Revision 7:2973bf297f3d, committed 2016-03-02

Comitter:

sk398

Date:

Wed Mar 02 00:51:17 2016 +0000

Parent:

6:ceda53939eb8

Child:

8:7f3594882cec

Commit message:

All tasks bar 2 and 3 Operational with relatively good timing

Changed in this revision

--- a/Tasks.h	Mon Feb 29 11:20:48 2016 +0000
+++ b/Tasks.h	Wed Mar 02 00:51:17 2016 +0000
@@ -40,7 +40,7 @@
 #define FALSE 0
 
 // Task 1 definitions
-#define WATCHDOG_PULSE_WIDTH 15
+#define WATCHDOG_PULSE_WIDTH 15 // ms
 
 // Task 2 definitions
 
@@ -50,11 +50,14 @@
 #define NUM_ANALOG_SAMPLES 4.0
 
 // Task 5 definitions
+#define BACK_LIGHT_ON(INTERFACE) INTERFACE->write_bit(1,BL_BIT)
+#define BACK_LIGHT_OFF(INTERFACE) INTERFACE->write_bit(0,BL_BIT)
 
 // Task 6 definitions
 #define ERROR_CODE_CDTN_MET 3
 #define ERROR_CODE_CDTN_FAIL 0
 
+
 /* ####################### Class definitions and prototypes ####################### */
 
 /* ==================================== Task 1 ==================================== */

--- a/main.cpp	Mon Feb 29 11:20:48 2016 +0000
+++ b/main.cpp	Wed Mar 02 00:51:17 2016 +0000
@@ -24,69 +24,288 @@
 
 #include "mbed.h"
 #include "Tasks.h"
-#include "MCP23017.h"
-#include "WattBob_TextLCD.h"
 
-#define BACK_LIGHT_ON(INTERFACE) INTERFACE->write_bit(1,BL_BIT)
-#define BACK_LIGHT_OFF(INTERFACE) INTERFACE->write_bit(0,BL_BIT)
-
-DigitalOut myled(LED1);
-
+// ============================================================================
+// Task Declerations
+// ============================================================================
 Task1 task1(p11);                               // Square wave Measurement
-Task2 task2_switch1(p12);                       // Read digital Output
+Task2 task2_switch1(p12);                       // Read digital Input
 Task3 task3(p13);                               // Watchdog Pulse
 Task4 task4(p15,p16);                           // Read analog Inputs
 Task5 task5(p9,p10,0x40);                       // Output to LCD Display
 Task6 task6;                                    // Logical checks
 Task7 task7(p5,p6,p7,p8,"SD","/SD/A2");         // SD Card Write
 
+// ============================================================================
+// 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
+Ticker CyclicTicker;                            // Ticker object to cycle tasks
+
+// ============================================================================
+// Global Data Parameters used in Cyclic Executive
+// ============================================================================
+// Counter to record the number of ticks went through by the Cyclic Executive
+int cyclicTicks = 1;
+
+// Global parameter storing the most up to date value of the return from Task 1
+volatile int task1Frequency;
+
+// Global parameter storing the most up to date value of the return from Task 2
+volatile int task2SwitchState;
+
+// Global parameter storing the most up to date value of the return from Task 4
+volatile float task4AnalogChannels[2];
+
+// Global parameter storing the most up to date value of the return from Task 6
+volatile int task6ErrorState;
+
+// 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
+// ============================================================================
+void CyclicExec();
+
+// ============================================================================
+// Main Execution Program
+// ============================================================================
 int main() {
-    
-    volatile int task1Frequency;
-    volatile int task2SwitchState;
-    volatile float task4AnalogChannels[2];
-    volatile int errorState;
-    char logData[50];
-    
-    task1Frequency = task1.ReadFrequency();
-//    printf("Task 1 Frequency %d Hz\r\n",task1Frequency);
-    
-    task2SwitchState = task2_switch1.digitalInState();
-//    printf("Switch 1 State: %d\r\n",task2SwitchState);
-
-    task3.OutputWatchdogPulse();
+   
+    // Attempt to open SD file
+    // If open failed, do not run Cyclic Exec
+    if(!task7.openFile("/SD/A2/test.csv","a"))
+    {    
+        // Start Cyclic Executive 
+        CyclicTicker.attach(&CyclicExec,0.025); // 25ms pulses
+        
+        // Keep program running until RESET
+        while(1)
+        {
+        }
+    }
     
