Aingkaran Suppiah / Mbed 2 deprecated assignment3

All tasks complete

Dependencies:   mbed MCP23017 mbed-rtos WattBob_TextLCD

assignment3tasks.cpp@15:2a0cadb9b9dc, 2019-04-03 (annotated)

Committer:
aingks
Date:
Wed Apr 03 12:02:46 2019 +0000
Revision:
15:2a0cadb9b9dc
Parent:
14:25241ed5b056
Child:
16:b66cb760fb3b
a few changes to naming

Who changed what in which revision?

UserRevisionLine numberNew contents of line
aingks 0:0943f040009c 1 #include "header.h"
aingks 3:f88d667629e6 2
aingks 2:9d6d07c9cc9c 3
aingks 4:27340b291c09 4 //definitions of tasks
aingks 4:27340b291c09 5 //lock and unlock variables in struct when performing calculations
aingks 0:0943f040009c 6
aingks 0:0943f040009c 7 //pedals
aingks 0:0943f040009c 8 AnalogIn brake_pedal(pin_analog_1);
aingks 0:0943f040009c 9 AnalogIn accel_pedal(pin_analog_2);
aingks 0:0943f040009c 10
aingks 0:0943f040009c 11
aingks 0:0943f040009c 12 //switches
aingks 0:0943f040009c 13 DigitalIn ngene(pin_digital_1);
aingks 1:c4f62ef9b5b7 14 DigitalIn leftsw(pin_digital_2);
aingks 1:c4f62ef9b5b7 15 DigitalIn rightsw(pin_digital_3);
aingks 1:c4f62ef9b5b7 16 DigitalIn sidesw(pin_digital_4);
aingks 0:0943f040009c 17
aingks 0:0943f040009c 18
aingks 0:0943f040009c 19 //indicators
aingks 0:0943f040009c 20 DigitalOut ngeneind(pin_LED1);
aingks 13:822b0e56ea68 21 DigitalOut leftind(pin_LED2); //was digitalout
aingks 13:822b0e56ea68 22 DigitalOut rightind(pin_LED3);//was digitalout
aingks 0:0943f040009c 23 DigitalOut sideind(pin_LED4);
aingks 0:0943f040009c 24
aingks 0:0943f040009c 25
aingks 0:0943f040009c 26 //RED box lights
aingks 0:0943f040009c 27 DigitalOut brakeind(pin_LED5);
aingks 0:0943f040009c 28 DigitalOut overspeedind(pin_LED6);
aingks 0:0943f040009c 29
aingks 4:27340b291c09 30
aingks 4:27340b291c09 31
aingks 4:27340b291c09 32 //
aingks 4:27340b291c09 33 extern SDATA speed;
aingks 4:27340b291c09 34 extern CARINFO info;
aingks 4:27340b291c09 35 extern SIMU_DATA sim;
aingks 4:27340b291c09 36
aingks 4:27340b291c09 37 // LCD
aingks 4:27340b291c09 38
aingks 4:27340b291c09 39 extern WattBob_TextLCD *display;
aingks 4:27340b291c09 40
aingks 4:27340b291c09 41 // MUTEX
aingks 4:27340b291c09 42
aingks 4:27340b291c09 43 extern Mutex simuXS;
aingks 4:27340b291c09 44 extern Mutex speedXS;
aingks 4:27340b291c09 45 extern Mutex carstateXS;
aingks 14:25241ed5b056 46
aingks 14:25241ed5b056 47 //Mail
aingks 14:25241ed5b056 48 extern Mail<SIMU_DATA, 16> mail_box;
aingks 14:25241ed5b056 49
aingks 14:25241ed5b056 50
aingks 2:9d6d07c9cc9c 51
aingks 11:d6d1583fc824 52 //serial port
aingks 11:d6d1583fc824 53 Serial PC(USBTX, USBRX);
aingks 0:0943f040009c 54
aingks 0:0943f040009c 55 void task1readbrake()
aingks 6:abbd51d9b045 56 {
aingks 6:abbd51d9b045 57 float delay = 1000 / TASKFREQ1;
