Xavier Gouesnard / Mbed 2 deprecated Assignment_2_XG

Test session

Dependencies:   FatFileSystem MCP23017 WattBob_TextLCD mbed

Fork of Assignment_2_herpe by Xavier Herpe

XG_2.cpp@4:48761259552a, 2017-03-14 (annotated)

Committer:
xouf2114
Date:
Tue Mar 14 14:46:43 2017 +0000
Revision:
4:48761259552a
Parent:
3:5883d1a2c5b0 
Test of Assignment 2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
xouf2114 1:adcb8ab84d62 1 // XAVIER GOUESNARD
xouf2114 1:adcb8ab84d62 2 // H00258183
xouf2114 1:adcb8ab84d62 3 // Assignment 2
xouf2114 1:adcb8ab84d62 4 // MSc Embeded Systems 2016/2017
xouf2114 1:adcb8ab84d62 5 // Heriot-Watt University
xouf2114 1:adcb8ab84d62 6
xouf2114 1:adcb8ab84d62 7 #include "mbed.h"
xouf2114 2:42d97c99e877 8 #include "MCP23017.h"
xouf2114 1:adcb8ab84d62 9 #include "WattBob_TextLCD.h"
xouf2114 1:adcb8ab84d62 10 #include "SDFileSystem.h"
xouf2114 1:adcb8ab84d62 11 #include "FATFileSystem.h"
xouf2114 1:adcb8ab84d62 12
xouf2114 1:adcb8ab84d62 13 #define BACK_LIGHT_ON(INTERFACE) INTERFACE->write_bit(1,BL_BIT)
xouf2114 1:adcb8ab84d62 14 #define BACK_LIGHT_OFF(INTERFACE) INTERFACE->write_bit(0,BL_BIT)
xouf2114 1:adcb8ab84d62 15
xouf2114 1:adcb8ab84d62 16 // Pointers to LCD screen and SD card
xouf2114 1:adcb8ab84d62 17 MCP23017 *par_port; // pointer to 16-bit parallel I/O chip
xouf2114 1:adcb8ab84d62 18 WattBob_TextLCD *lcd; // pointer to 2*16 character LCD object
xouf2114 1:adcb8ab84d62 19 FILE *fp; // Pointer to SD card object
xouf2114 1:adcb8ab84d62 20
xouf2114 1:adcb8ab84d62 21
xouf2114 1:adcb8ab84d62 22 //=====================================================================================
xouf2114 1:adcb8ab84d62 23 // I/O ports allocation
xouf2114 1:adcb8ab84d62 24 //=====================================================================================
xouf2114 1:adcb8ab84d62 25 DigitalIn TTL(p17); // TTL input for frequency measurement
xouf2114 1:adcb8ab84d62 26 DigitalIn switch_1(p18); // Switch 1 input
xouf2114 1:adcb8ab84d62 27 DigitalIn switch_2(p19); // Switch 2 input
xouf2114 1:adcb8ab84d62 28 DigitalIn switch_off(p11); // Switch used to close SD file and stop cyclic executive
xouf2114 1:adcb8ab84d62 29 AnalogIn analogue_in_1(p15); // POT value
xouf2114 1:adcb8ab84d62 30 AnalogIn analogue_in_2(p16); // LDR value
xouf2114 1:adcb8ab84d62 31 PwmOut servo(p21); // Servo output
xouf2114 1:adcb8ab84d62 32 DigitalOut TestPin(p20); // Pin only used to test program and measure time
xouf2114 1:adcb8ab84d62 33 SDFileSystem sd(p5, p6, p7, p8, "sd"); // The pinout on the mbed Cool Components workshop board
xouf2114 4:48761259552a 34 DigitalIn switch_pin(p14, PullDown);
xouf2114 1:adcb8ab84d62 35
xouf2114 1:adcb8ab84d62 36 //=====================================================================================
xouf2114 1:adcb8ab84d62 37 // Internal objects declaration
xouf2114 1:adcb8ab84d62 38 // ====================================================================================
xouf2114 1:adcb8ab84d62 39 BusOut LEDs(LED4, LED3, LED2, LED1); // Address the four LEDs to a single bus
