Aingkaran Suppiah / Mbed 2 deprecated assignment3

All tasks complete

Dependencies:   mbed MCP23017 mbed-rtos WattBob_TextLCD

assignment3tasks.cpp@11:d6d1583fc824, 2019-03-27 (annotated)

Committer:
aingks
Date:
Wed Mar 27 13:41:38 2019 +0000
Revision:
11:d6d1583fc824
Parent:
10:2b262d810c67
Child:
12:f4052a23ddc7
bugged code (retracing)

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 11:d6d1583fc824 48 //serial port
aingks 11:d6d1583fc824 49 Serial PC(USBTX, USBRX);
aingks 0:0943f040009c 50
aingks 0:0943f040009c 51 void task1readbrake()
aingks 6:abbd51d9b045 52 {
aingks 6:abbd51d9b045 53 float delay = 1000 / TASKFREQ1;
aingks 6:abbd51d9b045 54 while(true){
aingks 6:abbd51d9b045 55
aingks 4:27340b291c09 56 speedXS.lock();//lock
aingks 6:abbd51d9b045 57
aingks 1:c4f62ef9b5b7 58 speed.brakevalue = brake_pedal.read();
aingks 6:abbd51d9b045 59
aingks 4:27340b291c09 60 speedXS.unlock();//unlock
aingks 6:abbd51d9b045 61
aingks 6:abbd51d9b045 62 Thread::wait( (int) delay);
aingks 6:abbd51d9b045 63
aingks 6:abbd51d9b045 64 }
aingks 0:0943f040009c 65 }
aingks 0:0943f040009c 66
aingks 0:0943f040009c 67 void task2readaccel()
aingks 0:0943f040009c 68 {
aingks 6:abbd51d9b045 69 float delay = 1000 / TASKFREQ2;
aingks 6:abbd51d9b045 70 while(true){
aingks 6:abbd51d9b045 71
aingks 4:27340b291c09 72 speedXS.lock();//lock
aingks 6:abbd51d9b045 73
aingks 1:c4f62ef9b5b7 74 speed.accelvalue = accel_pedal.read();
aingks 6:abbd51d9b045 75
aingks 4:27340b291c09 76 speedXS.unlock();//unlock
aingks 6:abbd51d9b045 77
aingks 6:abbd51d9b045 78 Thread::wait( (int) delay);
aingks 6:abbd51d9b045 79
aingks 6:abbd51d9b045 80 }
aingks 6:abbd51d9b045 81
aingks 0:0943f040009c 82 }
aingks 0:0943f040009c 83
aingks 0:0943f040009c 84 void task3enginestate()
aingks 6:abbd51d9b045 85 {
aingks 8:3f3f2c2e2046 86 float delay = 125;
aingks 6:abbd51d9b045 87 while(true){
aingks 1:c4f62ef9b5b7 88 //lock
aingks 4:27340b291c09 89 carstateXS.lock();
aingks 1:c4f62ef9b5b7 90 uint8_t engineonoff = ngene.read();
aingks 2:9d6d07c9cc9c 91 info.ENGINESTATE = engineonoff;
aingks 4:27340b291c09 92 carstateXS.unlock();
aingks 1:c4f62ef9b5b7 93 //unlock
aingks 1:c4f62ef9b5b7 94
aingks 1:c4f62ef9b5b7 95 if(engineonoff == 1){
aingks 1:c4f62ef9b5b7 96 ngeneind = 1;
aingks 1:c4f62ef9b5b7 97 }
aingks 1:c4f62ef9b5b7 98 else{
aingks 1:c4f62ef9b5b7 99 ngeneind = 0;
aingks 1:c4f62ef9b5b7 100 }
aingks 6:abbd51d9b045 101
aingks 8:3f3f2c2e2046 102 Thread::wait(125);
aingks 6:abbd51d9b045 103 }
aingks 0:0943f040009c 104 }
aingks 0:0943f040009c 105
aingks 0:0943f040009c 106 void task4average()
aingks 0:0943f040009c 107 {
aingks 6:abbd51d9b045 108 float delay = 1000 / TASKFREQ4;
aingks 6:abbd51d9b045 109 while(true){
aingks 6:abbd51d9b045 110 speedXS.lock();//lock
aingks 0:0943f040009c 111
aingks 8:3f3f2c2e2046 112 for(int i = 0; i < SAMPLESIZE ; i++){
aingks 7:87f7ba90fdce 113 //speed.rawspeed = (speed.accelvalue - speed.brakevalue)*MAXSPEED;
aingks 5:f5dda79b93cb 114 speed.average += speed.array[i];
aingks 8:3f3f2c2e2046 115 }
aingks 6:abbd51d9b045 116 speed.average = (speed.average / SAMPLESIZE);
