commit 1138e96caeb19d78e7f5835071c22f09694961c0
parent bef7199a8f50523866ac3ea7b15b4c80f63cfe8b
Author: Martin Kloeckner <mjkloeckner@gmail.com>
Date: Fri, 3 Oct 2025 14:32:24 -0300
set filetype to unix
Diffstat:
2 files changed, 409 insertions(+), 409 deletions(-)
diff --git a/app/inc/task_actuator.h b/app/inc/task_actuator.h
@@ -1,67 +1,67 @@
-/*
- * Copyright (c) 2023 Juan Manuel Cruz <jcruz@fi.uba.ar> <jcruz@frba.utn.edu.ar>.
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- *
- * 3. Neither the name of the copyright holder nor the names of its
- * contributors may be used to endorse or promote products derived from
- * this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
- * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
- * IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- * @file : task_actuator.h
- * @date : Set 26, 2023
- * @author : Juan Manuel Cruz <jcruz@fi.uba.ar> <jcruz@frba.utn.edu.ar>
- * @version v1.0.0
- */
-
-#ifndef TASK_INC_TASK_ACTUATOR_H_
-#define TASK_INC_TASK_ACTUATOR_H_
-
-/********************** CPP guard ********************************************/
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/********************** inclusions *******************************************/
-
-/********************** macros ***********************************************/
-
-/********************** typedef **********************************************/
-
-/********************** external data declaration ****************************/
-extern uint32_t g_task_actuator_cnt;
-extern volatile uint32_t g_task_actuator_tick_cnt;
-
-/********************** external functions declaration ***********************/
-extern void task_actuator_init(void *parameters);
-extern void task_actuator_update(void *parameters);
-
-/********************** End of CPP guard *************************************/
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* TASK_INC_TASK_ACTUATOR_H_ */
-
-/********************** end of file ******************************************/
+/*
+ * Copyright (c) 2023 Juan Manuel Cruz <jcruz@fi.uba.ar> <jcruz@frba.utn.edu.ar>.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ *
+ * 3. Neither the name of the copyright holder nor the names of its
+ * contributors may be used to endorse or promote products derived from
+ * this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+ * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
+ * IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * @file : task_actuator.h
+ * @date : Set 26, 2023
+ * @author : Juan Manuel Cruz <jcruz@fi.uba.ar> <jcruz@frba.utn.edu.ar>
+ * @version v1.0.0
+ */
+
+#ifndef TASK_INC_TASK_ACTUATOR_H_
+#define TASK_INC_TASK_ACTUATOR_H_
+
+/********************** CPP guard ********************************************/
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/********************** inclusions *******************************************/
+
+/********************** macros ***********************************************/
+
+/********************** typedef **********************************************/
+
+/********************** external data declaration ****************************/
+extern uint32_t g_task_actuator_cnt;
+extern volatile uint32_t g_task_actuator_tick_cnt;
+
+/********************** external functions declaration ***********************/
+extern void task_actuator_init(void *parameters);
+extern void task_actuator_update(void *parameters);
+
+/********************** End of CPP guard *************************************/
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* TASK_INC_TASK_ACTUATOR_H_ */
+
+/********************** end of file ******************************************/
diff --git a/app/src/task_actuator.c b/app/src/task_actuator.c
@@ -1,342 +1,342 @@
-/*
- * Copyright (c) 2023 Juan Manuel Cruz <jcruz@fi.uba.ar> <jcruz@frba.utn.edu.ar>.