-    float *analogReading = task4.returnAnalogReadings();
-    task4AnalogChannels[0] = *(analogReading);
-    task4AnalogChannels[1]= *(analogReading+1);
-//    printf("Analog Readings:\r\nChannel 1-%f\r\nChannel 2-%f\r\n",task4AnalogChannels[0],task4AnalogChannels[1]);
-    
-    errorState = task6.updateErrorCode( task2SwitchState,
-                                        task4AnalogChannels[0],
-                                        task4AnalogChannels[1]  );
-    
-    task5.updateDisplay(task1Frequency,
-                        task2SwitchState,
-                        errorState,
-                        task4AnalogChannels[0],
-                        task4AnalogChannels[1]  );
-
-    if(task7.openFile("/SD/A2/test.csv","a"))
-    {
-        printf("File not opened");
-    }
+    // If FIle is not opened, prompt user and show Error on LED
     else
     {
-        int a = sprintf(logData,"Freq=%d,SW1=%d,A1=%1.3f,A2=%1.3f\n",task1Frequency,
-                        task2SwitchState,task4AnalogChannels[0],task4AnalogChannels[1]);
-        task7.writeData(logData);
-        task7.closeFile();
+        // Prompt user about error
+        printf("File not opened\r\nNot executing Cyclic Executive");
+        
+        // Execute error code on LED
+        while(1)
+        {
+            ErrorLED = 1;
+            wait(1);
+            ErrorLED = 0;
+            wait(1);
+        }
+    }
+}
+
+Timer stampTime;
+
+#define TASK1_TICKS 40
+#define TASK2_TICKS 12
+#define TASK3_TICKS 12
+#define TASK4_TICKS 16
+#define TASK5_TICKS 80
+#define TASK6_TICKS 32
+#define TASK7_TICKS 200
+
+#define HIGH 1
+
+//void CyclicExec()
+//{
+//    slotCounter++;
+//    switch(slotCounter)
+//    {
+//        case 1:
+//                if(cyclicTicks % TASK1_TICKS == 0)
+//                {
+////                    printf("T1\r\n");
+//                    task1Frequency = task1.ReadFrequency();
+//                }
+//            break;
+//            
+//        case 2:
+//            if(cyclicTicks % TASK2_TICKS == 0)
+//            {
+////                printf("T2\r\n");
+//                task2SwitchState = task2_switch1.digitalInState();
+//            }
+//            break;
+//        
+//        case 3:
+//            if(cyclicTicks % TASK3_TICKS == 0)
+//            {
+////                printf("T3 ------ \r\n");
+//                LenPin = 1;
+//                task3.OutputWatchdogPulse();
+//                LenPin = 0;
+//            }
+//            break;
+//            
+//        case 4:
+//            if(cyclicTicks % TASK4_TICKS == 0)
+//            {
+////                printf("T4\r\n");
+//                float *analogReading = task4.returnAnalogReadings();
+//                task4AnalogChannels[0] = *(analogReading);
+//                task4AnalogChannels[1]= *(analogReading+1);
+//            }
+//            break;
+//            
+//        case 5:
+//            if(cyclicTicks % TASK5_TICKS == 0)
+//            {
+////                printf("T5\r\n");
+//                task5.updateDisplay(    task1Frequency,
+//                                        task2SwitchState,
+//                                        task6ErrorState,
+//                                        task4AnalogChannels[0],
+//                                        task4AnalogChannels[1]  );
+//            }
+//            break;
+//            
+//        case 10:
+//            if(cyclicTicks % TASK6_TICKS == 0)
+//            {
+////                printf("T6\r\n");
+//                task6ErrorState = task6.updateErrorCode(    task2SwitchState,
+//                                                    task4AnalogChannels[0],
+//                                                    task4AnalogChannels[1]  );
+//            }
+//            break;
+//        
+//        case 11:
+//            if(cyclicTicks % TASK7_TICKS == 0)
+//            {
+////                printf("T7\r\n");
+//                int a = sprintf(    logData,"Freq=%d,SW1=%d,A1=%1.3f,A2=%1.3f\n",
+//                            task1Frequency,
+//                            task2SwitchState,
+//                            task4AnalogChannels[0],
+//                            task4AnalogChannels[1]  );
+//                task7.writeData(logData);
+//            }
+//            break;
+//            
+//        case 12:
+//            slotCounter = 0;
+//            cyclicTicks++;
+//            break;
+//    }
+//    if(SDRemoval == HIGH)
+//    {
+//        printf("Shutting File");
+//        task7.closeFile();
+//    }
+//    
+//      
+//}
+
+Timer task1t;
+Timer task2t;
+Timer task3t;
+Timer task4t;
+Timer task5t;
+Timer task6t;
+
+void CyclicExec()
+{
+    cyclicTicks++;
+    if(cyclicTicks % 200 == 0)
+    {
+        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,
+                            task2SwitchState,
+                            task4AnalogChannels[0],
+                            task4AnalogChannels[1]  );
+       task7.writeData(logData);
+       stampTime.reset();
+       stampTime.start();
+    }
+    
+    if(cyclicTicks % 80 == 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 % 40 == 0)
+    {
+        task1t.stop();
+        printf("T1 %d\r\n",task1t.read_ms());
+        task1Frequency = task1.ReadFrequency();
+        task1t.reset();
+        task1t.start();
     }
 
-    while(1) {
-        myled = 1;
-        wait(0.2);
-        myled = 0;
-        wait(0.2);
+    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();
     }
-}
\ No newline at end of file
+    
+    if(cyclicTicks & 13 == 0)
+    {
+        printf("IM IN TASK 3!!!!!!!!!!!!!!!!!!!!!");
+        task3t.stop();
+        printf("T3 %d\r\n",task3t.read_ms());
+        task3.OutputWatchdogPulse();
+        taskNum = 2;
+        task3t.reset();
+        task3t.start();
+    }
+    
+    if(cyclicTicks % 12 == 0)
+    {
+        printf("IM IN TASK 2!!!!!!!!!!!!!!!!!!!!!");
+        task2t.stop();
+        printf("T2 %d\r\n",task2t.read_ms());
+        task2SwitchState = task2_switch1.digitalInState();
+        taskNum = 3;
+        task2t.reset();
+        task2t.start();
+    }    
+
+    if(SDRemoval == HIGH)
+    {
+        printf("SD Removed");
+        task7.closeFile();
+    }
+}
+