Antoine C / Mbed 2 deprecated Copy_Assignment3

Copy_Assignment3

Dependencies:   mbed MCP23017 WattBob_TextLCD mbed-rtos

source/my_tasks.cpp@0:8940db3353d7, 2018-03-28 (annotated)

Committer:
aoc2
Date:
Wed Mar 28 18:51:55 2018 +0000
Revision:
0:8940db3353d7
Copy of Assig 3

Who changed what in which revision?

UserRevisionLine numberNew contents of line
aoc2 0:8940db3353d7 1 #include "my_tasks.h"
aoc2 0:8940db3353d7 2 #include "my_structures.h"
aoc2 0:8940db3353d7 3 #include "my_tools.h"
aoc2 0:8940db3353d7 4
aoc2 0:8940db3353d7 5 #ifndef __CAR_STATS__
aoc2 0:8940db3353d7 6 #define __CAT_STATS__
aoc2 0:8940db3353d7 7
aoc2 0:8940db3353d7 8 #define AIR_DENSITY 1.225 // kg/m3
aoc2 0:8940db3353d7 9
aoc2 0:8940db3353d7 10 // TESLA MODEL X
aoc2 0:8940db3353d7 11 #define DRAG_COEF 0.24
aoc2 0:8940db3353d7 12 #define REF_AREA 0.62 // m²
aoc2 0:8940db3353d7 13
aoc2 0:8940db3353d7 14 #endif
aoc2 0:8940db3353d7 15
aoc2 0:8940db3353d7 16 using namespace std;
aoc2 0:8940db3353d7 17
aoc2 0:8940db3353d7 18 // TASKS at 10Hz and 5Hz
aoc2 0:8940db3353d7 19 void timer1(void *arg)
aoc2 0:8940db3353d7 20 {
aoc2 0:8940db3353d7 21 static int counterTimer1 = 0;
aoc2 0:8940db3353d7 22
aoc2 0:8940db3353d7 23 counterTimer1++;
aoc2 0:8940db3353d7 24 task1_readAccelBrake(arg);
aoc2 0:8940db3353d7 25
aoc2 0:8940db3353d7 26 if (counterTimer1 % 2 == 0)
aoc2 0:8940db3353d7 27 {
aoc2 0:8940db3353d7 28 task3_filterSpeed(arg);
aoc2 0:8940db3353d7 29 }
aoc2 0:8940db3353d7 30 }
aoc2 0:8940db3353d7 31
aoc2 0:8940db3353d7 32 // TASKS at 2Hz, 1 Hz and 0.5 Hz
aoc2 0:8940db3353d7 33 void timer2(void *arg)
aoc2 0:8940db3353d7 34 {
aoc2 0:8940db3353d7 35 static int counterTimer2 = 0;
aoc2 0:8940db3353d7 36
aoc2 0:8940db3353d7 37 counterTimer2++;
aoc2 0:8940db3353d7 38 task2_readEngineState(arg);
aoc2 0:8940db3353d7 39 task4_showUseOfBrake(arg);
aoc2 0:8940db3353d7 40 task6_writeLCD(arg);
aoc2 0:8940db3353d7 41
aoc2 0:8940db3353d7 42 if (counterTimer2 % 2 == 0)
aoc2 0:8940db3353d7 43 {
aoc2 0:8940db3353d7 44 task5_monitorSpeed(arg);
aoc2 0:8940db3353d7 45 task9_readSideLight(arg);
aoc2 0:8940db3353d7 46 }
aoc2 0:8940db3353d7 47 if (counterTimer2 % 4 == 0)
aoc2 0:8940db3353d7 48 {
aoc2 0:8940db3353d7 49 task10_turnIndic(arg);
aoc2 0:8940db3353d7 50 }
aoc2 0:8940db3353d7 51 }
aoc2 0:8940db3353d7 52
aoc2 0:8940db3353d7 53 // TASKS at 0.2 Hz and 0.05 Hz
aoc2 0:8940db3353d7 54 void timer3(void *arg)
aoc2 0:8940db3353d7 55 {
aoc2 0:8940db3353d7 56 static int counterTimer3 = 0;