xouf2114 1:adcb8ab84d62 40 Timer timer; // Timer used to measure frequency in task 1
xouf2114 1:adcb8ab84d62 41 Timer DoNothing; // Timer used to measure how long the program does nothing
xouf2114 1:adcb8ab84d62 42 Ticker ticker; // Ticker used as clock for cyclic executive program
xouf2114 1:adcb8ab84d62 43
xouf2114 1:adcb8ab84d62 44
xouf2114 1:adcb8ab84d62 45 //=====================================================================================
xouf2114 1:adcb8ab84d62 46 // Constants declaration
xouf2114 1:adcb8ab84d62 47 //=====================================================================================
xouf2114 1:adcb8ab84d62 48 const int SampFreq = 100; // Sampling frequency is 10kHz (100us)
xouf2114 1:adcb8ab84d62 49
xouf2114 1:adcb8ab84d62 50 //=====================================================================================
xouf2114 1:adcb8ab84d62 51 // Variables declaration
xouf2114 1:adcb8ab84d62 52 //=====================================================================================
xouf2114 1:adcb8ab84d62 53
xouf2114 1:adcb8ab84d62 54 // Variables for cyclic executive program
xouf2114 1:adcb8ab84d62 55 long int ticks = 0; // Used to define what task to call in the cyclic executive program
xouf2114 1:adcb8ab84d62 56 int NoTask = 0; // Used to return how long the program does nothing in ms
xouf2114 1:adcb8ab84d62 57 int NoTaskCount = 0; // Variable incremented until one total cycle of 10 seconds is reached
xouf2114 1:adcb8ab84d62 58
xouf2114 1:adcb8ab84d62 59 // Variables for tasks 1 and 2
xouf2114 1:adcb8ab84d62 60 int period = 0; // Returned period of the TTL input signal
xouf2114 1:adcb8ab84d62 61 int frequency = 0; // Returned frequency of the TTL signal
xouf2114 1:adcb8ab84d62 62
xouf2114 1:adcb8ab84d62 63 // Varibles for task 4
xouf2114 1:adcb8ab84d62 64 int switch_1_val = 0; // Used to return how many times the switch is high
xouf2114 1:adcb8ab84d62 65 int switch_2_val = 0;
xouf2114 1:adcb8ab84d62 66 bool switch_1_state = 0; // Used to define whether the debounced switch is ON or OFF
xouf2114 1:adcb8ab84d62 67 bool switch_2_state = 0;
xouf2114 1:adcb8ab84d62 68
xouf2114 1:adcb8ab84d62 69 // Variables for task 5
xouf2114 1:adcb8ab84d62 70 float analogue_1_val = 0; // Used to return the filtered analogue input
xouf2114 1:adcb8ab84d62 71 float analogue_2_val = 0;
xouf2114 1:adcb8ab84d62 72
xouf2114 1:adcb8ab84d62 73 int analogue_1_int = 0; // Used to convert float to int (results in quicker display on LCD in task 6)
xouf2114 1:adcb8ab84d62 74 int analogue_2_int = 0;
xouf2114 3:5883d1a2c5b0 75
xouf2114 1:adcb8ab84d62 76 // Variable for task 7
xouf2114 1:adcb8ab84d62 77 int LogCount = 0; // Used to define logging number
xouf2114 1:adcb8ab84d62 78
xouf2114 1:adcb8ab84d62 79 // Variable used for task 8
xouf2114 1:adcb8ab84d62 80 int BinCount = 0; // Used to increment a binary display on LEDs. Goes from 0 to 15 and then is reset
xouf2114 1:adcb8ab84d62 81 bool BinEnable = 0; // Used to tell task 5 to display binary pattern on LEDs every 1.5s
xouf2114 1:adcb8ab84d62 82 int IncCheck = 0; // Check increment to see if 6 cycles have elapsed to light LEDs ( 6 * 250us = 1.5s)
