rover/src/tasks/temperature_task.cpp

/*
 * 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:
 *    Temperature and Humidity Sensor v1.0 Task with wiringPi and pThreads
 *
 * Authors:
 *    M. Ozcelikors,            R.Hottger
 *    <mozcelikors@gmail.com>   <robert.hoettger@fh-dortmund.de>
 *
 * Contributors:
 *    Gael Blondelle - API functions
 *
 * Update History:
 *    02.02.2017   -    first compilation
 *    15.03.2017   -    updated tasks for web-based driving
 *
 * Additional Info:
 *  // Pins:
	//      I2C pins in WiringPi  8 -> SDA       9 -> SCL
	//      I2C pins in BCM       BCM-2 -> SDA   BCM-3 -> SCL
	//      Physical I2c Pins     3 -> SDA       5 -> SCL
	// Preliminaries:
	//      1. sudo raspi-config > Advanced > Enable I2C and SPI
	//      2. In /boot/config.txt, uncomment
	//                              dtparam=i2c_arm=on
	//                              dtparam=i2c=on
	//                              dtparam=spi=on
	//      3. Install following through apt-get:
	//                              i2c-tools
	//                              libi2c-dev
*/

#include "temperature_task.h"

#include <ctime>
#include <wiringPi.h>
#include <wiringPiI2C.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"

static int i2c_th02_fd = 0;

void setupTemperatureSensor()
{
	//wiringPiSetup();   //Since this can only be used once in a program, we do it in main and comment this.
	i2c_th02_fd = wiringPiI2CSetup (TEMPERATURE_SENSOR_ADDR);
}

float getHumidityFromSensor()
{
	float x;

	unsigned char command[2]= {0};

	command[0]=0x03;
	command[1]=0x01;

	//printf("fd:%d\n",i2c_th02_fd);

//	wiringPiI2CWriteReg8(i2c_th02_fd, 0x03, 0x01);

	write(i2c_th02_fd,command,2);

	// Poll RDY (D0) in STATUS (register 0) until it is low (=0)
	int status = -1;
	delay (30);
	while ((status & 0x01) != 0) {
		status = wiringPiI2CReadReg8(i2c_th02_fd,0);
		//printf("Status:%d\n",status);
	}

	// Read the upper and lower bytes of the temperature value from
	// DATAh and DATAl (registers 0x01 and 0x02), respectively
	unsigned char buffer[3]= {0};
    read(i2c_th02_fd, buffer, 3);

	int dataH = buffer[1] & 0xff;
	int dataL = buffer[2] & 0xff;

//	int dataH = wiringPiI2CRead(i2c_th02_fd)&0xff;
//	int dataL = wiringPiI2CRead(i2c_th02_fd)&0xff;
	//printf("dataH:%02X\n",dataH);
	//printf("dataL:%02X\n",dataL);

	x = (dataH * 256 + dataL) >> 4;
	//printf("Humidity raw:%d\n",(int)x);
	x = (x / 16) - 24;

	//printf("Humidity:%f\n",x);

	return x;
}

float getTemperatureFromSensor()
{
	float x;

	unsigned char command[2]= {0};

	command[0]=0x03;
	command[1]=0x11;

	//printf("fd:%d\n",i2c_th02_fd);

	//	wiringPiI2CWriteReg8(i2c_th02_fd, 0x03, 0x01);

	write(i2c_th02_fd,command,2);

	// Poll RDY (D0) in STATUS (register 0) until it is low (=0)
	int status = -1;
	delay (30);
	while ((status & 0x01) != 0) {
		status = wiringPiI2CReadReg8(i2c_th02_fd,0);
		//printf("Status:%d\n",status);
	}

	// Read the upper and lower bytes of the temperature value from
	// DATAh and DATAl (registers 0x01 and 0x02), respectively
	unsigned char buffer[3]= {0};
    read(i2c_th02_fd, buffer, 3);

	int dataH = buffer[1] & 0xff;
	int dataL = buffer[2] & 0xff;

	//	int dataH = wiringPiI2CRead(i2c_th02_fd)&0xff;
	//	int dataL = wiringPiI2CRead(i2c_th02_fd)&0xff;
	//printf("dataH:%02X\n",dataH);
	//printf("dataL:%02X\n",dataL);

	x = (dataH * 256 + dataL) >> 2;
	//printf("Temperature raw:%d\n",(int)x);
	x = (x / 32) - 50;

	//printf("Temperatures:%f\n",x);

	return x;
}

void *Temperature_Task(void *arg)
{
	timing temperature_task_tmr;

	CollectThreadName("Temperature_Task");

	temperature_task_tmr.setTaskID("Temperatur");
	temperature_task_tmr.setDeadline(0.5);
	temperature_task_tmr.setPeriod(0.5);
	setupTemperatureSensor();
	while (1)
	{
		temperature_task_tmr.recordStartTime();
		temperature_task_tmr.calculatePreviousSlackTime();

		//Task content starts here -----------------------------------------------
		//Setting argument in pthread - whenever you R/W access to temperature_shared, you have to do the same.
		pthread_mutex_lock(&temperature_lock);
			temperature_shared = getTemperatureFromSensor();
		pthread_mutex_unlock(&temperature_lock);

		pthread_mutex_lock(&humidity_lock);
			humidity_shared = getHumidityFromSensor();
		pthread_mutex_unlock(&humidity_lock);

		//printf("Temperaturex: %f\n", getTemperatureFromSensor());
		//printf("Humidity: %f\n", getHumidityFromSensor());
		//Task content ends here -------------------------------------------------

		temperature_task_tmr.recordEndTime();
		temperature_task_tmr.calculateExecutionTime();
		temperature_task_tmr.calculateDeadlineMissPercentage();
		temperature_task_tmr.incrementTotalCycles();
		pthread_mutex_lock(&temperature_task_ti_l);
			temperature_task_ti.deadline = temperature_task_tmr.getDeadline();
			temperature_task_ti.deadline_miss_percentage = temperature_task_tmr.getDeadlineMissPercentage();
			temperature_task_ti.execution_time = temperature_task_tmr.getExecutionTime();
			temperature_task_ti.period = temperature_task_tmr.getPeriod();
			temperature_task_ti.prev_slack_time = temperature_task_tmr.getPrevSlackTime();
			temperature_task_ti.task_id = temperature_task_tmr.getTaskID();
			temperature_task_ti.start_time = temperature_task_tmr.getStartTime();
			temperature_task_ti.end_time = temperature_task_tmr.getEndTime();
		pthread_mutex_unlock(&temperature_task_ti_l);
		temperature_task_tmr.sleepToMatchPeriod();
	}

	/* the function must return something - NULL will do */
	return NULL;
}