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Copy_Assignment3
Dependencies: mbed MCP23017 WattBob_TextLCD mbed-rtos
main.cpp@1:d980a57e422a, 2018-03-28 (annotated)
- Committer:
- aoc2
- Date:
- Wed Mar 28 18:53:05 2018 +0000
- Revision:
- 1:d980a57e422a
- Parent:
- 0:8940db3353d7
Publish
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
aoc2 | 0:8940db3353d7 | 1 | /******************************************************************************* |
aoc2 | 0:8940db3353d7 | 2 | |
aoc2 | 0:8940db3353d7 | 3 | filename :: main.cpp |
aoc2 | 0:8940db3353d7 | 4 | ====================== |
aoc2 | 0:8940db3353d7 | 5 | |
aoc2 | 0:8940db3353d7 | 6 | Description |
aoc2 | 0:8940db3353d7 | 7 | Assignment 3 of the B31DG Embedded Software Course. |
aoc2 | 0:8940db3353d7 | 8 | It consists in writing a simple microcontroller based on the MBED RTOS |
aoc2 | 0:8940db3353d7 | 9 | library for the LPC1768 board. The repetitive tasks have been implemented |
aoc2 | 0:8940db3353d7 | 10 | by using RTOS Timers, 4 to be specific. One for the car simulator, one |
aoc2 | 0:8940db3353d7 | 11 | launching tasks whose frequency is either 5 Hz or 10 Hz, one launching |
aoc2 | 0:8940db3353d7 | 12 | tasks whose frequency is either 2 Hz, 1 Hz or 0.5 Hz and the last one |
aoc2 | 0:8940db3353d7 | 13 | is launching tasks running at a frequency of 0.2 Hz and 0.5Hz. |
aoc2 | 0:8940db3353d7 | 14 | |
aoc2 | 0:8940db3353d7 | 15 | Version |
aoc2 | 0:8940db3353d7 | 16 | Antoine V1.3 February 2018 |
aoc2 | 0:8940db3353d7 | 17 | |
aoc2 | 0:8940db3353d7 | 18 | History |
aoc2 | 0:8940db3353d7 | 19 | v1.2 Wrote documentation |
aoc2 | 0:8940db3353d7 | 20 | v1.1 Added timers calling tasks multiple of their execution frequency |
aoc2 | 0:8940db3353d7 | 21 | v1.0 First Complete Version (all tasks done and 11 Timers) |
aoc2 | 0:8940db3353d7 | 22 | ... |
aoc2 | 0:8940db3353d7 | 23 | v0.2 Build main structure of program |
aoc2 | 0:8940db3353d7 | 24 | v0.1 Initial Version |
aoc2 | 0:8940db3353d7 | 25 | ........................................................................ |
aoc2 | 0:8940db3353d7 | 26 | |
aoc2 | 0:8940db3353d7 | 27 | Detailed Description |
aoc2 | 0:8940db3353d7 | 28 | 11 tasks were to be performed: |
aoc2 | 0:8940db3353d7 | 29 | - SIMULATOR - 20 Hz |
aoc2 | 0:8940db3353d7 | 30 | Write a simple car simulator which will compute the car speed based |
aoc2 | 0:8940db3353d7 | 31 | on the values of the accelerator (%), the brake (%) and the state |
aoc2 | 0:8940db3353d7 | 32 | of the engine. |
aoc2 | 0:8940db3353d7 | 33 | - TASK 1 - 10 Hz |
aoc2 | 0:8940db3353d7 | 34 | Read the value of 2 analog inputs which correspond to the values of |
aoc2 | 0:8940db3353d7 | 35 | acceleration and brake. |
aoc2 | 0:8940db3353d7 | 36 | - TASK 2 - 2 Hz |
aoc2 | 0:8940db3353d7 | 37 | Read a digital input switch corresponding to the state of the engine |
aoc2 | 0:8940db3353d7 | 38 | - TASK 3 - 5 Hz |
aoc2 | 0:8940db3353d7 | 39 | Filter the speed with an averaging filter. |
aoc2 | 0:8940db3353d7 | 40 | - TASK 4 - 2 Hz |