xouf2114 1:adcb8ab84d62 83
xouf2114 1:adcb8ab84d62 84
xouf2114 1:adcb8ab84d62 85 //=====================================================================================
xouf2114 1:adcb8ab84d62 86 // Task declaration
xouf2114 1:adcb8ab84d62 87 //=====================================================================================
xouf2114 1:adcb8ab84d62 88
xouf2114 1:adcb8ab84d62 89 void CyclEx();
xouf2114 1:adcb8ab84d62 90
xouf2114 1:adcb8ab84d62 91 void Task1(); // Measure TTL input frequency
xouf2114 1:adcb8ab84d62 92 void Task2(); // Show frequency on LCD screen
xouf2114 1:adcb8ab84d62 93 void Task3(); // Show speed on servo dial
xouf2114 1:adcb8ab84d62 94 void Task4(); // Read and debounce two digital inputs
xouf2114 1:adcb8ab84d62 95 void Task5(); // Read and filter two analogue inputs
xouf2114 1:adcb8ab84d62 96 void Task6(); // Display digital and analogue inputs on LCD screen
xouf2114 1:adcb8ab84d62 97 void Task7(); // Log speed, analogue and digital inputs on SD card
xouf2114 1:adcb8ab84d62 98 void Task8(); // Display error message on LCD screen and display binary pattern on LEDs
xouf2114 1:adcb8ab84d62 99
xouf2114 1:adcb8ab84d62 100 void WaitRisEdge(); // Subroutine to detect rising edge
xouf2114 1:adcb8ab84d62 101 void WaitFalEdge(); // Subroutine to detect falling edge
xouf2114 1:adcb8ab84d62 102
xouf2114 1:adcb8ab84d62 103 void Stop(); // Close log file and stop cyclic executive
xouf2114 1:adcb8ab84d62 104
xouf2114 1:adcb8ab84d62 105
xouf2114 1:adcb8ab84d62 106 //=====================================================================================
xouf2114 1:adcb8ab84d62 107 // Main program
xouf2114 1:adcb8ab84d62 108 //=====================================================================================
xouf2114 1:adcb8ab84d62 109
xouf2114 1:adcb8ab84d62 110 int main()
xouf2114 1:adcb8ab84d62 111 {
xouf2114 1:adcb8ab84d62 112
xouf2114 1:adcb8ab84d62 113 // LCD Screen Initialisation
xouf2114 1:adcb8ab84d62 114 par_port = new MCP23017(p9, p10, 0x40); // initialise 16-bit I/O chip
xouf2114 1:adcb8ab84d62 115 lcd = new WattBob_TextLCD(par_port); // initialise 2*26 char display
xouf2114 1:adcb8ab84d62 116 par_port->write_bit(1,BL_BIT); // turn LCD backlight ON
xouf2114 1:adcb8ab84d62 117 lcd->cls(); // clear display
xouf2114 1:adcb8ab84d62 118
xouf2114 1:adcb8ab84d62 119 // EXEL log file initialisation
xouf2114 1:adcb8ab84d62 120 fp = fopen("/sd/log.xls", "w"); // pointer to log in text file called "log". (Use "a" to not delete file)
xouf2114 1:adcb8ab84d62 121 fprintf(fp, "This file is the property of Xavier Gouesnard\n\n");
xouf2114 1:adcb8ab84d62 122
xouf2114 1:adcb8ab84d62 123 // DoNothing timer reset
xouf2114 1:adcb8ab84d62 124 DoNothing.reset();
xouf2114 1:adcb8ab84d62 125
xouf2114 1:adcb8ab84d62 126 // Internal ticker set to 25ms. Every 25ms, the scheduler is called and selects the task to run
xouf2114 1:adcb8ab84d62 127 ticker.attach(&CyclEx, 0.025); // Period set to 25ms
xouf2114 1:adcb8ab84d62 128 while(1)// Run until system shuts down
