Xavier Gouesnard / Mbed 2 deprecated Embedded_Software_Assignment_2

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Dependencies:   MCP23017 SDFileSystem WattBob_TextLCD mbed

Fork of Embedded_Software_Assignment_2 by Steven Kay

main.cpp@17:d12bdce11d40, 2017-03-14 (annotated)

Committer:
xouf2114
Date:
Tue Mar 14 15:47:24 2017 +0000
Revision:
17:d12bdce11d40
Parent:
15:c1cf53d91a85 
Added library documentation and updated FATFileSystem sub-library to the latest revision

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sk398 4:b85bc0d810e1 1 /* #####################################################################
sk398 4:b85bc0d810e1 2 main.cpp
sk398 4:b85bc0d810e1 3 ---------
sk398 4:b85bc0d810e1 4
sk398 4:b85bc0d810e1 5 Embedded Software - Assignment 2
sk398 4:b85bc0d810e1 6 --------------------------------
sk398 4:b85bc0d810e1 7
xouf2114 11:1069d300847b 8 Written by: Xavier Gouesnard
sk398 4:b85bc0d810e1 9
xouf2114 11:1069d300847b 10 Date: March 2017
sk398 4:b85bc0d810e1 11
sk398 10:c0531edf4850 12 Function: This is the main runner containing the Cyclic executive
xouf2114 11:1069d300847b 13 There are 8 defined tasks and several Auxillary components
sk398 10:c0531edf4850 14 which are logically ran periodically at their required time
sk398 10:c0531edf4850 15 by a Cyclic Executive sequencer.
sk398 10:c0531edf4850 16 Ticks, or slots, to this Cyclic Executive are provided by
sk398 10:c0531edf4850 17 a ticker ever 25ms, and then using logical expressions, the
sk398 10:c0531edf4850 18 correct task is initiated and allocated the required time.
xouf2114 15:c1cf53d91a85 19
sk398 4:b85bc0d810e1 20
sk398 4:b85bc0d810e1 21 ##################################################################### */
sk398 2:22ebabd78084 22
sk398 0:5989ac10c4d3 23 #include "mbed.h"
sk398 1:221d677fe0d3 24 #include "Tasks.h"
sk398 0:5989ac10c4d3 25
sk398 7:2973bf297f3d 26 // ============================================================================
sk398 7:2973bf297f3d 27 // Task Declerations
sk398 7:2973bf297f3d 28 // ============================================================================
sk398 6:ceda53939eb8 29 Task1 task1(p11); // Square wave Measurement
sk398 7:2973bf297f3d 30 Task2 task2_switch1(p12); // Read digital Input
sk398 6:ceda53939eb8 31 Task3 task3(p13); // Watchdog Pulse
sk398 6:ceda53939eb8 32 Task4 task4(p15,p16); // Read analog Inputs
sk398 6:ceda53939eb8 33 Task5 task5(p9,p10,0x40); // Output to LCD Display
sk398 6:ceda53939eb8 34 Task6 task6; // Logical checks
sk398 6:ceda53939eb8 35 Task7 task7(p5,p6,p7,p8,"SD","/SD/A2"); // SD Card Write
xouf2114 11:1069d300847b 36 //Task8 task8; // Shutdown Switch
sk398 0:5989ac10c4d3 37
sk398 7:2973bf297f3d 38 // ============================================================================
sk398 7:2973bf297f3d 39 // Cyclic Executive Objects and Declerations
sk398 7:2973bf297f3d 40 // ============================================================================
sk398 7:2973bf297f3d 41 DigitalOut ErrorLED(LED1); // Error Indicating LED
sk398 10:c0531edf4850 42 DigitalOut LenPin(p25); // Pulse Pin