aingks 6:abbd51d9b045 117
aingks 6:abbd51d9b045 118 speedXS.unlock();//unlock
aingks 6:abbd51d9b045 119
aingks 6:abbd51d9b045 120 Thread::wait( (int) delay);
aingks 6:abbd51d9b045 121 }
aingks 6:abbd51d9b045 122 }
aingks 6:abbd51d9b045 123
aingks 6:abbd51d9b045 124 void task5brakeLED()
aingks 6:abbd51d9b045 125 {
aingks 6:abbd51d9b045 126 float delay = 1000 / TASKFREQ5;
aingks 6:abbd51d9b045 127 while(true){
aingks 5:f5dda79b93cb 128
aingks 6:abbd51d9b045 129 //lock
aingks 6:abbd51d9b045 130 speedXS.lock();
aingks 6:abbd51d9b045 131 float braketest = speed.brakevalue;
aingks 6:abbd51d9b045 132
aingks 6:abbd51d9b045 133 speedXS.unlock();//unlock
aingks 6:abbd51d9b045 134
aingks 6:abbd51d9b045 135 if( braketest > 0.2) // speed increase
aingks 6:abbd51d9b045 136 brakeind = 1;
aingks 6:abbd51d9b045 137 else
aingks 6:abbd51d9b045 138 brakeind = 0;
aingks 5:f5dda79b93cb 139
aingks 6:abbd51d9b045 140 Thread::wait((int)delay);
aingks 6:abbd51d9b045 141 }
aingks 7:87f7ba90fdce 142 }
aingks 7:87f7ba90fdce 143
aingks 7:87f7ba90fdce 144
aingks 7:87f7ba90fdce 145 void task6speedmonitor()
aingks 7:87f7ba90fdce 146 {
aingks 7:87f7ba90fdce 147 float delay = 1000 / TASKFREQ6;
aingks 7:87f7ba90fdce 148 while(true){
aingks 7:87f7ba90fdce 149
aingks 7:87f7ba90fdce 150 carstateXS.lock(); //lock carstate
aingks 7:87f7ba90fdce 151 speedXS.lock(); //lock speed
aingks 7:87f7ba90fdce 152
aingks 7:87f7ba90fdce 153
aingks 7:87f7ba90fdce 154 info.odometer += (speed.rawspeed / TASKFREQ6);
aingks 7:87f7ba90fdce 155 uint8_t temp_enginestate = info.ENGINESTATE;
aingks 7:87f7ba90fdce 156
aingks 7:87f7ba90fdce 157 carstateXS.unlock(); //unlock carstate
aingks 7:87f7ba90fdce 158
aingks 7:87f7ba90fdce 159 float temp_accel = 0.0;
aingks 7:87f7ba90fdce 160 if(temp_enginestate != 0)
aingks 7:87f7ba90fdce 161 temp_accel = speed.accelvalue;
aingks 7:87f7ba90fdce 162
aingks 7:87f7ba90fdce 163 //update speed
aingks 7:87f7ba90fdce 164 speed.rawspeed += (temp_accel - speed.brakevalue) * MAXSPEED;
aingks 7:87f7ba90fdce 165
aingks 7:87f7ba90fdce 166 if(speed.rawspeed < 0)
aingks 7:87f7ba90fdce 167 speed.rawspeed = 0;
aingks 7:87f7ba90fdce 168 if(speed.rawspeed > MAXSPEED)
aingks 7:87f7ba90fdce 169 speed.rawspeed = MAXSPEED;
aingks 7:87f7ba90fdce 170
aingks 7:87f7ba90fdce 171 // Saving the new speed
aingks 7:87f7ba90fdce 172 for (int i = 0; i < SAMPLESIZE - 1; i++)
aingks 7:87f7ba90fdce 173
aingks 7:87f7ba90fdce 174 speed.array[i]= speed.array[i+1];
aingks 7:87f7ba90fdce 175 speed.array[4]= speed.rawspeed;
aingks 7:87f7ba90fdce 176
aingks 7:87f7ba90fdce 177 float temp = speed.rawspeed;
aingks 7:87f7ba90fdce 178
aingks 7:87f7ba90fdce 179 // UNLOCK Speed
aingks 7:87f7ba90fdce 180 speedXS.unlock();
aingks 7:87f7ba90fdce 181
aingks 7:87f7ba90fdce 182 // Update Overspeed display
aingks 7:87f7ba90fdce 183
aingks 7:87f7ba90fdce 184 if (temp > SPEEDLIMIT)
aingks 7:87f7ba90fdce 185 overspeedind = 1;
aingks 7:87f7ba90fdce 186 else
aingks 7:87f7ba90fdce 187 overspeedind = 0;
aingks 7:87f7ba90fdce 188
aingks 7:87f7ba90fdce 189 Thread::wait((int)delay);
aingks 7:87f7ba90fdce 190 }