xouf2114 1:adcb8ab84d62 129 {
xouf2114 1:adcb8ab84d62 130
xouf2114 1:adcb8ab84d62 131 }
xouf2114 1:adcb8ab84d62 132 }
xouf2114 1:adcb8ab84d62 133
xouf2114 1:adcb8ab84d62 134 // Where tasks are scheduled based on an EXEL sheet
xouf2114 1:adcb8ab84d62 135 void CyclEx()
xouf2114 1:adcb8ab84d62 136 {
xouf2114 1:adcb8ab84d62 137 // Stop timer when a new task starts
xouf2114 1:adcb8ab84d62 138 DoNothing.stop();
xouf2114 1:adcb8ab84d62 139
xouf2114 1:adcb8ab84d62 140 if(ticks % 80 == 4) // Occures every 80 clock cycles (2 seconds). Starts with an offset of 4 clock cycles
xouf2114 1:adcb8ab84d62 141 {
xouf2114 1:adcb8ab84d62 142 Task1();
xouf2114 1:adcb8ab84d62 143 }
xouf2114 1:adcb8ab84d62 144
xouf2114 1:adcb8ab84d62 145 else if(ticks % 200 == 8) // Occures every 200 clock cycles (5 seconds). Starts with an offset of 8 clock cycles
xouf2114 1:adcb8ab84d62 146 {
xouf2114 1:adcb8ab84d62 147 Task2();
xouf2114 1:adcb8ab84d62 148 }
xouf2114 1:adcb8ab84d62 149 else if(ticks % 240 == 7) // Occures every 240 clock cycles (6 seconds). Starts with an offset of 7 clock cycles
xouf2114 1:adcb8ab84d62 150 {
xouf2114 1:adcb8ab84d62 151 Task3();
xouf2114 1:adcb8ab84d62 152 }
xouf2114 1:adcb8ab84d62 153 else if(ticks % 4 == 0) // Occures every 4 clock cycles (0.1 seconds). Starts with an offset of 0 clock cycles
xouf2114 1:adcb8ab84d62 154 {
xouf2114 1:adcb8ab84d62 155 Task4();
xouf2114 1:adcb8ab84d62 156 }
xouf2114 1:adcb8ab84d62 157 else if(ticks % 10 == 1) // Occures every 10 clock cycles (0.25 seconds). Starts with an offset of 1 clock cycles
xouf2114 1:adcb8ab84d62 158 {
xouf2114 1:adcb8ab84d62 159 Task5();
xouf2114 1:adcb8ab84d62 160 }
xouf2114 1:adcb8ab84d62 161 else if(ticks % 40 == 3) // Occures every 40 clock cycles (1 seconds). Starts with an offset of 3 clock cycles
xouf2114 1:adcb8ab84d62 162 {
xouf2114 1:adcb8ab84d62 163 Task6();
xouf2114 1:adcb8ab84d62 164 }
xouf2114 1:adcb8ab84d62 165 else if(ticks % 400 == 10) // Occures every 400 clock cycles (10 seconds). Starts with an offset of 10 clock cycles
xouf2114 1:adcb8ab84d62 166 {
xouf2114 1:adcb8ab84d62 167 Task7();
xouf2114 1:adcb8ab84d62 168 }
xouf2114 1:adcb8ab84d62 169 else if(ticks % 160 == 6) // Occures every 160 clock cycles (4 seconds). Starts with an offset of 6 clock cycles
xouf2114 1:adcb8ab84d62 170 {
xouf2114 1:adcb8ab84d62 171 Task8();
xouf2114 1:adcb8ab84d62 172 }
xouf2114 1:adcb8ab84d62 173
xouf2114 1:adcb8ab84d62 174 if (switch_off == 1) // Pin used to log data on SD card and stop Cyclic executive program
xouf2114 1:adcb8ab84d62 175 {
xouf2114 1:adcb8ab84d62 176 Stop();
xouf2114 1:adcb8ab84d62 177 }
xouf2114 1:adcb8ab84d62 178 ticks++;
xouf2114 1:adcb8ab84d62 179
xouf2114 1:adcb8ab84d62 180 // Start timer when one task is ended
xouf2114 1:adcb8ab84d62 181 DoNothing.start();
xouf2114 1:adcb8ab84d62 182 NoTaskCount++;
xouf2114 1:adcb8ab84d62 183
xouf2114 1:adcb8ab84d62 184 // When one full cycle of 10 seconds is finished, return how long the program was doing nothing (lazy program)
xouf2114 1:adcb8ab84d62 185 if (NoTaskCount == 400)
xouf2114 1:adcb8ab84d62 186 {