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- *
- * 3. Neither the name of the copyright holder nor the names of its
- * contributors may be used to endorse or promote products derived from
- * this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
- * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
- * IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- * @file : task_actuator.c
- * @date : Set 26, 2023
- * @author : Juan Manuel Cruz <jcruz@fi.uba.ar> <jcruz@frba.utn.edu.ar>
- * @version v1.0.0
- */
-
-/********************** inclusions *******************************************/
-/* Project includes */
-#include "main.h"
-
-/* Demo includes */
-#include "logger.h"
-#include "dwt.h"
-
-/* Application & Tasks includes */
-#include "board.h"
-#include "app.h"
-#include "task_actuator_attribute.h"
-#include "task_actuator_interface.h"
-
-/********************** macros and definitions *******************************/
-#define G_TASK_ACT_CNT_INIT 0ul
-#define G_TASK_ACT_TICK_CNT_INI 0ul
-
-#define DEL_LED_XX_PUL 250ul
-#define DEL_LED_XX_BLI 500ul
-#define DEL_LED_XX_MIN 0ul
-
-/********************** internal data declaration ****************************/
-const task_actuator_cfg_t task_actuator_cfg_list[] = {
- {ID_LED_A, LED_A_PORT, LED_A_PIN, LED_A_ON, LED_A_OFF, DEL_LED_XX_BLI, DEL_LED_XX_PUL}
-};
-
-#define ACTUATOR_CFG_QTY (sizeof(task_actuator_cfg_list)/sizeof(task_actuator_cfg_t))
-
-task_actuator_dta_t task_actuator_dta_list[] = {
- {DEL_LED_XX_MIN, ST_LED_XX_OFF, EV_LED_XX_NOT_BLINK, false}
-};
-
-#define ACTUATOR_DTA_QTY (sizeof(task_actuator_dta_list)/sizeof(task_actuator_dta_t))
-
-/********************** internal functions declaration ***********************/
-void task_actuator_statechart(void);
-
-/********************** internal data definition *****************************/
-const char *p_task_actuator = "Task Actuator (Actuator Statechart)";
-const char *p_task_actuator_ = "Non-Blocking & Update By Time Code";
-
-/********************** external data declaration ****************************/
-uint32_t g_task_actuator_cnt;
-volatile uint32_t g_task_actuator_tick_cnt;
-
-/********************** external functions definition ************************/
-void task_actuator_init(void *parameters)
-{
- uint32_t index;
- const task_actuator_cfg_t *p_task_actuator_cfg;
- task_actuator_dta_t *p_task_actuator_dta;
- task_actuator_st_t state;
- task_actuator_ev_t event;
- bool b_event;
-
- /* Print out: Task Initialized */
- LOGGER_INFO(" ");
- LOGGER_INFO(" %s is running - %s", GET_NAME(task_actuator_init), p_task_actuator);
- LOGGER_INFO(" %s is a %s", GET_NAME(task_actuator), p_task_actuator_);
-
- /* Init & Print out: Task execution counter */
- g_task_actuator_cnt = G_TASK_ACT_CNT_INIT;
- LOGGER_INFO(" %s = %lu", GET_NAME(g_task_actuator_cnt), g_task_actuator_cnt);
-
- for (index = 0; ACTUATOR_DTA_QTY > index; index++)
- {
