Aingkaran Suppiah / Mbed 2 deprecated assignment3

All tasks complete

Dependencies:   mbed MCP23017 mbed-rtos WattBob_TextLCD

assignment3tasks.cpp@7:87f7ba90fdce, 2019-03-26 (annotated)

Committer:
aingks
Date:
Tue Mar 26 16:48:30 2019 +0000
Revision:
7:87f7ba90fdce
Parent:
6:abbd51d9b045
Child:
8:3f3f2c2e2046
LED disp module added ;

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 6:abbd51d9b045 84 float delay = 1000 / TASKFREQ3;
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 6:abbd51d9b045 100 Thread::wait( (int) delay);
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 6:abbd51d9b045 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 6:abbd51d9b045 113 speed.average = (speed.average / SAMPLESIZE);
aingks 6:abbd51d9b045 114
aingks 6:abbd51d9b045 115 speedXS.unlock();//unlock
aingks 6:abbd51d9b045 116
aingks 6:abbd51d9b045 117 Thread::wait( (int) delay);
aingks 6:abbd51d9b045 118 }
aingks 6:abbd51d9b045 119 }
aingks 6:abbd51d9b045 120
aingks 6:abbd51d9b045 121 void task5brakeLED()
aingks 6:abbd51d9b045 122 {
aingks 6:abbd51d9b045 123 float delay = 1000 / TASKFREQ5;
aingks 6:abbd51d9b045 124 while(true){
aingks 5:f5dda79b93cb 125
aingks 6:abbd51d9b045 126 //lock
aingks 6:abbd51d9b045 127 speedXS.lock();
aingks 6:abbd51d9b045 128 float braketest = speed.brakevalue;
aingks 6:abbd51d9b045 129
aingks 6:abbd51d9b045 130 speedXS.unlock();//unlock
aingks 6:abbd51d9b045 131
aingks 6:abbd51d9b045 132 if( braketest > 0.2) // speed increase
aingks 6:abbd51d9b045 133 brakeind = 1;
aingks 6:abbd51d9b045 134 else
aingks 6:abbd51d9b045 135 brakeind = 0;
aingks 5:f5dda79b93cb 136
aingks 6:abbd51d9b045 137 Thread::wait((int)delay);
aingks 6:abbd51d9b045 138 }
aingks 7:87f7ba90fdce 139 }
aingks 7:87f7ba90fdce 140
aingks 7:87f7ba90fdce 141
aingks 7:87f7ba90fdce 142 void task6speedmonitor()
aingks 7:87f7ba90fdce 143 {
aingks 7:87f7ba90fdce 144 float delay = 1000 / TASKFREQ6;
aingks 7:87f7ba90fdce 145 while(true){
aingks 7:87f7ba90fdce 146
aingks 7:87f7ba90fdce 147 carstateXS.lock(); //lock carstate
aingks 7:87f7ba90fdce 148 speedXS.lock(); //lock speed
aingks 7:87f7ba90fdce 149
aingks 7:87f7ba90fdce 150
aingks 7:87f7ba90fdce 151 info.odometer += (speed.rawspeed / TASKFREQ6);
aingks 7:87f7ba90fdce 152 uint8_t temp_enginestate = info.ENGINESTATE;
aingks 7:87f7ba90fdce 153
aingks 7:87f7ba90fdce 154 carstateXS.unlock(); //unlock carstate
aingks 7:87f7ba90fdce 155
aingks 7:87f7ba90fdce 156 float temp_accel = 0.0;
aingks 7:87f7ba90fdce 157 if(temp_enginestate != 0)
aingks 7:87f7ba90fdce 158 temp_accel = speed.accelvalue;
aingks 7:87f7ba90fdce 159
aingks 7:87f7ba90fdce 160 //update speed
aingks 7:87f7ba90fdce 161 speed.rawspeed += (temp_accel - speed.brakevalue) * MAXSPEED;
aingks 7:87f7ba90fdce 162
aingks 7:87f7ba90fdce 163 if(speed.rawspeed < 0)
aingks 7:87f7ba90fdce 164 speed.rawspeed = 0;
aingks 7:87f7ba90fdce 165 if(speed.rawspeed > MAXSPEED)
aingks 7:87f7ba90fdce 166 speed.rawspeed = MAXSPEED;
aingks 7:87f7ba90fdce 167
aingks 7:87f7ba90fdce 168 // Saving the new speed
aingks 7:87f7ba90fdce 169 for (int i = 0; i < SAMPLESIZE - 1; i++)
aingks 7:87f7ba90fdce 170
aingks 7:87f7ba90fdce 171 speed.array[i]= speed.array[i+1];
aingks 7:87f7ba90fdce 172 speed.array[4]= speed.rawspeed;
aingks 7:87f7ba90fdce 173
aingks 7:87f7ba90fdce 174 float temp = speed.rawspeed;
aingks 7:87f7ba90fdce 175
aingks 7:87f7ba90fdce 176 // UNLOCK Speed
aingks 7:87f7ba90fdce 177 speedXS.unlock();
aingks 7:87f7ba90fdce 178
aingks 7:87f7ba90fdce 179 // Update Overspeed display
aingks 7:87f7ba90fdce 180
aingks 7:87f7ba90fdce 181 if (temp > SPEEDLIMIT)
aingks 7:87f7ba90fdce 182 overspeedind = 1;
aingks 7:87f7ba90fdce 183 else
aingks 7:87f7ba90fdce 184 overspeedind = 0;
aingks 7:87f7ba90fdce 185
aingks 7:87f7ba90fdce 186 Thread::wait((int)delay);
aingks 7:87f7ba90fdce 187 }
aingks 7:87f7ba90fdce 188 }
aingks 7:87f7ba90fdce 189
aingks 7:87f7ba90fdce 190 void task7displayvalues()
aingks 7:87f7ba90fdce 191 {
aingks 7:87f7ba90fdce 192 float delay = 1000 / TASKFREQ7;
aingks 7:87f7ba90fdce 193 while(true){
aingks 7:87f7ba90fdce 194 display->cls();
aingks 7:87f7ba90fdce 195
aingks 7:87f7ba90fdce 196 //LOCK data
aingks 7:87f7ba90fdce 197 carstateXS.lock();
aingks 7:87f7ba90fdce 198 //LOCK Speed
aingks 7:87f7ba90fdce 199 speedXS.lock();
aingks 7:87f7ba90fdce 200
aingks 7:87f7ba90fdce 201 display->locate(1,0);
aingks 7:87f7ba90fdce 202 display->printf("S_AVER: %.2f",speed.average);
aingks 7:87f7ba90fdce 203 display->locate(0,0);
aingks 7:87f7ba90fdce 204 display->printf("ODOM: %d",(int) info.odometer);
aingks 7:87f7ba90fdce 205
aingks 7:87f7ba90fdce 206 //UNLOCK data
aingks 7:87f7ba90fdce 207 carstateXS.unlock();
aingks 7:87f7ba90fdce 208 //UNLOCK Speed
aingks 7:87f7ba90fdce 209 speedXS.unlock();
aingks 7:87f7ba90fdce 210
aingks 7:87f7ba90fdce 211 Thread::wait((int)delay);
aingks 7:87f7ba90fdce 212
aingks 7:87f7ba90fdce 213
aingks 7:87f7ba90fdce 214 }
aingks 0:0943f040009c 215 }