Aaron Stevenson / Mbed 2 deprecated Assignment3

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Dependencies:   mbed MCP23017 mbed-rtos WattBob_TextLCD

main.cpp@6:a026e0651ad5, 2018-03-27 (annotated)

Committer:
Steaar
Date:
Tue Mar 27 13:21:36 2018 +0000
Revision:
6:a026e0651ad5
Parent:
5:e62e0e3084fc
Child:
7:84c2156e1ace
speed and tasks 1-6 functional. Priorities

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Steaar 0:1580a6dbd6a9 1 #include "mbed.h"
Steaar 0:1580a6dbd6a9 2 #include "rtos.h"
Steaar 0:1580a6dbd6a9 3
Steaar 0:1580a6dbd6a9 4 #include "MCP23017.h"
Steaar 0:1580a6dbd6a9 5 #include "WattBob_TextLCD.h"
Steaar 0:1580a6dbd6a9 6
Steaar 0:1580a6dbd6a9 7 #define BACK_LIGHT_ON(INTERFACE) INTERFACE->write_bit(1,BL_BIT)
Steaar 0:1580a6dbd6a9 8 #define BACK_LIGHT_OFF(INTERFACE) INTERFACE->write_bit(0,BL_BIT)
Steaar 0:1580a6dbd6a9 9
Steaar 4:72c487215487 10 MCP23017 *par_port; // pointer to 16-bit parallel I/O object
Steaar 4:72c487215487 11 WattBob_TextLCD *lcd; // pointer to 2*16 chacater LCD object
Steaar 0:1580a6dbd6a9 12
Steaar 4:72c487215487 13 AnalogIn accel(p15); // Analog
Steaar 0:1580a6dbd6a9 14 AnalogIn brake(p16);
Steaar 5:e62e0e3084fc 15 float speed;
Steaar 5:e62e0e3084fc 16 float kmph;
Steaar 1:c2c4bd530112 17 float aveSpeed;
Steaar 5:e62e0e3084fc 18 float acc;
Steaar 5:e62e0e3084fc 19 float br;
Steaar 1:c2c4bd530112 20 float distance = 0;
Steaar 0:1580a6dbd6a9 21
Steaar 4:72c487215487 22 Timer tim, t1, t2, t3, t4, t5, t6, t7, t8, t9, t10;// integrate with wait?
Steaar 0:1580a6dbd6a9 23
Steaar 4:72c487215487 24 int indicount = 0;
Steaar 4:72c487215487 25
Steaar 4:72c487215487 26 DigitalOut sideLights(LED1); // mbed out
Steaar 1:c2c4bd530112 27 DigitalOut lIndicator(LED2);
Steaar 1:c2c4bd530112 28 DigitalOut rIndicator(LED3);
Steaar 0:1580a6dbd6a9 29 DigitalOut engLight(LED4);
Steaar 0:1580a6dbd6a9 30
Steaar 4:72c487215487 31 DigitalOut brakeLights(p6); // redbox out
Steaar 0:1580a6dbd6a9 32 DigitalOut fluxCapacitor(p7);
Steaar 0:1580a6dbd6a9 33
Steaar 5:e62e0e3084fc 34 DigitalIn engine(p5); // switches
Steaar 5:e62e0e3084fc 35 DigitalIn lightSwitch(p8);
Steaar 5:e62e0e3084fc 36 DigitalIn lIndicate(p11);
Steaar 5:e62e0e3084fc 37 DigitalIn rIndicate(p12);
Steaar 0:1580a6dbd6a9 38
Steaar 4:72c487215487 39 Serial pc(USBTX, USBRX); // serial tx, rx
Steaar 2:51a06b9a52d1 40
Steaar 1:c2c4bd530112 41 Thread sp;
Steaar 1:c2c4bd530112 42 Thread task1;
Steaar 1:c2c4bd530112 43 Thread task2;
Steaar 1:c2c4bd530112 44 Thread task3;
Steaar 1:c2c4bd530112 45 Thread task4;
Steaar 1:c2c4bd530112 46 Thread task5;
Steaar 1:c2c4bd530112 47 Thread task6;
Steaar 1:c2c4bd530112 48 Thread task7;
Steaar 1:c2c4bd530112 49 Thread task8;
Steaar 1:c2c4bd530112 50 Thread task9;
Steaar 1:c2c4bd530112 51 Thread task10;
Steaar 5:e62e0e3084fc 52 Semaphore ac(1);
Steaar 1:c2c4bd530112 53