aingks 7:87f7ba90fdce 191 }
aingks 7:87f7ba90fdce 192
aingks 7:87f7ba90fdce 193 void task7displayvalues()
aingks 7:87f7ba90fdce 194 {
aingks 7:87f7ba90fdce 195 float delay = 1000 / TASKFREQ7;
aingks 7:87f7ba90fdce 196 while(true){
aingks 8:3f3f2c2e2046 197
aingks 8:3f3f2c2e2046 198 display->cls();
aingks 7:87f7ba90fdce 199
aingks 7:87f7ba90fdce 200 //LOCK data
aingks 7:87f7ba90fdce 201 carstateXS.lock();
aingks 7:87f7ba90fdce 202 //LOCK Speed
aingks 7:87f7ba90fdce 203 speedXS.lock();
aingks 7:87f7ba90fdce 204
aingks 7:87f7ba90fdce 205 display->locate(1,0);
aingks 8:3f3f2c2e2046 206 display->printf("AvgS: %.2f",speed.average);
aingks 7:87f7ba90fdce 207 display->locate(0,0);
aingks 7:87f7ba90fdce 208 display->printf("ODOM: %d",(int) info.odometer);
aingks 7:87f7ba90fdce 209
aingks 7:87f7ba90fdce 210 //UNLOCK data
aingks 7:87f7ba90fdce 211 carstateXS.unlock();
aingks 7:87f7ba90fdce 212 //UNLOCK Speed
aingks 7:87f7ba90fdce 213 speedXS.unlock();
aingks 7:87f7ba90fdce 214
aingks 8:3f3f2c2e2046 215
aingks 8:3f3f2c2e2046 216
aingks 8:3f3f2c2e2046 217
aingks 8:3f3f2c2e2046 218 Thread::wait(500);
aingks 8:3f3f2c2e2046 219
aingks 8:3f3f2c2e2046 220
aingks 8:3f3f2c2e2046 221 }
aingks 8:3f3f2c2e2046 222 }
aingks 8:3f3f2c2e2046 223
aingks 8:3f3f2c2e2046 224 void task8sidelights()
aingks 8:3f3f2c2e2046 225 {
aingks 8:3f3f2c2e2046 226 float delay = 1000 / TASKFREQ8;
aingks 8:3f3f2c2e2046 227 while(true){
aingks 8:3f3f2c2e2046 228
aingks 8:3f3f2c2e2046 229 // LOCK Car data
aingks 8:3f3f2c2e2046 230 carstateXS.lock();
aingks 8:3f3f2c2e2046 231
aingks 8:3f3f2c2e2046 232 info.sideind = sidesw.read();
aingks 8:3f3f2c2e2046 233 uint8_t temp = info.sideind;
aingks 8:3f3f2c2e2046 234
aingks 8:3f3f2c2e2046 235 //UNLOCK Car data
aingks 8:3f3f2c2e2046 236 carstateXS.unlock();
aingks 8:3f3f2c2e2046 237
aingks 8:3f3f2c2e2046 238 if (temp == 1)
aingks 8:3f3f2c2e2046 239 sideind = 1;
aingks 8:3f3f2c2e2046 240 else
aingks 8:3f3f2c2e2046 241 sideind = 0;
aingks 8:3f3f2c2e2046 242
aingks 7:87f7ba90fdce 243 Thread::wait((int)delay);
aingks 7:87f7ba90fdce 244
aingks 7:87f7ba90fdce 245
aingks 8:3f3f2c2e2046 246
aingks 9:2fd97246b8f0 247
aingks 7:87f7ba90fdce 248 }
aingks 9:2fd97246b8f0 249 }
aingks 11:d6d1583fc824 250 /*
aingks 9:2fd97246b8f0 251 void task9indLED()
aingks 9:2fd97246b8f0 252 {
aingks 9:2fd97246b8f0 253 while(true){
aingks 9:2fd97246b8f0 254
aingks 10:2b262d810c67 255
aingks 10:2b262d810c67 256 int turnleft = leftsw;
aingks 10:2b262d810c67 257 int turnright = rightsw;
aingks 9:2fd97246b8f0 258
aingks 9:2fd97246b8f0 259
aingks 9:2fd97246b8f0 260
aingks 10:2b262d810c67 261 carstateXS.lock();
aingks 10:2b262d810c67 262
aingks 10:2b262d810c67 263 (turnleft = 1)? info.leftind = 1 :info.leftind = 0; // <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<this lock unlock stuff is messing it up
aingks 9:2fd97246b8f0 264 (turnright = 1)? info.rightind = 1 :info.rightind = 0;
aingks 9:2fd97246b8f0 265
aingks 10:2b262d810c67 266 carstateXS.unlock();
aingks 11:d6d1583fc824 267
aingks 9:2fd97246b8f0 268
aingks 10:2b262d810c67 269
aingks 9:2fd97246b8f0 270
