Aingkaran Suppiah / Mbed 2 deprecated assignment3

All tasks complete

Dependencies:   mbed MCP23017 mbed-rtos WattBob_TextLCD

assignment3tasks.cpp@10:2b262d810c67, 2019-03-27 (annotated)

Committer:
aingks
Date:
Wed Mar 27 13:09:26 2019 +0000
Revision:
10:2b262d810c67
Parent:
9:2fd97246b8f0
Child:
11:d6d1583fc824
serial port module added, issue is found to be the lock/unlock section of task 9

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 4:27340b291c09 21 PwmOut leftind(pin_LED2); //was digitalout
aingks 4:27340b291c09 22 PwmOut 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 4:27340b291c09 46 //
aingks 2:9d6d07c9cc9c 47
aingks 0:0943f040009c 48
aingks 0:0943f040009c 49 void task1readbrake()
aingks 6:abbd51d9b045 50 {
aingks 6:abbd51d9b045 51 float delay = 1000 / TASKFREQ1;
aingks 6:abbd51d9b045 52 while(true){
aingks 6:abbd51d9b045 53
aingks 4:27340b291c09 54 speedXS.lock();//lock
aingks 6:abbd51d9b045 55
aingks 1:c4f62ef9b5b7 56 speed.brakevalue = brake_pedal.read();
aingks 6:abbd51d9b045 57
aingks 4:27340b291c09 58 speedXS.unlock();//unlock
aingks 6:abbd51d9b045 59
aingks 6:abbd51d9b045 60 Thread::wait( (int) delay);
aingks 6:abbd51d9b045 61
aingks 6:abbd51d9b045 62 }
aingks 0:0943f040009c 63 }
aingks 0:0943f040009c 64
aingks 0:0943f040009c 65 void task2readaccel()
aingks 0:0943f040009c 66 {
aingks 6:abbd51d9b045 67 float delay = 1000 / TASKFREQ2;
aingks 6:abbd51d9b045 68 while(true){
aingks 6:abbd51d9b045 69
aingks 4:27340b291c09 70 speedXS.lock();//lock
aingks 6:abbd51d9b045 71
aingks 1:c4f62ef9b5b7 72 speed.accelvalue = accel_pedal.read();
aingks 6:abbd51d9b045 73
aingks 4:27340b291c09 74 speedXS.unlock();//unlock
aingks 6:abbd51d9b045 75
aingks 6:abbd51d9b045 76 Thread::wait( (int) delay);
aingks 6:abbd51d9b045 77
aingks 6:abbd51d9b045 78 }
aingks 6:abbd51d9b045 79
aingks 0:0943f040009c 80 }
aingks 0:0943f040009c 81
aingks 0:0943f040009c 82 void task3enginestate()
aingks 6:abbd51d9b045 83 {
aingks 8:3f3f2c2e2046 84 float delay = 125;
aingks 6:abbd51d9b045 85 while(true){
aingks 1:c4f62ef9b5b7 86 //lock
aingks 4:27340b291c09 87 carstateXS.lock();
aingks 1:c4f62ef9b5b7 88 uint8_t engineonoff = ngene.read();
aingks 2:9d6d07c9cc9c 89 info.ENGINESTATE = engineonoff;
aingks 4:27340b291c09 90 carstateXS.unlock();
aingks 1:c4f62ef9b5b7 91 //unlock
aingks 1:c4f62ef9b5b7 92
aingks 1:c4f62ef9b5b7 93 if(engineonoff == 1){
aingks 1:c4f62ef9b5b7 94 ngeneind = 1;
aingks 1:c4f62ef9b5b7 95 }
aingks 1:c4f62ef9b5b7 96 else{
aingks 1:c4f62ef9b5b7 97 ngeneind = 0;
aingks 1:c4f62ef9b5b7 98 }
aingks 6:abbd51d9b045 99
aingks 8:3f3f2c2e2046 100 Thread::wait(125);