aingks 6:abbd51d9b045 58 while(true){
aingks 6:abbd51d9b045 59
aingks 4:27340b291c09 60 speedXS.lock();//lock
aingks 6:abbd51d9b045 61
aingks 1:c4f62ef9b5b7 62 speed.brakevalue = brake_pedal.read();
aingks 6:abbd51d9b045 63
aingks 4:27340b291c09 64 speedXS.unlock();//unlock
aingks 6:abbd51d9b045 65
aingks 6:abbd51d9b045 66 Thread::wait( (int) delay);
aingks 6:abbd51d9b045 67
aingks 6:abbd51d9b045 68 }
aingks 0:0943f040009c 69 }
aingks 0:0943f040009c 70
aingks 0:0943f040009c 71 void task2readaccel()
aingks 0:0943f040009c 72 {
aingks 6:abbd51d9b045 73 float delay = 1000 / TASKFREQ2;
aingks 6:abbd51d9b045 74 while(true){
aingks 6:abbd51d9b045 75
aingks 4:27340b291c09 76 speedXS.lock();//lock
aingks 6:abbd51d9b045 77
aingks 1:c4f62ef9b5b7 78 speed.accelvalue = accel_pedal.read();
aingks 6:abbd51d9b045 79
aingks 4:27340b291c09 80 speedXS.unlock();//unlock
aingks 6:abbd51d9b045 81
aingks 6:abbd51d9b045 82 Thread::wait( (int) delay);
aingks 6:abbd51d9b045 83
aingks 6:abbd51d9b045 84 }
aingks 6:abbd51d9b045 85
aingks 0:0943f040009c 86 }
aingks 0:0943f040009c 87
aingks 0:0943f040009c 88 void task3enginestate()
aingks 6:abbd51d9b045 89 {
aingks 8:3f3f2c2e2046 90 float delay = 125;
aingks 6:abbd51d9b045 91 while(true){
aingks 1:c4f62ef9b5b7 92 //lock
aingks 4:27340b291c09 93 carstateXS.lock();
aingks 1:c4f62ef9b5b7 94 uint8_t engineonoff = ngene.read();
aingks 2:9d6d07c9cc9c 95 info.ENGINESTATE = engineonoff;
aingks 4:27340b291c09 96 carstateXS.unlock();
aingks 1:c4f62ef9b5b7 97 //unlock
aingks 1:c4f62ef9b5b7 98
aingks 1:c4f62ef9b5b7 99 if(engineonoff == 1){
aingks 1:c4f62ef9b5b7 100 ngeneind = 1;
aingks 1:c4f62ef9b5b7 101 }
aingks 1:c4f62ef9b5b7 102 else{
aingks 1:c4f62ef9b5b7 103 ngeneind = 0;
aingks 1:c4f62ef9b5b7 104 }
aingks 6:abbd51d9b045 105
aingks 8:3f3f2c2e2046 106 Thread::wait(125);
aingks 6:abbd51d9b045 107 }
aingks 0:0943f040009c 108 }
aingks 0:0943f040009c 109
aingks 0:0943f040009c 110 void task4average()
aingks 0:0943f040009c 111 {
aingks 6:abbd51d9b045 112 float delay = 1000 / TASKFREQ4;
aingks 6:abbd51d9b045 113 while(true){
aingks 6:abbd51d9b045 114 speedXS.lock();//lock
aingks 0:0943f040009c 115
aingks 12:f4052a23ddc7 116 for(int i = 0; i < SAMPLESIZE - 1 ; i++){
aingks 7:87f7ba90fdce 117 //speed.rawspeed = (speed.accelvalue - speed.brakevalue)*MAXSPEED;
aingks 5:f5dda79b93cb 118 speed.average += speed.array[i];
aingks 8:3f3f2c2e2046 119 }
aingks 6:abbd51d9b045 120 speed.average = (speed.average / SAMPLESIZE);
aingks 6:abbd51d9b045 121
aingks 6:abbd51d9b045 122 speedXS.unlock();//unlock
aingks 6:abbd51d9b045 123
aingks 6:abbd51d9b045 124 Thread::wait( (int) delay);
aingks 6:abbd51d9b045 125 }
aingks 6:abbd51d9b045 126 }
aingks 6:abbd51d9b045 127
aingks 6:abbd51d9b045 128 void task5brakeLED()
aingks 6:abbd51d9b045 129 {