aingks 9:2fd97246b8f0 271 //hazard and other lights
aingks 9:2fd97246b8f0 272
aingks 9:2fd97246b8f0 273 float left_period = 1.0;
aingks 9:2fd97246b8f0 274 float right_period = 1.0;
aingks 9:2fd97246b8f0 275 float left_pulswidth = 0.0;
aingks 9:2fd97246b8f0 276 float right_pulswidth = 0.0;
aingks 9:2fd97246b8f0 277
aingks 9:2fd97246b8f0 278 if (turnleft != 0)
aingks 9:2fd97246b8f0 279 {
aingks 9:2fd97246b8f0 280 left_period = (1/TASKFREQ9);
aingks 9:2fd97246b8f0 281 left_pulswidth = (1/(2*TASKFREQ9));
aingks 9:2fd97246b8f0 282 }
aingks 9:2fd97246b8f0 283 if (turnright!= 0)
aingks 9:2fd97246b8f0 284 {
aingks 9:2fd97246b8f0 285 right_period = (1/TASKFREQ9);
aingks 9:2fd97246b8f0 286 right_pulswidth = (1/TASKFREQ9);
aingks 9:2fd97246b8f0 287 }
aingks 9:2fd97246b8f0 288 if (turnleft != 0 && turnright != 0)
aingks 9:2fd97246b8f0 289 {
aingks 9:2fd97246b8f0 290 left_period = left_period / 2;
aingks 9:2fd97246b8f0 291 left_pulswidth = left_pulswidth / 2;
aingks 9:2fd97246b8f0 292 right_period = right_period / 2;
aingks 9:2fd97246b8f0 293 right_pulswidth = right_pulswidth / 2;
aingks 9:2fd97246b8f0 294 }
aingks 9:2fd97246b8f0 295
aingks 10:2b262d810c67 296
aingks 9:2fd97246b8f0 297 leftind.period(left_period);
aingks 9:2fd97246b8f0 298 leftind.pulsewidth(left_pulswidth);
aingks 9:2fd97246b8f0 299 rightind.period(right_period);
aingks 9:2fd97246b8f0 300 rightind.pulsewidth(right_pulswidth);
aingks 10:2b262d810c67 301
aingks 10:2b262d810c67 302
aingks 9:2fd97246b8f0 303
aingks 9:2fd97246b8f0 304 float delay = 1000 / TASKFREQ9S2;
aingks 9:2fd97246b8f0 305 Thread::wait((int)delay);
aingks 9:2fd97246b8f0 306
aingks 9:2fd97246b8f0 307
aingks 9:2fd97246b8f0 308
aingks 9:2fd97246b8f0 309 }
aingks 9:2fd97246b8f0 310
aingks 9:2fd97246b8f0 311
aingks 9:2fd97246b8f0 312
aingks 9:2fd97246b8f0 313
aingks 10:2b262d810c67 314 }
aingks 10:2b262d810c67 315
aingks 10:2b262d810c67 316 void taskXserialdump()
aingks 10:2b262d810c67 317 {
aingks 10:2b262d810c67 318 while(true)
aingks 10:2b262d810c67 319 {
aingks 10:2b262d810c67 320 speedXS.lock();
aingks 10:2b262d810c67 321
aingks 10:2b262d810c67 322 PC.printf("SPEED: %.1f\r\n",speed.rawspeed);
aingks 10:2b262d810c67 323 PC.printf("BRAKE: %.1f\r\n",speed.brakevalue);
aingks 10:2b262d810c67 324 PC.printf("ACCELEROMETER: %.1f\r\n",speed.accelvalue);
aingks 10:2b262d810c67 325
aingks 10:2b262d810c67 326 speedXS.unlock();
aingks 10:2b262d810c67 327
aingks 10:2b262d810c67 328 carstate.lock();
aingks 10:2b262d810c67 329
aingks 10:2b262d810c67 330 PC.printf("LEFT INDICATOR : %.1f\r\n",info.leftind);
aingks 10:2b262d810c67 331 PC.printf("RIGHT INDICATOR : %.1f\r\n",info.rightind);
aingks 10:2b262d810c67 332
aingks 10:2b262d810c67 333 carstate.unlock();
aingks 10:2b262d810c67 334
aingks 10:2b262d810c67 335 float delay = 1000/ TASKFREQX;
aingks 10:2b262d810c67 336 Thread:: wait((int)delay);
aingks 10:2b262d810c67 337
aingks 10:2b262d810c67 338 }
aingks 10:2b262d810c67 339
aingks 10:2b262d810c67 340
aingks 10:2b262d810c67 341
aingks 10:2b262d810c67 342 }
aingks 11:d6d1583fc824 343 */
aingks 10:2b262d810c67 344