aoc2 | 0:8940db3353d7 | 41 | Show the use of a brake with a digital output |
aoc2 | 0:8940db3353d7 | 42 | - TASK 5 - 1 Hz |
aoc2 | 0:8940db3353d7 | 43 | Monitor the speed, and if it goes above a given threshold, switch on |
aoc2 | 0:8940db3353d7 | 44 | a digital output |
aoc2 | 0:8940db3353d7 | 45 | - TASK 6 - 2 Hz |
aoc2 | 0:8940db3353d7 | 46 | Display on the screen travelled distance & the last average speed |
aoc2 | 0:8940db3353d7 | 47 | - TASK 7 - 0.2 Hz |
aoc2 | 0:8940db3353d7 | 48 | Send into a MAIL queue object the values of speed, accelerometer and |
aoc2 | 0:8940db3353d7 | 49 | brake. The queue has a size of 100. |
aoc2 | 0:8940db3353d7 | 50 | - TASK 8 - 0.05 Hz |
aoc2 | 0:8940db3353d7 | 51 | Dump the the content of the queue into the serial port. |
aoc2 | 0:8940db3353d7 | 52 | - TASK 9 - 1 Hz |
aoc2 | 0:8940db3353d7 | 53 | Read a digital switch and set a digital output based on its state |
aoc2 | 0:8940db3353d7 | 54 | - TASK 10 - 0.5 Hz |
aoc2 | 0:8940db3353d7 | 55 | Read two switches and set two LEDs according to their state. They |
aoc2 | 0:8940db3353d7 | 56 | blink at 1 Hz if only one of the switch is on, at 2 Hz is they |
aoc2 | 0:8940db3353d7 | 57 | are both on. |
aoc2 | 0:8940db3353d7 | 58 | |
aoc2 | 0:8940db3353d7 | 59 | ......................................................................... |
aoc2 | 0:8940db3353d7 | 60 | |
aoc2 | 0:8940db3353d7 | 61 | Personnal Values None |
aoc2 | 0:8940db3353d7 | 62 | .............................. |
aoc2 | 0:8940db3353d7 | 63 | |
aoc2 | 0:8940db3353d7 | 64 | Method |
aoc2 | 0:8940db3353d7 | 65 | I decided not to use global variables between the different functions called |
aoc2 | 0:8940db3353d7 | 66 | by the RTOS timer as a challenge and because it is not safe to use global |
aoc2 | 0:8940db3353d7 | 67 | variables in most of the case because you lose control on the origin of |
aoc2 | 0:8940db3353d7 | 68 | a modification on them. |
aoc2 | 0:8940db3353d7 | 69 | Hence, I declared a structure which is used by the different tasks and |
aoc2 | 0:8940db3353d7 | 70 | contains pointers to every variables, structures or object needed. |
aoc2 | 0:8940db3353d7 | 71 | To make it work, I had to slightly modify the RTOSTimer library and remove |
aoc2 | 0:8940db3353d7 | 72 | the 'const' keyword protecting the given pointer to function calls. |
aoc2 | 0:8940db3353d7 | 73 | |
aoc2 | 0:8940db3353d7 | 74 | The functions used by for the different task execution are located in the |
aoc2 | 0:8940db3353d7 | 75 | included files "my_tasks" while "my_tools" contains functions called by the |
aoc2 | 0:8940db3353d7 | 76 | tasks in order to simplify their code. |
aoc2 | 0:8940db3353d7 | 77 | |
aoc2 | 0:8940db3353d7 | 78 | The header "my_stucture" contains 3 small structures: |
aoc2 | 0:8940db3353d7 | 79 | - engineRAWValues which stores the RAW values of the car |
aoc2 | 0:8940db3353d7 | 80 | - carStatistics which stores values about speed and distance |
aoc2 | 0:8940db3353d7 | 81 | - mailStruct which is the structure required by the mail Queue object |
aoc2 | 0:8940db3353d7 | 82 | |