aoc2 0:8940db3353d7 57
aoc2 0:8940db3353d7 58 counterTimer3++;
aoc2 0:8940db3353d7 59 task7_sendToMailQueue(arg);
aoc2 0:8940db3353d7 60
aoc2 0:8940db3353d7 61 if (counterTimer3 % 4 == 0)
aoc2 0:8940db3353d7 62 {
aoc2 0:8940db3353d7 63 task8_dumpMailQueue(arg);
aoc2 0:8940db3353d7 64 }
aoc2 0:8940db3353d7 65 }
aoc2 0:8940db3353d7 66
aoc2 0:8940db3353d7 67
aoc2 0:8940db3353d7 68
aoc2 0:8940db3353d7 69
aoc2 0:8940db3353d7 70
aoc2 0:8940db3353d7 71
aoc2 0:8940db3353d7 72
aoc2 0:8940db3353d7 73
aoc2 0:8940db3353d7 74
aoc2 0:8940db3353d7 75 // CAR SIMULATOR
aoc2 0:8940db3353d7 76 void task0_carSim(void *arg)
aoc2 0:8940db3353d7 77 {
aoc2 0:8940db3353d7 78 const float dt = 0.05; // 20Hz
aoc2 0:8940db3353d7 79 carStructure *myCar = (carStructure *) arg;
aoc2 0:8940db3353d7 80
aoc2 0:8940db3353d7 81 // Block access on RAWValues structure
aoc2 0:8940db3353d7 82 myCar->p_rawMutex->lock();
aoc2 0:8940db3353d7 83 engineRAWValues &p_rawValues = *(myCar->p_rawValues);
aoc2 0:8940db3353d7 84
aoc2 0:8940db3353d7 85 // Copy the values
aoc2 0:8940db3353d7 86 int engine = p_rawValues.engineState;
aoc2 0:8940db3353d7 87 float accel = p_rawValues.acceleratorValue;
aoc2 0:8940db3353d7 88 float brake = p_rawValues.brakeValue;
aoc2 0:8940db3353d7 89
aoc2 0:8940db3353d7 90 // Release the mutex once we copied the values
aoc2 0:8940db3353d7 91 myCar->p_rawMutex->unlock();
aoc2 0:8940db3353d7 92
aoc2 0:8940db3353d7 93
aoc2 0:8940db3353d7 94
aoc2 0:8940db3353d7 95 // Add it the vector saving the speed values
aoc2 0:8940db3353d7 96 myCar->p_statMutex->lock();
aoc2 0:8940db3353d7 97 // Get last speed value stored
aoc2 0:8940db3353d7 98 float lastSpeed =(*(myCar->p_carStats->p_speedVector))[SIZE_SPEED_VECTOR-1];
aoc2 0:8940db3353d7 99 myCar->p_statMutex->unlock();
aoc2 0:8940db3353d7 100
aoc2 0:8940db3353d7 101 // ---------------------------------------------------------------------- //
aoc2 0:8940db3353d7 102 // Acceleration Force
aoc2 0:8940db3353d7 103 float accelForce = MAX_SPEED * (accel - brake) * engine;
aoc2 0:8940db3353d7 104
aoc2 0:8940db3353d7 105 // ---------------------------------------------------------------------- //
aoc2 0:8940db3353d7 106 /*
aoc2 0:8940db3353d7 107 * DRAG FORCE -> F = 0.5 C ρ A V²
aoc2 0:8940db3353d7 108 *
aoc2 0:8940db3353d7 109 * A = Reference area, m2.
aoc2 0:8940db3353d7 110 * C = Drag coefficient, unitless.
aoc2 0:8940db3353d7 111 * F = Drag force, N.
aoc2 0:8940db3353d7 112 * V = Velocity, m/s.
