Diff: assignment3tasks.cpp

Revision:

6:abbd51d9b045

Parent:

5:f5dda79b93cb

Child:

7:87f7ba90fdce

diff -r f5dda79b93cb -r abbd51d9b045 assignment3tasks.cpp
--- a/assignment3tasks.cpp	Tue Mar 26 15:20:57 2019 +0000
+++ b/assignment3tasks.cpp	Tue Mar 26 16:20:28 2019 +0000
@@ -47,21 +47,42 @@
 
 
 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();  
@@ -75,20 +96,44 @@
     else{
         ngeneind = 0;
         }
+        
+    Thread::wait( (int) delay);
+    }             
 }
 
 void task4average()
 {
-    //lock
+    float delay = 1000 / TASKFREQ4;    
+    while(true){
+    speedXS.lock();//lock
     
-    for(int i = 0; i < SAMPLESIZE ; i++){
+    for(int i = 0; i < SAMPLESIZE ; i++)
         //speed.raw = (speed.accelvalue - speed.brakevalue)*MAXSPEED;
         speed.average += speed.array[i];
-        speed.average = (speed.average / SAMPLESIZE);
-        
-        
+        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;
     
-    //unlock 
+    Thread::wait((int)delay);
+        }
 }
\ No newline at end of file