![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
Program that execute AEB system
Dependencies: AEB Ultrasonic Controller_Master mbed
main.cpp
- Committer:
- AndreaAndreoli
- Date:
- 2016-07-06
- Revision:
- 3:06075cbd49bd
- Parent:
- 2:fb694fb2ef9b
- Child:
- 4:0df8a61cbee9
File content as of revision 3:06075cbd49bd:
#include "mbed.h" #include "Ultrasonic.h" extern "C" { #include "Controller_Slave.h" /* Model's header file */ #include "rtwtypes.h" } static RT_MODEL_Controller_Slave_T Controller_Slave_M_; static RT_MODEL_Controller_Slave_T *const Controller_Slave_M = &Controller_Slave_M_; /* Real-time model */ static B_Controller_Slave_T Controller_Slave_B;/* Observable signals */ static DW_Controller_Slave_T Controller_Slave_DW;/* Observable states */ /* '<Root>/V' */ static real_T Controller_Slave_U_V; /* '<Root>/D_S' */ static real_T Controller_Slave_U_D_S; /* '<Root>/MASTER' */ static uint8_T Controller_Slave_U_Master; /* '<Root>/QA_EN' */ static boolean_T Controller_Slave_U_QA_EN; /* '<Root>/BRAKE' */ static uint8_T Controller_Slave_Y_BRAKE; /* '<Root>/ACC' */ static uint8_T Controller_Slave_Y_ACC; /* '<Root>/LED_RED' */ static uint8_T Controller_Slave_Y_LED_RED; /* '<Root>/LED_GREEN' */ static uint8_T Controller_Slave_Y_LED_GREEN; /* '<Root>/LED_BLUE' */ static uint8_T Controller_Slave_Y_LED_BLUE; /* '<Root>/SLAVE' */ static uint8_T Controller_Slave_Y_SLAVE; /* * Associating rt_OneStep with a real-time clock or interrupt service routine * is what makes the generated code "real-time". The function rt_OneStep is * always associated with the base rate of the model. Subrates are managed * by the base rate from inside the generated code. Enabling/disabling * interrupts and floating point context switches are target specific. This * example code indicates where these should take place relative to executing * the generated code step function. Overrun behavior should be tailored to * your application needs. This example simply sets an error status in the * real-time model and returns from rt_OneStep. */ void rt_OneStep(RT_MODEL_Controller_Slave_T *const Controller_Slave_M); void step(); Ultrasonic sonic(D2,D4); // Just call this funtion to initialize the ultrasonic sensor // D2 trigger D4 echo DigitalOut led_R(LED_RED); DigitalOut led_G(LED_GREEN); DigitalOut led_B(LED_BLUE); DigitalOut slave_out(D8); DigitalIn master(D6); float V = 29; // Set the vehicle speed here Ticker t; Serial pc(USBTX, USBRX); // tx, rx int main() { /* Pack model data into RTM */ Controller_Slave_M->ModelData.blockIO = &Controller_Slave_B; Controller_Slave_M->ModelData.dwork = &Controller_Slave_DW; Controller_Slave_U_V = V; Controller_Slave_U_D_S = 50; Controller_Slave_U_Master = 1; Controller_Slave_U_QA_EN = true; /* Initialize model */ Controller_Slave_initialize(Controller_Slave_M, &Controller_Slave_U_V, &Controller_Slave_U_D_S, &Controller_Slave_U_Master, &Controller_Slave_U_QA_EN, &Controller_Slave_Y_BRAKE, &Controller_Slave_Y_ACC, &Controller_Slave_Y_LED_RED, &Controller_Slave_Y_LED_GREEN, &Controller_Slave_Y_LED_BLUE, &Controller_Slave_Y_SLAVE); /* Attach rt_OneStep to a timer or interrupt service routine with * period 0.1 seconds (the model's base sample time) here. The * call syntax for rt_OneStep is * * rt_OneStep(Controller_Master_M); */ t.attach(&step,0.1); led_B.write(1); led_G.write(1); led_R.write(1); master.mode(PullDown); slave_out.write(1); while (true) { wait(0.2); //led_R= !led_R; } /* Disable rt_OneStep() here */ /* Terminate model */ Controller_Slave_terminate(Controller_Slave_M); } void step() { Controller_Slave_U_V = V; Controller_Slave_U_D_S = sonic.read_cm(); Controller_Slave_U_Master = master.read(); Controller_Slave_U_QA_EN = true; rt_OneStep(Controller_Slave_M); slave_out.write(Controller_Slave_Y_SLAVE); pc.printf("blue: %d \n", Controller_Slave_Y_LED_BLUE); // Call read_cm() to get the distance in cm pc.printf("red: %d \n", Controller_Slave_Y_LED_RED); pc.printf("slave out: %d \n", Controller_Slave_Y_SLAVE); pc.printf("master in: %d \n", Controller_Slave_U_Master); pc.printf("brake: %d \n", Controller_Slave_Y_BRAKE); pc.printf("green: %d \n", Controller_Slave_Y_LED_GREEN); pc.printf("acc: %d \n", Controller_Slave_Y_ACC); led_B = !Controller_Slave_Y_LED_BLUE; // negate because 1 -> led off led_R = !Controller_Slave_Y_LED_RED; led_G = !Controller_Slave_Y_LED_GREEN; } void rt_OneStep(RT_MODEL_Controller_Slave_T *const Controller_Slave_M) { static boolean_T OverrunFlag = false; /* Disable interrupts here */ /* Check for overrun */ if (OverrunFlag) { rtmSetErrorStatus(Controller_Slave_M, "Overrun"); return; } OverrunFlag = true; /* Save FPU context here (if necessary) */ /* Re-enable timer or interrupt here */ /* Set model inputs here */ /* Step the model */ Controller_Slave_step(Controller_Slave_M, Controller_Slave_U_V, Controller_Slave_U_D_S, Controller_Slave_U_Master, Controller_Slave_U_QA_EN, &Controller_Slave_Y_BRAKE, &Controller_Slave_Y_ACC, &Controller_Slave_Y_LED_RED, &Controller_Slave_Y_LED_GREEN, &Controller_Slave_Y_LED_BLUE, &Controller_Slave_Y_SLAVE); /* Get model outputs here */ /* Indicate task complete */ OverrunFlag = false; /* Disable interrupts here */ /* Restore FPU context here (if necessary) */ /* Enable interrupts here */ }