xouf2114 1:adcb8ab84d62 187 NoTask = DoNothing.read_ms();
xouf2114 1:adcb8ab84d62 188 NoTaskCount = 0;
xouf2114 1:adcb8ab84d62 189 DoNothing.reset();
xouf2114 1:adcb8ab84d62 190 }
xouf2114 1:adcb8ab84d62 191 }
xouf2114 1:adcb8ab84d62 192
xouf2114 1:adcb8ab84d62 193
xouf2114 1:adcb8ab84d62 194 //=====================================================================================
xouf2114 1:adcb8ab84d62 195 // Tasks
xouf2114 1:adcb8ab84d62 196 //=====================================================================================
xouf2114 1:adcb8ab84d62 197
xouf2114 4:48761259552a 198 // Task 1: Measure the freqeuncy of a 3.3v square wave signal
xouf2114 1:adcb8ab84d62 199 void Task1()
xouf2114 1:adcb8ab84d62 200 {
xouf2114 4:48761259552a 201 task 1
xouf2114 4:48761259552a 202
xouf2114 1:adcb8ab84d62 203 timer.reset();
xouf2114 4:48761259552a 204 while(freqCountPin == 0) {}
xouf2114 4:48761259552a 205 timer.start();
xouf2114 4:48761259552a 206 while(freqCountPin == 1) {}
xouf2114 4:48761259552a 207 timer.stop();
xouf2114 4:48761259552a 208 frequency = 2000000 / timer.read_us()
xouf2114 1:adcb8ab84d62 209
xouf2114 1:adcb8ab84d62 210
xouf2114 1:adcb8ab84d62 211 // Task 2: display the measured frequency on LCD screen
xouf2114 1:adcb8ab84d62 212 void Task2()
xouf2114 1:adcb8ab84d62 213 {
xouf2114 1:adcb8ab84d62 214 lcd->cls(); // clear display
xouf2114 1:adcb8ab84d62 215 lcd->locate(0,0); // set cursor to location (0,0) - top left corner
xouf2114 1:adcb8ab84d62 216 lcd->printf("%d Hz",frequency); // print the frequency calculated in task 1
xouf2114 1:adcb8ab84d62 217 }
xouf2114 1:adcb8ab84d62 218
xouf2114 1:adcb8ab84d62 219
xouf2114 1:adcb8ab84d62 220
xouf2114 1:adcb8ab84d62 221 // Task 3: show speed on servo output dial
xouf2114 1:adcb8ab84d62 222 void Task3()
xouf2114 1:adcb8ab84d62 223 {
xouf2114 1:adcb8ab84d62 224 servo.period(0.02); // servo requires a 20ms period
xouf2114 1:adcb8ab84d62 225 // To rotate the servo from -90 to +90 degrees, the pulse width must varies between 600us to 2300us
xouf2114 1:adcb8ab84d62 226 // The pulse width is calculated from the speed measured in task one
xouf2114 1:adcb8ab84d62 227 // 50Hz is equivalent to -90 degrees and 100Hz is equivalent to 90 degrees
xouf2114 1:adcb8ab84d62 228 // 1Hz change is equal to 34us pulse width change, so pulse width = ((frequency - 50)*34) + 600
xouf2114 1:adcb8ab84d62 229 servo.pulsewidth_us(2300-((frequency - 50)*34));
xouf2114 1:adcb8ab84d62 230 wait_ms(1); // Leave the servo some time to reach its position
xouf2114 1:adcb8ab84d62 231 }
xouf2114 1:adcb8ab84d62 232
xouf2114 1:adcb8ab84d62 233
xouf2114 1:adcb8ab84d62 234
xouf2114 1:adcb8ab84d62 235 // Task 4: Read two digital inputs (debounced)
xouf2114 1:adcb8ab84d62 236 void Task4()
xouf2114 1:adcb8ab84d62 237 {
xouf2114 1:adcb8ab84d62 238 switch_1_val = 0;
xouf2114 1:adcb8ab84d62 239 switch_2_val = 0;
xouf2114 1:adcb8ab84d62 240
xouf2114 1:adcb8ab84d62 241 // Read each switch three consecutive times with 100us between readings
xouf2114 1:adcb8ab84d62 242 for(int i=0; i<3; i++)