- /* Update Task Actuator Configuration & Data Pointer */
- p_task_actuator_cfg = &task_actuator_cfg_list[index];
- p_task_actuator_dta = &task_actuator_dta_list[index];
-
- /* Init & Print out: Index & Task execution FSM */
- state = ST_LED_XX_OFF;
- p_task_actuator_dta->state = state;
-
- event = EV_LED_XX_OFF;
- p_task_actuator_dta->event = event;
-
- b_event = false;
- p_task_actuator_dta->flag = b_event;
-
- LOGGER_INFO(" ");
- LOGGER_INFO(" %s = %lu %s = %lu %s = %lu %s = %s",
- GET_NAME(index), index,
- GET_NAME(state), (uint32_t)state,
- GET_NAME(event), (uint32_t)event,
- GET_NAME(b_event), (b_event ? "true" : "false"));
-
- HAL_GPIO_WritePin(p_task_actuator_cfg->gpio_port,
- p_task_actuator_cfg->pin,
- p_task_actuator_cfg->led_off);
- }
-}
-
-void task_actuator_update(void *parameters)
-{
- bool b_time_update_required = false;
-
- /* Protect shared resource */
- __asm("CPSID i"); /* disable interrupts*/
- if (G_TASK_ACT_TICK_CNT_INI < g_task_actuator_tick_cnt)
- {
- /* Update Tick Counter */
- g_task_actuator_tick_cnt--;
- b_time_update_required = true;
- }
- __asm("CPSIE i"); /* enable interrupts */
-
- while (b_time_update_required)
- {
- /* Update Task Counter */
- g_task_actuator_cnt++;
-
- /* Run Task Statechart */
- task_actuator_statechart();
-
- /* Protect shared resource */
- __asm("CPSID i"); /* disable interrupts */
- if (G_TASK_ACT_TICK_CNT_INI < g_task_actuator_tick_cnt)
- {
- /* Update Tick Counter */
- g_task_actuator_tick_cnt--;
- b_time_update_required = true;
- }
- else
- {
- b_time_update_required = false;
- }
- __asm("CPSIE i"); /* enable interrupts */
- }
-}
-
-void task_actuator_statechart(void)
-{
- uint32_t index;
- const task_actuator_cfg_t *p_task_actuator_cfg;
- task_actuator_dta_t *p_task_actuator_dta;
-
- for (index = 0; ACTUATOR_DTA_QTY > index; index++)
- {
- /* Update Task Actuator Configuration & Data Pointer */
- p_task_actuator_cfg = &task_actuator_cfg_list[index];
- p_task_actuator_dta = &task_actuator_dta_list[index];
-
- switch (p_task_actuator_dta->state)
- {
- case ST_LED_XX_OFF:
- if (true == p_task_actuator_dta->flag)
- {
- p_task_actuator_dta->flag = false;
- switch(p_task_actuator_dta->event)
- {
- case EV_LED_XX_ON:
- p_task_actuator_dta->state = ST_LED_XX_ON;
- HAL_GPIO_WritePin(
- p_task_actuator_cfg->gpio_port,
- p_task_actuator_cfg->pin,
- p_task_actuator_cfg->led_on);
- break;
-
- case EV_LED_XX_BLINK:
- p_task_actuator_dta->tick = DEL_LED_XX_BLI;
- p_task_actuator_dta->state = ST_LED_XX_BLINK_ON;
- HAL_GPIO_WritePin(
- p_task_actuator_cfg->gpio_port,
- p_task_actuator_cfg->pin,
- p_task_actuator_cfg->led_on);
- break;
-
- case EV_LED_XX_PULSE:
- p_task_actuator_dta->tick = DEL_LED_XX_PUL;
- p_task_actuator_dta->state = ST_LED_XX_PULSE;
- HAL_GPIO_WritePin(
- p_task_actuator_cfg->gpio_port,
- p_task_actuator_cfg->pin,
- p_task_actuator_cfg->led_on);
- default:
- break;
- }
- }
- break;
-
- case ST_LED_XX_ON:
- if ((true == p_task_actuator_dta->flag)