aingks 6:abbd51d9b045 130 float delay = 1000 / TASKFREQ5;
aingks 6:abbd51d9b045 131 while(true){
aingks 5:f5dda79b93cb 132
aingks 6:abbd51d9b045 133 //lock
aingks 6:abbd51d9b045 134 speedXS.lock();
aingks 6:abbd51d9b045 135 float braketest = speed.brakevalue;
aingks 6:abbd51d9b045 136
aingks 6:abbd51d9b045 137 speedXS.unlock();//unlock
aingks 6:abbd51d9b045 138
aingks 6:abbd51d9b045 139 if( braketest > 0.2) // speed increase
aingks 6:abbd51d9b045 140 brakeind = 1;
aingks 6:abbd51d9b045 141 else
aingks 6:abbd51d9b045 142 brakeind = 0;
aingks 5:f5dda79b93cb 143
aingks 6:abbd51d9b045 144 Thread::wait((int)delay);
aingks 6:abbd51d9b045 145 }
aingks 7:87f7ba90fdce 146 }
aingks 7:87f7ba90fdce 147
aingks 7:87f7ba90fdce 148
aingks 7:87f7ba90fdce 149 void task6speedmonitor()
aingks 7:87f7ba90fdce 150 {
aingks 7:87f7ba90fdce 151 float delay = 1000 / TASKFREQ6;
aingks 7:87f7ba90fdce 152 while(true){
aingks 7:87f7ba90fdce 153
aingks 7:87f7ba90fdce 154 carstateXS.lock(); //lock carstate
aingks 7:87f7ba90fdce 155 speedXS.lock(); //lock speed
aingks 7:87f7ba90fdce 156
aingks 7:87f7ba90fdce 157
aingks 7:87f7ba90fdce 158 info.odometer += (speed.rawspeed / TASKFREQ6);
aingks 7:87f7ba90fdce 159 uint8_t temp_enginestate = info.ENGINESTATE;
aingks 7:87f7ba90fdce 160
aingks 7:87f7ba90fdce 161 carstateXS.unlock(); //unlock carstate
aingks 7:87f7ba90fdce 162
aingks 7:87f7ba90fdce 163 float temp_accel = 0.0;
aingks 7:87f7ba90fdce 164 if(temp_enginestate != 0)
aingks 7:87f7ba90fdce 165 temp_accel = speed.accelvalue;
aingks 7:87f7ba90fdce 166
aingks 7:87f7ba90fdce 167 //update speed
aingks 7:87f7ba90fdce 168 speed.rawspeed += (temp_accel - speed.brakevalue) * MAXSPEED;
aingks 7:87f7ba90fdce 169
aingks 7:87f7ba90fdce 170 if(speed.rawspeed < 0)
aingks 12:f4052a23ddc7 171 speed.rawspeed = 0;
aingks 7:87f7ba90fdce 172 if(speed.rawspeed > MAXSPEED)
aingks 12:f4052a23ddc7 173 speed.rawspeed = MAXSPEED;
aingks 7:87f7ba90fdce 174
aingks 7:87f7ba90fdce 175 // Saving the new speed
aingks 7:87f7ba90fdce 176 for (int i = 0; i < SAMPLESIZE - 1; i++)
aingks 12:f4052a23ddc7 177 speed.array[i]= speed.array[i+1];
aingks 12:f4052a23ddc7 178 speed.array[4]= speed.rawspeed;
aingks 7:87f7ba90fdce 179
aingks 7:87f7ba90fdce 180 float temp = speed.rawspeed;
aingks 7:87f7ba90fdce 181
aingks 7:87f7ba90fdce 182 // UNLOCK Speed
aingks 7:87f7ba90fdce 183 speedXS.unlock();
aingks 7:87f7ba90fdce 184
aingks 7:87f7ba90fdce 185 // Update Overspeed display
aingks 7:87f7ba90fdce 186
aingks 12:f4052a23ddc7 187 if (temp > 39.3395) //88 mph to ms
aingks 7:87f7ba90fdce 188 overspeedind = 1;
aingks 7:87f7ba90fdce 189 else
aingks 7:87f7ba90fdce 190 overspeedind = 0;
aingks 7:87f7ba90fdce 191
aingks 7:87f7ba90fdce 192 Thread::wait((int)delay);
aingks 7:87f7ba90fdce 193 }