aoc2 | 0:8940db3353d7 | 83 | .......................................................................... |
aoc2 | 0:8940db3353d7 | 84 | |
aoc2 | 0:8940db3353d7 | 85 | |
aoc2 | 0:8940db3353d7 | 86 | |
aoc2 | 0:8940db3353d7 | 87 | *******************************************************************************/ |
aoc2 | 0:8940db3353d7 | 88 | |
aoc2 | 0:8940db3353d7 | 89 | |
aoc2 | 0:8940db3353d7 | 90 | #include "mbed.h" |
aoc2 | 0:8940db3353d7 | 91 | #include "rtos.h" |
aoc2 | 0:8940db3353d7 | 92 | #include "my_tools.h" |
aoc2 | 0:8940db3353d7 | 93 | #include "my_structures.h" |
aoc2 | 0:8940db3353d7 | 94 | #include "my_tasks.h" |
aoc2 | 0:8940db3353d7 | 95 | |
aoc2 | 0:8940db3353d7 | 96 | #define BACK_LIGHT_ON(INTERFACE) INTERFACE->write_bit(ON,BL_BIT) |
aoc2 | 0:8940db3353d7 | 97 | #define BACK_LIGHT_OFF(INTERFACE) INTERFACE->write_bit(OFF,BL_BIT) |
aoc2 | 0:8940db3353d7 | 98 | |
aoc2 | 0:8940db3353d7 | 99 | /******************************************************************************* |
aoc2 | 0:8940db3353d7 | 100 | * PIN DECLARATION |
aoc2 | 0:8940db3353d7 | 101 | ******************************************************************************/ |
aoc2 | 0:8940db3353d7 | 102 | #define ANALOG_INPUT_1 p20 |
aoc2 | 0:8940db3353d7 | 103 | #define ANALOG_INPUT_2 p18 |
aoc2 | 0:8940db3353d7 | 104 | |
aoc2 | 0:8940db3353d7 | 105 | #define DIGITAL_IN_ENGINE p15 |
aoc2 | 0:8940db3353d7 | 106 | #define DIGITAL_IN_SIDE p16 |
aoc2 | 0:8940db3353d7 | 107 | #define DIGITAL_IN_LEFT p11 |
aoc2 | 0:8940db3353d7 | 108 | #define DIGITAL_IN_RIGHT p14 |
aoc2 | 0:8940db3353d7 | 109 | |
aoc2 | 0:8940db3353d7 | 110 | #define DIGITAL_OUT_OVERSPEED p26 |
aoc2 | 0:8940db3353d7 | 111 | #define DIGITAL_OUT_BRAKE p25 |
aoc2 | 0:8940db3353d7 | 112 | |
aoc2 | 0:8940db3353d7 | 113 | using namespace std; |
aoc2 | 0:8940db3353d7 | 114 | |
aoc2 | 0:8940db3353d7 | 115 | // =============== |
aoc2 | 0:8940db3353d7 | 116 | // System Inputs |
aoc2 | 0:8940db3353d7 | 117 | // =============== |
aoc2 | 0:8940db3353d7 | 118 | AnalogIn ACCELERATOR(ANALOG_INPUT_1); |
aoc2 | 0:8940db3353d7 | 119 | AnalogIn BRAKE(ANALOG_INPUT_2); |
aoc2 | 0:8940db3353d7 | 120 | DigitalIn ENGINE_SWITCH(DIGITAL_IN_ENGINE); |
aoc2 | 0:8940db3353d7 | 121 | DigitalIn SIDE_LIGHT_SWITCH(DIGITAL_IN_SIDE); |
aoc2 | 0:8940db3353d7 | 122 | DigitalIn LEFT_SWITCH(DIGITAL_IN_LEFT); |
aoc2 | 0:8940db3353d7 | 123 | DigitalIn RIGHT_SWITCH(DIGITAL_IN_RIGHT); |
aoc2 | 0:8940db3353d7 | 124 | |
aoc2 | 0:8940db3353d7 | 125 | // ================ |
aoc2 | 0:8940db3353d7 | 126 | // System Outputs |
aoc2 | 0:8940db3353d7 | 127 | // ================ |
aoc2 | 0:8940db3353d7 | 128 | DigitalOut SIDE_LIGHT_INDICATOR(LED1); |
aoc2 | 0:8940db3353d7 | 129 | PwmOut LEFT_LIGHT(LED2); |
aoc2 | 0:8940db3353d7 | 130 | PwmOut RIGHT_LIGHT(LED3); |
aoc2 | 0:8940db3353d7 | 131 | DigitalOut ENGINE_LIGHT(LED4); |
aoc2 | 0:8940db3353d7 | 132 | DigitalOut OVERSPEED_LIGHT(DIGITAL_OUT_OVERSPEED); |
aoc2 | 0:8940db3353d7 | 133 | DigitalOut BRAKE_LIGHT(DIGITAL_OUT_BRAKE); |
aoc2 | 0:8940db3353d7 | 134 | |