- && (EV_LED_XX_OFF == p_task_actuator_dta->event))
- {
- p_task_actuator_dta->flag = false;
- p_task_actuator_dta->state = ST_LED_XX_OFF;
- HAL_GPIO_WritePin(
- p_task_actuator_cfg->gpio_port,
- p_task_actuator_cfg->pin,
- p_task_actuator_cfg->led_off);
- }
-
- break;
-
- case ST_LED_XX_BLINK_ON:
- if (true == p_task_actuator_dta->flag)
- {
- p_task_actuator_dta->flag = false;
- switch(p_task_actuator_dta->event)
- {
- case EV_LED_XX_OFF:
- p_task_actuator_dta->state = ST_LED_XX_OFF;
- HAL_GPIO_WritePin(
- p_task_actuator_cfg->gpio_port,
- p_task_actuator_cfg->pin,
- p_task_actuator_cfg->led_off);
- break;
- case EV_LED_XX_ON:
- p_task_actuator_dta->state = ST_LED_XX_ON;
- HAL_GPIO_WritePin(
- p_task_actuator_cfg->gpio_port,
- p_task_actuator_cfg->pin,
- p_task_actuator_cfg->led_on);
- default:
- break;
- }
- }
-
- if (DEL_LED_XX_MIN == p_task_actuator_dta->tick)
- {
- p_task_actuator_dta->state = ST_LED_XX_BLINK_OFF;
- p_task_actuator_dta->tick = DEL_LED_XX_BLI;
- HAL_GPIO_WritePin(
- p_task_actuator_cfg->gpio_port,
- p_task_actuator_cfg->pin,
- p_task_actuator_cfg->led_off);
- }
-
- if (DEL_LED_XX_MIN < p_task_actuator_dta->tick)
- {
- p_task_actuator_dta->state = ST_LED_XX_BLINK_ON;
- p_task_actuator_dta->tick--;
- }
- break;
-
- case ST_LED_XX_BLINK_OFF:
- if (true == p_task_actuator_dta->flag)
- {
- p_task_actuator_dta->flag = false;
- switch(p_task_actuator_dta->event)
- {
- case EV_LED_XX_OFF:
- p_task_actuator_dta->state = ST_LED_XX_OFF;
- HAL_GPIO_WritePin(
- p_task_actuator_cfg->gpio_port,
- p_task_actuator_cfg->pin,
- p_task_actuator_cfg->led_off);
- break;
- case EV_LED_XX_ON:
- p_task_actuator_dta->state = ST_LED_XX_ON;
- HAL_GPIO_WritePin(
- p_task_actuator_cfg->gpio_port,
- p_task_actuator_cfg->pin,
- p_task_actuator_cfg->led_on);
- default:
- break;
- }
- }
-
- if (DEL_LED_XX_MIN == p_task_actuator_dta->tick)
- {
- p_task_actuator_dta->state = ST_LED_XX_BLINK_ON;
- p_task_actuator_dta->tick = DEL_LED_XX_BLI;
- HAL_GPIO_WritePin(
- p_task_actuator_cfg->gpio_port,
- p_task_actuator_cfg->pin,
- p_task_actuator_cfg->led_on);
- }
-
- if (DEL_LED_XX_MIN < p_task_actuator_dta->tick)
- {
- p_task_actuator_dta->state = ST_LED_XX_BLINK_OFF;
- p_task_actuator_dta->tick--;
- }
- break;
-
- case ST_LED_XX_PULSE:
- if (DEL_LED_XX_MIN == p_task_actuator_dta->tick)
- {
- p_task_actuator_dta->state = ST_LED_XX_OFF;
- HAL_GPIO_WritePin(
- p_task_actuator_cfg->gpio_port,
- p_task_actuator_cfg->pin,
- p_task_actuator_cfg->led_off);
- }
-
- if (DEL_LED_XX_MIN < p_task_actuator_dta->tick)
- {
- p_task_actuator_dta->tick--;
- }
- break;
-
- default:
- p_task_actuator_dta->tick = DEL_LED_XX_MIN;
- p_task_actuator_dta->state = ST_LED_XX_OFF;
- p_task_actuator_dta->event = EV_LED_XX_OFF;
- p_task_actuator_dta->flag = false;
- break;
- }
- }
-}
-
-/********************** end of file ******************************************/
+/*