aingks 7:87f7ba90fdce 194 }
aingks 7:87f7ba90fdce 195
aingks 7:87f7ba90fdce 196 void task7displayvalues()
aingks 7:87f7ba90fdce 197 {
aingks 7:87f7ba90fdce 198 float delay = 1000 / TASKFREQ7;
aingks 12:f4052a23ddc7 199 display->cls();
aingks 7:87f7ba90fdce 200 while(true){
aingks 8:3f3f2c2e2046 201
aingks 12:f4052a23ddc7 202
aingks 7:87f7ba90fdce 203
aingks 7:87f7ba90fdce 204 //LOCK data
aingks 7:87f7ba90fdce 205 carstateXS.lock();
aingks 7:87f7ba90fdce 206 //LOCK Speed
aingks 7:87f7ba90fdce 207 speedXS.lock();
aingks 7:87f7ba90fdce 208
aingks 7:87f7ba90fdce 209 display->locate(1,0);
aingks 12:f4052a23ddc7 210 display->printf("AvgS: %.2f m/s",speed.average);
aingks 7:87f7ba90fdce 211 display->locate(0,0);
aingks 12:f4052a23ddc7 212 display->printf("ODOM: %d m",(int) info.odometer);
aingks 7:87f7ba90fdce 213
aingks 7:87f7ba90fdce 214 //UNLOCK data
aingks 7:87f7ba90fdce 215 carstateXS.unlock();
aingks 7:87f7ba90fdce 216 //UNLOCK Speed
aingks 7:87f7ba90fdce 217 speedXS.unlock();
aingks 7:87f7ba90fdce 218
aingks 8:3f3f2c2e2046 219
aingks 8:3f3f2c2e2046 220
aingks 8:3f3f2c2e2046 221
aingks 14:25241ed5b056 222 Thread::wait(delay);
aingks 8:3f3f2c2e2046 223
aingks 8:3f3f2c2e2046 224
aingks 8:3f3f2c2e2046 225 }
aingks 8:3f3f2c2e2046 226 }
aingks 8:3f3f2c2e2046 227
aingks 8:3f3f2c2e2046 228 void task8sidelights()
aingks 8:3f3f2c2e2046 229 {
aingks 8:3f3f2c2e2046 230 float delay = 1000 / TASKFREQ8;
aingks 8:3f3f2c2e2046 231 while(true){
aingks 8:3f3f2c2e2046 232
aingks 8:3f3f2c2e2046 233 // LOCK Car data
aingks 8:3f3f2c2e2046 234 carstateXS.lock();
aingks 8:3f3f2c2e2046 235
aingks 8:3f3f2c2e2046 236 info.sideind = sidesw.read();
aingks 8:3f3f2c2e2046 237 uint8_t temp = info.sideind;
aingks 8:3f3f2c2e2046 238
aingks 8:3f3f2c2e2046 239 //UNLOCK Car data
aingks 8:3f3f2c2e2046 240 carstateXS.unlock();
aingks 8:3f3f2c2e2046 241
aingks 8:3f3f2c2e2046 242 if (temp == 1)
aingks 8:3f3f2c2e2046 243 sideind = 1;
aingks 8:3f3f2c2e2046 244 else
aingks 8:3f3f2c2e2046 245 sideind = 0;
aingks 8:3f3f2c2e2046 246
aingks 7:87f7ba90fdce 247 Thread::wait((int)delay);
aingks 7:87f7ba90fdce 248
aingks 7:87f7ba90fdce 249
aingks 8:3f3f2c2e2046 250
aingks 9:2fd97246b8f0 251
aingks 7:87f7ba90fdce 252 }
aingks 9:2fd97246b8f0 253 }
aingks 12:f4052a23ddc7 254
aingks 9:2fd97246b8f0 255 void task9indLED()
aingks 9:2fd97246b8f0 256 {
aingks 13:822b0e56ea68 257 int count = 0;
aingks 9:2fd97246b8f0 258 while(true){
aingks 9:2fd97246b8f0 259
aingks 10:2b262d810c67 260
aingks 13:822b0e56ea68 261 /* int turnleft = leftsw;
aingks 10:2b262d810c67 262 int turnright = rightsw;
aingks 9:2fd97246b8f0 263
aingks 9:2fd97246b8f0 264
aingks 9:2fd97246b8f0 265
aingks 10:2b262d810c67 266 carstateXS.lock();
aingks 10:2b262d810c67 267