aoc2 0:8940db3353d7 113 * ρ = Density of fluid (liquid or gas), kg/m3.
aoc2 0:8940db3353d7 114 */
aoc2 0:8940db3353d7 115 float dragForce = 0.5*DRAG_COEF
aoc2 0:8940db3353d7 116 *lastSpeed*lastSpeed
aoc2 0:8940db3353d7 117 *REF_AREA
aoc2 0:8940db3353d7 118 *AIR_DENSITY;
aoc2 0:8940db3353d7 119 if (lastSpeed == 0) dragForce = 0;
aoc2 0:8940db3353d7 120
aoc2 0:8940db3353d7 121 // ---------------------------------------------------------------------- //
aoc2 0:8940db3353d7 122 // Compute speed of car on Euler Scheme
aoc2 0:8940db3353d7 123 float newSpeed = lastSpeed*0.98
aoc2 0:8940db3353d7 124 + dt*(accelForce - dragForce);
aoc2 0:8940db3353d7 125 if (newSpeed < 0) newSpeed = 0;
aoc2 0:8940db3353d7 126
aoc2 0:8940db3353d7 127 // ---------------------------------------------------------------------- //
aoc2 0:8940db3353d7 128 // Lock Mutex
aoc2 0:8940db3353d7 129 myCar->p_statMutex->lock();
aoc2 0:8940db3353d7 130 // Delete first element of vector
aoc2 0:8940db3353d7 131 deleteFirstValueVec(*(myCar->p_carStats->p_speedVector));
aoc2 0:8940db3353d7 132 // Add new speed value
aoc2 0:8940db3353d7 133 myCar->p_carStats->p_speedVector->push_back(newSpeed); // m/s
aoc2 0:8940db3353d7 134
aoc2 0:8940db3353d7 135 // ---------------------------------------------------------------------- //
aoc2 0:8940db3353d7 136 // Euler Scheme for traveled distance
aoc2 0:8940db3353d7 137 float distance = myCar->p_carStats->distance + dt*newSpeed; //m
aoc2 0:8940db3353d7 138 myCar->p_carStats->distance = distance;
aoc2 0:8940db3353d7 139 // Unlock Mutex
aoc2 0:8940db3353d7 140 myCar->p_statMutex->unlock();
aoc2 0:8940db3353d7 141
aoc2 0:8940db3353d7 142 // ---------------------------------------------------------------------- //
aoc2 0:8940db3353d7 143 myCar->p_PC->printf("Accel: %.2f | Brake: %.2f\r\n", accel, brake);
aoc2 0:8940db3353d7 144 myCar->p_PC->printf("New Speed: %.1f km/h\r\n", newSpeed*3.6);
aoc2 0:8940db3353d7 145 myCar->p_PC->printf("Traveled Distance: %.3f km\r\n", distance/1000);
aoc2 0:8940db3353d7 146 }
aoc2 0:8940db3353d7 147
aoc2 0:8940db3353d7 148 // TASK 1
aoc2 0:8940db3353d7 149 void task1_readAccelBrake(void *arg)
aoc2 0:8940db3353d7 150 {
aoc2 0:8940db3353d7 151 carStructure &myCar = *((carStructure *) arg);
aoc2 0:8940db3353d7 152
aoc2 0:8940db3353d7 153 // Block access on RAWValues structure
aoc2 0:8940db3353d7 154 (myCar.p_rawMutex)->lock();
aoc2 0:8940db3353d7 155 engineRAWValues &p_rawValues = *(myCar.p_rawValues);
aoc2 0:8940db3353d7 156
aoc2 0:8940db3353d7 157 // Read Accelerator and Brake Values
aoc2 0:8940db3353d7 158 p_rawValues.acceleratorValue = readAnalogInput(*(myCar.p_accelerator));