aoc2 | 0:8940db3353d7 | 135 | /******************************************************************************* |
aoc2 | 0:8940db3353d7 | 136 | * FUNCTION PROTOTYPES |
aoc2 | 0:8940db3353d7 | 137 | ******************************************************************************/ |
aoc2 | 0:8940db3353d7 | 138 | |
aoc2 | 0:8940db3353d7 | 139 | /** Initialize the main structure used in the program |
aoc2 | 0:8940db3353d7 | 140 | * |
aoc2 | 0:8940db3353d7 | 141 | * @param: Set a arguments used to initalize the structure, all pointers |
aoc2 | 0:8940db3353d7 | 142 | */ |
aoc2 | 0:8940db3353d7 | 143 | void initializeStructure(carStructure &car, |
aoc2 | 0:8940db3353d7 | 144 | engineRAWValues *rawValues, |
aoc2 | 0:8940db3353d7 | 145 | carStatistics *carStat, |
aoc2 | 0:8940db3353d7 | 146 | Mail<mailStruct,100> *mailQueue, |
aoc2 | 0:8940db3353d7 | 147 | Mutex *rawMutex, |
aoc2 | 0:8940db3353d7 | 148 | Mutex *speedMutex, |
aoc2 | 0:8940db3353d7 | 149 | Mutex *mailMutex, |
aoc2 | 0:8940db3353d7 | 150 | MCP23017 *par_port, |
aoc2 | 0:8940db3353d7 | 151 | WattBob_TextLCD *lcd, |
aoc2 | 0:8940db3353d7 | 152 | Serial *pcSerial |
aoc2 | 0:8940db3353d7 | 153 | ); |
aoc2 | 0:8940db3353d7 | 154 | |
aoc2 | 0:8940db3353d7 | 155 | /******************************************************************************* |
aoc2 | 0:8940db3353d7 | 156 | * MAIN FUNCTION |
aoc2 | 0:8940db3353d7 | 157 | ******************************************************************************/ |
aoc2 | 0:8940db3353d7 | 158 | int main() |
aoc2 | 0:8940db3353d7 | 159 | { |
aoc2 | 0:8940db3353d7 | 160 | /**************************** |
aoc2 | 0:8940db3353d7 | 161 | * MAIN SETUP |
aoc2 | 0:8940db3353d7 | 162 | ****************************/ |
aoc2 | 0:8940db3353d7 | 163 | // ---------------------------------------------------------------------- // |
aoc2 | 0:8940db3353d7 | 164 | // Screen Variables |
aoc2 | 0:8940db3353d7 | 165 | MCP23017 *par_port; |
aoc2 | 0:8940db3353d7 | 166 | WattBob_TextLCD *lcd; |
aoc2 | 0:8940db3353d7 | 167 | par_port = new MCP23017(p9, p10, 0x40); // initialise 16-bit I/O chip |
aoc2 | 0:8940db3353d7 | 168 | lcd = new WattBob_TextLCD(par_port); // initialise 2*26 char display |
aoc2 | 0:8940db3353d7 | 169 | |
aoc2 | 0:8940db3353d7 | 170 | // Turn LCD backlight ON |
aoc2 | 0:8940db3353d7 | 171 | par_port->write_bit(ON,BL_BIT); |
aoc2 | 0:8940db3353d7 | 172 | |
aoc2 | 0:8940db3353d7 | 173 | // Init Message on Screen |
aoc2 | 0:8940db3353d7 | 174 | lcd->cls(); |
aoc2 | 0:8940db3353d7 | 175 | lcd->locate(0,0); |
aoc2 | 0:8940db3353d7 | 176 | lcd->printf("Init..."); |
aoc2 | 0:8940db3353d7 | 177 | wait(0.5); |
aoc2 | 0:8940db3353d7 | 178 | |
aoc2 | 0:8940db3353d7 | 179 | |
aoc2 | 0:8940db3353d7 | 180 | // ---------------------------------------------------------------------- // |
aoc2 | 0:8940db3353d7 | 181 | // USB Connection to PC |
aoc2 | 0:8940db3353d7 | 182 | Serial PCSerial(USBTX,USBRX); |
aoc2 | 0:8940db3353d7 | 183 | // Increase Baud Rate of Serial Connection |
aoc2 | 0:8940db3353d7 | 184 | PCSerial.baud(115200); |
