Semana 8¶
Esta semana continuaremos con el reto de la semana pasada y realizaremos la evaluación sumativa teórica de la primera parte del curso.
Material de referencia para el reto¶
En base a este ejemplo (tomado del proyecto SinelaboreRT), vamos a ilustrar la implementación, mediante un objeto activo, de la tarea que controla el LED:
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#include "freertos/task.h"
#include "esp_system.h"
#include "esp_log.h"
#include "driver/uart.h"
#include "soc/uart_struct.h"
#include "string.h"
#include "freertos/queue.h"
#include "freertos/timers.h"
static const int RX_BUF_SIZE = 1024;
#define TXD_PIN (GPIO_NUM_4)
#define RXD_PIN (GPIO_NUM_5)
#define GPIO_OUTPUT_IO_0 GPIO_NUM_18
typedef enum{
evTimeout = 0U,
evButton2,
evButton1,
AOBLINK_NO_MSG
}AOBLINK_EVENT_TYPE;
/* Event names */
const char events[] =
"evTimeout\0evButton2\0evButton1\0NO_MSG\0";
const unsigned short evt_idx[] = {0, 10, 20, 30};
QueueHandle_t aoBlinkQueue;
typedef struct
{
AOBLINK_EVENT_TYPE evType;
uint8_t evData;
} evAoBlink;
TimerHandle_t aoTimer;
const char *getNameByEvent(AOBLINK_EVENT_TYPE evt)
{
return (events + evt_idx[evt]);
}
void init()
{
const uart_config_t uart_config = {
.baud_rate = 115200,
.data_bits = UART_DATA_8_BITS,
.parity = UART_PARITY_DISABLE,
.stop_bits = UART_STOP_BITS_1,
.flow_ctrl = UART_HW_FLOWCTRL_DISABLE};
uart_param_config(UART_NUM_1, &uart_config);
uart_set_pin(UART_NUM_1, TXD_PIN, RXD_PIN, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE);
// We won't use a buffer for sending data.
uart_driver_install(UART_NUM_1, RX_BUF_SIZE * 2, 0, 0, NULL, 0);
// Configure Output
gpio_intr_disable(GPIO_OUTPUT_IO_0);
gpio_set_level(GPIO_OUTPUT_IO_0, 0);
gpio_pullup_dis(GPIO_OUTPUT_IO_0);
gpio_pulldown_dis(GPIO_OUTPUT_IO_0);
gpio_set_direction(GPIO_OUTPUT_IO_0, GPIO_MODE_OUTPUT);
}
static void aoTimerCallback(TimerHandle_t xTimer)
{
BaseType_t xStatus;
evAoBlink ev;
//printf("Sending timerEvent\r\n");
ev.evType = evTimeout;
ev.evData = 0;
xStatus = xQueueSendToBack(aoBlinkQueue, &ev, 0);
if (xStatus != pdPASS)
{
printf("aoTimerCallback couldn't send\r\n");
}
}
typedef enum
{
Fast,
FastLedOn,
FastLedOff,
Off,
On,
SlowWaitForLastTimeout,
FastWaitForLastTimeout,
Slow,
SlowLedOn,
SlowLedOff,
NUM_STATES // number of states in the machine
} States;
int m_initialized;
typedef struct
{
States stateVar;
States stateVarSlow;
States stateVarFast;
} stateVarsT;
stateVarsT stateVars;
stateVarsT stateVarsCopy;
static void initStateMachine(void)
{
BaseType_t xTimerCreatedStatus;
if (m_initialized == 0U)
{
m_initialized = 1U;
//Create copy of statevar
stateVarsCopy = stateVars;
// Set state vars to default states
stateVarsCopy.stateVar = Slow; /* set init state of top state */
stateVarsCopy.stateVarSlow = SlowLedOn; /* set init state of Slow */
stateVarsCopy.stateVarFast = FastLedOn; /* set init state of Fast */
aoTimer = xTimerCreate("aoTimer", pdMS_TO_TICKS(1000UL), pdTRUE, NULL, aoTimerCallback);
if (aoTimer != NULL)
{
printf("aoTimer created\r\n");
xTimerCreatedStatus = xTimerStart(aoTimer, 0);
if (xTimerCreatedStatus == pdPASS)
{
printf("aoTimer started\r\n");
}
}
gpio_set_level(GPIO_OUTPUT_IO_0, pdTRUE);
printf("LED OFF \r\n");
// Copy state variables back
stateVars = stateVarsCopy;
}
}
static void aoStateMachine(evAoBlink event)
