Xavier Gouesnard
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Embedded_Software_Assignment_2
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Dependencies: MCP23017 SDFileSystem WattBob_TextLCD mbed
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Embedded_Software_Assignment_2
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main.cpp
00001 /* ##################################################################### 00002 main.cpp 00003 --------- 00004 00005 Embedded Software - Assignment 2 00006 -------------------------------- 00007 00008 Written by: Xavier Gouesnard 00009 00010 Date: March 2017 00011 00012 Function: This is the main runner containing the Cyclic executive 00013 There are 8 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 00023 #include "mbed.h" 00024 #include "Tasks.h" 00025 00026 // ============================================================================ 00027 // Task Declerations 00028 // ============================================================================ 00029 Task1 task1(p11); // Square wave Measurement 00030 Task2 task2_switch1(p12); // Read digital Input 00031 Task3 task3(p13); // Watchdog Pulse 00032 Task4 task4(p15,p16); // Read analog Inputs 00033 Task5 task5(p9,p10,0x40); // Output to LCD Display 00034 Task6 task6; // Logical checks 00035 Task7 task7(p5,p6,p7,p8,"SD","/SD/A2"); // SD Card Write 00036 //Task8 task8; // Shutdown Switch 00037 00038 // ============================================================================ 00039 // Cyclic Executive Objects and Declerations 00040 // ============================================================================ 00041 DigitalOut ErrorLED(LED1); // Error Indicating LED 00042 DigitalOut LenPin(p25); // Pulse Pin 00043 DigitalIn SDRemoval(p18); // Switch state to indicate remove SD 00044 Ticker CyclicTicker; // Ticker object to cycle tasks 00045 Timer stampTime; // Timer to stamp the time between logs 00046 00047 // NOTE THE FOLLOWING ARE NOT ESSENTIAL TO THE OPERATION OF THIS CYCLIC EXECUTIVE 00048 Timer task1t; // Timer to calculate task1 timing 00049 Timer task2t; // Timer to calculate task2 timing 00050 Timer task3t; // Timer to calculate task3 timing 00051 Timer task4t; // Timer to calculate task4 timing 00052 Timer task5t; // Timer to calculate task5 timing 00053 Timer task6t; // Timer to calculate task6 timing 00054 00055 // ============================================================================ 00056 // Global Data Parameters used in Cyclic Executive 00057 // ============================================================================ 00058 // Counter to record the number of ticks went through by the Cyclic Executive 00059 int cyclicTicks = 1; 00060 00061 // Flag variable to switch priority between Tasks 2 and 3 00062 int taskNum = 2; 00063 00064 // Global parameter storing the most up to date value of the return from Task 1 00065 volatile int task1Frequency; 00066 00067 // Global parameter storing the most up to date value of the return from Task 2 00068 volatile int task2SwitchState; 00069 00070 // Global parameter storing the most up to date value of the return from Task 4 00071 volatile float task4AnalogChannels[2]; 00072 00073 // Global parameter storing the most up to date value of the return from Task 6 00074 volatile int task6ErrorState; 00075 00076 // Char array to store the concatenated string for output onto the SD Card 00077 char logData[50]; 00078 00079 // ============================================================================ 00080 // Cyclic Executive Function Prototypes 00081 // ============================================================================ 00082 void CyclicExec(); 00083 00084 // ============================================================================ 00085 // Main Execution Program 00086 // ============================================================================ 00087 int main() { 00088 00089 // Attempt to open SD file 00090 // If open failed, do not run Cyclic Exec 00091 if(!task7.openFile("/SD/A2/test.csv","a")) 00092 { 00093 // Start Cyclic Executive 00094 CyclicTicker.attach(&CyclicExec,0.025); // 25ms pulses 00095 00096 // Keep program running until RESET 00097 while(1) 00098 { 00099 } 00100 } 00101 00102 // If FIle is not opened, prompt user and show Error on LED 00103 else 00104 { 00105 // Prompt user about error 00106 printf("File not opened\r\nNot executing Cyclic Executive"); 00107 00108 // Execute error code on LED 00109 while(1) 00110 { 00111 ErrorLED = 1; 00112 wait(1); 00113 ErrorLED = 0; 00114 wait(1); 00115 } 00116 } 00117 } 00118 00119 #define TASK1_TICKS 40 00120 #define TASK2_TICKS 12 00121 #define