aoc2 | 0:8940db3353d7 | 185 | |
aoc2 | 0:8940db3353d7 | 186 | /**************************** |
aoc2 | 0:8940db3353d7 | 187 | * DECLARE STRUCTURES |
aoc2 | 0:8940db3353d7 | 188 | ****************************/ |
aoc2 | 0:8940db3353d7 | 189 | // ---------------------------------------------------------------------- // |
aoc2 | 0:8940db3353d7 | 190 | // ENGINE RAW VALUES |
aoc2 | 0:8940db3353d7 | 191 | Mutex rawMutex; |
aoc2 | 0:8940db3353d7 | 192 | engineRAWValues rawValues; |
aoc2 | 0:8940db3353d7 | 193 | initRAWValuesStruct(rawValues); |
aoc2 | 0:8940db3353d7 | 194 | // ---------------------------------------------------------------------- // |
aoc2 | 0:8940db3353d7 | 195 | // CAR STATISTICS VALUES |
aoc2 | 0:8940db3353d7 | 196 | vector<float> speedVec(SIZE_SPEED_VECTOR); |
aoc2 | 0:8940db3353d7 | 197 | Mutex speedMutex; |
aoc2 | 0:8940db3353d7 | 198 | carStatistics carStats; |
aoc2 | 0:8940db3353d7 | 199 | initCarStatisticsStruct(carStats, &speedVec); |
aoc2 | 0:8940db3353d7 | 200 | |
aoc2 | 0:8940db3353d7 | 201 | // ---------------------------------------------------------------------- // |
aoc2 | 0:8940db3353d7 | 202 | // MAIL QUEUE STRUCTURE |
aoc2 | 0:8940db3353d7 | 203 | Mail<mailStruct,100> mailQueue; |
aoc2 | 0:8940db3353d7 | 204 | Mutex mailMutex; |
aoc2 | 0:8940db3353d7 | 205 | |
aoc2 | 0:8940db3353d7 | 206 | // ---------------------------------------------------------------------- // |
aoc2 | 0:8940db3353d7 | 207 | // Declare structure to be used by the different task functions |
aoc2 | 0:8940db3353d7 | 208 | carStructure myCar; |
aoc2 | 0:8940db3353d7 | 209 | initializeStructure(myCar, |
aoc2 | 0:8940db3353d7 | 210 | &rawValues, &carStats, |
aoc2 | 0:8940db3353d7 | 211 | &mailQueue, |
aoc2 | 0:8940db3353d7 | 212 | &rawMutex, &speedMutex, &mailMutex, |
aoc2 | 0:8940db3353d7 | 213 | par_port, lcd, |
aoc2 | 0:8940db3353d7 | 214 | &PCSerial |
aoc2 | 0:8940db3353d7 | 215 | ); |
aoc2 | 0:8940db3353d7 | 216 | |
aoc2 | 0:8940db3353d7 | 217 | // ---------------------------------------------------------------------- // |
aoc2 | 0:8940db3353d7 | 218 | // ---------------------------------------------------------------------- // |
aoc2 | 0:8940db3353d7 | 219 | /**************************** |
aoc2 | 0:8940db3353d7 | 220 | * DECLARE RTOS TIMER |
aoc2 | 0:8940db3353d7 | 221 | ****************************/ |
aoc2 | 0:8940db3353d7 | 222 | RtosTimer carSimulator(task0_carSim, osTimerPeriodic, (void *) &myCar); |
aoc2 | 0:8940db3353d7 | 223 | RtosTimer timer_1(timer1, osTimerPeriodic, (void *) &myCar); |
aoc2 | 0:8940db3353d7 | 224 | RtosTimer timer_2(timer2, osTimerPeriodic, (void *) &myCar); |
aoc2 | 0:8940db3353d7 | 225 | RtosTimer timer_3(timer3, osTimerPeriodic, (void *) &myCar); |
aoc2 | 0:8940db3353d7 | 226 | |
aoc2 | 0:8940db3353d7 | 227 | |
aoc2 | 0:8940db3353d7 | 228 | /**************************** |
aoc2 | 0:8940db3353d7 | 229 | * START RTOS TIMER |
aoc2 | 0:8940db3353d7 | 230 | ****************************/ |
aoc2 | 0:8940db3353d7 | 231 | carSimulator.start(50); // 20Hz |