Steaar 4:72c487215487 54 typedef struct { // mail
Steaar 2:51a06b9a52d1 55 float m_speed;
Steaar 2:51a06b9a52d1 56 float m_acc;
Steaar 2:51a06b9a52d1 57 float m_br;
Steaar 4:72c487215487 58 uint32_t counter; // A counter value
Steaar 2:51a06b9a52d1 59 } mail_t;
Steaar 2:51a06b9a52d1 60
Steaar 2:51a06b9a52d1 61 Mail<mail_t, 100> mail_box;
Steaar 2:51a06b9a52d1 62
Steaar 5:e62e0e3084fc 63 void acceleration() // 1. read brake and accelerator 10
Steaar 4:72c487215487 64 {
Steaar 4:72c487215487 65 while (1) {
Steaar 5:e62e0e3084fc 66 //ac.wait();
Steaar 4:72c487215487 67 acc = accel.read()*3.3;
Steaar 4:72c487215487 68 br = brake.read()*3.3;
Steaar 5:e62e0e3084fc 69 //ac.release();
Steaar 5:e62e0e3084fc 70 Thread::wait(100);
Steaar 4:72c487215487 71 }
Steaar 4:72c487215487 72 }
Steaar 4:72c487215487 73 void getSpeed() // 20Hz calculation for speed & distance
Steaar 4:72c487215487 74 {
Steaar 4:72c487215487 75 while (1) {
Steaar 6:a026e0651ad5 76 speed = (acc - br)*16.835; // speed in m/s. Max = 55
Steaar 4:72c487215487 77 if (speed < 0) {
Steaar 4:72c487215487 78 speed = 0;
Steaar 4:72c487215487 79 }
Steaar 6:a026e0651ad5 80 kmph = speed*3.6; // convert speed to km/ph. Change to *2.24 for ~mph
Steaar 6:a026e0651ad5 81 distance = distance + (speed*0.05)/1000; // distance = speed*time (/1000 for m to km)
Steaar 5:e62e0e3084fc 82 Thread::wait(50);
Steaar 4:72c487215487 83 }
Steaar 4:72c487215487 84 }
Steaar 4:72c487215487 85 void ignition() // 2. Read engine on/off show LED 2
Steaar 4:72c487215487 86 {
Steaar 4:72c487215487 87 while (1) {
Steaar 5:e62e0e3084fc 88 if (engine.read() > 0) {
Steaar 4:72c487215487 89 engLight = 1;
Steaar 4:72c487215487 90 }
Steaar 5:e62e0e3084fc 91 else{
Steaar 5:e62e0e3084fc 92 engLight = 0;
Steaar 5:e62e0e3084fc 93 }
Steaar 5:e62e0e3084fc 94 Thread::wait(500);
Steaar 4:72c487215487 95 }
Steaar 4:72c487215487 96 }
Steaar 4:72c487215487 97 void speedo() // 3. Average last n speed readings 5
Steaar 4:72c487215487 98 {
Steaar 4:72c487215487 99 while (1) {
Steaar 4:72c487215487 100 for (int i = 0; i<3; i++) {
Steaar 6:a026e0651ad5 101 aveSpeed = kmph + aveSpeed; // in km/h
Steaar 4:72c487215487 102 }
Steaar 6:a026e0651ad5 103 aveSpeed = aveSpeed/4;
Steaar 4:72c487215487 104
Steaar 4:72c487215487 105 Thread::wait(200);
Steaar 4:72c487215487 106 }
Steaar 4:72c487215487 107 }
Steaar 4:72c487215487 108 void braking() // 4. Brake indicated by LED 2
Steaar 4:72c487215487 109 {
Steaar 4:72c487215487 110 while (1) {
Steaar 5:e62e0e3084fc 111 if ( br > 0) {
Steaar 4:72c487215487 112 brakeLights = 1;
Steaar 4:72c487215487 113 }
Steaar 5:e62e0e3084fc 114 else{
Steaar 5:e62e0e3084fc 115 brakeLights = 0;
Steaar 5:e62e0e3084fc 116 }
Steaar 4:72c487215487 117
Steaar 4:72c487215487 118 Thread::wait(500);
Steaar 4:72c487215487 119 }
Steaar 4:72c487215487 120 }
Steaar 4:72c487215487 121 void greatScott() // 5. if speed > 88 LED on 1
