/* * Copyright (c) 2023 Juan Manuel Cruz . * 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 * @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 #define LED_ON GPIO_PIN_SET #define LED_OFF GPIO_PIN_RESET /********************** internal data declaration ****************************/ const task_actuator_cfg_t task_actuator_cfg_list[] = { {ID_LED_A, LED_A_GPIO_Port, LED_A_Pin, LED_ON, LED_OFF, DEL_LED_XX_BLI, DEL_LED_XX_PUL}, {ID_LED_B, LED_B_GPIO_Port, LED_B_Pin, LED_ON, LED_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}, {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->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->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 ******************************************/