Steven Kay
/
Embedded_Software_Assignment_2
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Dependencies: MCP23017 SDFileSystem WattBob_TextLCD mbed
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main.cpp
00001 /* ##################################################################### 00002 main.cpp 00003 --------- 00004 00005 Embedded Software - Assignment 2 00006 -------------------------------- 00007 00008 Written by: Steven Kay 00009 00010 Date: February 2016 00011 00012 Function: This is the main runner containing the Cyclic executive 00013 There are 7 defined tasks and several Auxillary components 00014 which are logically ran periodically at their required time 00015 by a Cyclic Executive sequencer. 00016 Ticks, or slots, to this Cyclic Executive are provided by 00017 a ticker ever 25ms, and then using logical expressions, the 00018 correct task is initiated and allocated the required time. 00019 00020 ##################################################################### */ 00021 00022 #include "mbed.h" 00023 #include "Tasks.h" 00024 00025 // ============================================================================ 00026 // Task Declerations 00027 // ============================================================================ 00028 Task1 task1(p11); // Square wave Measurement 00029 Task2 task2_switch1(p12); // Read digital Input 00030 Task3 task3(p13); // Watchdog Pulse 00031 Task4 task4(p15,p16); // Read analog Inputs 00032 Task5 task5(p9,p10,0x40); // Output to LCD Display 00033 Task6 task6; // Logical checks 00034 Task7 task7(p5,p6,p7,p8,"SD","/SD/A2"); // SD Card Write 00035 00036 // ============================================================================ 00037 // Cyclic Executive Objects and Declerations 00038 // ============================================================================ 00039 DigitalOut ErrorLED(LED1); // Error Indicating LED 00040 DigitalOut LenPin(p25); // Pulse Pin 00041 DigitalIn SDRemoval(p18); // Switch state to indicate remove SD 00042 Ticker CyclicTicker; // Ticker object to cycle tasks 00043 Timer stampTime; // Timer to stamp the time between logs 00044 00045 // NOTE THE FOLLOWING ARE NOT ESSENTIAL TO THE OPERATION OF THIS CYCLIC EXECUTIVE 00046 Timer task1t; // Timer to calculate task1 timing 00047 Timer task2t; // Timer to calculate task2 timing 00048 Timer task3t; // Timer to calculate task3 timing 00049 Timer task4t; // Timer to calculate task4 timing 00050 Timer task5t; // Timer to calculate task5 timing 00051 Timer task6t; // Timer to calculate task6 timing 00052 00053 // ============================================================================ 00054 // Global Data Parameters used in Cyclic Executive 00055 // ============================================================================ 00056 // Counter to record the number of ticks went through by the Cyclic Executive 00057 int cyclicTicks = 1; 00058 00059 // Flag variable to switch priority between Tasks 2 and 3 00060 int taskNum = 2; 00061 00062 // Global parameter storing the most up to date value of the return from Task 1 00063 volatile int task1Frequency; 00064 00065 // Global parameter storing the most up to date value of the return from Task 2 00066 volatile int task2SwitchState; 00067 00068 // Global parameter storing the most up to date value of the return from Task 4 00069 volatile float task4AnalogChannels[2]; 00070 00071 // Global parameter storing the most up to date value of the return from Task 6 00072 volatile int task6ErrorState; 00073 00074 // Char array to store the concatenated string for output onto the SD Card 00075 char logData[50]; 00076 00077 // ============================================================================ 00078 // Cyclic Executive Function Prototypes 00079 // ============================================================================ 00080 void CyclicExec(); 00081 00082 // ============================================================================ 00083 // Main Execution Program 00084 // ============================================================================ 00085 int main() { 00086 00087 // Attempt to open SD file 00088 // If open failed, do not run Cyclic Exec 00089 if(!task7.openFile("/SD/A2/test.csv","a")) 00090 { 00091 // Start Cyclic Executive 00092 CyclicTicker.attach(&CyclicExec,0.025); // 25ms pulses 00093 00094 // Keep program running until RESET 00095 while(1) 00096 { 00097 } 00098 } 00099 00100 // If FIle is not opened, prompt user and show Error on LED 00101 else 00102 { 00103 // Prompt user about error 00104 printf("File not opened\r\nNot executing Cyclic Executive"); 00105 00106 // Execute error code on LED 00107 while(1) 00108 { 00109 ErrorLED = 1; 00110 wait(1); 00111 ErrorLED = 0; 