+ * Copyright (c) 2023 Juan Manuel Cruz <jcruz@fi.uba.ar> <jcruz@frba.utn.edu.ar>.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ *
+ * 3. Neither the name of the copyright holder nor the names of its
+ * contributors may be used to endorse or promote products derived from
+ * this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+ * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
+ * IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * @file : task_actuator.c
+ * @date : Set 26, 2023
+ * @author : Juan Manuel Cruz <jcruz@fi.uba.ar> <jcruz@frba.utn.edu.ar>
+ * @version v1.0.0
+ */
+
+/********************** inclusions *******************************************/
+/* Project includes */
+#include "main.h"
+
+/* Demo includes */
+#include "logger.h"
+#include "dwt.h"
+
+/* Application & Tasks includes */
+#include "board.h"
+#include "app.h"
+#include "task_actuator_attribute.h"
+#include "task_actuator_interface.h"
+
+/********************** macros and definitions *******************************/
+#define G_TASK_ACT_CNT_INIT 0ul
+#define G_TASK_ACT_TICK_CNT_INI 0ul
+
+#define DEL_LED_XX_PUL 250ul
+#define DEL_LED_XX_BLI 500ul
+#define DEL_LED_XX_MIN 0ul
+
+/********************** internal data declaration ****************************/
+const task_actuator_cfg_t task_actuator_cfg_list[] = {
+ {ID_LED_A, LED_A_PORT, LED_A_PIN, LED_A_ON, LED_A_OFF, DEL_LED_XX_BLI, DEL_LED_XX_PUL}
+};
+
+#define ACTUATOR_CFG_QTY (sizeof(task_actuator_cfg_list)/sizeof(task_actuator_cfg_t))
+
+task_actuator_dta_t task_actuator_dta_list[] = {
+ {DEL_LED_XX_MIN, ST_LED_XX_OFF, EV_LED_XX_NOT_BLINK, false}
+};
+
+#define ACTUATOR_DTA_QTY (sizeof(task_actuator_dta_list)/sizeof(task_actuator_dta_t))
+
+/********************** internal functions declaration ***********************/
+void task_actuator_statechart(void);
+
+/********************** internal data definition *****************************/
+const char *p_task_actuator = "Task Actuator (Actuator Statechart)";
+const char *p_task_actuator_ = "Non-Blocking & Update By Time Code";
+
+/********************** external data declaration ****************************/
+uint32_t g_task_actuator_cnt;
+volatile uint32_t g_task_actuator_tick_cnt;
+
+/********************** external functions definition ************************/
+void task_actuator_init(void *parameters)
+{
+ uint32_t index;
+ const task_actuator_cfg_t *p_task_actuator_cfg;
+ task_actuator_dta_t *p_task_actuator_dta;
+ task_actuator_st_t state;
+ task_actuator_ev_t event;
+ bool b_event;
+
+ /* Print out: Task Initialized */
+ LOGGER_INFO(" ");
+ LOGGER_INFO(" %s is running - %s", GET_NAME(task_actuator_init), p_task_actuator);
+ LOGGER_INFO(" %s is a %s", GET_NAME(task_actuator), p_task_actuator_);
+
+ /* Init & Print out: Task execution counter */
+ g_task_actuator_cnt = G_TASK_ACT_CNT_INIT;
+ LOGGER_INFO(" %s = %lu", GET_NAME(g_task_actuator_cnt), g_task_actuator_cnt);
+
+ for (index = 0; ACTUATOR_DTA_QTY > index; index++)