aoc2 0:8940db3353d7 159 p_rawValues.brakeValue = readAnalogInput(*(myCar.p_brake));
aoc2 0:8940db3353d7 160
aoc2 0:8940db3353d7 161 // Release the mutex
aoc2 0:8940db3353d7 162 (myCar.p_rawMutex)->unlock();
aoc2 0:8940db3353d7 163 }
aoc2 0:8940db3353d7 164
aoc2 0:8940db3353d7 165 // TASK 2
aoc2 0:8940db3353d7 166 void task2_readEngineState(void *arg)
aoc2 0:8940db3353d7 167 {
aoc2 0:8940db3353d7 168 carStructure *myCar = (carStructure *) arg;
aoc2 0:8940db3353d7 169
aoc2 0:8940db3353d7 170 // Block access on RAWValues structure
aoc2 0:8940db3353d7 171 myCar->p_rawMutex->lock();
aoc2 0:8940db3353d7 172 engineRAWValues &p_rawValues = *(myCar->p_rawValues);
aoc2 0:8940db3353d7 173
aoc2 0:8940db3353d7 174 // Read Engine State
aoc2 0:8940db3353d7 175 int state = myCar->p_engineSwitch->read();
aoc2 0:8940db3353d7 176 p_rawValues.engineState = state;
aoc2 0:8940db3353d7 177 if (state)
aoc2 0:8940db3353d7 178 {
aoc2 0:8940db3353d7 179 *(myCar->p_engineLight) = ON;
aoc2 0:8940db3353d7 180 }
aoc2 0:8940db3353d7 181 else
aoc2 0:8940db3353d7 182 {
aoc2 0:8940db3353d7 183 *(myCar->p_engineLight) = OFF;
aoc2 0:8940db3353d7 184 }
aoc2 0:8940db3353d7 185
aoc2 0:8940db3353d7 186 // Release the mutex
aoc2 0:8940db3353d7 187 myCar->p_rawMutex->unlock();
aoc2 0:8940db3353d7 188 }
aoc2 0:8940db3353d7 189
aoc2 0:8940db3353d7 190 // TASK 3
aoc2 0:8940db3353d7 191 void task3_filterSpeed(void *arg)
aoc2 0:8940db3353d7 192 {
aoc2 0:8940db3353d7 193 carStructure &myCar = *((carStructure *) arg);
aoc2 0:8940db3353d7 194
aoc2 0:8940db3353d7 195 // Block access on carStat
aoc2 0:8940db3353d7 196 myCar.p_statMutex->lock();
aoc2 0:8940db3353d7 197
aoc2 0:8940db3353d7 198 // Copy pointers to values we want to manipulate
aoc2 0:8940db3353d7 199 carStatistics &carStat = *(myCar.p_carStats);
aoc2 0:8940db3353d7 200 vector<float> &speedVec = *(carStat.p_speedVector);
aoc2 0:8940db3353d7 201
aoc2 0:8940db3353d7 202 // Compute average speed on sizeOfAvg last readings
aoc2 0:8940db3353d7 203 float sum = 0;
aoc2 0:8940db3353d7 204 for (int i = 1; i < carStat.sizeOfAvg + 1; i++)
aoc2 0:8940db3353d7 205 {
aoc2 0:8940db3353d7 206 sum += speedVec[SIZE_SPEED_VECTOR - i];
aoc2 0:8940db3353d7 207 }
aoc2 0:8940db3353d7 208 // Compute the average speed
aoc2 0:8940db3353d7 209 carStat.averageSpeed = sum / carStat.sizeOfAvg;
aoc2 0:8940db3353d7 210
aoc2 0:8940db3353d7 211 // Release the mutex
aoc2 0:8940db3353d7 212 myCar.p_statMutex->unlock();
aoc2 0:8940db3353d7 213 }
aoc2 0:8940db3353d7 214
aoc2 0:8940db3353d7 215 // TASK 4
aoc2 0:8940db3353d7 216 void task4_showUseOfBrake(void *arg)