sk398 10:c0531edf4850 43 DigitalIn SDRemoval(p18); // Switch state to indicate remove SD
sk398 7:2973bf297f3d 44 Ticker CyclicTicker; // Ticker object to cycle tasks
sk398 10:c0531edf4850 45 Timer stampTime; // Timer to stamp the time between logs
sk398 10:c0531edf4850 46
sk398 10:c0531edf4850 47 // NOTE THE FOLLOWING ARE NOT ESSENTIAL TO THE OPERATION OF THIS CYCLIC EXECUTIVE
sk398 10:c0531edf4850 48 Timer task1t; // Timer to calculate task1 timing
sk398 10:c0531edf4850 49 Timer task2t; // Timer to calculate task2 timing
sk398 10:c0531edf4850 50 Timer task3t; // Timer to calculate task3 timing
sk398 10:c0531edf4850 51 Timer task4t; // Timer to calculate task4 timing
sk398 10:c0531edf4850 52 Timer task5t; // Timer to calculate task5 timing
sk398 10:c0531edf4850 53 Timer task6t; // Timer to calculate task6 timing
sk398 7:2973bf297f3d 54
sk398 7:2973bf297f3d 55 // ============================================================================
sk398 7:2973bf297f3d 56 // Global Data Parameters used in Cyclic Executive
sk398 7:2973bf297f3d 57 // ============================================================================
sk398 7:2973bf297f3d 58 // Counter to record the number of ticks went through by the Cyclic Executive
sk398 7:2973bf297f3d 59 int cyclicTicks = 1;
sk398 7:2973bf297f3d 60
sk398 10:c0531edf4850 61 // Flag variable to switch priority between Tasks 2 and 3
sk398 10:c0531edf4850 62 int taskNum = 2;
sk398 10:c0531edf4850 63
sk398 7:2973bf297f3d 64 // Global parameter storing the most up to date value of the return from Task 1
sk398 7:2973bf297f3d 65 volatile int task1Frequency;
sk398 7:2973bf297f3d 66
sk398 7:2973bf297f3d 67 // Global parameter storing the most up to date value of the return from Task 2
sk398 7:2973bf297f3d 68 volatile int task2SwitchState;
sk398 7:2973bf297f3d 69
sk398 7:2973bf297f3d 70 // Global parameter storing the most up to date value of the return from Task 4
sk398 7:2973bf297f3d 71 volatile float task4AnalogChannels[2];
sk398 7:2973bf297f3d 72
sk398 7:2973bf297f3d 73 // Global parameter storing the most up to date value of the return from Task 6
sk398 7:2973bf297f3d 74 volatile int task6ErrorState;
sk398 7:2973bf297f3d 75
sk398 7:2973bf297f3d 76 // Char array to store the concatenated string for output onto the SD Card
sk398 7:2973bf297f3d 77 char logData[50];
sk398 7:2973bf297f3d 78
sk398 7:2973bf297f3d 79 // ============================================================================
sk398 7:2973bf297f3d 80 // Cyclic Executive Function Prototypes
sk398 7:2973bf297f3d 81 // ============================================================================
sk398 7:2973bf297f3d 82 void CyclicExec();
sk398 7:2973bf297f3d 83
sk398 7:2973bf297f3d 84 // ============================================================================
sk398 7:2973bf297f3d 85 // Main Execution Program
sk398 7:2973bf297f3d 86 // ============================================================================
sk398 0:5989ac10c4d3 87 int main() {
sk398 10:c0531edf4850 88
sk398 7:2973bf297f3d 89 // Attempt to open SD file