{
int evConsumed = 0U;
if (m_initialized == 0U)
return;
//Create copy of statevar
stateVarsCopy = stateVars;
switch (stateVars.stateVar)
{
case Slow:
switch (stateVars.stateVarSlow)
{
case SlowLedOn:
if (event.evType == evTimeout)
{
/* Transition from SlowLedOn to SlowLedOff */
evConsumed = 1;
/* OnEntry code of state SlowLedOff */
gpio_set_level(GPIO_OUTPUT_IO_0, pdFALSE);
printf("LED OFF\r\n");
/* adjust state variables */
stateVarsCopy.stateVarSlow = SlowLedOff;
}
else
{
/* Intentionally left blank */
} /*end of event selection */
break; /* end of case SlowLedOn */
case SlowLedOff:
if (event.evType == evTimeout)
{
/* Transition from SlowLedOff to SlowLedOn */
evConsumed = 1;
/* OnEntry code of state SlowLedOn */
gpio_set_level(GPIO_OUTPUT_IO_0, pdTRUE);
printf("LED ON\r\n");
/* adjust state variables */
stateVarsCopy.stateVarSlow = SlowLedOn;
}
else
{
/* Intentionally left blank */
} /*end of event selection */
break; /* end of case SlowLedOff */
default:
/* Intentionally left blank */
break;
} /* end switch Slow */
/* Check if event was already processed */
if (evConsumed == 0)
{
if (event.evType == evButton1)
{
/* Transition from Slow to SlowWaitForLastTimeout */
evConsumed = 1;
/* adjust state variables */
stateVarsCopy.stateVar = SlowWaitForLastTimeout;
}
else if (event.evType == evButton2)
{
/* Transition from Slow to Fast */
evConsumed = 1;
/* Action code for transition */
xTimerChangePeriod(aoTimer,pdMS_TO_TICKS(100UL),0);
gpio_set_level(GPIO_OUTPUT_IO_0, pdTRUE);
printf("LED ON\r\n");
stateVarsCopy.stateVar = Fast; /* Default in entry chain */
stateVarsCopy.stateVarFast = FastLedOn; /* Default in entry chain */
}
else
{
/* Intentionally left blank */
} /*end of event selection */
}
break; /* end of case Slow */
case Fast:
switch (stateVars.stateVarFast)
{
case FastLedOn:
if (event.evType == evTimeout)
{
/* Transition from FastLedOn to FastLedOff */
evConsumed = 1;
/* OnEntry code of state FastLedOff */
gpio_set_level(GPIO_OUTPUT_IO_0, pdFALSE);
printf("LED OFF\r\n");
/* adjust state variables */
stateVarsCopy.stateVarFast = FastLedOff;
}
else
{
/* Intentionally left blank */
} /*end of event selection */
break; /* end of case FastLedOn */
case FastLedOff:
if (event.evType == evTimeout)
{
/* Transition from FastLedOff to FastLedOn */
evConsumed = 1;
/* OnEntry code of state FastLedOn */
gpio_set_level(GPIO_OUTPUT_IO_0, pdTRUE);
printf("LED ON\r\n");
/* adjust state variables */
stateVarsCopy.stateVarFast = FastLedOn;
}
else
{
/* Intentionally left blank */
} /*end of event selection */
break; /* end of case FastLedOff */
default:
/* Intentionally left blank */
break;
} /* end switch Fast */
/* Check if event was already processed */
if (evConsumed == 0)
{
if (event.evType == evButton1)
{
/* Transition from Fast to FastWaitForLastTimeout */
evConsumed = 1;
/* adjust state variables */
stateVarsCopy.stateVar = FastWaitForLastTimeout;
}
else if (event.evType == evButton2)
{
/* Transition from Fast to Slow */
evConsumed = 1;
/* Action code for transition */
xTimerChangePeriod(aoTimer,pdMS_TO_TICKS(1000UL),0);
gpio_set_level(GPIO_OUTPUT_IO_0, pdTRUE);
printf("LED ON\r\n");
stateVarsCopy.stateVar = Slow; /* Default in entry chain */
stateVarsCopy.stateVarSlow = SlowLedOn; /* Default in entry chain */
}
else
{
