Antoine C / Mbed 2 deprecated Copy_Assignment3

Copy_Assignment3

Dependencies:   mbed MCP23017 WattBob_TextLCD mbed-rtos

include/my_structures.h@1:d980a57e422a, 2018-03-28 (annotated)

Committer:
aoc2
Date:
Wed Mar 28 18:53:05 2018 +0000
Revision:
1:d980a57e422a
Parent:
0:8940db3353d7 
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aoc2 0:8940db3353d7 1 #pragma once
aoc2 0:8940db3353d7 2
aoc2 0:8940db3353d7 3 /*******************************************************************************
aoc2 0:8940db3353d7 4 * CUSTOM PARAMETERS DECLARATION
aoc2 0:8940db3353d7 5 ******************************************************************************/
aoc2 0:8940db3353d7 6 #ifndef CONSTANTS_OF_CAR
aoc2 0:8940db3353d7 7 #define MAX_SPEED 230 // km/h
aoc2 0:8940db3353d7 8
aoc2 0:8940db3353d7 9 #define SIZE_SPEED_VECTOR 10
aoc2 0:8940db3353d7 10 #define SIZE_AVG_SPEED 3
aoc2 0:8940db3353d7 11
aoc2 0:8940db3353d7 12 #define ON 1
aoc2 0:8940db3353d7 13 #define OFF 0
aoc2 0:8940db3353d7 14
aoc2 0:8940db3353d7 15 #endif /*! CONSTANTS_OF_CAR */
aoc2 0:8940db3353d7 16
aoc2 0:8940db3353d7 17
aoc2 0:8940db3353d7 18 /*******************************************************************************
aoc2 0:8940db3353d7 19 * STRUCTURES DECLARATION
aoc2 0:8940db3353d7 20 ******************************************************************************/
aoc2 0:8940db3353d7 21 #ifndef __MY__STRUCTURES_H__
aoc2 0:8940db3353d7 22 #define __MY__STRUCTURES_H__
aoc2 0:8940db3353d7 23
aoc2 0:8940db3353d7 24 #include <vector>
aoc2 0:8940db3353d7 25 #include "mbed.h"
aoc2 0:8940db3353d7 26 #include "rtos.h"
aoc2 0:8940db3353d7 27 #include "MCP23017.h"
aoc2 0:8940db3353d7 28 #include "WattBob_TextLCD.h"
aoc2 0:8940db3353d7 29
aoc2 0:8940db3353d7 30
aoc2 0:8940db3353d7 31 /** This structure is used to store the RAW engine values
aoc2 0:8940db3353d7 32 *
aoc2 0:8940db3353d7 33 * @param: engineState [bool]
aoc2 0:8940db3353d7 34 * State on the engine, on or off
aoc2 0:8940db3353d7 35 * @param: acceleratorValue [float]
aoc2 0:8940db3353d7 36 * Last value got by TASK 1. From 0 to 1, % of acceleration
aoc2 0:8940db3353d7 37 * @param: brakeValue [float]
aoc2 0:8940db3353d7 38 * Last value got by TASK 1. From 0 to 1, % of brake
aoc2 0:8940db3353d7 39 */
aoc2 0:8940db3353d7 40 struct engineRAWValues{
aoc2 0:8940db3353d7 41 bool engineState;
aoc2 0:8940db3353d7 42 float acceleratorValue;
aoc2 0:8940db3353d7 43 float brakeValue;
aoc2 0:8940db3353d7 44 };
aoc2 0:8940db3353d7 45
aoc2 0:8940db3353d7 46 /** This structure is used to store the speed and travelled distance of the car
aoc2 0:8940db3353d7 47 *
aoc2 0:8940db3353d7 48 * @param: *p_speedVector [std::vector<float>]
aoc2 0:8940db3353d7 49 * Vector used to store the last speed values computed by the simulator
aoc2 0:8940db3353d7 50 * Speed is in m/s.
aoc2 0:8940db3353d7 51 * @param: sizeOfAvg [int]
aoc2 0:8940db3353d7 52 * Size of the averaging filter used to compute the displayed speed
aoc2 0:8940db3353d7 53 * value. The average is computed by taking the last sizeOfAvg values
aoc2 0:8940db3353d7 54 * of the vector p_speedVector.
aoc2 0:8940db3353d7 55 * @param: averageSpeed [float]
aoc2 0:8940db3353d7 56 * Last value computed by task 3. In m/s
aoc2 0:8940db3353d7 57 * @param: distance [float]
aoc2 0:8940db3353d7 58 * Distance travelled by the car, in m.