sk398 7:2973bf297f3d 90 // If open failed, do not run Cyclic Exec
sk398 7:2973bf297f3d 91 if(!task7.openFile("/SD/A2/test.csv","a"))
sk398 7:2973bf297f3d 92 {
sk398 7:2973bf297f3d 93 // Start Cyclic Executive
sk398 7:2973bf297f3d 94 CyclicTicker.attach(&CyclicExec,0.025); // 25ms pulses
sk398 7:2973bf297f3d 95
sk398 7:2973bf297f3d 96 // Keep program running until RESET
sk398 7:2973bf297f3d 97 while(1)
sk398 7:2973bf297f3d 98 {
sk398 7:2973bf297f3d 99 }
sk398 7:2973bf297f3d 100 }
sk398 4:b85bc0d810e1 101
sk398 7:2973bf297f3d 102 // If FIle is not opened, prompt user and show Error on LED
sk398 6:ceda53939eb8 103 else
sk398 6:ceda53939eb8 104 {
sk398 7:2973bf297f3d 105 // Prompt user about error
sk398 7:2973bf297f3d 106 printf("File not opened\r\nNot executing Cyclic Executive");
sk398 7:2973bf297f3d 107
sk398 7:2973bf297f3d 108 // Execute error code on LED
sk398 7:2973bf297f3d 109 while(1)
sk398 7:2973bf297f3d 110 {
sk398 7:2973bf297f3d 111 ErrorLED = 1;
sk398 7:2973bf297f3d 112 wait(1);
sk398 7:2973bf297f3d 113 ErrorLED = 0;
sk398 7:2973bf297f3d 114 wait(1);
sk398 7:2973bf297f3d 115 }
sk398 7:2973bf297f3d 116 }
sk398 7:2973bf297f3d 117 }
sk398 7:2973bf297f3d 118
sk398 7:2973bf297f3d 119 #define TASK1_TICKS 40
sk398 7:2973bf297f3d 120 #define TASK2_TICKS 12
sk398 7:2973bf297f3d 121 #define TASK3_TICKS 12
sk398 7:2973bf297f3d 122 #define TASK4_TICKS 16
sk398 7:2973bf297f3d 123 #define TASK5_TICKS 80
sk398 7:2973bf297f3d 124 #define TASK6_TICKS 32
sk398 7:2973bf297f3d 125 #define TASK7_TICKS 200
xouf2114 14:f11c30a93736 126 #define TASK8_TICKS 100
sk398 7:2973bf297f3d 127
sk398 7:2973bf297f3d 128 void CyclicExec()
sk398 7:2973bf297f3d 129 {
sk398 10:c0531edf4850 130 // When called, increment cyclicTicks
sk398 7:2973bf297f3d 131 cyclicTicks++;
sk398 10:c0531edf4850 132
sk398 10:c0531edf4850 133 // Run every 1 second (should be 40 ticks, but tuned to 38 through testing)
sk398 10:c0531edf4850 134 if(cyclicTicks % 38 == 0)
xouf2114 13:4b595e5d443f 135 {
sk398 10:c0531edf4850 136 // ---------- Can be removed ---------
sk398 10:c0531edf4850 137 task1t.stop();
sk398 10:c0531edf4850 138 printf("T1 %d\r\n",task1t.read_ms());
sk398 10:c0531edf4850 139 // -----------------------------------
sk398 10:c0531edf4850 140
sk398 10:c0531edf4850 141 // Run Task1
sk398 10:c0531edf4850 142 LenPin = 1;
sk398 10:c0531edf4850 143 task1Frequency = task1.ReadFrequency();
sk398 10:c0531edf4850 144 LenPin = 0;
sk398 10:c0531edf4850 145
sk398 10:c0531edf4850 146 // ---------- Can be removed ---------
sk398 10:c0531edf4850 147 task1t.reset();
sk398 10:c0531edf4850 148 task1t.start();
sk398 10:c0531edf4850 149 // -----------------------------------
sk398 10:c0531edf4850 150 }
sk398 10:c0531edf4850 151
sk398 10:c0531edf4850 152 // Run every 300ms (should be 12 ticks, but logic dictates double the frequency)
sk398 10:c0531edf4850 153 if(cyclicTicks % 6 == 0)
sk398 10:c0531edf4850 154 {
sk398 10:c0531edf4850 155 // If flag taskNum is assigned to run Task2
sk398 10:c0531edf4850 156 if(taskNum == 2)
sk398 10:c0531edf4850 157 {
sk398 10:c0531edf4850 158