xouf2114 1:adcb8ab84d62 243 {
xouf2114 1:adcb8ab84d62 244 if (switch_1 == 1) // Increment variable if switch 1 is pressed
xouf2114 1:adcb8ab84d62 245 {
xouf2114 1:adcb8ab84d62 246 switch_1_val++;
xouf2114 1:adcb8ab84d62 247 }
xouf2114 1:adcb8ab84d62 248
xouf2114 1:adcb8ab84d62 249 if (switch_2 == 1) // Increment variable if switch 2 is pressed
xouf2114 1:adcb8ab84d62 250 {
xouf2114 1:adcb8ab84d62 251 switch_2_val++;
xouf2114 1:adcb8ab84d62 252 }
xouf2114 1:adcb8ab84d62 253
xouf2114 1:adcb8ab84d62 254 wait_us(SampFreq);
xouf2114 1:adcb8ab84d62 255 }
xouf2114 1:adcb8ab84d62 256 // Check how many times switch 1 has been high
xouf2114 1:adcb8ab84d62 257 // if it has been high more than twice, then switch 1 state = 1
xouf2114 1:adcb8ab84d62 258 if (switch_1_val > 1)
xouf2114 1:adcb8ab84d62 259 {
xouf2114 1:adcb8ab84d62 260 switch_1_state = 1;
xouf2114 1:adcb8ab84d62 261 }
xouf2114 1:adcb8ab84d62 262 else
xouf2114 1:adcb8ab84d62 263 {
xouf2114 1:adcb8ab84d62 264 switch_1_state = 0;
xouf2114 1:adcb8ab84d62 265 }
xouf2114 1:adcb8ab84d62 266
xouf2114 1:adcb8ab84d62 267 // Check how many times switch 1 has been high
xouf2114 1:adcb8ab84d62 268 // if it has been high more than twice, then switch 2 state = 1
xouf2114 1:adcb8ab84d62 269 if (switch_2_val > 1)
xouf2114 1:adcb8ab84d62 270 {
xouf2114 1:adcb8ab84d62 271 switch_2_state = 1;
xouf2114 1:adcb8ab84d62 272 }
xouf2114 1:adcb8ab84d62 273
xouf2114 1:adcb8ab84d62 274 else
xouf2114 1:adcb8ab84d62 275 {
xouf2114 1:adcb8ab84d62 276 switch_2_state = 0;
xouf2114 1:adcb8ab84d62 277 }
xouf2114 1:adcb8ab84d62 278 }
xouf2114 1:adcb8ab84d62 279
xouf2114 1:adcb8ab84d62 280
xouf2114 1:adcb8ab84d62 281
xouf2114 1:adcb8ab84d62 282 // Task 5: Read two analogue inputs (filtered)
xouf2114 1:adcb8ab84d62 283 void Task5()
xouf2114 1:adcb8ab84d62 284 {
xouf2114 1:adcb8ab84d62 285 analogue_1_val = 0; // Reset variables
xouf2114 1:adcb8ab84d62 286 analogue_2_val = 0;
xouf2114 1:adcb8ab84d62 287
xouf2114 1:adcb8ab84d62 288 // Takes four readings of each analogue input. Readings occure every 0.1ms
xouf2114 1:adcb8ab84d62 289 // Because the analogue.read() function returns a value from 0 to 1,
xouf2114 1:adcb8ab84d62 290 // we need to multiply the readings by 3.3 to cover 0V to 3.3V
xouf2114 1:adcb8ab84d62 291 for(int i=0; i<4;i++)
xouf2114 1:adcb8ab84d62 292 {
xouf2114 1:adcb8ab84d62 293 analogue_1_val = analogue_1_val + (analogue_in_1*3.3);
xouf2114 1:adcb8ab84d62 294 analogue_2_val = analogue_2_val + (analogue_in_2*3.3);
xouf2114 1:adcb8ab84d62 295 wait_us(SampFreq);
xouf2114 1:adcb8ab84d62 296 }
xouf2114 1:adcb8ab84d62 297
xouf2114 1:adcb8ab84d62 298 analogue_1_val = (analogue_1_val / 4);
xouf2114 1:adcb8ab84d62 299 analogue_2_val = (analogue_2_val / 4);
xouf2114 1:adcb8ab84d62 300
xouf2114 1:adcb8ab84d62 301 analogue_1_int = analogue_1_val * 10; // Convert floating point into an integer to reduce display delay
xouf2114 1:adcb8ab84d62 302 analogue_2_int = analogue_2_val * 10;
xouf2114 1:adcb8ab84d62 303
xouf2114 1:adcb8ab84d62 304 // This section of task 5 is used to take over part of task 8.