aingks 12:f4052a23ddc7 268 (turnleft == 1)? info.leftind = 1 :info.leftind = 0;
aingks 12:f4052a23ddc7 269 (turnright == 1)? info.rightind = 1 :info.rightind = 0;
aingks 9:2fd97246b8f0 270
aingks 10:2b262d810c67 271 carstateXS.unlock();
aingks 11:d6d1583fc824 272
aingks 9:2fd97246b8f0 273
aingks 10:2b262d810c67 274
aingks 9:2fd97246b8f0 275
aingks 9:2fd97246b8f0 276 //hazard and other lights
aingks 9:2fd97246b8f0 277
aingks 9:2fd97246b8f0 278 float left_period = 1.0;
aingks 9:2fd97246b8f0 279 float right_period = 1.0;
aingks 9:2fd97246b8f0 280 float left_pulswidth = 0.0;
aingks 13:822b0e56ea68 281 float right_pulswidth = 0.0;*/
aingks 9:2fd97246b8f0 282
aingks 13:822b0e56ea68 283 /*if (turnleft != 0)
aingks 9:2fd97246b8f0 284 {
aingks 9:2fd97246b8f0 285 left_period = (1/TASKFREQ9);
aingks 9:2fd97246b8f0 286 left_pulswidth = (1/(2*TASKFREQ9));
aingks 9:2fd97246b8f0 287 }
aingks 9:2fd97246b8f0 288 if (turnright!= 0)
aingks 9:2fd97246b8f0 289 {
aingks 9:2fd97246b8f0 290 right_period = (1/TASKFREQ9);
aingks 9:2fd97246b8f0 291 right_pulswidth = (1/TASKFREQ9);
aingks 9:2fd97246b8f0 292 }
aingks 9:2fd97246b8f0 293 if (turnleft != 0 && turnright != 0)
aingks 9:2fd97246b8f0 294 {
aingks 9:2fd97246b8f0 295 left_period = left_period / 2;
aingks 9:2fd97246b8f0 296 left_pulswidth = left_pulswidth / 2;
aingks 9:2fd97246b8f0 297 right_period = right_period / 2;
aingks 9:2fd97246b8f0 298 right_pulswidth = right_pulswidth / 2;
aingks 9:2fd97246b8f0 299 }
aingks 9:2fd97246b8f0 300
aingks 10:2b262d810c67 301
aingks 9:2fd97246b8f0 302 leftind.period(left_period);
aingks 9:2fd97246b8f0 303 leftind.pulsewidth(left_pulswidth);
aingks 9:2fd97246b8f0 304 rightind.period(right_period);
aingks 9:2fd97246b8f0 305 rightind.pulsewidth(right_pulswidth);
aingks 13:822b0e56ea68 306 */
aingks 10:2b262d810c67 307
aingks 10:2b262d810c67 308
aingks 9:2fd97246b8f0 309
aingks 13:822b0e56ea68 310 //float delay = 1000 / TASKFREQ9S2;
aingks 13:822b0e56ea68 311 //Thread::wait((int)delay);
aingks 13:822b0e56ea68 312
aingks 13:822b0e56ea68 313 // Counter ensure everything works off of 2Hz loop
aingks 13:822b0e56ea68 314 count++;
aingks 13:822b0e56ea68 315 leftind = leftsw;
aingks 13:822b0e56ea68 316 rightind = rightsw;
aingks 13:822b0e56ea68 317
aingks 13:822b0e56ea68 318 if (leftsw == 1 && rightsw == 1){
aingks 14:25241ed5b056 319 carstateXS.lock();
aingks 14:25241ed5b056 320 leftind = 0;
aingks 14:25241ed5b056 321 rightind = 0; // current issue :just stopping here
aingks 14:25241ed5b056 322 carstateXS.unlock();
aingks 13:822b0e56ea68 323 }
aingks 13:822b0e56ea68 324 if (count == 2||count == 4){ // flash indicators every second
aingks 13:822b0e56ea68 325 carstateXS.lock();
aingks 13:822b0e56ea68 326 if (leftind == 1 && rightind == 0){
aingks 13:822b0e56ea68 327 leftind = 0;
aingks 13:822b0e56ea68 328 }