aoc2 0:8940db3353d7 59 */
aoc2 0:8940db3353d7 60 struct carStatistics{
aoc2 0:8940db3353d7 61 // Speed Vector
aoc2 0:8940db3353d7 62 std::vector<float> *p_speedVector;
aoc2 0:8940db3353d7 63 int sizeOfAvg;
aoc2 0:8940db3353d7 64 float averageSpeed;
aoc2 0:8940db3353d7 65 // Distance
aoc2 0:8940db3353d7 66 float distance;
aoc2 0:8940db3353d7 67 };
aoc2 0:8940db3353d7 68
aoc2 0:8940db3353d7 69 /** This structure is used by the MAIL Queue object to store information to be
aoc2 0:8940db3353d7 70 * sent to the computer.
aoc2 0:8940db3353d7 71 *
aoc2 0:8940db3353d7 72 * @param: avgSpeed [float]
aoc2 0:8940db3353d7 73 * Last value of average speed computed
aoc2 0:8940db3353d7 74 * @param: accelerator [float]
aoc2 0:8940db3353d7 75 * Last RAW value of accelerator. From 0 to 1.
aoc2 0:8940db3353d7 76 * @param: brake [float]
aoc2 0:8940db3353d7 77 * Last RAW value of brake. From 0 to 1.
aoc2 0:8940db3353d7 78 */
aoc2 0:8940db3353d7 79 struct mailStruct{
aoc2 0:8940db3353d7 80 float avgSpeed;
aoc2 0:8940db3353d7 81 float accelerator;
aoc2 0:8940db3353d7 82 float brake;
aoc2 0:8940db3353d7 83 };
aoc2 0:8940db3353d7 84
aoc2 0:8940db3353d7 85
aoc2 0:8940db3353d7 86 /** This structure is the main structure used by the program in order not to
aoc2 0:8940db3353d7 87 * use global variables. It is given as argument to every function used
aoc2 0:8940db3353d7 88 * in the different RTOSTimer.
aoc2 0:8940db3353d7 89 *
aoc2 0:8940db3353d7 90 * @param: System Inputs [AnalogIn/DigitalIn]
aoc2 0:8940db3353d7 91 * Set of system inputs used by the system for the assignment.
aoc2 0:8940db3353d7 92 * @param: System Outpus [AnalogOut/DigitalOut]
aoc2 0:8940db3353d7 93 * Set of system outputs used by the system for the assignment.
aoc2 0:8940db3353d7 94 *
aoc2 0:8940db3353d7 95 * @param: Structures [engineRAWValues/carStatistics]
aoc2 0:8940db3353d7 96 * Two smaller structures used to organized values used by the
aoc2 0:8940db3353d7 97 * different tasks of the assigment.
aoc2 0:8940db3353d7 98 *
aoc2 0:8940db3353d7 99 * @param: *p_mailQueue
aoc2 0:8940db3353d7 100 * Mail Queue object, from "rtos.h". It uses a mailStruct structure
aoc2 0:8940db3353d7 101 * to store information.
aoc2 0:8940db3353d7 102 * @param: nbElementInQueue [int]
aoc2 0:8940db3353d7 103 * Number of element in the queue. Necessary in order to dump the mail
aoc2 0:8940db3353d7 104 * by another task and because there is no method to get the number
aoc2 0:8940db3353d7 105 * of element stored in the mail queue.
aoc2 0:8940db3353d7 106 *
aoc2 0:8940db3353d7 107 * @param: Mutex [Mutex]
aoc2 0:8940db3353d7 108 * Set of three mutex to protect the access of the engineRAWValues
aoc2 0:8940db3353d7 109 * and carStatistics structures, as well as the mail queue object.
aoc2 0:8940db3353d7 110 *
aoc2 0:8940db3353d7 111 * @param: *p_PC [Serial]
aoc2 0:8940db3353d7 112 * Serial connection to the PC
aoc2 0:8940db3353d7 113 *
aoc2 0:8940db3353d7 114 * @param: Screen Variables [MCP23017/WattBob_TextLCD]
aoc2 0:8940db3353d7 115 * Used to access the screen of the MBED shield.