xouf2114 1:adcb8ab84d62 305 // Since the LEDs pattern has to be incremented every 1.5s, the pattern is
xouf2114 1:adcb8ab84d62 306 // incremented every 6 cycles, which correspond to 1.5s.
xouf2114 1:adcb8ab84d62 307 if(BinEnable == 1)
xouf2114 1:adcb8ab84d62 308 {
xouf2114 1:adcb8ab84d62 309 IncCheck++;
xouf2114 1:adcb8ab84d62 310
xouf2114 1:adcb8ab84d62 311 if(IncCheck == 6) // Corresponds to 1.5s. Increment binary pattern
xouf2114 1:adcb8ab84d62 312 {
xouf2114 1:adcb8ab84d62 313 LEDs = BinCount;
xouf2114 1:adcb8ab84d62 314 BinCount++;
xouf2114 1:adcb8ab84d62 315 IncCheck = 0;
xouf2114 1:adcb8ab84d62 316
xouf2114 1:adcb8ab84d62 317 if (BinCount > 15) // Used to reset variable once maximum 4-bit binary value is reached
xouf2114 1:adcb8ab84d62 318 {
xouf2114 1:adcb8ab84d62 319 BinCount = 0;
xouf2114 1:adcb8ab84d62 320 }
xouf2114 1:adcb8ab84d62 321 }
xouf2114 1:adcb8ab84d62 322 }
xouf2114 1:adcb8ab84d62 323 }
xouf2114 1:adcb8ab84d62 324
xouf2114 1:adcb8ab84d62 325
xouf2114 1:adcb8ab84d62 326
xouf2114 1:adcb8ab84d62 327 // Task 6: Display analogue and digital values on LCD screen
xouf2114 1:adcb8ab84d62 328 void Task6()
xouf2114 1:adcb8ab84d62 329 {
xouf2114 1:adcb8ab84d62 330 // lcd->cls(); // clear display (takes too long)
xouf2114 1:adcb8ab84d62 331 lcd->locate(0,0); // set cursor to location (0,0) - top left corner
xouf2114 1:adcb8ab84d62 332 lcd->printf("%d %d%d%d",analogue_1_int,analogue_2_int,switch_1_state,switch_2_state);
xouf2114 1:adcb8ab84d62 333 }
xouf2114 1:adcb8ab84d62 334
xouf2114 1:adcb8ab84d62 335
xouf2114 1:adcb8ab84d62 336
xouf2114 1:adcb8ab84d62 337 // Task 7: Log values on SD card
xouf2114 1:adcb8ab84d62 338 void Task7()
xouf2114 1:adcb8ab84d62 339 {
xouf2114 1:adcb8ab84d62 340 LogCount++; //Used to print the logging number in file. Starts from 1
xouf2114 1:adcb8ab84d62 341 fprintf(fp, "Log: %d, Speed: %dHz, Switch_1: %d, Switch_2: %d, POT: %.2fVolts, LDR: %.2fVolts\n",LogCount,frequency,switch_1_state,switch_2_state,analogue_1_val,analogue_2_val);
xouf2114 1:adcb8ab84d62 342 }
xouf2114 1:adcb8ab84d62 343
xouf2114 1:adcb8ab84d62 344
xouf2114 1:adcb8ab84d62 345
xouf2114 1:adcb8ab84d62 346 // Task 8: Show error message and light LEDs
xouf2114 1:adcb8ab84d62 347 void Task8()
xouf2114 1:adcb8ab84d62 348 {
xouf2114 1:adcb8ab84d62 349 // If switch_1 = 1 and POT value > 3V, display error message
xouf2114 1:adcb8ab84d62 350 if(switch_1_state == 1 && analogue_1_val > 3)
xouf2114 1:adcb8ab84d62 351 {
xouf2114 1:adcb8ab84d62 352 //lcd->cls(); // clear display
xouf2114 1:adcb8ab84d62 353 lcd->locate(0,0); // set cursor to location (0,0) - top left corner