+ {
+ /* Update Task Actuator Configuration & Data Pointer */
+ p_task_actuator_cfg = &task_actuator_cfg_list[index];
+ p_task_actuator_dta = &task_actuator_dta_list[index];
+
+ /* Init & Print out: Index & Task execution FSM */
+ state = ST_LED_XX_OFF;
+ p_task_actuator_dta->state = state;
+
+ event = EV_LED_XX_OFF;
+ p_task_actuator_dta->event = event;
+
+ b_event = false;
+ p_task_actuator_dta->flag = b_event;
+
+ LOGGER_INFO(" ");
+ LOGGER_INFO(" %s = %lu %s = %lu %s = %lu %s = %s",
+ GET_NAME(index), index,
+ GET_NAME(state), (uint32_t)state,
+ GET_NAME(event), (uint32_t)event,
+ GET_NAME(b_event), (b_event ? "true" : "false"));
+
+ HAL_GPIO_WritePin(p_task_actuator_cfg->gpio_port,
+ p_task_actuator_cfg->pin,
+ p_task_actuator_cfg->led_off);
+ }
+}
+
+void task_actuator_update(void *parameters)
+{
+ bool b_time_update_required = false;
+
+ /* Protect shared resource */
+ __asm("CPSID i"); /* disable interrupts*/
+ if (G_TASK_ACT_TICK_CNT_INI < g_task_actuator_tick_cnt)
+ {
+ /* Update Tick Counter */
+ g_task_actuator_tick_cnt--;
+ b_time_update_required = true;
+ }
+ __asm("CPSIE i"); /* enable interrupts */
+
+ while (b_time_update_required)
+ {
+ /* Update Task Counter */
+ g_task_actuator_cnt++;
+
+ /* Run Task Statechart */
+ task_actuator_statechart();
+
+ /* Protect shared resource */
+ __asm("CPSID i"); /* disable interrupts */
+ if (G_TASK_ACT_TICK_CNT_INI < g_task_actuator_tick_cnt)
+ {
+ /* Update Tick Counter */
+ g_task_actuator_tick_cnt--;
+ b_time_update_required = true;
+ }
+ else
+ {
+ b_time_update_required = false;
+ }
+ __asm("CPSIE i"); /* enable interrupts */
+ }
+}
+
+void task_actuator_statechart(void)
+{
+ uint32_t index;
+ const task_actuator_cfg_t *p_task_actuator_cfg;
+ task_actuator_dta_t *p_task_actuator_dta;
+
+ for (index = 0; ACTUATOR_DTA_QTY > index; index++)
+ {
+ /* Update Task Actuator Configuration & Data Pointer */
+ p_task_actuator_cfg = &task_actuator_cfg_list[index];
+ p_task_actuator_dta = &task_actuator_dta_list[index];
+
+ switch (p_task_actuator_dta->state)
+ {
+ case ST_LED_XX_OFF:
+ if (true == p_task_actuator_dta->flag)
+ {
+ p_task_actuator_dta->flag = false;
+ switch(p_task_actuator_dta->event)
+ {
+ case EV_LED_XX_ON:
+ p_task_actuator_dta->state = ST_LED_XX_ON;
+ HAL_GPIO_WritePin(
+ p_task_actuator_cfg->gpio_port,
+ p_task_actuator_cfg->pin,
+ p_task_actuator_cfg->led_on);
+ break;
+
+ case EV_LED_XX_BLINK:
+ p_task_actuator_dta->tick = DEL_LED_XX_BLI;
+ p_task_actuator_dta->state = ST_LED_XX_BLINK_ON;
+ HAL_GPIO_WritePin(
+ p_task_actuator_cfg->gpio_port,
+ p_task_actuator_cfg->pin,
+ p_task_actuator_cfg->led_on);
+ break;
+
+ case EV_LED_XX_PULSE:
+ p_task_actuator_dta->tick = DEL_LED_XX_PUL;
+ p_task_actuator_dta->state = ST_LED_XX_PULSE;
+ HAL_GPIO_WritePin(
+ p_task_actuator_cfg->gpio_port,
+ p_task_actuator_cfg->pin,
+ p_task_actuator_cfg->led_on);
+ default:
+ break;
+ }
+ }
+ break;
+