00112 wait(1); 00113 } 00114 } 00115 } 00116 00117 #define TASK1_TICKS 40 00118 #define TASK2_TICKS 12 00119 #define TASK3_TICKS 12 00120 #define TASK4_TICKS 16 00121 #define TASK5_TICKS 80 00122 #define TASK6_TICKS 32 00123 #define TASK7_TICKS 200 00124 00125 void CyclicExec() 00126 { 00127 // When called, increment cyclicTicks 00128 cyclicTicks++; 00129 00130 // Run every 1 second (should be 40 ticks, but tuned to 38 through testing) 00131 if(cyclicTicks % 38 == 0) 00132 { 00133 // ---------- Can be removed --------- 00134 task1t.stop(); 00135 printf("T1 %d\r\n",task1t.read_ms()); 00136 // ----------------------------------- 00137 00138 // Run Task1 00139 LenPin = 1; 00140 task1Frequency = task1.ReadFrequency(); 00141 LenPin = 0; 00142 00143 // ---------- Can be removed --------- 00144 task1t.reset(); 00145 task1t.start(); 00146 // ----------------------------------- 00147 } 00148 00149 // Run every 300ms (should be 12 ticks, but logic dictates double the frequency) 00150 if(cyclicTicks % 6 == 0) 00151 { 00152 // If flag taskNum is assigned to run Task2 00153 if(taskNum == 2) 00154 { 00155 00156 // ---------- Can be removed --------- 00157 task2t.stop(); 00158 printf("T2 %d\r\n",task2t.read_ms()); 00159 // ----------------------------------- 00160 00161 // Run Task 2 00162 task2SwitchState = task2_switch1.digitalInState(); 00163 00164 // Set flag to run Task 3 on next iteration 00165 taskNum = 3; 00166 00167 // ---------- Can be removed --------- 00168 task2t.reset(); 00169 task2t.start(); 00170 // ----------------------------------- 00171 } 00172 00173 // If flag taskNum is assigned to run Task3 00174 else if(taskNum == 3) 00175 { 00176 // ---------- Can be removed --------- 00177 task3t.stop(); 00178 printf("T3 %d\r\n",task3t.read_ms()); 00179 // ----------------------------------- 00180 00181 00182 // Run Task3 00183 task3.OutputWatchdogPulse(); 00184 00185 // Set flag to run Task2 on next iteration 00186 taskNum = 2; 00187 00188 // ---------- Can be removed --------- 00189 task3t.reset(); 00190 task3t.start(); 00191 // ----------------------------------- 00192 } 00193 } 00194 00195 // Run every 400ms (16 ticks) 00196 if(cyclicTicks % 16 == 0) 00197 { 00198 // ---------- Can be removed --------- 00199 task4t.stop(); 00200 printf("T4 %d\r\n",task4t.read_ms()); 00201 // ----------------------------------- 00202 00203 // Run Task4 00204 float *analogReading = task4.returnAnalogReadings(); 00205 task4AnalogChannels[0] = *(analogReading); 00206 task4AnalogChannels[1]= *(analogReading+1); 00207 00208 // ---------- Can be removed --------- 00209 task4t.reset(); 00210 task4t.start(); 00211 // ----------------------------------- 00212 } 00213 00214 // Run every 2 seconds (should be 80 ticks, but tuned to 84 through testing) 00215 if(cyclicTicks % 84 == 0) 00216 { 00217 // ---------- Can be removed --------- 00218 task5t.stop(); 00219 printf("T5 %1.2f\r\n",task5t.read()); 00220 // ----------------------------------- 00221 00222 // Run Task5 00223 task5.updateDisplay( task1Frequency, 00224 task2SwitchState, 00225 task6ErrorState, 00226 task4AnalogChannels[0], 00227 task4AnalogChannels[1] ); 00228 00229 // ---------- Can be removed --------- 00230 task5t.reset(); 00231 task5t.start(); 00232 // ----------------------------------- 00233 } 00234 00235 // Run every 800ms (32 ticks) 00236 if(cyclicTicks % 32 == 0) 00237 { 00238 // ---------- Can be removed --------- 00239 task6t.stop(); 00240 printf("T6 %d\r\n",task6t.read_ms()); 00241 // ----------------------------------- 00242 00243 // Run Task6 00244 task6ErrorState = task6.updateErrorCode( task2SwitchState, 00245 task4AnalogChannels[0], 00246 task4AnalogChannels[1] ); 00247 00248 // ---------- Can be removed --------- 00249 task6t.reset(); 00250 task6t.start(); 00251 // ----------------------------------- 00252 } 00253 00254 // Run every 5 seconds (200 ticks) 00255 if(cyclicTicks % 200 == 0) 00256 { 00257 // ---------- Can be removed --------- 00258 printf("T7\r\n"); 00259 // ----------------------------------- 00260 00261 // Run Task7 00262 stampTime.stop(); 00263 int a = sprintf( logData,"Time=%1.2f,Freq=%d,SW1=%d,A1=%1.3f,A2=%1.3f\n", 00264 stampTime.read(), 00265 task1Frequency, 00266 task2SwitchState, 00267 task4AnalogChannels[0], 00268 task4AnalogChannels[1] ); 00269 task7.writeData(logData); 00270 00271 // ---------- Can be removed --------- 00272 stampTime.reset(); 00273 stampTime.start(); 00274 // ----------------------------------- 00275 } 00276 00277 // If SDRemoval Input is high, close FILE and detach the Ticker 00278 if(SDRemoval == HIGH) 00279 { 00280 printf("SD Removed"); 00281 task7.closeFile(); 00282 CyclicTicker.detach(); 00283 } 00284 } 00285
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