aoc2 0:8940db3353d7 217 {
aoc2 0:8940db3353d7 218 carStructure &myCar = *((carStructure *) arg);
aoc2 0:8940db3353d7 219
aoc2 0:8940db3353d7 220 // Block access on RAWValues structure
aoc2 0:8940db3353d7 221 myCar.p_rawMutex->lock();
aoc2 0:8940db3353d7 222 engineRAWValues &p_rawValues = *(myCar.p_rawValues);
aoc2 0:8940db3353d7 223
aoc2 0:8940db3353d7 224 // Read Brake State
aoc2 0:8940db3353d7 225 float brake = p_rawValues.brakeValue;
aoc2 0:8940db3353d7 226
aoc2 0:8940db3353d7 227 // Release the mutex
aoc2 0:8940db3353d7 228 myCar.p_rawMutex->unlock();
aoc2 0:8940db3353d7 229
aoc2 0:8940db3353d7 230 // Deal with the copied value
aoc2 0:8940db3353d7 231 monitorValue(brake, *(myCar.p_brakeLight), 0.05);
aoc2 0:8940db3353d7 232 }
aoc2 0:8940db3353d7 233
aoc2 0:8940db3353d7 234 // TASK 5
aoc2 0:8940db3353d7 235 void task5_monitorSpeed(void *arg)
aoc2 0:8940db3353d7 236 {
aoc2 0:8940db3353d7 237 carStructure &myCar = *((carStructure *) arg);
aoc2 0:8940db3353d7 238
aoc2 0:8940db3353d7 239 // Block access on carStat
aoc2 0:8940db3353d7 240 myCar.p_statMutex->lock();
aoc2 0:8940db3353d7 241 // Get an easier access to the vector storing speed values
aoc2 0:8940db3353d7 242 vector<float> &speedVec = *(myCar.p_carStats->p_speedVector);
aoc2 0:8940db3353d7 243 float lastSpeed = speedVec[SIZE_SPEED_VECTOR - 1];
aoc2 0:8940db3353d7 244
aoc2 0:8940db3353d7 245 // Release the mutex
aoc2 0:8940db3353d7 246 myCar.p_statMutex->unlock();
aoc2 0:8940db3353d7 247
aoc2 0:8940db3353d7 248 // Deal with the copied value
aoc2 0:8940db3353d7 249 monitorValue(lastSpeed, *(myCar.p_overspeedLight), 141.0/3.6);
aoc2 0:8940db3353d7 250 }
aoc2 0:8940db3353d7 251
aoc2 0:8940db3353d7 252 // TASK 6
aoc2 0:8940db3353d7 253 void task6_writeLCD(void *arg)
aoc2 0:8940db3353d7 254 {
aoc2 0:8940db3353d7 255 carStructure &myCar = *((carStructure *) arg);
aoc2 0:8940db3353d7 256
aoc2 0:8940db3353d7 257 // Block access on carStat
aoc2 0:8940db3353d7 258 myCar.p_statMutex->lock();
aoc2 0:8940db3353d7 259
aoc2 0:8940db3353d7 260 carStatistics &carStat = *(myCar.p_carStats);
aoc2 0:8940db3353d7 261
aoc2 0:8940db3353d7 262 // Copy what we want
aoc2 0:8940db3353d7 263 float avgSpeed = carStat.averageSpeed;
aoc2 0:8940db3353d7 264 float distance = carStat.distance;
aoc2 0:8940db3353d7 265
aoc2 0:8940db3353d7 266 // Release the mutex
aoc2 0:8940db3353d7 267 myCar.p_statMutex->unlock();
aoc2 0:8940db3353d7 268
aoc2 0:8940db3353d7 269 writeOnLCD(*(myCar.p_lcd), distance, avgSpeed);
aoc2 0:8940db3353d7 270 }
aoc2 0:8940db3353d7 271
aoc2 0:8940db3353d7 272 // TASK 7
