |
sebbarpar | 9:5d1d36c2664f | 75 | signals.set(kick2); |
WilliamMarshQMUL | 3:32a940251192 | 76 | // waitButton() ; // POSSIBLE FAULT HERE |
WilliamMarshQMUL | 3:32a940251192 | 77 | } |
WilliamMarshQMUL | 3:32a940251192 | 78 | } |
Manel_Marin | 0:5ce3cfc57999 | 79 | |
WilliamMarshQMUL | 3:32a940251192 | 80 | // ---Thread for timing -------------------------- |
WilliamMarshQMUL | 3:32a940251192 | 81 | // Send signals to the other threads |
WilliamMarshQMUL | 3:32a940251192 | 82 | // ----------------------------------------------- |
WilliamMarshQMUL | 3:32a940251192 | 83 | void timer_thread() { // method to run in thread |
WilliamMarshQMUL | 3:32a940251192 | 84 | while (true) { |
WilliamMarshQMUL | 7:e49685bca7c7 | 85 | ThisThread::sleep_for(1000) ; |
WilliamMarshQMUL | 6:8b0ca28c88a4 | 86 | signals.set(ON1 | ON2) ; |
WilliamMarshQMUL | 7:e49685bca7c7 | 87 | ThisThread::sleep_for(1000) ; |
WilliamMarshQMUL | 6:8b0ca28c88a4 | 88 | signals.set(OFF1 | OFF2) ; |
WilliamMarshQMUL | 3:32a940251192 | 89 | // waitButton() ; // POSSIBLE FAULT HERE |
WilliamMarshQMUL | 3:32a940251192 | 90 | } |
WilliamMarshQMUL | 3:32a940251192 | 91 | } |
WilliamMarshQMUL | 3:32a940251192 | 92 | |
WilliamMarshQMUL | 3:32a940251192 | 93 | // -----------MAIN------------------------------- |
WilliamMarshQMUL | 3:32a940251192 | 94 | // Configure watchdog. Start threads. |
WilliamMarshQMUL | 3:32a940251192 | 95 | // Show start up with RED for 1sec |
WilliamMarshQMUL | 3:32a940251192 | 96 | // Remember the watchdog is running |
WilliamMarshQMUL | 3:32a940251192 | 97 | // - 1024ms to set it once |
sebbarpar | 8:041c4841cd96 | 98 | // - then must feed it every 1024ms |
WilliamMarshQMUL | 3:32a940251192 | 99 | // ---------------------------------------------- |
Manel_Marin | 0:5ce3cfc57999 | 100 | |
Manel_Marin | 0:5ce3cfc57999 | 101 | int main(void) { |
sebbarpar | 8:041c4841cd96 | 102 | float volts = 0 ; |
sebbarpar | 8:041c4841cd96 | 103 | float volts2=0; |
sebbarpar | 8:041c4841cd96 | 104 | int counter = 0 ; |
sebbarpar | 8:041c4841cd96 | 105 | wdt_1sec() ; // initialise watchdog - 1s timeout |
sebbarpar | 8:041c4841cd96 | 106 | wdt_kick_all() ; |
sebbarpar | 8:041c4841cd96 | 107 | |
WilliamMarshQMUL | 3:32a940251192 | 108 | // start threads |
WilliamMarshQMUL | 6:8b0ca28c88a4 | 109 | threadT.start(timer_thread) ; // start the timer thread |
WilliamMarshQMUL | 6:8b0ca28c88a4 | 110 | threadLED1.start(led1_thread) ; // start the LED1 control thread |
WilliamMarshQMUL | 6:8b0ca28c88a4 | 111 | threadLED2.start(led2_thread) ; // start the LED2 control thread |
sebbarpar | 9:5d1d36c2664f | 112 | threadkick.start(kickthread); // start the thread to kick watchdog |
sebbarpar | 8:041c4841cd96 | 113 | //printf("\nRESTART\n");// Debugging |
sebbarpar | 8:041c4841cd96 | 114 | while (true) { |
sebbarpar | 8:041c4841cd96 | 115 | if (led1==ON || led2==ON){//Only check when LEDs are on |
sebbarpar | 9:5d1d36c2664f | 116 | wdt_kickB();//Kick watchdog channel B |
sebbarpar | 8:041c4841cd96 | 117 | volts=ain.read(); |
sebbarpar | 8:041c4841cd96 | 118 | volts=volts*3.3; |
sebbarpar | 8:041c4841cd96 | 119 | volts2=anin.read()*3.3; |
sebbarpar | 8:041c4841cd96 | 120 | //Voltage with LEDs on is around 1.2V, since the resistances available were not of 680ohms. |
sebbarpar | 9:5d1d36c2664f | 121 | if (volts>1.5 || volts2>1.5){redled=0;}//Set a signal to detect fault |
sebbarpar | 8:041c4841cd96 | 122 | } |
sebbarpar | 8:041c4841cd96 | 123 | //printf("volts: %f volts 2: %f", volts, volts2);//Debugging |
sebbarpar | 9:5d1d36c2664f | 124 | volts=0; volts2=0; |
sebbarpar | 8:041c4841cd96 | 125 | wait(0.1f); |
sebbarpar | 8:041c4841cd96 | 126 | } |
sebbarpar | 8:041c4841cd96 | 127 | |
WilliamMarshQMUL | 7:e49685bca7c7 | 128 | |
Manel_Marin | 0:5ce3cfc57999 | 129 | } |