TASK3_TICKS 12 00122 #define TASK4_TICKS 16 00123 #define TASK5_TICKS 80 00124 #define TASK6_TICKS 32 00125 #define TASK7_TICKS 200 00126 #define TASK8_TICKS 100 00127 00128 void CyclicExec() 00129 { 00130 // When called, increment cyclicTicks 00131 cyclicTicks++; 00132 00133 // Run every 1 second (should be 40 ticks, but tuned to 38 through testing) 00134 if(cyclicTicks % 38 == 0) 00135 { 00136 // ---------- Can be removed --------- 00137 task1t.stop(); 00138 printf("T1 %d\r\n",task1t.read_ms()); 00139 // ----------------------------------- 00140 00141 // Run Task1 00142 LenPin = 1; 00143 task1Frequency = task1.ReadFrequency(); 00144 LenPin = 0; 00145 00146 // ---------- Can be removed --------- 00147 task1t.reset(); 00148 task1t.start(); 00149 // ----------------------------------- 00150 } 00151 00152 // Run every 300ms (should be 12 ticks, but logic dictates double the frequency) 00153 if(cyclicTicks % 6 == 0) 00154 { 00155 // If flag taskNum is assigned to run Task2 00156 if(taskNum == 2) 00157 { 00158 00159 // ---------- Can be removed --------- 00160 task2t.stop(); 00161 printf("T2 %d\r\n",task2t.read_ms()); 00162 // ----------------------------------- 00163 00164 // Run Task 2 00165 task2SwitchState = task2_switch1.digitalInState(); 00166 00167 // Set flag to run Task 3 on next iteration 00168 taskNum = 3; 00169 00170 // ---------- Can be removed --------- 00171 task2t.reset(); 00172 task2t.start(); 00173 // ----------------------------------- 00174 } 00175 00176 // If flag taskNum is assigned to run Task3 00177 else if(taskNum == 3) 00178 { 00179 // ---------- Can be removed --------- 00180 task3t.stop(); 00181 printf("T3 %d\r\n",task3t.read_ms()); 00182 // ----------------------------------- 00183 00184 00185 // Run Task3 00186 task3.OutputWatchdogPulse(); 00187 00188 // Set flag to run Task2 on next iteration 00189 taskNum = 2; 00190 00191 // ---------- Can be removed --------- 00192 task3t.reset(); 00193 task3t.start(); 00194 // ----------------------------------- 00195 } 00196 } 00197 00198 // Run every 400ms (16 ticks) 00199 if(cyclicTicks % 16 == 0) 00200 { 00201 // ---------- Can be removed --------- 00202 task4t.stop(); 00203 printf("T4 %d\r\n",task4t.read_ms()); 00204 // ----------------------------------- 00205 00206 // Run Task4 00207 float *analogReading = task4.returnAnalogReadings(); 00208 task4AnalogChannels[0] = *(analogReading); 00209 task4AnalogChannels[1]= *(analogReading+1); 00210 00211 // ---------- Can be removed --------- 00212 task4t.reset(); 00213 task4t.start(); 00214 // ----------------------------------- 00215 } 00216 00217 // Run every 2 seconds (should be 80 ticks, but tuned to 84 through testing) 00218 if(cyclicTicks % 84 == 0) 00219 { 00220 // ---------- Can be removed --------- 00221 task5t.stop(); 00222 printf("T5 %1.2f\r\n",task5t.read()); 00223 // ----------------------------------- 00224 00225 // Run Task5 00226 task5.updateDisplay( task1Frequency, 00227 task2SwitchState, 00228 task6ErrorState, 00229 task4AnalogChannels[0], 00230 task4AnalogChannels[1] ); 00231 00232 // ---------- Can be removed --------- 00233 task5t.reset(); 00234 task5t.start(); 00235 // ----------------------------------- 00236 } 00237 00238 // Run every 800ms (32 ticks) 00239 if(cyclicTicks % 32 == 0) 00240 { 00241 // ---------- Can be removed --------- 00242 task6t.stop(); 00243 printf("T6 %d\r\n",task6t.read_ms()); 00244 // ----------------------------------- 00245 00246 // Run Task6 00247 task6ErrorState = task6.updateErrorCode( task2SwitchState, 00248 task4AnalogChannels[0], 00249 task4AnalogChannels[1] ); 00250 00251 // ---------- Can be removed --------- 00252 task6t.reset(); 00253 task6t.start(); 00254 // ----------------------------------- 00255 } 00256 00257 // Run every 5 seconds (200 ticks) 00258 if(cyclicTicks % 200 == 0) 00259 { 00260 // ---------- Can be removed --------- 00261 printf("T7\r\n"); 00262 // ----------------------------------- 00263 00264 // Run Task7 00265 stampTime.stop(); 00266 int a = sprintf( logData,"Time=%1.2f,Freq=%d,SW1=%d,A1=%1.3f,A2=%1.3f\n", 00267 stampTime.read(), 00268 task1Frequency, 00269 task2SwitchState, 00270 task4AnalogChannels[0], 00271 task4AnalogChannels[1] ); 00272 task7.writeData(logData); 00273 00274 // ---------- Can be removed --------- 00275 stampTime.reset(); 00276 stampTime.start(); 00277 // ----------------------------------- 00278 } 00279 00280 // If SDRemoval Input is high, close FILE and detach the Ticker 00281 if(SDRemoval == HIGH) 00282 { 00283 printf("SD Removed"); 00284 task7.closeFile(); 00285 CyclicTicker.detach(); 00286 } 00287 } 00288
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