Diff: main.cpp

Revision:

10:c0531edf4850

Parent:

9:46408a8dea0c

--- a/main.cpp	Wed Mar 02 09:38:47 2016 +0000
+++ b/main.cpp	Wed Mar 02 13:38:27 2016 +0000
@@ -9,17 +9,14 @@
  
  Date:              February 2016
  
- Function:          This 
- 
- Version:           1.0
+ Function:          This is the main runner containing the Cyclic executive
+                    There are 7 defined tasks and several Auxillary components
+                    which are logically ran periodically at their required time
+                    by a Cyclic Executive sequencer.
+                    Ticks, or slots, to this Cyclic Executive are provided by
+                    a ticker ever 25ms, and then using logical expressions, the
+                    correct task is initiated and allocated the required time.
  
- Version History
- ---------------
- 
- 1.1                rgdfgdfgdfggdfgdg
- 
- 1.0                gdgddfdddgd
-    
  ##################################################################### */
 
 #include "mbed.h"
@@ -40,10 +37,18 @@
 // Cyclic Executive Objects and Declerations
 // ============================================================================
 DigitalOut ErrorLED(LED1);                      // Error Indicating LED
-DigitalOut LenPin(p21);                         // Pulse Pin
-DigitalIn SDRemoval(p18);                       // Switch state to indicate to remove SD
-Timer BusyWait;                                 // Wasted time Timer
+DigitalOut LenPin(p25);                         // Pulse Pin
+DigitalIn SDRemoval(p18);                       // Switch state to indicate remove SD
 Ticker CyclicTicker;                            // Ticker object to cycle tasks
+Timer stampTime;                                // Timer to stamp the time between logs
+
+// NOTE THE FOLLOWING ARE NOT ESSENTIAL TO THE OPERATION OF THIS CYCLIC EXECUTIVE
+Timer task1t;                                   // Timer to calculate task1 timing
+Timer task2t;                                   // Timer to calculate task2 timing
+Timer task3t;                                   // Timer to calculate task3 timing
+Timer task4t;                                   // Timer to calculate task4 timing
+Timer task5t;                                   // Timer to calculate task5 timing
+Timer task6t;                                   // Timer to calculate task6 timing
 
 // ============================================================================
 // Global Data Parameters used in Cyclic Executive
@@ -51,6 +56,9 @@
 // Counter to record the number of ticks went through by the Cyclic Executive
 int cyclicTicks = 1;
 
+// Flag variable to switch priority between Tasks 2 and 3
+int taskNum = 2;
+
 // Global parameter storing the most up to date value of the return from Task 1
 volatile int task1Frequency;
 
@@ -66,9 +74,6 @@
 // Char array to store the concatenated string for output onto the SD Card
 char logData[50];
 
-int slotCounter = 0;
-int taskNum = 2;
-
 // ============================================================================
 // Cyclic Executive Function Prototypes
 // ============================================================================
@@ -78,7 +83,7 @@
 // Main Execution Program
 // ============================================================================
 int main() {
-   
+    
     // Attempt to open SD file
     // If open failed, do not run Cyclic Exec
     if(!task7.openFile("/SD/A2/test.csv","a"))
@@ -117,23 +122,144 @@
 #define TASK6_TICKS 32
 #define TASK7_TICKS 200
 