aingks 6:abbd51d9b045 101 }
aingks 0:0943f040009c 102 }
aingks 0:0943f040009c 103
aingks 0:0943f040009c 104 void task4average()
aingks 0:0943f040009c 105 {
aingks 6:abbd51d9b045 106 float delay = 1000 / TASKFREQ4;
aingks 6:abbd51d9b045 107 while(true){
aingks 6:abbd51d9b045 108 speedXS.lock();//lock
aingks 0:0943f040009c 109
aingks 8:3f3f2c2e2046 110 for(int i = 0; i < SAMPLESIZE ; i++){
aingks 7:87f7ba90fdce 111 //speed.rawspeed = (speed.accelvalue - speed.brakevalue)*MAXSPEED;
aingks 5:f5dda79b93cb 112 speed.average += speed.array[i];
aingks 8:3f3f2c2e2046 113 }
aingks 6:abbd51d9b045 114 speed.average = (speed.average / SAMPLESIZE);
aingks 6:abbd51d9b045 115
aingks 6:abbd51d9b045 116 speedXS.unlock();//unlock
aingks 6:abbd51d9b045 117
aingks 6:abbd51d9b045 118 Thread::wait( (int) delay);
aingks 6:abbd51d9b045 119 }
aingks 6:abbd51d9b045 120 }
aingks 6:abbd51d9b045 121
aingks 6:abbd51d9b045 122 void task5brakeLED()
aingks 6:abbd51d9b045 123 {
aingks 6:abbd51d9b045 124 float delay = 1000 / TASKFREQ5;
aingks 6:abbd51d9b045 125 while(true){
aingks 5:f5dda79b93cb 126
aingks 6:abbd51d9b045 127 //lock
aingks 6:abbd51d9b045 128 speedXS.lock();
aingks 6:abbd51d9b045 129 float braketest = speed.brakevalue;
aingks 6:abbd51d9b045 130
aingks 6:abbd51d9b045 131 speedXS.unlock();//unlock
aingks 6:abbd51d9b045 132
aingks 6:abbd51d9b045 133 if( braketest > 0.2) // speed increase
aingks 6:abbd51d9b045 134 brakeind = 1;
aingks 6:abbd51d9b045 135 else
aingks 6:abbd51d9b045 136 brakeind = 0;
aingks 5:f5dda79b93cb 137
aingks 6:abbd51d9b045 138 Thread::wait((int)delay);
aingks 6:abbd51d9b045 139 }
aingks 7:87f7ba90fdce 140 }
aingks 7:87f7ba90fdce 141
aingks 7:87f7ba90fdce 142
aingks 7:87f7ba90fdce 143 void task6speedmonitor()
aingks 7:87f7ba90fdce 144 {
aingks 7:87f7ba90fdce 145 float delay = 1000 / TASKFREQ6;
aingks 7:87f7ba90fdce 146 while(true){
aingks 7:87f7ba90fdce 147
aingks 7:87f7ba90fdce 148 carstateXS.lock(); //lock carstate
aingks 7:87f7ba90fdce 149 speedXS.lock(); //lock speed
aingks 7:87f7ba90fdce 150
aingks 7:87f7ba90fdce 151
aingks 7:87f7ba90fdce 152 info.odometer += (speed.rawspeed / TASKFREQ6);
aingks 7:87f7ba90fdce 153 uint8_t temp_enginestate = info.ENGINESTATE;
aingks 7:87f7ba90fdce 154
aingks 7:87f7ba90fdce 155 carstateXS.unlock(); //unlock carstate
aingks 7:87f7ba90fdce 156
aingks 7:87f7ba90fdce 157 float temp_accel = 0.0;
aingks 7:87f7ba90fdce 158 if(temp_enginestate != 0)
aingks 7:87f7ba90fdce 159 temp_accel = speed.accelvalue;
aingks 7:87f7ba90fdce 160
aingks 7:87f7ba90fdce 161 //update speed
aingks 7:87f7ba90fdce 162 speed.rawspeed += (temp_accel - speed.brakevalue) * MAXSPEED;