aoc2 0:8940db3353d7 273 void task7_sendToMailQueue(void *arg)
aoc2 0:8940db3353d7 274 {
aoc2 0:8940db3353d7 275 carStructure *myCar = (carStructure *) arg;
aoc2 0:8940db3353d7 276
aoc2 0:8940db3353d7 277 // Block access on carStat
aoc2 0:8940db3353d7 278 myCar->p_statMutex->lock();
aoc2 0:8940db3353d7 279 carStatistics &carStat = *(myCar->p_carStats);
aoc2 0:8940db3353d7 280 // Copy what we want
aoc2 0:8940db3353d7 281 float avgSpeed = carStat.averageSpeed;
aoc2 0:8940db3353d7 282 // Release the mutex
aoc2 0:8940db3353d7 283 myCar->p_statMutex->unlock();
aoc2 0:8940db3353d7 284
aoc2 0:8940db3353d7 285 // Block access on RAWValues structure
aoc2 0:8940db3353d7 286 myCar->p_rawMutex->lock();
aoc2 0:8940db3353d7 287 engineRAWValues &p_rawValues = *(myCar->p_rawValues);
aoc2 0:8940db3353d7 288 // Read Brake State
aoc2 0:8940db3353d7 289 float brake = p_rawValues.brakeValue;
aoc2 0:8940db3353d7 290 float accel = p_rawValues.acceleratorValue;
aoc2 0:8940db3353d7 291 // Release the mutex
aoc2 0:8940db3353d7 292 myCar->p_rawMutex->unlock();
aoc2 0:8940db3353d7 293
aoc2 0:8940db3353d7 294 // New Queue Object
aoc2 0:8940db3353d7 295 mailStruct *mail = myCar->p_mailQueue->alloc();
aoc2 0:8940db3353d7 296 // Copy values
aoc2 0:8940db3353d7 297 mail->accelerator = accel;
aoc2 0:8940db3353d7 298 mail->brake = brake;
aoc2 0:8940db3353d7 299 mail->avgSpeed = avgSpeed;
aoc2 0:8940db3353d7 300 // Add to queue
aoc2 0:8940db3353d7 301 myCar->p_mailQueue->put(mail);
aoc2 0:8940db3353d7 302 myCar->p_PC->printf("\r\nPUT in Queue. In: %i\r\n", myCar->nbElementInQueue);
aoc2 0:8940db3353d7 303
aoc2 0:8940db3353d7 304 // Lock Counter
aoc2 0:8940db3353d7 305 myCar->p_mailMutex->lock();
aoc2 0:8940db3353d7 306 myCar->nbElementInQueue += 1;
aoc2 0:8940db3353d7 307 // Unlock queue
aoc2 0:8940db3353d7 308 myCar->p_mailMutex->unlock();
aoc2 0:8940db3353d7 309 }
aoc2 0:8940db3353d7 310
aoc2 0:8940db3353d7 311 // TASK 8
aoc2 0:8940db3353d7 312 void task8_dumpMailQueue(void *arg)
aoc2 0:8940db3353d7 313 {
aoc2 0:8940db3353d7 314 carStructure *myCar = (carStructure *) arg;
aoc2 0:8940db3353d7 315
aoc2 0:8940db3353d7 316 // Lock Mail
aoc2 0:8940db3353d7 317 myCar->p_mailMutex->lock();
aoc2 0:8940db3353d7 318 int nbOfElement = myCar->nbElementInQueue;
aoc2 0:8940db3353d7 319 // Unlock Counter
aoc2 0:8940db3353d7 320 myCar->p_mailMutex->unlock();
aoc2 0:8940db3353d7 321
aoc2 0:8940db3353d7 322 myCar->p_PC->printf("\r\nDumping Queue. In: %i\r\n", nbOfElement);
aoc2 0:8940db3353d7 323 // Go through every element of the queue
aoc2 0:8940db3353d7 324 for (int i = 0; i < nbOfElement ; i++)
aoc2 0:8940db3353d7 325 {