+ case ST_LED_XX_ON:
+ if ((true == p_task_actuator_dta->flag)
+ && (EV_LED_XX_OFF == p_task_actuator_dta->event))
+ {
+ p_task_actuator_dta->flag = false;
+ p_task_actuator_dta->state = ST_LED_XX_OFF;
+ HAL_GPIO_WritePin(
+ p_task_actuator_cfg->gpio_port,
+ p_task_actuator_cfg->pin,
+ p_task_actuator_cfg->led_off);
+ }
+
+ break;
+
+ case ST_LED_XX_BLINK_ON:
+ if (true == p_task_actuator_dta->flag)
+ {
+ p_task_actuator_dta->flag = false;
+ switch(p_task_actuator_dta->event)
+ {
+ case EV_LED_XX_OFF:
+ p_task_actuator_dta->state = ST_LED_XX_OFF;
+ HAL_GPIO_WritePin(
+ p_task_actuator_cfg->gpio_port,
+ p_task_actuator_cfg->pin,
+ p_task_actuator_cfg->led_off);
+ break;
+ case EV_LED_XX_ON:
+ p_task_actuator_dta->state = ST_LED_XX_ON;
+ HAL_GPIO_WritePin(
+ p_task_actuator_cfg->gpio_port,
+ p_task_actuator_cfg->pin,
+ p_task_actuator_cfg->led_on);
+ default:
+ break;
+ }
+ }
+
+ if (DEL_LED_XX_MIN == p_task_actuator_dta->tick)
+ {
+ p_task_actuator_dta->state = ST_LED_XX_BLINK_OFF;
+ p_task_actuator_dta->tick = DEL_LED_XX_BLI;
+ HAL_GPIO_WritePin(
+ p_task_actuator_cfg->gpio_port,
+ p_task_actuator_cfg->pin,
+ p_task_actuator_cfg->led_off);
+ }
+
+ if (DEL_LED_XX_MIN < p_task_actuator_dta->tick)
+ {
+ p_task_actuator_dta->state = ST_LED_XX_BLINK_ON;
+ p_task_actuator_dta->tick--;
+ }
+ break;
+
+ case ST_LED_XX_BLINK_OFF:
+ if (true == p_task_actuator_dta->flag)
+ {
+ p_task_actuator_dta->flag = false;
+ switch(p_task_actuator_dta->event)
+ {
+ case EV_LED_XX_OFF:
+ p_task_actuator_dta->state = ST_LED_XX_OFF;
+ HAL_GPIO_WritePin(
+ p_task_actuator_cfg->gpio_port,
+ p_task_actuator_cfg->pin,
+ p_task_actuator_cfg->led_off);
+ break;
+ case EV_LED_XX_ON:
+ p_task_actuator_dta->state = ST_LED_XX_ON;
+ HAL_GPIO_WritePin(
+ p_task_actuator_cfg->gpio_port,
+ p_task_actuator_cfg->pin,
+ p_task_actuator_cfg->led_on);
+ default:
+ break;
+ }
+ }
+
+ if (DEL_LED_XX_MIN == p_task_actuator_dta->tick)
+ {
+ p_task_actuator_dta->state = ST_LED_XX_BLINK_ON;
+ p_task_actuator_dta->tick = DEL_LED_XX_BLI;
+ HAL_GPIO_WritePin(
+ p_task_actuator_cfg->gpio_port,
+ p_task_actuator_cfg->pin,
+ p_task_actuator_cfg->led_on);
+ }
+
+ if (DEL_LED_XX_MIN < p_task_actuator_dta->tick)
+ {
+ p_task_actuator_dta->state = ST_LED_XX_BLINK_OFF;
+ p_task_actuator_dta->tick--;
+ }
+ break;
+
+ case ST_LED_XX_PULSE:
+ if (DEL_LED_XX_MIN == p_task_actuator_dta->tick)
+ {
+ p_task_actuator_dta->state = ST_LED_XX_OFF;
+ HAL_GPIO_WritePin(
+ p_task_actuator_cfg->gpio_port,
+ p_task_actuator_cfg->pin,
+ p_task_actuator_cfg->led_off);
+ }
+
+ if (DEL_LED_XX_MIN < p_task_actuator_dta->tick)
+ {
+ p_task_actuator_dta->tick--;
+ }
+ break;
+
+ default:
+ p_task_actuator_dta->tick = DEL_LED_XX_MIN;
+ p_task_actuator_dta->state = ST_LED_XX_OFF;
+ p_task_actuator_dta->event = EV_LED_XX_OFF;
+ p_task_actuator_dta->flag = false;
+ break;
+ }
+ }
+}
+
+/********************** end of file ******************************************/
