ROVER - Buzzer, button handler task added

Signed-off-by: Mustafa Ozcelikors <mozcelikors@gmail.com>

2 files changed, 147 insertions, 0 deletions

diff --git a/rover/src/tasks/external_gpio_task.cpp b/rover/src/tasks/external_gpio_task.cpp
new file mode 100644
index 0000000..dee9559
--- /dev/null
+++ b/rover/src/tasks/external_gpio_task.cpp
@@ -0,0 +1,107 @@
+/*
+ * Copyright (c) 2017 Eclipse Foundation, FH Dortmund and others
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Description:
+ *    External GPIO task for handling buttons and buzzer for Rover
+ *
+ * Contributors:
+ *    M.Ozcelikors <mozcelikors@gmail.com>, created 11.10.2017
+ *
+*/
+
+#include "external_gpio_task.h"
+
+#include <ctime>
+#include <wiringPi.h>
+#include <softTone.h>
+#include <unistd.h>
+#include "../timing/timing.h"
+#include "../api/basic_psys_rover.h"
+#include "../interfaces.h"
+#include <pthread.h>
+
+#include "../pthread_monitoring/collect_thread_name.h"
+#include "../RaspberryTest.h"
+
+void setupBuzzer (void)
+{
+	softToneCreate(BUZZER_PIN);
+}
+
+/* Checks global variable buzzer_status */
+/* 1-> ON    0-> OFF */
+void buzzerHandler (void)
+{
+	if ( buzzer_status_shared == 0 )
+	{
+		softToneWrite (BUZZER_PIN, BUZZER_OFF_FREQ);
+	}
+	else
+	{
+		softToneWrite (BUZZER_PIN, BUZZER_ON_FREQ);
+	}
+}
+
+void turnBuzzerOn (void)
+{
+	pthread_mutex_lock(&buzzer_status_shared_lock);
+	buzzer_status_shared = 1;
+	pthread_mutex_unlock(&buzzer_status_shared_lock);
+}
+
+void turnBuzzerOff (void)
+{
+	pthread_mutex_lock(&buzzer_status_shared_lock);
+	buzzer_status_shared = 0;
+	pthread_mutex_unlock(&buzzer_status_shared_lock);
+}
+
+void *External_GPIO_Task(void *arg)
+{
+	timing extgpio_task_tmr;
+
+	CollectThreadName("External_GPIO_Task");
+
+	extgpio_task_tmr.setTaskID("GPIO");
+	extgpio_task_tmr.setDeadline(1);
+	extgpio_task_tmr.setPeriod(1);
+
+	/* Setup Buzzer */
+	setupBuzzer();
+
+	while (1)
+	{
+		extgpio_task_tmr.recordStartTime();
+		extgpio_task_tmr.calculatePreviousSlackTime();
+
+		//Task content starts here -----------------------------------------------
+
+		/* Handle buzzer operation */
+		buzzerHandler();
+
+		//Task content ends here -------------------------------------------------
+
+		extgpio_task_tmr.recordEndTime();
+		extgpio_task_tmr.calculateExecutionTime();
+		extgpio_task_tmr.calculateDeadlineMissPercentage();
+		extgpio_task_tmr.incrementTotalCycles();
+		pthread_mutex_lock(&extgpio_task_ti_l);
+			extgpio_task_ti.deadline = extgpio_task_tmr.getDeadline();
+			extgpio_task_ti.deadline_miss_percentage = extgpio_task_tmr.getDeadlineMissPercentage();
+			extgpio_task_ti.execution_time = extgpio_task_tmr.getExecutionTime();
+			extgpio_task_ti.period = extgpio_task_tmr.getPeriod();
+			extgpio_task_ti.prev_slack_time = extgpio_task_tmr.getPrevSlackTime();
+			extgpio_task_ti.task_id = extgpio_task_tmr.getTaskID();
+			extgpio_task_ti.start_time = extgpio_task_tmr.getStartTime();
+			extgpio_task_ti.end_time = extgpio_task_tmr.getEndTime();
+		pthread_mutex_unlock(&extgpio_task_ti_l);
+		extgpio_task_tmr.sleepToMatchPeriod();
+	}
+
+	/* the function must return something - NULL will do */
+	return NULL;
+}
diff --git a/rover/src/tasks/external_gpio_task.h b/rover/src/tasks/external_gpio_task.h
new file mode 100644
index 0000000..822ecd3
--- /dev/null
+++ b/rover/src/tasks/external_gpio_task.h
@@ -0,0 +1,40 @@
+/*
+ * Copyright (c) 2017 Eclipse Foundation, FH Dortmund and others
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Description:
+ *    External GPIO task for handling buttons and buzzer for Rover - Header file
+ *
+ * Contributors:
+ *    M.Ozcelikors <mozcelikors@gmail.com>, created 11.10.2017
+ *
+*/
+
+#ifndef TASKS_EXTERNAL_GPIO_TASK_H_
+#define TASKS_EXTERNAL_GPIO_TASK_H_
+
+#include <stdio.h>
+#include <stdlib.h>
+
+/* Defines */
+
+/* Buzzer */
+#define BUZZER_PIN 28 //BCM-20, wiringpi 28
+#define BUZZER_ON_FREQ 200
+#define BUZZER_OFF_FREQ 0
+
+/* Shutdown Button */
+#define SHUTDOWN_BUTTON_PIN 24 //BCM-21, wiringpi 24
+
+/* User Button */
+#define USER_BUTTON_PIN 27 //BCM-16, wiringpi 27
+
+/* Interfaces */
+void *External_GPIO_Task(void * arg);
+void turnBuzzerOn (void);
+void turnBuzzerOff (void);
+
+#endif /* TASKS_EXTERNAL_GPIO_TASK_H_ */