aingks 13:822b0e56ea68 329 else if (rightind == 1 && leftind == 0){
aingks 13:822b0e56ea68 330 rightind = 0;
aingks 13:822b0e56ea68 331 }
aingks 9:2fd97246b8f0 332
aingks 13:822b0e56ea68 333 else if (leftind == 0 && rightind == 0){
aingks 13:822b0e56ea68 334 }
aingks 13:822b0e56ea68 335 carstateXS.unlock();
aingks 13:822b0e56ea68 336 }
aingks 13:822b0e56ea68 337 if (count == 4){ // send data every 2 seconds
aingks 13:822b0e56ea68 338 count = 0;
aingks 13:822b0e56ea68 339 }
aingks 13:822b0e56ea68 340 Thread::wait(500);
aingks 9:2fd97246b8f0 341
aingks 9:2fd97246b8f0 342 }
aingks 9:2fd97246b8f0 343
aingks 13:822b0e56ea68 344 }
aingks 9:2fd97246b8f0 345
aingks 9:2fd97246b8f0 346
aingks 10:2b262d810c67 347 void taskXserialdump()
aingks 10:2b262d810c67 348 {
aingks 10:2b262d810c67 349 while(true)
aingks 10:2b262d810c67 350 {
aingks 14:25241ed5b056 351 speedXS.lock();
aingks 14:25241ed5b056 352
aingks 14:25241ed5b056 353 PC.printf("SPEED: %.1f\r\n",speed.rawspeed);
aingks 14:25241ed5b056 354 PC.printf("BRAKE: %.1f\r\n",speed.brakevalue);
aingks 14:25241ed5b056 355 PC.printf("ACCELEROMETER: %.1f\r\n",speed.accelvalue);
aingks 14:25241ed5b056 356
aingks 14:25241ed5b056 357 speedXS.unlock();
aingks 14:25241ed5b056 358
aingks 14:25241ed5b056 359 carstateXS.lock();
aingks 14:25241ed5b056 360
aingks 14:25241ed5b056 361 PC.printf("LEFT INDICATOR : %.1f\r\n",info.leftind);
aingks 14:25241ed5b056 362 PC.printf("RIGHT INDICATOR : %.1f\r\n",info.rightind);
aingks 14:25241ed5b056 363
aingks 14:25241ed5b056 364 carstateXS.unlock();
aingks 14:25241ed5b056 365
aingks 14:25241ed5b056 366 float delay = 1000/ TASKFREQX;
aingks 14:25241ed5b056 367 Thread:: wait((int)delay);
aingks 10:2b262d810c67 368
aingks 10:2b262d810c67 369 }
aingks 10:2b262d810c67 370
aingks 10:2b262d810c67 371
aingks 10:2b262d810c67 372
aingks 10:2b262d810c67 373 }
aingks 14:25241ed5b056 374
aingks 14:25241ed5b056 375
aingks 14:25241ed5b056 376 //mail queue
aingks 14:25241ed5b056 377 void send_thread (void) {
aingks 14:25241ed5b056 378
aingks 14:25241ed5b056 379 while (true) {
aingks 14:25241ed5b056 380
aingks 14:25241ed5b056 381 SIMU_DATA *mail = mail_box.alloc();
aingks 14:25241ed5b056 382
aingks 14:25241ed5b056 383 speedXS.lock();
aingks 14:25241ed5b056 384 mail->brakevalue = speed.brakevalue;
aingks 14:25241ed5b056 385 mail->accelvalue = speed.accelvalue;
aingks 14:25241ed5b056 386 mail->rawspeed = speed.rawspeed;
aingks 14:25241ed5b056 387 speedXS.unlock();
aingks 14:25241ed5b056 388
aingks 14:25241ed5b056 389 carstateXS.lock();
aingks 14:25241ed5b056 390 mail->odometer = info.odometer;
aingks 14:25241ed5b056 391 carstateXS.unlock();
aingks 14:25241ed5b056 392
aingks 14:25241ed5b056 393 mail_box.put(mail);
aingks 14:25241ed5b056 394