/* Intentionally left blank */
} /*end of event selection */
}
break; /* end of case Fast */
case Off:
if (event.evType == evButton1)
{
/* Transition from Off to Slow */
evConsumed = 1;
/* OnEntry code of state Slow */
xTimerChangePeriod(aoTimer,pdMS_TO_TICKS(1000UL),0);
gpio_set_level(GPIO_OUTPUT_IO_0, pdTRUE);
printf("LED ON\r\n");
stateVarsCopy.stateVar = Slow; /* Default in entry chain */
stateVarsCopy.stateVarSlow = SlowLedOn; /* Default in entry chain */
}
else
{
/* Intentionally left blank */
} /*end of event selection */
break; /* end of case Off */
case On:
if (event.evType == evButton1)
{
/* Transition from On to Fast */
evConsumed = 1;
/* OnEntry code of state Fast */
xTimerChangePeriod(aoTimer,pdMS_TO_TICKS(100UL),0);
gpio_set_level(GPIO_OUTPUT_IO_0, pdTRUE);
printf("LED ON\r\n");
stateVarsCopy.stateVar = Fast; /* Default in entry chain */
stateVarsCopy.stateVarFast = FastLedOn; /* Default in entry chain */
}
else
{
/* Intentionally left blank */
} /*end of event selection */
break; /* end of case On */
case SlowWaitForLastTimeout:
if (event.evType == evTimeout)
{
/* Transition from SlowWaitForLastTimeout to Off */
evConsumed = 1;
/* OnEntry code of state Off */
xTimerStop(aoTimer,0);
gpio_set_level(GPIO_OUTPUT_IO_0, pdFALSE);
printf("LED OFF\r\n");
/* adjust state variables */
stateVarsCopy.stateVar = Off;
}
else
{
/* Intentionally left blank */
} /*end of event selection */
break; /* end of case SlowWaitForLastTimeout */
case FastWaitForLastTimeout:
if (event.evType == evTimeout)
{
/* Transition from FastWaitForLastTimeout to On */
evConsumed = 1;
/* OnEntry code of state On */
xTimerStop(aoTimer,0);
gpio_set_level(GPIO_OUTPUT_IO_0, pdTRUE);
printf("LED ON\r\n");
/* adjust state variables */
stateVarsCopy.stateVar = On;
}
else
{
/* Intentionally left blank */
} /*end of event selection */
break; /* end of case FastWaitForLastTimeout */
default:
/* Intentionally left blank */
break;
} /* end switch stateVar_root */
// Copy state variables back
stateVars = stateVarsCopy;
}
static void aoBlink(void *pdata)
{
BaseType_t xStatus;
evAoBlink rxEvent;
initStateMachine();
while (1)
{
xStatus = xQueueReceive(aoBlinkQueue, &rxEvent, portMAX_DELAY);
if (xStatus == pdPASS)
{
printf("EV_type:%s-Data: %d\r\n", getNameByEvent(rxEvent.evType), rxEvent.evData);
aoStateMachine(rxEvent);
}
}
}
static void serialTask(void *pdata)
{
evAoBlink ev;
BaseType_t xStatus;
uint8_t data[2];
printf("serialTask init\r\n");
while (1)
{
const uint8_t rxBytes = uart_read_bytes(UART_NUM_1, data, 1, 1000 / portTICK_RATE_MS);
if (rxBytes > 0)
{
data[rxBytes] = 0;
printf("Read: %s\r\n", data);
ev.evType = AOBLINK_NO_MSG;
if (data[0] == '1')
ev.evType = evButton1;
if (data[0] == '2')
ev.evType = evButton2;
ev.evData = 0;
xStatus = xQueueSendToBack(aoBlinkQueue, &ev, 0);
if (xStatus != pdPASS)
{
printf("Could not send to the queue.\r\n");
}
}
}
}
void app_main()
{
init();
aoBlinkQueue = xQueueCreate(10, sizeof(evAoBlink));
if (aoBlinkQueue != NULL)
{
printf("aoBlink state machine created\r\n");
xTaskCreate(aoBlink, "aoBlink", 1024 * 2, NULL, configMAX_PRIORITIES, NULL);
xTaskCreate(serialTask, "serialTask", 1024 * 2, NULL, configMAX_PRIORITIES - 1, NULL);
}
else
{
printf("aoBlinkQueue is not created\r\n");
}
}
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