Diff: include/my_structures.h

Revision:

0:8940db3353d7

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/include/my_structures.h	Wed Mar 28 18:51:55 2018 +0000
@@ -0,0 +1,185 @@
+#pragma once
+
+/*******************************************************************************
+ *                       CUSTOM PARAMETERS DECLARATION
+ ******************************************************************************/
+#ifndef     CONSTANTS_OF_CAR
+#define     MAX_SPEED                  230 // km/h
+
+#define     SIZE_SPEED_VECTOR           10
+#define     SIZE_AVG_SPEED               3
+
+#define     ON                          1
+#define     OFF                         0
+
+#endif  /*! CONSTANTS_OF_CAR */
+
+
+/*******************************************************************************
+ *                           STRUCTURES DECLARATION
+ ******************************************************************************/
+#ifndef __MY__STRUCTURES_H__
+#define __MY__STRUCTURES_H__
+
+#include <vector>
+#include "mbed.h"
+#include "rtos.h"
+#include "MCP23017.h"
+#include "WattBob_TextLCD.h"
+
+
+/** This structure is used to store the RAW engine values
+ *  
+ *  @param: engineState         [bool] 
+ *          State on the engine, on or off
+ *  @param: acceleratorValue    [float]
+ *          Last value got by TASK 1. From 0 to 1, % of acceleration
+ *  @param: brakeValue          [float]
+ *          Last value got by TASK 1. From 0 to 1, % of brake
+ */
+struct engineRAWValues{
+    bool    engineState;
+    float   acceleratorValue;
+    float   brakeValue;
+};
+
+/** This structure is used to store the speed and travelled distance of the car
+ *  
+ *  @param: *p_speedVector         [std::vector<float>] 
+ *          Vector used to store the last speed values computed by the simulator
+ *          Speed is in m/s.
+ *  @param: sizeOfAvg              [int]
+ *          Size of the averaging filter used to compute the displayed speed
+ *          value. The average is computed by taking the last sizeOfAvg values
+ *          of the vector p_speedVector.
+ *  @param: averageSpeed           [float]
+ *          Last value computed by task 3. In m/s
+ *  @param: distance               [float]
+ *          Distance travelled by the car, in m.
+ */
+struct carStatistics{
+    // Speed Vector
+    std::vector<float> *p_speedVector;
+    int                 sizeOfAvg;
+    float               averageSpeed;
+    // Distance
+    float               distance;
+};
+
+/** This structure is used by the MAIL Queue object to store information to be
+ *  sent to the computer.
+ *
+ *  @param: avgSpeed        [float]
+ *          Last value of average speed computed
+ *  @param: accelerator     [float]
+ *          Last RAW value of accelerator. From 0 to 1.
+ *  @param: brake           [float]
+ *          Last RAW value of brake. From 0 to 1.
+ */
+struct mailStruct{
+    float avgSpeed;
+    float accelerator;
+    float brake;
+};
+
+
+/** This structure is the main structure used by the program in order not to
+ *  use global variables. It is given as argument to every function used
+ *  in the different RTOSTimer.
+ *
+ *  @param: System Inputs           [AnalogIn/DigitalIn]
+ *          Set of system inputs used by the system for the assignment.
+ *  @param: System Outpus           [AnalogOut/DigitalOut]
+ *          Set of system outputs used by the system for the assignment.
+ * 
+ *  @param: Structures              [engineRAWValues/carStatistics]
+ *          Two smaller structures used to organized values used by the
+ *          different tasks of the assigment.
+ * 
+ *  @param: *p_mailQueue
+ *          Mail Queue object, from "rtos.h". It uses a mailStruct structure
+ *          to store information.
+ *  @param: nbElementInQueue        [int]
+ *          Number of element in the queue. Necessary in order to dump the mail
+ *          by another task and because there is no method to get the number
+ *          of element stored in the mail queue.
+ *
+ *  @param: Mutex                   [Mutex]
+ *          Set of three mutex to protect the access of the engineRAWValues
+ *          and carStatistics structures, as well as the mail queue object.
+ *
+ *  @param: *p_PC                   [Serial]
+ *          Serial connection to the PC
+ *
+ *  @param: Screen Variables        [MCP23017/WattBob_TextLCD]
+ *          Used to access the screen of the MBED shield.
+ */
+struct carStructure{
+    //  System Inputs 
+    AnalogIn            *p_accelerator;
+    AnalogIn            *p_brake;
+    DigitalIn           *p_engineSwitch;
+    DigitalIn           *p_sideLightSwitch;
+    DigitalIn           *p_leftSwitch;
+    DigitalIn           *p_rightSwitch;
+    
+    //  System Outputs
+    DigitalOut          *p_sideLightIndicator;
+    PwmOut              *p_leftLight;
+    PwmOut              *p_rightLight;
+    DigitalOut          *p_engineLight;
+    DigitalOut          *p_overspeedLight;
+    DigitalOut          *p_brakeLight;
+    
+    // RAW Values Structure;
+    engineRAWValues     *p_rawValues;
+    
+    // Car Statistics
+    carStatistics       *p_carStats;
+    
+    // Mail Structure
+    Mail<mailStruct,100> *p_mailQueue;
+    int                 nbElementInQueue;
+    
+    // Mutex
+    Mutex               *p_rawMutex;
+    Mutex               *p_statMutex;
+    Mutex               *p_mailMutex;
+    
+    // PC Serial Connection
+    Serial              *p_PC;
+    
+    // Screen variables
+    MCP23017            *p_par_port;
+    WattBob_TextLCD     *p_lcd;
+};
+
+/** Initialize a 'engineRAWValues' structure to zero.
+ * 
+ *  @param: &structVal [engineRAWValues]
+ *          Reference to a structure to set all of its values to 0.
+ */
+void initRAWValuesStruct(engineRAWValues &structVal);
+
+
+/** Initialize a 'carStatistics' structure to zero and add the given pointer
+ *  to a vector to it
+ *
+ *  @param: &structStat [carStatistics]
+ *          Reference to a structure whose values are set to 0
+ *  @param: *speedVec   [std::vector]
+ *          Pointer to a vector which is linked to the structure.
+ *          Vector used to store the different speed value
+ */
+void initCarStatisticsStruct(carStatistics &structStat,
+                             std::vector<float> *speedVec
+                            );
+
+/** Initialize a 'mailStruct' structure to zero.
+ * 
+ *  @param: &structMail [mailStruct]
+ *          Reference to a structure to set all of its values to 0.
+ */
+void initMailStructure(mailStruct &structMail);
+
+#endif /*! __MY__STRUCTURES_H__ */