-#define HIGH 1
-
-Timer stampTime;
-Timer task1t;
-Timer task2t;
-Timer task3t;
-Timer task4t;
-Timer task5t;
-Timer task6t;
-
 void CyclicExec()
 {
+    // When called, increment cyclicTicks
     cyclicTicks++;
+    
+    // Run every 1 second (should be 40 ticks, but tuned to 38 through testing)
+    if(cyclicTicks % 38 == 0)
+    {
+        // ---------- Can be removed ---------
+        task1t.stop();
+        printf("T1 %d\r\n",task1t.read_ms());
+        // -----------------------------------
+
+        // Run Task1
+        LenPin = 1;
+        task1Frequency = task1.ReadFrequency();
+        LenPin = 0;
+        
+        // ---------- Can be removed ---------
+        task1t.reset();
+        task1t.start();
+        // -----------------------------------
+    }
+    
+    // Run every 300ms (should be 12 ticks, but logic dictates double the frequency)
+    if(cyclicTicks % 6 == 0)
+    {
+        // If flag taskNum is assigned to run Task2
+        if(taskNum == 2)
+        {
+            
+            // ---------- Can be removed ---------
+            task2t.stop();
+            printf("T2 %d\r\n",task2t.read_ms());
+            // -----------------------------------
+
+            // Run Task 2
+            task2SwitchState = task2_switch1.digitalInState();
+            
+            // Set flag to run Task 3 on next iteration
+            taskNum = 3;
+            
+            // ---------- Can be removed ---------
+            task2t.reset();
+            task2t.start();
+            // -----------------------------------
+        }
+        
+        // If flag taskNum is assigned to run Task3
+        else if(taskNum == 3)
+        {
+            // ---------- Can be removed ---------
+            task3t.stop();
+            printf("T3 %d\r\n",task3t.read_ms());
+            // -----------------------------------
+
+            
+            // Run Task3
+            task3.OutputWatchdogPulse();
+            
+            // Set flag to run Task2 on next iteration
+            taskNum = 2;
+            
+            // ---------- Can be removed ---------
+            task3t.reset();
+            task3t.start();
+            // -----------------------------------
+        }
+    }
+    
+    // Run every 400ms (16 ticks)
+    if(cyclicTicks % 16 == 0)
+    {
+        // ---------- Can be removed ---------
+        task4t.stop();
+        printf("T4 %d\r\n",task4t.read_ms());
+        // -----------------------------------
+        
+        // Run Task4
+        float *analogReading = task4.returnAnalogReadings();
+        task4AnalogChannels[0] = *(analogReading);
+        task4AnalogChannels[1]= *(analogReading+1);
+        
+        // ---------- Can be removed ---------
+        task4t.reset();
+        task4t.start();
+        // -----------------------------------
+    }
+    
+    // Run every 2 seconds (should be 80 ticks, but tuned to 84 through testing)
+    if(cyclicTicks % 84 == 0)
+    {
+        // ---------- Can be removed ---------
+        task5t.stop();
+        printf("T5 %1.2f\r\n",task5t.read());
+        // -----------------------------------
+        
+        // Run Task5
+        task5.updateDisplay(    task1Frequency,
+                                task2SwitchState,
+                                task6ErrorState,
+                                task4AnalogChannels[0],
+                                task4AnalogChannels[1]  );
+        
+        // ---------- Can be removed ---------
+        task5t.reset();
+        task5t.start();  
+        // -----------------------------------                 
+    }
+    
+    // Run every 800ms (32 ticks)
+    if(cyclicTicks % 32 == 0)
+    {
+        // ---------- Can be removed ---------
+        task6t.stop();
+        printf("T6 %d\r\n",task6t.read_ms());
+        // -----------------------------------
+
+        // Run Task6
+        task6ErrorState = task6.updateErrorCode(    task2SwitchState,
+                                                    task4AnalogChannels[0],
+                                                    task4AnalogChannels[1]  );
+        
+        // ---------- Can be removed ---------
+        task6t.reset();
+        task6t.start();
+        // -----------------------------------
+    }
+    
+    // Run every 5 seconds (200 ticks)
     if(cyclicTicks % 200 == 0)
     {
+        // ---------- Can be removed ---------
+        printf("T7\r\n");
+        // -----------------------------------
+        
+        // Run Task7
         stampTime.stop();
-        printf("T7\r\n");
         int a = sprintf(    logData,"Time=%1.2f,Freq=%d,SW1=%d,A1=%1.3f,A2=%1.3f\n",
                             stampTime.read(),
                             task1Frequency,
@@ -141,81 +267,19 @@
                             task4AnalogChannels[0],
                             task4AnalogChannels[1]  );
        task7.writeData(logData);
+       
+        // ---------- Can be removed ---------
        stampTime.reset();
        stampTime.start();
-    }
-    
-    if(cyclicTicks % 84 == 0)
-    {
-        task5t.stop();
-        printf("T5 %1.2f\r\n",task5t.read());
-        task5.updateDisplay(    task1Frequency,
-                                task2SwitchState,
-                                task6ErrorState,
-                                task4AnalogChannels[0],
-                                task4AnalogChannels[1]  );
-        task5t.reset();
-        task5t.start();                   
+        // -----------------------------------
     }
     
-    if(cyclicTicks % 38 == 0)
-    {
-        task1t.stop();
-        printf("T1 %d\r\n",task1t.read_ms());
-        task1Frequency = task1.ReadFrequency();
-        task1t.reset();
-        task1t.start();
-    }
-
-    if(cyclicTicks % 32 == 0)
-    {
-        task6t.stop();
-        printf("T6 %d\r\n",task6t.read_ms());
-        task6ErrorState = task6.updateErrorCode(    task2SwitchState,
-                                                    task4AnalogChannels[0],
-                                                    task4AnalogChannels[1]  );
-        task6t.reset();
-        task6t.start();
-    }
-    
-    if(cyclicTicks % 16 == 0)
-    {
-        task4t.stop();
-        printf("T4 %d\r\n",task4t.read_ms());
-        float *analogReading = task4.returnAnalogReadings();
-        task4AnalogChannels[0] = *(analogReading);
-        task4AnalogChannels[1]= *(analogReading+1);
-        task4t.reset();
-        task4t.start();
-    }
-    
-    if(cyclicTicks % 6 == 0)
-    {
-        if(taskNum == 2)
-        {
-            task2t.stop();
-            printf("T2 %d\r\n",task2t.read_ms());
-            task2SwitchState = task2_switch1.digitalInState();
-            taskNum = 3;
-            task2t.reset();
-            task2t.start();
-        }
-        else if(taskNum == 3)
-        {
-            task3t.stop();
-            printf("T3 %d\r\n",task3t.read_ms());
-            task3.OutputWatchdogPulse();
-            taskNum = 2;
-            task3t.reset();
-            task3t.start();
-        }
-    }
-
+    // If SDRemoval Input is high, close FILE and detach the Ticker
     if(SDRemoval == HIGH)
     {
         printf("SD Removed");
         task7.closeFile();
-        CyclicTicker.detatch();
+        CyclicTicker.detach();
     }
 }