File content as of revision 6:abbd51d9b045:

#include "header.h"


//definitions of tasks
//lock and unlock variables in struct when performing calculations 

//pedals 
AnalogIn            brake_pedal(pin_analog_1);
AnalogIn            accel_pedal(pin_analog_2);


//switches
DigitalIn           ngene(pin_digital_1);
DigitalIn           leftsw(pin_digital_2);
DigitalIn           rightsw(pin_digital_3);
DigitalIn           sidesw(pin_digital_4);


//indicators 
DigitalOut          ngeneind(pin_LED1);
PwmOut              leftind(pin_LED2); //was digitalout
PwmOut              rightind(pin_LED3);//was digitalout
DigitalOut          sideind(pin_LED4);


//RED box lights
DigitalOut          brakeind(pin_LED5);
DigitalOut          overspeedind(pin_LED6);



//
extern SDATA speed;
extern CARINFO info;
extern SIMU_DATA sim;

// LCD

extern WattBob_TextLCD *display;

// MUTEX

extern Mutex simuXS;
extern Mutex speedXS;
extern Mutex carstateXS;
//


void task1readbrake()
{  
   float delay = 1000 / TASKFREQ1;
   while(true){
       
   speedXS.lock();//lock
   
   speed.brakevalue = brake_pedal.read(); 
   
   speedXS.unlock();//unlock
   
   Thread::wait( (int) delay);
   
   }
}

void task2readaccel()
{
   float delay = 1000 / TASKFREQ2;
   while(true){
       
   speedXS.lock();//lock
   
   speed.accelvalue = accel_pedal.read(); 
   
   speedXS.unlock();//unlock
   
   Thread::wait( (int) delay);
   
   }
   
}

void task3enginestate()
{
    float delay = 1000 / TASKFREQ3;      
    while(true){
    //lock
    carstateXS.lock();
    uint8_t engineonoff = ngene.read();  
    info.ENGINESTATE = engineonoff;
    carstateXS.unlock();
    //unlock
    
    if(engineonoff == 1){
        ngeneind = 1;
        }
    else{
        ngeneind = 0;
        }
        
    Thread::wait( (int) delay);
    }             
}

void task4average()
{
    float delay = 1000 / TASKFREQ4;    
    while(true){
    speedXS.lock();//lock
    
    for(int i = 0; i < SAMPLESIZE ; i++)
        //speed.raw = (speed.accelvalue - speed.brakevalue)*MAXSPEED;
        speed.average += speed.array[i];
        speed.average = (speed.average / SAMPLESIZE);    
               
    speedXS.unlock();//unlock 
    
    Thread::wait( (int) delay);
    }
}

void task5brakeLED()
{
    float delay = 1000 / TASKFREQ5;
    while(true){
        
        //lock
        speedXS.lock();
        float braketest = speed.brakevalue;     
        
        speedXS.unlock();//unlock
        
        if( braketest > 0.2) // speed increase
            brakeind = 1;
        else
            brakeind = 0;
    
    Thread::wait((int)delay);
        }
}