aoc2 0:8940db3353d7 116 */
aoc2 0:8940db3353d7 117 struct carStructure{
aoc2 0:8940db3353d7 118 // System Inputs
aoc2 0:8940db3353d7 119 AnalogIn *p_accelerator;
aoc2 0:8940db3353d7 120 AnalogIn *p_brake;
aoc2 0:8940db3353d7 121 DigitalIn *p_engineSwitch;
aoc2 0:8940db3353d7 122 DigitalIn *p_sideLightSwitch;
aoc2 0:8940db3353d7 123 DigitalIn *p_leftSwitch;
aoc2 0:8940db3353d7 124 DigitalIn *p_rightSwitch;
aoc2 0:8940db3353d7 125
aoc2 0:8940db3353d7 126 // System Outputs
aoc2 0:8940db3353d7 127 DigitalOut *p_sideLightIndicator;
aoc2 0:8940db3353d7 128 PwmOut *p_leftLight;
aoc2 0:8940db3353d7 129 PwmOut *p_rightLight;
aoc2 0:8940db3353d7 130 DigitalOut *p_engineLight;
aoc2 0:8940db3353d7 131 DigitalOut *p_overspeedLight;
aoc2 0:8940db3353d7 132 DigitalOut *p_brakeLight;
aoc2 0:8940db3353d7 133
aoc2 0:8940db3353d7 134 // RAW Values Structure;
aoc2 0:8940db3353d7 135 engineRAWValues *p_rawValues;
aoc2 0:8940db3353d7 136
aoc2 0:8940db3353d7 137 // Car Statistics
aoc2 0:8940db3353d7 138 carStatistics *p_carStats;
aoc2 0:8940db3353d7 139
aoc2 0:8940db3353d7 140 // Mail Structure
aoc2 0:8940db3353d7 141 Mail<mailStruct,100> *p_mailQueue;
aoc2 0:8940db3353d7 142 int nbElementInQueue;
aoc2 0:8940db3353d7 143
aoc2 0:8940db3353d7 144 // Mutex
aoc2 0:8940db3353d7 145 Mutex *p_rawMutex;
aoc2 0:8940db3353d7 146 Mutex *p_statMutex;
aoc2 0:8940db3353d7 147 Mutex *p_mailMutex;
aoc2 0:8940db3353d7 148
aoc2 0:8940db3353d7 149 // PC Serial Connection
aoc2 0:8940db3353d7 150 Serial *p_PC;
aoc2 0:8940db3353d7 151
aoc2 0:8940db3353d7 152 // Screen variables
aoc2 0:8940db3353d7 153 MCP23017 *p_par_port;
aoc2 0:8940db3353d7 154 WattBob_TextLCD *p_lcd;
aoc2 0:8940db3353d7 155 };
aoc2 0:8940db3353d7 156
aoc2 0:8940db3353d7 157 /** Initialize a 'engineRAWValues' structure to zero.
aoc2 0:8940db3353d7 158 *
aoc2 0:8940db3353d7 159 * @param: &structVal [engineRAWValues]
aoc2 0:8940db3353d7 160 * Reference to a structure to set all of its values to 0.
aoc2 0:8940db3353d7 161 */
aoc2 0:8940db3353d7 162 void initRAWValuesStruct(engineRAWValues &structVal);
aoc2 0:8940db3353d7 163
aoc2 0:8940db3353d7 164
aoc2 0:8940db3353d7 165 /** Initialize a 'carStatistics' structure to zero and add the given pointer
aoc2 0:8940db3353d7 166 * to a vector to it
aoc2 0:8940db3353d7 167 *
aoc2 0:8940db3353d7 168 * @param: &structStat [carStatistics]
aoc2 0:8940db3353d7 169 * Reference to a structure whose values are set to 0
aoc2 0:8940db3353d7 170 * @param: *speedVec [std::vector]
aoc2 0:8940db3353d7 171 * Pointer to a vector which is linked to the structure.
aoc2 0:8940db3353d7 172 * Vector used to store the different speed value
aoc2 0:8940db3353d7 173 */
aoc2 0:8940db3353d7 174 void initCarStatisticsStruct(carStatistics &structStat,
aoc2 0:8940db3353d7 175 std::vector<float> *speedVec
aoc2 0:8940db3353d7 176 );
aoc2 0:8940db3353d7 177
aoc2 0:8940db3353d7 178 /** Initialize a 'mailStruct' structure to zero.
aoc2 0:8940db3353d7 179 *
aoc2 0:8940db3353d7 180 * @param: &structMail [mailStruct]
aoc2 0:8940db3353d7 181 * Reference to a structure to set all of its values to 0.
aoc2 0:8940db3353d7 182 */
aoc2 0:8940db3353d7 183 void initMailStructure(mailStruct &structMail);
aoc2 0:8940db3353d7 184
aoc2 0:8940db3353d7 185 #endif /*! __MY__STRUCTURES_H__ */