/* * 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_system.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_system_attribute.h" #include "task_system_interface.h" #include "task_actuator_attribute.h" #include "task_actuator_interface.h" /********************** macros and definitions *******************************/ #define G_TASK_SYS_CNT_INI 0ul #define G_TASK_SYS_TICK_CNT_INI 0ul #define DEL_SYS_MIN 0ul #define DEL_SYS_MED 50ul #define DEL_SYS_MAX 500ul /********************** internal data declaration ****************************/ task_system_dta_t task_system_dta = { DEL_SYS_MIN, ST_SYS_IDLE, EV_SYS_IDLE, false }; #define SYSTEM_DTA_QTY (sizeof(task_system_dta)/sizeof(task_system_dta_t)) /********************** internal functions declaration ***********************/ void task_system_statechart(void); /********************** internal data definition *****************************/ const char *p_task_system = "Task System (System Statechart)"; const char *p_task_system_ = "Non-Blocking & Update By Time Code"; /********************** external data declaration ****************************/ uint32_t g_task_system_cnt; volatile uint32_t g_task_system_tick_cnt; /********************** external functions definition ************************/ void task_system_init(void *parameters) { task_system_dta_t *p_task_system_dta; task_system_st_t state; task_system_ev_t event; bool b_event; /* Print out: Task Initialized */ LOGGER_INFO(" "); LOGGER_INFO(" %s is running - %s", GET_NAME(task_system_init), p_task_system); LOGGER_INFO(" %s is a %s", GET_NAME(task_system), p_task_system_); /* Init & Print out: Task execution counter */ g_task_system_cnt = G_TASK_SYS_CNT_INI; LOGGER_INFO(" %s = %lu", GET_NAME(g_task_system_cnt), g_task_system_cnt); init_queue_event_task_system(); /* Update Task Actuator Configuration & Data Pointer */ p_task_system_dta = &task_system_dta; /* Init & Print out: Task execution FSM */ state = ST_SYS_IDLE; p_task_system_dta->state = state; event = EV_SYS_IDLE; p_task_system_dta->event = event; b_event = false; p_task_system_dta->flag = b_event; LOGGER_INFO(" "); LOGGER_INFO(" %s = %lu %s = %lu %s = %s", GET_NAME(state), (uint32_t)state, GET_NAME(event), (uint32_t)event, GET_NAME(b_event), (b_event ? "true" : "false")); } void task_system_update(void *parameters) { bool b_time_update_required = false; /* Protect shared resource */ __asm("CPSID i"); /* disable interrupts */ if (G_TASK_SYS_TICK_CNT_INI < g_task_system_tick_cnt) { /* Update Tick Counter */ g_task_system_tick_cnt--; b_time_update_required = true; } __asm("CPSIE i"); /* enable interrupts */ while (b_time_update_required) { /* Update Task Counter */ g_task_system_cnt++; /* Run Task Statechart */ task_system_statechart(); /* Protect shared resource */ __asm("CPSID i"); /* disable interrupts */ if (G_TASK_SYS_TICK_CNT_INI < g_task_system_tick_cnt) { /* Update Tick Counter */ g_task_system_tick_cnt--; b_time_update_required = true; } else { b_time_update_required = false; } __asm("CPSIE i"); /* enable interrupts */ } } void task_system_statechart(void) { task_system_dta_t *p_task_system_dta; /* Update Task System Data Pointer */ p_task_system_dta = &task_system_dta; if (true == any_event_task_system()) { p_task_system_dta->flag = true; p_task_system_dta->event = get_event_task_system(); } switch (p_task_system_dta->state) { case ST_SYS_IDLE: if ((true == p_task_system_dta->flag) && (EV_SYS_LOOP_DET == p_task_system_dta->event)) { p_task_system_dta->flag = false; p_task_system_dta->state = ST_SYS_ACTIVE_01; } break; case ST_SYS_ACTIVE_01: if ((true == p_task_system_dta->flag) && (EV_SYS_MANUAL_BTN == p_task_system_dta->event)) { p_task_system_dta->flag = false; p_task_system_dta->state = ST_SYS_ACTIVE_02; p_task_system_dta->tick = DEL_SYS_MAX; put_event_task_actuator(EV_LED_XX_BLINK, ID_LED_A); } break; case ST_SYS_ACTIVE_02: if (DEL_SYS_MIN == p_task_system_dta->tick) { p_task_system_dta->state = ST_SYS_ACTIVE_03; put_event_task_actuator(EV_LED_XX_ON, ID_LED_A); put_event_task_actuator(EV_LED_XX_ON, ID_LED_B); } if (DEL_SYS_MIN < p_task_system_dta->tick) { p_task_system_dta->tick--; } break; case ST_SYS_ACTIVE_03: if ((true == p_task_system_dta->flag) && (EV_SYS_NOT_LOOP_DET == p_task_system_dta->event)) { p_task_system_dta->flag = false; p_task_system_dta->state = ST_SYS_ACTIVE_04; } break; case ST_SYS_ACTIVE_04: if ((true == p_task_system_dta->flag) && (EV_SYS_IR_PHO_CELL == p_task_system_dta->event)) { p_task_system_dta->flag = false; p_task_system_dta->state = ST_SYS_ACTIVE_05; } break; case ST_SYS_ACTIVE_05: if ((true == p_task_system_dta->flag) && (EV_SYS_NOT_IR_PHO_CELL == p_task_system_dta->event)) { p_task_system_dta->flag = false; p_task_system_dta->state = ST_SYS_ACTIVE_06; p_task_system_dta->tick = DEL_SYS_MAX; put_event_task_actuator(EV_LED_XX_BLINK, ID_LED_A); } break; case ST_SYS_ACTIVE_06: if (DEL_SYS_MIN == p_task_system_dta->tick) { p_task_system_dta->state = ST_SYS_IDLE; put_event_task_actuator(EV_LED_XX_OFF, ID_LED_A); put_event_task_actuator(EV_LED_XX_OFF, ID_LED_B); } if (DEL_SYS_MIN < p_task_system_dta->tick) { p_task_system_dta->tick--; } break; default: p_task_system_dta->tick = DEL_SYS_MIN; p_task_system_dta->state = ST_SYS_IDLE; p_task_system_dta->event = EV_SYS_IDLE; p_task_system_dta->flag = false; break; } } /********************** end of file ******************************************/