Aaron Stevenson / Mbed 2 deprecated Assignment3

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Dependencies:   mbed MCP23017 mbed-rtos WattBob_TextLCD

main.cpp@9:c3c90e137cfb, 2018-03-28 (annotated)

Committer:
Steaar
Date:
Wed Mar 28 10:04:58 2018 +0000
Revision:
9:c3c90e137cfb
Parent:
8:09b78bc5551f
Child:
10:5f6d15f8fc79
Subroutines fixed. Check ignition

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 7:84c2156e1ace 35 DigitalIn lightSwitch(p8);
Steaar 5:e62e0e3084fc 36 DigitalIn lIndicate(p11);
Steaar 5:e62e0e3084fc 37 DigitalIn rIndicate(p12);
Steaar 0:1580a6dbd6a9 38
Steaar 7:84c2156e1ace 39 int l, r, lr;
Steaar 7:84c2156e1ace 40
Steaar 4:72c487215487 41 Serial pc(USBTX, USBRX); // serial tx, rx
Steaar 2:51a06b9a52d1 42
Steaar 1:c2c4bd530112 43 Thread sp;
Steaar 1:c2c4bd530112 44 Thread task1;
Steaar 8:09b78bc5551f 45 Thread task246;
Steaar 1:c2c4bd530112 46 Thread task3;
Steaar 8:09b78bc5551f 47 //Thread task4;
Steaar 8:09b78bc5551f 48 Thread task59;
Steaar 8:09b78bc5551f 49 //Thread task6;
Steaar 1:c2c4bd530112 50 Thread task7;
Steaar 1:c2c4bd530112 51 Thread task8;
Steaar 8:09b78bc5551f 52 //Thread task9;
Steaar 1:c2c4bd530112 53 Thread task10;
Steaar 7:84c2156e1ace 54 Thread indi;
Steaar 5:e62e0e3084fc 55 Semaphore ac(1);
Steaar 1:c2c4bd530112 56
Steaar 4:72c487215487 57 typedef struct { // mail
Steaar 2:51a06b9a52d1 58 float m_speed;
Steaar 2:51a06b9a52d1 59 float m_acc;
Steaar 2:51a06b9a52d1 60 float m_br;
Steaar 4:72c487215487 61 uint32_t counter; // A counter value
Steaar 2:51a06b9a52d1 62 } mail_t;
Steaar 2:51a06b9a52d1 63
Steaar 2:51a06b9a52d1 64 Mail<mail_t, 100> mail_box;
Steaar 2:51a06b9a52d1 65
Steaar 9:c3c90e137cfb 66 void acceleration() // 1. read brake and accelerator 10
Steaar 4:72c487215487 67 {
Steaar 4:72c487215487 68 while (1) {
Steaar 4:72c487215487 69 acc = accel.read()*3.3;
Steaar 4:72c487215487 70 br = brake.read()*3.3;
Steaar 9:c3c90e137cfb 71
Steaar 5:e62e0e3084fc 72 Thread::wait(100);
Steaar 4:72c487215487 73 }
Steaar 4:72c487215487 74 }
Steaar 9:c3c90e137cfb 75 void getSpeed() // calculation for speed & distance thread 20
Steaar 4:72c487215487 76 {
Steaar 4:72c487215487 77 while (1) {
Steaar 9:c3c90e137cfb 78 speed = (acc - br)*16.835; // speed in m/s. Max = 55
Steaar 4:72c487215487 79 if (speed < 0) {
Steaar 4:72c487215487 80 speed = 0;
Steaar 4:72c487215487 81 }
Steaar 9:c3c90e137cfb 82 kmph = speed*3.6; // convert speed to km/ph. Change to *2.24 for ~mph
Steaar 9:c3c90e137cfb 83 distance = distance + (speed*0.05)/1000; // distance = speed*time /1000 for m to km (/1609.34 for miles)
Steaar 9:c3c90e137cfb 84
Steaar 5:e62e0e3084fc 85 Thread::wait(50);
Steaar 4:72c487215487 86 }
Steaar 4:72c487215487 87 }
Steaar 9:c3c90e137cfb 88 void ignition() // 2. Read engine on/off show LED subroutine 2
Steaar 8:09b78bc5551f 89 {
Steaar 9:c3c90e137cfb 90 if (engine.read() > 0) {
Steaar 9:c3c90e137cfb 91 engLight = 1;
Steaar 9:c3c90e137cfb 92 } else {
Steaar 9:c3c90e137cfb 93 engLight = 0;
Steaar 9:c3c90e137cfb 94 aveSpeed = 0;
Steaar 4:72c487215487 95 }
Steaar 4:72c487215487 96 }
Steaar 9:c3c90e137cfb 97 void speedo() // 3. Average last n speed readings thread 5
Steaar 4:72c487215487 98 {
Steaar 4:72c487215487 99 while (1) {