Steaar 4:72c487215487 122 {
Steaar 4:72c487215487 123 while (1) {
Steaar 6:a026e0651ad5 124 if (kmph > 141.6) { // 141.6 km = 88 miles
Steaar 4:72c487215487 125 fluxCapacitor = 1;
Steaar 4:72c487215487 126 }
Steaar 6:a026e0651ad5 127 else{
Steaar 6:a026e0651ad5 128 fluxCapacitor = 0;
Steaar 6:a026e0651ad5 129 }
Steaar 4:72c487215487 130
Steaar 4:72c487215487 131 Thread::wait(1000);
Steaar 4:72c487215487 132 }
Steaar 4:72c487215487 133 }
Steaar 4:72c487215487 134 void LCD() // 6. display odometer and speed 2
Steaar 4:72c487215487 135 {
Steaar 4:72c487215487 136 while (1) {
Steaar 4:72c487215487 137
Steaar 4:72c487215487 138 lcd->locate(0,0);
Steaar 4:72c487215487 139 lcd->printf("KM:%0.1f",distance);
Steaar 4:72c487215487 140 lcd->locate(1,0);
Steaar 6:a026e0651ad5 141 lcd->printf("KM/H:%.1f",aveSpeed);
Steaar 5:e62e0e3084fc 142 lcd->locate(0,8);
Steaar 5:e62e0e3084fc 143 //ac.wait();
Steaar 6:a026e0651ad5 144 lcd->printf("sp:%0.1f",kmph);
Steaar 6:a026e0651ad5 145 //lcd->locate(1,8);
Steaar 5:e62e0e3084fc 146 //ac.release();
Steaar 5:e62e0e3084fc 147 //lcd->printf("b:%d",engine.read());
Steaar 4:72c487215487 148
Steaar 4:72c487215487 149 Thread::wait(500);
Steaar 4:72c487215487 150 }
Steaar 4:72c487215487 151 }
Steaar 4:72c487215487 152 void send_thread (void) // 7. Send speed, acc, brake to MAILq 0.2
Steaar 2:51a06b9a52d1 153 {
Steaar 2:51a06b9a52d1 154 uint32_t i = 0;
Steaar 2:51a06b9a52d1 155 while (true) {
Steaar 2:51a06b9a52d1 156 i++; // fake data update
Steaar 2:51a06b9a52d1 157 mail_t *mail = mail_box.alloc();
Steaar 2:51a06b9a52d1 158 mail->m_speed = speed;
Steaar 2:51a06b9a52d1 159 mail->m_acc = acc;
Steaar 2:51a06b9a52d1 160 mail->m_br = br;
Steaar 2:51a06b9a52d1 161 mail->counter = i;
Steaar 2:51a06b9a52d1 162 mail_box.put(mail);
Steaar 2:51a06b9a52d1 163
Steaar 2:51a06b9a52d1 164 osEvent evt = mail_box.get();
Steaar 2:51a06b9a52d1 165 if (evt.status == osEventMail) {
Steaar 2:51a06b9a52d1 166 mail_t *mail = (mail_t*)evt.value.p;
Steaar 4:72c487215487 167 printf("\nSpeed: %.1f \n\r" , mail->m_speed);
Steaar 2:51a06b9a52d1 168 printf("Acceleration: %.2f \n\r" , mail->m_acc);
Steaar 4:72c487215487 169 printf("Braking: %.1f \n\r", mail->m_br);
Steaar 2:51a06b9a52d1 170
Steaar 2:51a06b9a52d1 171 mail_box.free(mail);
Steaar 2:51a06b9a52d1 172 }
Steaar 2:51a06b9a52d1 173 Thread::wait(5000);
Steaar 2:51a06b9a52d1 174 }
Steaar 2:51a06b9a52d1 175 }
Steaar 4:72c487215487 176 void toSerial() // 8. MAIL q to serial PC 0.05
Steaar 1:c2c4bd530112 177 {
Steaar 1:c2c4bd530112 178 while (1) {
Steaar 4:72c487215487 179 osEvent evt = mail_box.get();
Steaar 4:72c487215487 180 mail_t *mail = (mail_t*)evt.value.p;
Steaar 4:72c487215487 181 pc.printf("\nSpeed: %.2f \n\r", mail->m_speed);
Steaar 4:72c487215487 182 pc.printf("Acceleration: %.2f \n\r", mail->m_acc);