sk398 10:c0531edf4850 159 // ---------- Can be removed ---------
sk398 10:c0531edf4850 160 task2t.stop();
sk398 10:c0531edf4850 161 printf("T2 %d\r\n",task2t.read_ms());
sk398 10:c0531edf4850 162 // -----------------------------------
sk398 10:c0531edf4850 163
sk398 10:c0531edf4850 164 // Run Task 2
sk398 10:c0531edf4850 165 task2SwitchState = task2_switch1.digitalInState();
sk398 10:c0531edf4850 166
sk398 10:c0531edf4850 167 // Set flag to run Task 3 on next iteration
sk398 10:c0531edf4850 168 taskNum = 3;
sk398 10:c0531edf4850 169
sk398 10:c0531edf4850 170 // ---------- Can be removed ---------
sk398 10:c0531edf4850 171 task2t.reset();
sk398 10:c0531edf4850 172 task2t.start();
sk398 10:c0531edf4850 173 // -----------------------------------
sk398 10:c0531edf4850 174 }
sk398 10:c0531edf4850 175
sk398 10:c0531edf4850 176 // If flag taskNum is assigned to run Task3
sk398 10:c0531edf4850 177 else if(taskNum == 3)
sk398 10:c0531edf4850 178 {
sk398 10:c0531edf4850 179 // ---------- Can be removed ---------
sk398 10:c0531edf4850 180 task3t.stop();
sk398 10:c0531edf4850 181 printf("T3 %d\r\n",task3t.read_ms());
sk398 10:c0531edf4850 182 // -----------------------------------
sk398 10:c0531edf4850 183
sk398 10:c0531edf4850 184
sk398 10:c0531edf4850 185 // Run Task3
sk398 10:c0531edf4850 186 task3.OutputWatchdogPulse();
sk398 10:c0531edf4850 187
sk398 10:c0531edf4850 188 // Set flag to run Task2 on next iteration
sk398 10:c0531edf4850 189 taskNum = 2;
sk398 10:c0531edf4850 190
sk398 10:c0531edf4850 191 // ---------- Can be removed ---------
sk398 10:c0531edf4850 192 task3t.reset();
sk398 10:c0531edf4850 193 task3t.start();
sk398 10:c0531edf4850 194 // -----------------------------------
sk398 10:c0531edf4850 195 }
sk398 10:c0531edf4850 196 }
sk398 10:c0531edf4850 197
sk398 10:c0531edf4850 198 // Run every 400ms (16 ticks)
sk398 10:c0531edf4850 199 if(cyclicTicks % 16 == 0)
sk398 10:c0531edf4850 200 {
sk398 10:c0531edf4850 201 // ---------- Can be removed ---------
sk398 10:c0531edf4850 202 task4t.stop();
sk398 10:c0531edf4850 203 printf("T4 %d\r\n",task4t.read_ms());
sk398 10:c0531edf4850 204 // -----------------------------------
sk398 10:c0531edf4850 205
sk398 10:c0531edf4850 206 // Run Task4
sk398 10:c0531edf4850 207 float *analogReading = task4.returnAnalogReadings();
sk398 10:c0531edf4850 208 task4AnalogChannels[0] = *(analogReading);
sk398 10:c0531edf4850 209 task4AnalogChannels[1]= *(analogReading+1);
sk398 10:c0531edf4850 210
sk398 10:c0531edf4850 211 // ---------- Can be removed ---------
sk398 10:c0531edf4850 212 task4t.reset();
sk398 10:c0531edf4850 213 task4t.start();
sk398 10:c0531edf4850 214 // -----------------------------------
sk398 10:c0531edf4850 215 }
sk398 10:c0531edf4850 216
sk398 10:c0531edf4850 217 // Run every 2 seconds (should be 80 ticks, but tuned to 84 through testing)
sk398 10:c0531edf4850 218 if(cyclicTicks % 84 == 0)
sk398 10:c0531edf4850 219 {
sk398 10:c0531edf4850 220 // ---------- Can be removed ---------
sk398 10:c0531edf4850 221 task5t.stop();
sk398 10:c0531edf4850 222 printf("T5 %1.2f\r\n",task5t.read());