Steaar 4:72c487215487 100 for (int i = 0; i<3; i++) {
Steaar 9:c3c90e137cfb 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 9:c3c90e137cfb 108 void braking() // 4. Brake indicated by LED subroutine 2
Steaar 1:c2c4bd530112 109 {
Steaar 9:c3c90e137cfb 110 if ( br > 0) {
Steaar 9:c3c90e137cfb 111 brakeLights = 1;
Steaar 9:c3c90e137cfb 112 } else {
Steaar 9:c3c90e137cfb 113 brakeLights = 0;
Steaar 0:1580a6dbd6a9 114 }
Steaar 0:1580a6dbd6a9 115 }
Steaar 9:c3c90e137cfb 116 void greatScott() // 5. if speed > 88 LED on subroutine 1
Steaar 8:09b78bc5551f 117 {
Steaar 9:c3c90e137cfb 118 if (kmph > 141.6) { // 141.6 km = 88 miles
Steaar 9:c3c90e137cfb 119 fluxCapacitor = 1;
Steaar 9:c3c90e137cfb 120 } else {
Steaar 9:c3c90e137cfb 121 fluxCapacitor = 0;
Steaar 8:09b78bc5551f 122 }
Steaar 8:09b78bc5551f 123 }
Steaar 9:c3c90e137cfb 124 void LCD() // 6. display odometer and speed subroutine 2
Steaar 9:c3c90e137cfb 125 {
Steaar 9:c3c90e137cfb 126 lcd->locate(0,0);
Steaar 9:c3c90e137cfb 127 lcd->printf("KM:%0.1f",distance);
Steaar 9:c3c90e137cfb 128 lcd->locate(1,0);
Steaar 9:c3c90e137cfb 129 lcd->printf("KM/H:%.1f",aveSpeed);
Steaar 9:c3c90e137cfb 130 }
Steaar 9:c3c90e137cfb 131 void send_thread (void) // 7. speed, acc, brake MAILq thread 0.2
Steaar 8:09b78bc5551f 132 {
Steaar 8:09b78bc5551f 133 while (true) {
Steaar 8:09b78bc5551f 134 mail_t *mail = mail_box.alloc();
Steaar 8:09b78bc5551f 135 mail->m_speed = kmph;
Steaar 8:09b78bc5551f 136 mail->m_acc = acc;
Steaar 8:09b78bc5551f 137 mail->m_br = br;
Steaar 8:09b78bc5551f 138 mail_box.put(mail);
Steaar 8:09b78bc5551f 139
Steaar 8:09b78bc5551f 140 Thread::wait(5000);
Steaar 8:09b78bc5551f 141 }
Steaar 8:09b78bc5551f 142 }
Steaar 9:c3c90e137cfb 143 void toSerial() // 8. MAIL q to serial PC thread 0.05
Steaar 8:09b78bc5551f 144 {
Steaar 8:09b78bc5551f 145 while (1) {
Steaar 8:09b78bc5551f 146 osEvent evt = mail_box.get();
Steaar 8:09b78bc5551f 147 mail_t *mail = (mail_t*)evt.value.p;
Steaar 8:09b78bc5551f 148 pc.printf("\nSpeed: %.2f \n\r", mail->m_speed);
Steaar 8:09b78bc5551f 149 pc.printf("Acceleration: %.2f \n\r", mail->m_acc);
Steaar 8:09b78bc5551f 150 pc.printf("Braking: %.2f \n\r", mail->m_br);
Steaar 9:c3c90e137cfb 151
Steaar 8:09b78bc5551f 152 Thread::wait(20000);
Steaar 8:09b78bc5551f 153 }
Steaar 8:09b78bc5551f 154 }
Steaar 9:c3c90e137cfb 155 void lights() // 9. set side lights subroutine 1
Steaar 9:c3c90e137cfb 156 {
Steaar 9:c3c90e137cfb 157 if (lightSwitch.read() == 1) {
Steaar 9:c3c90e137cfb 158 sideLights = 1;
Steaar 9:c3c90e137cfb 159 } else {
Steaar 9:c3c90e137cfb 160 sideLights = 0;
Steaar 9:c3c90e137cfb 161 }
Steaar 9:c3c90e137cfb 162 }
Steaar 9:c3c90e137cfb 163 void indicators() // 10. check indicators thread 0.5
Steaar 1:c2c4bd530112 164 {
Steaar 1:c2c4bd530112 165 while (1) {
Steaar 7:84c2156e1ace 166
Steaar 4:72c487215487 167 if ((lIndicate == 1) && (rIndicate == 1)) { // If both switch on
Steaar 7:84c2156e1ace 168 lr = 1; // both LED at 2Hz
Steaar 7:84c2156e1ace 169 } else if ((lIndicate == 1) && (rIndicate == 0)) { // if left switch on
Steaar 7:84c2156e1ace 170 l = 1; // left LED at 1Hz
Steaar 7:84c2156e1ace 171 r = 0;
Steaar 7:84c2156e1ace 172 lr = 0;
Steaar 7:84c2156e1ace 173 } else if ((lIndicate == 0) && (rIndicate == 1)) { // if right switch on