aoc2 0:8940db3353d7 326 // Get Them
aoc2 0:8940db3353d7 327 osEvent evt = myCar->p_mailQueue->get();
aoc2 0:8940db3353d7 328 if (evt.status == osEventMail)
aoc2 0:8940db3353d7 329 {
aoc2 0:8940db3353d7 330 mailStruct *mail = (mailStruct *)evt.value.p;
aoc2 0:8940db3353d7 331 // Send them to the PC
aoc2 0:8940db3353d7 332 myCar->p_PC->printf("\tElement %i \r\n\t Accel: %.2f\r\n\t",
aoc2 0:8940db3353d7 333 i+1, mail->accelerator);
aoc2 0:8940db3353d7 334 myCar->p_PC->printf(" Brake: %.2f\r\n\t Speed: %.2f\r\n",
aoc2 0:8940db3353d7 335 mail->brake, (mail->avgSpeed)*3.6);
aoc2 0:8940db3353d7 336
aoc2 0:8940db3353d7 337 myCar->p_mailQueue->free(mail);
aoc2 0:8940db3353d7 338 }
aoc2 0:8940db3353d7 339 }
aoc2 0:8940db3353d7 340
aoc2 0:8940db3353d7 341 // Lock Counter
aoc2 0:8940db3353d7 342 myCar->p_mailMutex->lock();
aoc2 0:8940db3353d7 343 // Reset the counter of element in the queue
aoc2 0:8940db3353d7 344 myCar->nbElementInQueue = 0;
aoc2 0:8940db3353d7 345 // Unlock Mail
aoc2 0:8940db3353d7 346 myCar->p_mailMutex->unlock();
aoc2 0:8940db3353d7 347 }
aoc2 0:8940db3353d7 348
aoc2 0:8940db3353d7 349 // TASK 9
aoc2 0:8940db3353d7 350 void task9_readSideLight(void *arg)
aoc2 0:8940db3353d7 351 {
aoc2 0:8940db3353d7 352 carStructure *myCar = (carStructure *) arg;
aoc2 0:8940db3353d7 353
aoc2 0:8940db3353d7 354 if (myCar->p_sideLightSwitch->read())
aoc2 0:8940db3353d7 355 {
aoc2 0:8940db3353d7 356 *(myCar->p_sideLightIndicator) = ON;
aoc2 0:8940db3353d7 357 }
aoc2 0:8940db3353d7 358 else
aoc2 0:8940db3353d7 359 {
aoc2 0:8940db3353d7 360 *(myCar->p_sideLightIndicator) = OFF;
aoc2 0:8940db3353d7 361 }
aoc2 0:8940db3353d7 362 }
aoc2 0:8940db3353d7 363
aoc2 0:8940db3353d7 364 // TASK 10
aoc2 0:8940db3353d7 365 void task10_turnIndic(void *arg)
aoc2 0:8940db3353d7 366 {
aoc2 0:8940db3353d7 367 carStructure *myCar = (carStructure *) arg;
aoc2 0:8940db3353d7 368
aoc2 0:8940db3353d7 369 static bool right = false;
aoc2 0:8940db3353d7 370 static bool left = false;
aoc2 0:8940db3353d7 371
aoc2 0:8940db3353d7 372 // We check if the pins have changed
aoc2 0:8940db3353d7 373 if ( right != myCar->p_rightSwitch->read()
aoc2 0:8940db3353d7 374 || left != myCar->p_leftSwitch->read() )
aoc2 0:8940db3353d7 375 {
aoc2 0:8940db3353d7 376 // If the state of the switch has changed, we update the PWM frequency
aoc2 0:8940db3353d7 377 // of the LEDs
aoc2 0:8940db3353d7 378 right = myCar->p_rightSwitch->read();
aoc2 0:8940db3353d7 379 left = myCar->p_leftSwitch->read();
aoc2 0:8940db3353d7 380 updateLEDs(myCar, right, left);
aoc2 0:8940db3353d7 381 }
aoc2 0:8940db3353d7 382 }
aoc2 0:8940db3353d7 383