aingks 7:87f7ba90fdce 163
aingks 7:87f7ba90fdce 164 if(speed.rawspeed < 0)
aingks 7:87f7ba90fdce 165 speed.rawspeed = 0;
aingks 7:87f7ba90fdce 166 if(speed.rawspeed > MAXSPEED)
aingks 7:87f7ba90fdce 167 speed.rawspeed = MAXSPEED;
aingks 7:87f7ba90fdce 168
aingks 7:87f7ba90fdce 169 // Saving the new speed
aingks 7:87f7ba90fdce 170 for (int i = 0; i < SAMPLESIZE - 1; i++)
aingks 7:87f7ba90fdce 171
aingks 7:87f7ba90fdce 172 speed.array[i]= speed.array[i+1];
aingks 7:87f7ba90fdce 173 speed.array[4]= speed.rawspeed;
aingks 7:87f7ba90fdce 174
aingks 7:87f7ba90fdce 175 float temp = speed.rawspeed;
aingks 7:87f7ba90fdce 176
aingks 7:87f7ba90fdce 177 // UNLOCK Speed
aingks 7:87f7ba90fdce 178 speedXS.unlock();
aingks 7:87f7ba90fdce 179
aingks 7:87f7ba90fdce 180 // Update Overspeed display
aingks 7:87f7ba90fdce 181
aingks 7:87f7ba90fdce 182 if (temp > SPEEDLIMIT)
aingks 7:87f7ba90fdce 183 overspeedind = 1;
aingks 7:87f7ba90fdce 184 else
aingks 7:87f7ba90fdce 185 overspeedind = 0;
aingks 7:87f7ba90fdce 186
aingks 7:87f7ba90fdce 187 Thread::wait((int)delay);
aingks 7:87f7ba90fdce 188 }
aingks 7:87f7ba90fdce 189 }
aingks 7:87f7ba90fdce 190
aingks 7:87f7ba90fdce 191 void task7displayvalues()
aingks 7:87f7ba90fdce 192 {
aingks 7:87f7ba90fdce 193 float delay = 1000 / TASKFREQ7;
aingks 7:87f7ba90fdce 194 while(true){
aingks 8:3f3f2c2e2046 195
aingks 8:3f3f2c2e2046 196 display->cls();
aingks 7:87f7ba90fdce 197
aingks 7:87f7ba90fdce 198 //LOCK data
aingks 7:87f7ba90fdce 199 carstateXS.lock();
aingks 7:87f7ba90fdce 200 //LOCK Speed
aingks 7:87f7ba90fdce 201 speedXS.lock();
aingks 7:87f7ba90fdce 202
aingks 7:87f7ba90fdce 203 display->locate(1,0);
aingks 8:3f3f2c2e2046 204 display->printf("AvgS: %.2f",speed.average);
aingks 7:87f7ba90fdce 205 display->locate(0,0);
aingks 7:87f7ba90fdce 206 display->printf("ODOM: %d",(int) info.odometer);
aingks 7:87f7ba90fdce 207
aingks 7:87f7ba90fdce 208 //UNLOCK data
aingks 7:87f7ba90fdce 209 carstateXS.unlock();
aingks 7:87f7ba90fdce 210 //UNLOCK Speed
aingks 7:87f7ba90fdce 211 speedXS.unlock();
aingks 7:87f7ba90fdce 212
aingks 8:3f3f2c2e2046 213
aingks 8:3f3f2c2e2046 214
aingks 8:3f3f2c2e2046 215
aingks 8:3f3f2c2e2046 216 Thread::wait(500);
aingks 8:3f3f2c2e2046 217
aingks 8:3f3f2c2e2046 218
aingks 8:3f3f2c2e2046 219 }
aingks 8:3f3f2c2e2046 220 }
aingks 8:3f3f2c2e2046 221
aingks 8:3f3f2c2e2046 222 void task8sidelights()
aingks 8:3f3f2c2e2046 223 {
aingks 8:3f3f2c2e2046 224 float delay = 1000 / TASKFREQ8;
aingks 8:3f3f2c2e2046 225 while(true){
aingks 8:3f3f2c2e2046 226
aingks 8:3f3f2c2e2046 227 // LOCK Car data
aingks 8:3f3f2c2e2046 228 carstateXS.lock();