Steaar 4:72c487215487 183 pc.printf("Braking: %.2f \n\r", mail->m_br);
Steaar 1:c2c4bd530112 184
Steaar 4:72c487215487 185 Thread::wait(20000);
Steaar 0:1580a6dbd6a9 186 }
Steaar 0:1580a6dbd6a9 187 }
Steaar 4:72c487215487 188 void lights() // 9. set side lights 1
Steaar 1:c2c4bd530112 189 {
Steaar 1:c2c4bd530112 190 while (1) {
Steaar 1:c2c4bd530112 191 if (lightSwitch == 1) {
Steaar 1:c2c4bd530112 192 sideLights = 1;
Steaar 2:51a06b9a52d1 193 } else {
Steaar 2:51a06b9a52d1 194 sideLights = 0;
Steaar 1:c2c4bd530112 195 }
Steaar 1:c2c4bd530112 196
Steaar 1:c2c4bd530112 197 Thread::wait(1000);
Steaar 0:1580a6dbd6a9 198 }
Steaar 0:1580a6dbd6a9 199 }
Steaar 4:72c487215487 200 void indicators() // 10. flash indicators 0.5
Steaar 1:c2c4bd530112 201 {
Steaar 1:c2c4bd530112 202 while (1) {
Steaar 4:72c487215487 203
Steaar 4:72c487215487 204 if ((lIndicate == 1) && (rIndicate == 1)) { // If both switch on
Steaar 4:72c487215487 205 lIndicator = !lIndicator; // both LED at 2Hz
Steaar 0:1580a6dbd6a9 206 rIndicator = !rIndicator;
Steaar 4:72c487215487 207 wait(0.5);
Steaar 1:c2c4bd530112 208 }
Steaar 4:72c487215487 209 else if ((lIndicate == 1) && (rIndicate == 0)) { // if left switch on
Steaar 4:72c487215487 210 lIndicator = !lIndicator; // left LED at 1Hz
Steaar 4:72c487215487 211 wait(1);
Steaar 1:c2c4bd530112 212 }
Steaar 4:72c487215487 213 else if ((lIndicate == 0) && (rIndicate == 1)) { // if right switch on
Steaar 4:72c487215487 214 rIndicator = !rIndicator; // right LED at 1Hz
Steaar 4:72c487215487 215 wait(1);
Steaar 1:c2c4bd530112 216 }
Steaar 1:c2c4bd530112 217
Steaar 1:c2c4bd530112 218 Thread::wait(2000);
Steaar 0:1580a6dbd6a9 219 }
Steaar 0:1580a6dbd6a9 220 }
Steaar 4:72c487215487 221
Steaar 0:1580a6dbd6a9 222
Steaar 0:1580a6dbd6a9 223 int main()
Steaar 0:1580a6dbd6a9 224 {
Steaar 0:1580a6dbd6a9 225 par_port = new MCP23017(p9, p10, 0x40); // initialise 16-bit I/O chip
Steaar 0:1580a6dbd6a9 226 lcd = new WattBob_TextLCD(par_port); // initialise 2*26 char display
Steaar 0:1580a6dbd6a9 227 par_port->write_bit(1,BL_BIT); // turn LCD backlight ON
Steaar 1:c2c4bd530112 228
Steaar 6:a026e0651ad5 229 sp.start(getSpeed); //20 y
Steaar 6:a026e0651ad5 230 task1.start(acceleration); //10 y
Steaar 6:a026e0651ad5 231 task2.start(ignition); //2 .setPriority(); y
Steaar 6:a026e0651ad5 232 task3.start(speedo); //5 y
Steaar 6:a026e0651ad5 233 task4.start(braking); //2 y
Steaar 6:a026e0651ad5 234 task5.start(greatScott); //1 y
Steaar 6:a026e0651ad5 235 task6.start(LCD); //2 y
Steaar 5:e62e0e3084fc 236 // task7.start(callback(send_thread)); //0.2
Steaar 5:e62e0e3084fc 237 // task8.start(toSerial); //0.05
Steaar 5:e62e0e3084fc 238 // task9.start(lights); //1
Steaar 5:e62e0e3084fc 239 // task10.start(indicators); //0.5
Steaar 5:e62e0e3084fc 240
Steaar 0:1580a6dbd6a9 241 }
Steaar 0:1580a6dbd6a9 242
Steaar 0:1580a6dbd6a9 243
Steaar 1:c2c4bd530112 244