aoc2 | 0:8940db3353d7 | 232 | timer_1.start(100); // 10 Hz |
aoc2 | 0:8940db3353d7 | 233 | timer_2.start(500); // 2 Hz |
aoc2 | 0:8940db3353d7 | 234 | timer_3.start(5000); // 0.2 Hz |
aoc2 | 0:8940db3353d7 | 235 | |
aoc2 | 0:8940db3353d7 | 236 | // RtosTimer will run forever |
aoc2 | 0:8940db3353d7 | 237 | Thread::wait(osWaitForever); |
aoc2 | 0:8940db3353d7 | 238 | |
aoc2 | 0:8940db3353d7 | 239 | return 0; |
aoc2 | 0:8940db3353d7 | 240 | } |
aoc2 | 0:8940db3353d7 | 241 | |
aoc2 | 0:8940db3353d7 | 242 | |
aoc2 | 0:8940db3353d7 | 243 | void initializeStructure(carStructure &car, |
aoc2 | 0:8940db3353d7 | 244 | engineRAWValues *rawValues, |
aoc2 | 0:8940db3353d7 | 245 | carStatistics *carStat, |
aoc2 | 0:8940db3353d7 | 246 | Mail<mailStruct,100> *mailQueue, |
aoc2 | 0:8940db3353d7 | 247 | Mutex *rawMutex, |
aoc2 | 0:8940db3353d7 | 248 | Mutex *speedMutex, |
aoc2 | 0:8940db3353d7 | 249 | Mutex *mailMutex, |
aoc2 | 0:8940db3353d7 | 250 | MCP23017 *par_port, |
aoc2 | 0:8940db3353d7 | 251 | WattBob_TextLCD *lcd, |
aoc2 | 0:8940db3353d7 | 252 | Serial *pcSerial |
aoc2 | 0:8940db3353d7 | 253 | ) |
aoc2 | 0:8940db3353d7 | 254 | { |
aoc2 | 0:8940db3353d7 | 255 | // System Inputs |
aoc2 | 0:8940db3353d7 | 256 | car.p_accelerator = &ACCELERATOR ; |
aoc2 | 0:8940db3353d7 | 257 | car.p_brake = &BRAKE ; |
aoc2 | 0:8940db3353d7 | 258 | car.p_engineSwitch = &ENGINE_SWITCH ; |
aoc2 | 0:8940db3353d7 | 259 | car.p_sideLightSwitch = &SIDE_LIGHT_SWITCH ; |
aoc2 | 0:8940db3353d7 | 260 | car.p_leftSwitch = &LEFT_SWITCH ; |
aoc2 | 0:8940db3353d7 | 261 | car.p_rightSwitch = &RIGHT_SWITCH ; |
aoc2 | 0:8940db3353d7 | 262 | |
aoc2 | 0:8940db3353d7 | 263 | // System Outputs |
aoc2 | 0:8940db3353d7 | 264 | car.p_sideLightIndicator = &SIDE_LIGHT_INDICATOR ; |
aoc2 | 0:8940db3353d7 | 265 | car.p_leftLight = &LEFT_LIGHT ; |
aoc2 | 0:8940db3353d7 | 266 | car.p_rightLight = &RIGHT_LIGHT ; |
aoc2 | 0:8940db3353d7 | 267 | car.p_engineLight = &ENGINE_LIGHT ; |
aoc2 | 0:8940db3353d7 | 268 | car.p_overspeedLight = &OVERSPEED_LIGHT ; |
aoc2 | 0:8940db3353d7 | 269 | car.p_brakeLight = &BRAKE_LIGHT ; |
aoc2 | 0:8940db3353d7 | 270 | |
aoc2 | 0:8940db3353d7 | 271 | // Values Structure; |
aoc2 | 0:8940db3353d7 | 272 | car.p_rawValues = rawValues; |
aoc2 | 0:8940db3353d7 | 273 | car.p_carStats = carStat; |
aoc2 | 0:8940db3353d7 | 274 | car.p_mailQueue = mailQueue; |
aoc2 | 0:8940db3353d7 | 275 | car.nbElementInQueue = 0; |
aoc2 | 0:8940db3353d7 | 276 | |
aoc2 | 0:8940db3353d7 | 277 | // Mutex |
aoc2 | 0:8940db3353d7 | 278 | car.p_rawMutex = rawMutex; |
aoc2 | 0:8940db3353d7 | 279 | car.p_statMutex = speedMutex; |
aoc2 | 0:8940db3353d7 | 280 | car.p_mailMutex = mailMutex; |
aoc2 | 0:8940db3353d7 | 281 | |
aoc2 | 0:8940db3353d7 | 282 | // Serial Connection |
aoc2 | 0:8940db3353d7 | 283 | car.p_PC = pcSerial; |
aoc2 | 0:8940db3353d7 | 284 | |
aoc2 | 0:8940db3353d7 | 285 | // Screen variables |
aoc2 | 0:8940db3353d7 | 286 | car.p_par_port = par_port; |
aoc2 | 0:8940db3353d7 | 287 | car.p_lcd = lcd; |
aoc2 | 0:8940db3353d7 | 288 | } |