Steaar 7:84c2156e1ace 174 r = 1; // right LED at 1Hz
Steaar 7:84c2156e1ace 175 l = 0;
Steaar 7:84c2156e1ace 176 lr = 0;
Steaar 7:84c2156e1ace 177 } else if ((lIndicate == 0) && (rIndicate == 0)) { // both off
Steaar 7:84c2156e1ace 178 r = 0;
Steaar 7:84c2156e1ace 179 l = 0;
Steaar 7:84c2156e1ace 180 lr = 0;
Steaar 1:c2c4bd530112 181 }
Steaar 1:c2c4bd530112 182
Steaar 1:c2c4bd530112 183 Thread::wait(2000);
Steaar 0:1580a6dbd6a9 184 }
Steaar 0:1580a6dbd6a9 185 }
Steaar 4:72c487215487 186
Steaar 7:84c2156e1ace 187 void indicate() // flash indicators
Steaar 7:84c2156e1ace 188 {
Steaar 7:84c2156e1ace 189 while (1) {
Steaar 7:84c2156e1ace 190 int x = 1000;
Steaar 7:84c2156e1ace 191 if (lr == 1) { // If both switch on
Steaar 7:84c2156e1ace 192 lIndicator = !lIndicator; // both LED at 2Hz
Steaar 7:84c2156e1ace 193 rIndicator = !rIndicator;
Steaar 7:84c2156e1ace 194 x = 500;
Steaar 7:84c2156e1ace 195 } else if (l == 1) { // if left switch on
Steaar 7:84c2156e1ace 196 lIndicator = !lIndicator; // left LED at 1Hz
Steaar 7:84c2156e1ace 197 rIndicator = 0;
Steaar 7:84c2156e1ace 198 x = 1000;
Steaar 7:84c2156e1ace 199 } else if (r == 1) { // if right switch on
Steaar 7:84c2156e1ace 200 rIndicator = !rIndicator; // right LED at 1Hz
Steaar 7:84c2156e1ace 201 lIndicator = 0;
Steaar 7:84c2156e1ace 202 x = 1000;
Steaar 7:84c2156e1ace 203 }
Steaar 7:84c2156e1ace 204
Steaar 7:84c2156e1ace 205 Thread::wait(x);
Steaar 7:84c2156e1ace 206 }
Steaar 7:84c2156e1ace 207 }
Steaar 9:c3c90e137cfb 208 void t59() // thread for 5 & 9 1Hz
Steaar 9:c3c90e137cfb 209 {
Steaar 9:c3c90e137cfb 210 while (1) {
Steaar 9:c3c90e137cfb 211 greatScott();
Steaar 9:c3c90e137cfb 212 lights();
Steaar 7:84c2156e1ace 213
Steaar 9:c3c90e137cfb 214 Thread::wait(1000);
Steaar 9:c3c90e137cfb 215 }
Steaar 9:c3c90e137cfb 216 }
Steaar 9:c3c90e137cfb 217 void t246() // thread for 2, 4, & 6 2Hz
Steaar 9:c3c90e137cfb 218 {
Steaar 9:c3c90e137cfb 219 while (1) {
Steaar 9:c3c90e137cfb 220 ignition();
Steaar 9:c3c90e137cfb 221 LCD();
Steaar 9:c3c90e137cfb 222 braking();
Steaar 9:c3c90e137cfb 223
Steaar 9:c3c90e137cfb 224 Thread::wait(500);
Steaar 9:c3c90e137cfb 225 }
Steaar 9:c3c90e137cfb 226 }
Steaar 0:1580a6dbd6a9 227
Steaar 0:1580a6dbd6a9 228 int main()
Steaar 0:1580a6dbd6a9 229 {
Steaar 0:1580a6dbd6a9 230 par_port = new MCP23017(p9, p10, 0x40); // initialise 16-bit I/O chip
Steaar 0:1580a6dbd6a9 231 lcd = new WattBob_TextLCD(par_port); // initialise 2*26 char display
Steaar 0:1580a6dbd6a9 232 par_port->write_bit(1,BL_BIT); // turn LCD backlight ON
Steaar 9:c3c90e137cfb 233 //Hz
Steaar 9:c3c90e137cfb 234 sp.start(getSpeed); //20
Steaar 9:c3c90e137cfb 235 task1.start(acceleration); //10
Steaar 9:c3c90e137cfb 236 task246.start(t246); //2
Steaar 9:c3c90e137cfb 237 task3.start(speedo); //5
Steaar 9:c3c90e137cfb 238 task59.start(t59); //1
Steaar 8:09b78bc5551f 239 task7.start(callback(send_thread)); //0.2
Steaar 8:09b78bc5551f 240 task8.start(toSerial); //0.05
Steaar 9:c3c90e137cfb 241 task10.start(indicators); //0.5
Steaar 9:c3c90e137cfb 242 indi.start(indicate); // 1-2
Steaar 5:e62e0e3084fc 243
Steaar 0:1580a6dbd6a9 244 }
Steaar 0:1580a6dbd6a9 245
Steaar 0:1580a6dbd6a9 246
Steaar 1:c2c4bd530112 247