aingks 15:2a0cadb9b9dc 395 float delay = 1000/ MailQueuet;
aingks 15:2a0cadb9b9dc 396 Thread::wait((int)delay);
aingks 14:25241ed5b056 397 }
aingks 14:25241ed5b056 398 }
aingks 14:25241ed5b056 399
aingks 12:f4052a23ddc7 400 ////////////////////////////////////
aingks 14:25241ed5b056 401
aingks 14:25241ed5b056 402
aingks 14:25241ed5b056 403
aingks 14:25241ed5b056 404
aingks 14:25241ed5b056 405
aingks 14:25241ed5b056 406
aingks 14:25241ed5b056 407
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aingks 14:25241ed5b056 409
aingks 14:25241ed5b056 410
aingks 14:25241ed5b056 411
aingks 12:f4052a23ddc7 412 /*void IndicatorsCheck(){
aingks 12:f4052a23ddc7 413 LeftIndicatorLight = LeftIndicatorSwitch;
aingks 12:f4052a23ddc7 414 RightIndicatorLight = RightIndicatorSwitch;
aingks 12:f4052a23ddc7 415 }
aingks 12:f4052a23ddc7 416 // Flash respective indicator every 1 second// linked from above
aingks 12:f4052a23ddc7 417 void IndicatorFlash(){
aingks 12:f4052a23ddc7 418 Global_Sem.wait();
aingks 12:f4052a23ddc7 419 if (LeftIndicatorLight == 1 && RightIndicatorLight == 0){
aingks 12:f4052a23ddc7 420 LeftIndicatorLight = 0;
aingks 12:f4052a23ddc7 421 }
aingks 12:f4052a23ddc7 422 else if (RightIndicatorLight == 1 && LeftIndicatorLight == 0){
aingks 12:f4052a23ddc7 423 RightIndicatorLight = 0;
aingks 12:f4052a23ddc7 424 }
aingks 12:f4052a23ddc7 425 else if (LeftIndicatorLight == 0 && RightIndicatorLight == 0){
aingks 12:f4052a23ddc7 426 }
aingks 12:f4052a23ddc7 427 Global_Sem.release();
aingks 12:f4052a23ddc7 428 }
aingks 12:f4052a23ddc7 429 // Flash hazards every o.5 seconds
aingks 12:f4052a23ddc7 430 void HazardLights(){
aingks 12:f4052a23ddc7 431 Global_Sem.wait();
aingks 12:f4052a23ddc7 432 if (LeftIndicatorSwitch == 1 && RightIndicatorSwitch == 1){
aingks 12:f4052a23ddc7 433 LeftIndicatorLight = 0;
aingks 12:f4052a23ddc7 434 RightIndicatorLight = 0;
aingks 12:f4052a23ddc7 435 }
aingks 12:f4052a23ddc7 436 Global_Sem.release();
aingks 12:f4052a23ddc7 437 }
aingks 12:f4052a23ddc7 438 void TwoHzLoop(){
aingks 12:f4052a23ddc7 439 while(true){
aingks 12:f4052a23ddc7 440
aingks 12:f4052a23ddc7 441 count++; // Counter ensure everything works off of 2Hz loop
aingks 12:f4052a23ddc7 442 Display();
aingks 12:f4052a23ddc7 443 IndicatorsCheck();
aingks 12:f4052a23ddc7 444 HazardLights();
aingks 12:f4052a23ddc7 445 if (count == 2||count == 4){ // flash indicators every second
aingks 12:f4052a23ddc7 446 IndicatorFlash();
aingks 12:f4052a23ddc7 447 }
aingks 12:f4052a23ddc7 448 if (count == 4){ // send data every 2 seconds
aingks 12:f4052a23ddc7 449 SendData();
aingks 12:f4052a23ddc7 450 count = 0;
aingks 12:f4052a23ddc7 451 }
aingks 12:f4052a23ddc7 452 Thread::wait(500);
aingks 12:f4052a23ddc7 453 }
aingks 12:f4052a23ddc7 454 }
aingks 12:f4052a23ddc7 455 */