aingks 8:3f3f2c2e2046 229
aingks 8:3f3f2c2e2046 230 info.sideind = sidesw.read();
aingks 8:3f3f2c2e2046 231 uint8_t temp = info.sideind;
aingks 8:3f3f2c2e2046 232
aingks 8:3f3f2c2e2046 233 //UNLOCK Car data
aingks 8:3f3f2c2e2046 234 carstateXS.unlock();
aingks 8:3f3f2c2e2046 235
aingks 8:3f3f2c2e2046 236 if (temp == 1)
aingks 8:3f3f2c2e2046 237 sideind = 1;
aingks 8:3f3f2c2e2046 238 else
aingks 8:3f3f2c2e2046 239 sideind = 0;
aingks 8:3f3f2c2e2046 240
aingks 7:87f7ba90fdce 241 Thread::wait((int)delay);
aingks 7:87f7ba90fdce 242
aingks 7:87f7ba90fdce 243
aingks 8:3f3f2c2e2046 244
aingks 9:2fd97246b8f0 245
aingks 7:87f7ba90fdce 246 }
aingks 9:2fd97246b8f0 247 }
aingks 9:2fd97246b8f0 248
aingks 9:2fd97246b8f0 249 void task9indLED()
aingks 9:2fd97246b8f0 250 {
aingks 9:2fd97246b8f0 251 while(true){
aingks 9:2fd97246b8f0 252
aingks 10:2b262d810c67 253
aingks 10:2b262d810c67 254 int turnleft = leftsw;
aingks 10:2b262d810c67 255 int turnright = rightsw;
aingks 9:2fd97246b8f0 256
aingks 9:2fd97246b8f0 257
aingks 9:2fd97246b8f0 258
aingks 10:2b262d810c67 259 carstateXS.lock();
aingks 10:2b262d810c67 260
aingks 10:2b262d810c67 261 (turnleft = 1)? info.leftind = 1 :info.leftind = 0; // <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<this lock unlock stuff is messing it up
aingks 9:2fd97246b8f0 262 (turnright = 1)? info.rightind = 1 :info.rightind = 0;
aingks 9:2fd97246b8f0 263
aingks 10:2b262d810c67 264 carstateXS.unlock();
aingks 10:2b262d810c67 265
aingks 10:2b262d810c67 266
aingks 10:2b262d810c67 267 //issue persists with commented code below
aingks 9:2fd97246b8f0 268 /* if(turnleft = 1){
aingks 9:2fd97246b8f0 269 info.leftind = 1;
aingks 9:2fd97246b8f0 270 }
aingks 9:2fd97246b8f0 271 else{
aingks 9:2fd97246b8f0 272 info.leftind = 0;
aingks 9:2fd97246b8f0 273 }
aingks 9:2fd97246b8f0 274
aingks 9:2fd97246b8f0 275 if(turnleft = 1){
aingks 9:2fd97246b8f0 276 info.rightind = 1;
aingks 9:2fd97246b8f0 277 }
aingks 9:2fd97246b8f0 278 else{
aingks 9:2fd97246b8f0 279 info.rightind = 0;
aingks 9:2fd97246b8f0 280 }
aingks 9:2fd97246b8f0 281 */
aingks 9:2fd97246b8f0 282
aingks 10:2b262d810c67 283
aingks 9:2fd97246b8f0 284
aingks 9:2fd97246b8f0 285 //hazard and other lights
aingks 9:2fd97246b8f0 286
aingks 9:2fd97246b8f0 287 float left_period = 1.0;
aingks 9:2fd97246b8f0 288 float right_period = 1.0;
aingks 9:2fd97246b8f0 289 float left_pulswidth = 0.0;
aingks 9:2fd97246b8f0 290 float right_pulswidth = 0.0;
aingks 9:2fd97246b8f0 291
aingks 9:2fd97246b8f0 292 if (turnleft != 0)
aingks 9:2fd97246b8f0 293 {
aingks 9:2fd97246b8f0 294 left_period = (1/TASKFREQ9);
