Diff: assignment3tasks.cpp

Revision:

7:87f7ba90fdce

Parent:

6:abbd51d9b045

Child:

8:3f3f2c2e2046

diff -r abbd51d9b045 -r 87f7ba90fdce assignment3tasks.cpp
--- a/assignment3tasks.cpp	Tue Mar 26 16:20:28 2019 +0000
+++ b/assignment3tasks.cpp	Tue Mar 26 16:48:30 2019 +0000
@@ -108,7 +108,7 @@
     speedXS.lock();//lock
     
     for(int i = 0; i < SAMPLESIZE ; i++)
-        //speed.raw = (speed.accelvalue - speed.brakevalue)*MAXSPEED;
+        //speed.rawspeed = (speed.accelvalue - speed.brakevalue)*MAXSPEED;
         speed.average += speed.array[i];
         speed.average = (speed.average / SAMPLESIZE);    
                
@@ -136,4 +136,80 @@
     
     Thread::wait((int)delay);
         }
+}
+
+
+void task6speedmonitor()
+{
+    float delay = 1000 / TASKFREQ6;
+    while(true){
+        
+        carstateXS.lock();  //lock carstate
+        speedXS.lock();     //lock speed
+        
+        
+        info.odometer += (speed.rawspeed / TASKFREQ6);
+        uint8_t temp_enginestate = info.ENGINESTATE;
+        
+        carstateXS.unlock(); //unlock carstate
+        
+        float temp_accel = 0.0;
+        if(temp_enginestate != 0)
+            temp_accel = speed.accelvalue;
+        
+        //update speed    
+        speed.rawspeed += (temp_accel - speed.brakevalue) * MAXSPEED; 
+        
+        if(speed.rawspeed < 0)
+        speed.rawspeed = 0;
+        if(speed.rawspeed > MAXSPEED)
+        speed.rawspeed = MAXSPEED;   
+        
+        // Saving the new speed
+        for (int i = 0; i < SAMPLESIZE - 1; i++)
+        
+        speed.array[i]= speed.array[i+1]; 
+        speed.array[4]= speed.rawspeed;
+            
+        float temp = speed.rawspeed;
+        
+        // UNLOCK Speed
+        speedXS.unlock();
+        
+        // Update Overspeed display
+        
+        if (temp > SPEEDLIMIT)
+            overspeedind = 1;
+        else
+            overspeedind = 0;
+            
+        Thread::wait((int)delay);
+        }
+}
+
+void task7displayvalues()
+{
+    float delay = 1000 / TASKFREQ7;
+    while(true){
+                display->cls();
+    
+        //LOCK data
+        carstateXS.lock();
+        //LOCK Speed
+        speedXS.lock();
+        
+        display->locate(1,0);
+        display->printf("S_AVER: %.2f",speed.average);
+        display->locate(0,0);
+        display->printf("ODOM: %d",(int) info.odometer);
+     
+        //UNLOCK data
+        carstateXS.unlock();
+        //UNLOCK Speed
+        speedXS.unlock();
+        
+        Thread::wait((int)delay);
+        
+        
+        }
 }
\ No newline at end of file