xouf2114 1:adcb8ab84d62 354 lcd->printf(".ERREUR");
xouf2114 1:adcb8ab84d62 355 }
xouf2114 1:adcb8ab84d62 356
xouf2114 1:adcb8ab84d62 357 // If switch 2 is high, return a command to task 5 to do the incrementing pattern every 1.5 seconds
xouf2114 1:adcb8ab84d62 358 if(switch_2_state == 1)
xouf2114 1:adcb8ab84d62 359 {
xouf2114 1:adcb8ab84d62 360 BinEnable = 1;
xouf2114 1:adcb8ab84d62 361 }
xouf2114 1:adcb8ab84d62 362
xouf2114 1:adcb8ab84d62 363 // If switch 2 is low, stop sending a command to task 5 and light off LEDs
xouf2114 1:adcb8ab84d62 364 else
xouf2114 1:adcb8ab84d62 365 {
xouf2114 1:adcb8ab84d62 366 LEDs = 0;
xouf2114 1:adcb8ab84d62 367 BinEnable = 0;
xouf2114 1:adcb8ab84d62 368 BinCount = 0;
xouf2114 1:adcb8ab84d62 369 }
xouf2114 1:adcb8ab84d62 370 }
xouf2114 1:adcb8ab84d62 371
xouf2114 1:adcb8ab84d62 372
xouf2114 1:adcb8ab84d62 373
xouf2114 1:adcb8ab84d62 374 // Stop function to stop cyclic executive and close log file
xouf2114 1:adcb8ab84d62 375 void Stop()
xouf2114 1:adcb8ab84d62 376 {
xouf2114 1:adcb8ab84d62 377 ticker.detach();
xouf2114 1:adcb8ab84d62 378 fprintf(fp, "\n The program did nothing for %d ms, which corresponds to %d percent of the time \n",NoTask, NoTask/100);
xouf2114 1:adcb8ab84d62 379 fprintf(fp, "\n PROGRAM STOPPED");
xouf2114 1:adcb8ab84d62 380 fclose(fp);
xouf2114 1:adcb8ab84d62 381
xouf2114 1:adcb8ab84d62 382 }
xouf2114 1:adcb8ab84d62 383
xouf2114 1:adcb8ab84d62 384
xouf2114 1:adcb8ab84d62 385
xouf2114 1:adcb8ab84d62 386 //=====================================================================================
xouf2114 1:adcb8ab84d62 387 // Subroutines
xouf2114 1:adcb8ab84d62 388 //=====================================================================================
xouf2114 1:adcb8ab84d62 389
xouf2114 1:adcb8ab84d62 390 // Wait for rising edge
xouf2114 1:adcb8ab84d62 391 void WaitRisEdge()
xouf2114 1:adcb8ab84d62 392 {
xouf2114 1:adcb8ab84d62 393 // As soon as it gets high, the subroutine will end and the timer will start
xouf2114 1:adcb8ab84d62 394 while(TTL == 0)
xouf2114 1:adcb8ab84d62 395 {
xouf2114 1:adcb8ab84d62 396 wait_us(SampFreq);
xouf2114 1:adcb8ab84d62 397 }
xouf2114 1:adcb8ab84d62 398 }
xouf2114 1:adcb8ab84d62 399
xouf2114 1:adcb8ab84d62 400
xouf2114 1:adcb8ab84d62 401 // Wait for falling edge
xouf2114 1:adcb8ab84d62 402 void WaitFalEdge()
xouf2114 1:adcb8ab84d62 403 {
xouf2114 1:adcb8ab84d62 404 // As soon as it gets low, the subroutine will end and the timer will start
xouf2114 1:adcb8ab84d62 405 while(TTL == 1)
xouf2114 1:adcb8ab84d62 406 {
xouf2114 1:adcb8ab84d62 407 wait_us(SampFreq);
xouf2114 1:adcb8ab84d62 408 }
xouf2114 1:adcb8ab84d62 409 }