aingks 9:2fd97246b8f0 295 left_pulswidth = (1/(2*TASKFREQ9));
aingks 9:2fd97246b8f0 296 }
aingks 9:2fd97246b8f0 297 if (turnright!= 0)
aingks 9:2fd97246b8f0 298 {
aingks 9:2fd97246b8f0 299 right_period = (1/TASKFREQ9);
aingks 9:2fd97246b8f0 300 right_pulswidth = (1/TASKFREQ9);
aingks 9:2fd97246b8f0 301 }
aingks 9:2fd97246b8f0 302 if (turnleft != 0 && turnright != 0)
aingks 9:2fd97246b8f0 303 {
aingks 9:2fd97246b8f0 304 left_period = left_period / 2;
aingks 9:2fd97246b8f0 305 left_pulswidth = left_pulswidth / 2;
aingks 9:2fd97246b8f0 306 right_period = right_period / 2;
aingks 9:2fd97246b8f0 307 right_pulswidth = right_pulswidth / 2;
aingks 9:2fd97246b8f0 308 }
aingks 9:2fd97246b8f0 309
aingks 10:2b262d810c67 310
aingks 9:2fd97246b8f0 311 leftind.period(left_period);
aingks 9:2fd97246b8f0 312 leftind.pulsewidth(left_pulswidth);
aingks 9:2fd97246b8f0 313 rightind.period(right_period);
aingks 9:2fd97246b8f0 314 rightind.pulsewidth(right_pulswidth);
aingks 10:2b262d810c67 315
aingks 10:2b262d810c67 316
aingks 9:2fd97246b8f0 317
aingks 9:2fd97246b8f0 318 float delay = 1000 / TASKFREQ9S2;
aingks 9:2fd97246b8f0 319 Thread::wait((int)delay);
aingks 9:2fd97246b8f0 320
aingks 9:2fd97246b8f0 321
aingks 9:2fd97246b8f0 322
aingks 9:2fd97246b8f0 323 }
aingks 9:2fd97246b8f0 324
aingks 9:2fd97246b8f0 325
aingks 9:2fd97246b8f0 326
aingks 9:2fd97246b8f0 327
aingks 10:2b262d810c67 328 }
aingks 10:2b262d810c67 329
aingks 10:2b262d810c67 330 void taskXserialdump()
aingks 10:2b262d810c67 331 {
aingks 10:2b262d810c67 332 while(true)
aingks 10:2b262d810c67 333 {
aingks 10:2b262d810c67 334 speedXS.lock();
aingks 10:2b262d810c67 335
aingks 10:2b262d810c67 336 PC.printf("SPEED: %.1f\r\n",speed.rawspeed);
aingks 10:2b262d810c67 337 PC.printf("BRAKE: %.1f\r\n",speed.brakevalue);
aingks 10:2b262d810c67 338 PC.printf("ACCELEROMETER: %.1f\r\n",speed.accelvalue);
aingks 10:2b262d810c67 339
aingks 10:2b262d810c67 340 speedXS.unlock();
aingks 10:2b262d810c67 341
aingks 10:2b262d810c67 342 carstate.lock();
aingks 10:2b262d810c67 343
aingks 10:2b262d810c67 344 PC.printf("LEFT INDICATOR : %.1f\r\n",info.leftind);
aingks 10:2b262d810c67 345 PC.printf("RIGHT INDICATOR : %.1f\r\n",info.rightind);
aingks 10:2b262d810c67 346
aingks 10:2b262d810c67 347 carstate.unlock();
aingks 10:2b262d810c67 348
aingks 10:2b262d810c67 349 float delay = 1000/ TASKFREQX;
aingks 10:2b262d810c67 350 Thread:: wait((int)delay);
aingks 10:2b262d810c67 351
aingks 10:2b262d810c67 352 }
aingks 10:2b262d810c67 353
aingks 10:2b262d810c67 354
aingks 10:2b262d810c67 355
aingks 10:2b262d810c67 356 }
aingks 10:2b262d810c67 357
aingks 10:2b262d810c67 358