sk398 10:c0531edf4850 223 // -----------------------------------
sk398 10:c0531edf4850 224
sk398 10:c0531edf4850 225 // Run Task5
sk398 10:c0531edf4850 226 task5.updateDisplay( task1Frequency,
sk398 10:c0531edf4850 227 task2SwitchState,
sk398 10:c0531edf4850 228 task6ErrorState,
sk398 10:c0531edf4850 229 task4AnalogChannels[0],
sk398 10:c0531edf4850 230 task4AnalogChannels[1] );
sk398 10:c0531edf4850 231
sk398 10:c0531edf4850 232 // ---------- Can be removed ---------
sk398 10:c0531edf4850 233 task5t.reset();
sk398 10:c0531edf4850 234 task5t.start();
sk398 10:c0531edf4850 235 // -----------------------------------
sk398 10:c0531edf4850 236 }
sk398 10:c0531edf4850 237
sk398 10:c0531edf4850 238 // Run every 800ms (32 ticks)
sk398 10:c0531edf4850 239 if(cyclicTicks % 32 == 0)
sk398 10:c0531edf4850 240 {
sk398 10:c0531edf4850 241 // ---------- Can be removed ---------
sk398 10:c0531edf4850 242 task6t.stop();
sk398 10:c0531edf4850 243 printf("T6 %d\r\n",task6t.read_ms());
sk398 10:c0531edf4850 244 // -----------------------------------
sk398 10:c0531edf4850 245
sk398 10:c0531edf4850 246 // Run Task6
sk398 10:c0531edf4850 247 task6ErrorState = task6.updateErrorCode( task2SwitchState,
sk398 10:c0531edf4850 248 task4AnalogChannels[0],
sk398 10:c0531edf4850 249 task4AnalogChannels[1] );
sk398 10:c0531edf4850 250
sk398 10:c0531edf4850 251 // ---------- Can be removed ---------
sk398 10:c0531edf4850 252 task6t.reset();
sk398 10:c0531edf4850 253 task6t.start();
sk398 10:c0531edf4850 254 // -----------------------------------
sk398 10:c0531edf4850 255 }
sk398 10:c0531edf4850 256
sk398 10:c0531edf4850 257 // Run every 5 seconds (200 ticks)
sk398 7:2973bf297f3d 258 if(cyclicTicks % 200 == 0)
sk398 7:2973bf297f3d 259 {
sk398 10:c0531edf4850 260 // ---------- Can be removed ---------
sk398 10:c0531edf4850 261 printf("T7\r\n");
sk398 10:c0531edf4850 262 // -----------------------------------
sk398 10:c0531edf4850 263
sk398 10:c0531edf4850 264 // Run Task7
sk398 7:2973bf297f3d 265 stampTime.stop();
sk398 7:2973bf297f3d 266 int a = sprintf( logData,"Time=%1.2f,Freq=%d,SW1=%d,A1=%1.3f,A2=%1.3f\n",
sk398 7:2973bf297f3d 267 stampTime.read(),
sk398 7:2973bf297f3d 268 task1Frequency,
sk398 7:2973bf297f3d 269 task2SwitchState,
sk398 7:2973bf297f3d 270 task4AnalogChannels[0],
sk398 7:2973bf297f3d 271 task4AnalogChannels[1] );
sk398 7:2973bf297f3d 272 task7.writeData(logData);
sk398 10:c0531edf4850 273
sk398 10:c0531edf4850 274 // ---------- Can be removed ---------
sk398 7:2973bf297f3d 275 stampTime.reset();
sk398 7:2973bf297f3d 276 stampTime.start();
sk398 10:c0531edf4850 277 // -----------------------------------
sk398 7:2973bf297f3d 278 }
sk398 7:2973bf297f3d 279
sk398 10:c0531edf4850 280 // If SDRemoval Input is high, close FILE and detach the Ticker
sk398 7:2973bf297f3d 281 if(SDRemoval == HIGH)
sk398 7:2973bf297f3d 282 {
sk398 7:2973bf297f3d 283 printf("SD Removed");
sk398 7:2973bf297f3d 284 task7.closeFile();
sk398 10:c0531edf4850 285 CyclicTicker.detach();
sk398 7:2973bf297f3d 286 }
sk398 7:2973bf297f3d 287 }
sk398 7:2973bf297f3d 288