File content as of revision 4:72c487215487:

#include "mbed.h"
#include "rtos.h"

#include "MCP23017.h"
#include "WattBob_TextLCD.h"

#define BACK_LIGHT_ON(INTERFACE) INTERFACE->write_bit(1,BL_BIT)
#define BACK_LIGHT_OFF(INTERFACE) INTERFACE->write_bit(0,BL_BIT)

MCP23017 *par_port;             // pointer to 16-bit parallel I/O object
WattBob_TextLCD *lcd;           // pointer to 2*16 chacater LCD object

AnalogIn accel(p15);            // Analog
AnalogIn brake(p16);
float speed = 0;
float aveSpeed;
float acc = 0;
float br = 0;
float dif;
float distance = 0;

Timer tim, t1, t2, t3, t4, t5, t6, t7, t8, t9, t10;// integrate with wait?
long int t;
int r;

int indicount = 0;

DigitalOut sideLights(LED1);    // mbed out
DigitalOut lIndicator(LED2);
DigitalOut rIndicator(LED3);
DigitalOut engLight(LED4);

DigitalOut brakeLights(p6);     // redbox out
DigitalOut fluxCapacitor(p7);

DigitalIn  lightSwitch(p8);     // switches
DigitalIn  lIndicate(p9);
DigitalIn  rIndicate(p10);
DigitalIn  engine(p5);

Serial pc(USBTX, USBRX);        // serial tx, rx

Thread sp;
Thread task1;
Thread task2;
Thread task3;
Thread task4;
Thread task5;
Thread task6;
Thread task7;
Thread task8;
Thread task9;
Thread task10;

typedef struct {                                    //  mail
    float m_speed;
    float m_acc;
    float m_br;
    uint32_t counter; // A counter value
} mail_t;

Mail<mail_t, 100> mail_box;

void acceleration()  //run at 20hz                  //  1.  read brake and accelerator       10
{
    while (1) {
        acc = accel.read()*3.3;
        br = brake.read()*3.3;
        Thread::wait(500-r);
    }
}
void getSpeed()                                     // 20Hz calculation for speed & distance
{
    while (1) {
        dif = acc - br;
        t = tim.read();
        speed = speed + (dif*t*3.6);
        if (speed < 0) {
            speed = 0;
        }
        distance = speed*t + (0.5*dif*(t*t))/1000;

        Thread::wait(100);
    }
}
void ignition()                                     //  2.   Read engine on/off show LED     2
{
    while (1) {
        if (engine == 1) {
            engLight = 1;
        }
        Thread::wait(500-r);
    }
}
void speedo()                                       //  3.   Average last n speed readings   5
{
    while (1) {
        for (int i = 0; i<3; i++) {
            aveSpeed = speed + aveSpeed;
        }
        speed = speed/4;

        Thread::wait(200);
    }
}
void braking()                                      //  4.   Brake indicated by LED          2
{
    while (1) {
        if ( br>0) {
            brakeLights = 1;
        }

        Thread::wait(500);
    }
}
void greatScott()                                   //  5.   if speed > 88 LED on            1
{
    while (1) {
        if (speed > 140) {
            fluxCapacitor = 1;
        }

        Thread::wait(1000);
    }
}
void LCD()                                          //  6.   display odometer and speed      2
{
    while (1) {
        t = tim.read();
        distance = speed * (t/3600);

        lcd->locate(0,0);
        lcd->printf("KM:%0.1f",distance);
        lcd->locate(1,0);
        lcd->printf("KMPH:%0.1f",speed);

        Thread::wait(500);
    }
}
void send_thread (void)                             //  7.  Send speed, acc, brake to MAILq 0.2 
{
    uint32_t i = 0;
    while (true) {
        i++; // fake data update
        mail_t *mail = mail_box.alloc();
        mail->m_speed = speed;
        mail->m_acc = acc;
        mail->m_br = br;
        mail->counter = i;
        mail_box.put(mail);

        osEvent evt = mail_box.get();
        if (evt.status == osEventMail) {
            mail_t *mail = (mail_t*)evt.value.p;
            printf("\nSpeed: %.1f \n\r"   , mail->m_speed);
            printf("Acceleration: %.2f \n\r"     , mail->m_acc);
            printf("Braking: %.1f \n\r", mail->m_br);

            mail_box.free(mail);
        }
        Thread::wait(5000);
    }
}
void toSerial()                                     //  8.   MAIL q to serial PC            0.05
{
    while (1) {
        osEvent evt = mail_box.get();
        mail_t *mail = (mail_t*)evt.value.p;
        pc.printf("\nSpeed: %.2f \n\r", mail->m_speed);
        pc.printf("Acceleration: %.2f \n\r", mail->m_acc);
        pc.printf("Braking: %.2f \n\r", mail->m_br);

        Thread::wait(20000);
    }
}
void lights()                                       //  9.   set side lights                1
{
    while (1) {
        if (lightSwitch == 1) {
            sideLights = 1;
        } else {
            sideLights = 0;
        }

        Thread::wait(1000);
    }
}
void indicators()                                   //  10.  flash indicators               0.5
{
    while (1) {
        
        if ((lIndicate == 1) && (rIndicate == 1)) {         //  If both switch on
            lIndicator = !lIndicator;                       //      both LED at 2Hz 
            rIndicator = !rIndicator;
            wait(0.5);
        }
        else if ((lIndicate == 1) && (rIndicate == 0)) {    //  if left switch on
            lIndicator = !lIndicator;                       //      left LED at 1Hz
            wait(1);
        }
        else if ((lIndicate == 0) && (rIndicate == 1)) {    //  if right switch on
            rIndicator = !rIndicator;                       //      right LED at 1Hz
            wait(1);
        }

        Thread::wait(2000);
    }
}


int main()
{
    par_port = new MCP23017(p9, p10, 0x40);             // initialise 16-bit I/O chip
    lcd = new WattBob_TextLCD(par_port);                // initialise 2*26 char display
    par_port->write_bit(1,BL_BIT);                      // turn LCD backlight ON

    sp.start(getSpeed);                 //20
    task1.start(acceleration);          //10
    task2.start(ignition);              //2
    task3.start(speedo);                //5
    task4.start(braking);               //2
    task5.start(greatScott);            //1
    task6.start(LCD);                   //2
    task7.start(callback(send_thread)); //0.2
    task8.start(toSerial);              //0.05
    task9.start(lights);                //1
    task10.start(indicators);           //0.5
}