core.h

00001 #pragma once
00002 
00003 #include "mbed.h"
00004 #include "rtos.h"
00005 #include "MCP23017.h"
00006 #include "WattBob_TextLCD.h"
00007 #include <string>
00008 #include <sstream>
00009 
00010 //Compile Flags
00011 #define DEBUG_MODE 0
00012 
00013 //Inputs-------------------------
00014 #define PORT_TURN_SIGNAL_SWITCH_RIGHT p17
00015 #define PORT_TURN_SIGNAL_SWITCH_LEFT p18
00016 #define PORT_ACCEL p19
00017 #define PORT_BRAKE p20
00018 #define PORT_IGNITION p21
00019 
00020 //Outputs ----------------
00021 #define PORT_REDBOX_LED1 p22
00022 #define PORT_REDBOX_LED2 p30
00023 
00024 #define PORT_SIDE_LIGHTS LED1
00025 #define IGNITION_LED LED4
00026 #define PORT_TURN_SIGNAL_LED_LEFT LED2
00027 #define PORT_TURN_SIGNAL_LED_RIGHT LED2
00028 
00029 //#define PORT_SIDE_LIGHTS LED1
00030 //#define IGNITION_LED LED4
00031 //#define PORT_TURN_SIGNAL_LED_LEFT LED2
00032 //#define PORT_TURN_SIGNAL_LED_RIGHT LED3
00033 
00034 namespace runTimeParams{
00035     extern Mutex liveAccess;
00036     extern float brakeForce;
00037     extern float accelForce;
00038     extern float avgSpeed;
00039     extern float odometer;
00040     extern float speed[3];
00041     #if DEBUG_MODE
00042     extern Mutex debugAccess;
00043     extern string debugLogBuffer1;
00044     extern string debugLogBuffer2 ;
00045     extern string * debugLog ;
00046     #endif
00047 }
00048 
00049 
00050 
00051     
00052 namespace task_group_1{
00053     //Display, 
00054     extern Thread thread;
00055     void runTask();
00056 }
00057 namespace task_group_2{
00058     //Read Accel/Brake, carSimulator
00059     extern Thread thread;
00060     void runTask(); 
00061 }
00062 
00063 namespace mailData{
00064     typedef struct{
00065         float   speed;
00066         float   accel;
00067         float   brake;
00068     } mail_t;
00069     extern Mail<mail_t, 100> mailBox;
00070 }
00071 
00072 namespace enqueueMail{
00073     //Send speed, accelerometer and brake values to a 100 element
00074         //MAIL queue
00075     extern Thread thread;
00076     void runTask();
00077 }
00078 namespace dequeueMail{
00079     //Send speed, accelerometer and brake values to a 100 element
00080         //MAIL queue
00081     extern Thread thread;
00082     extern const float freq;
00083     void runTask();
00084 }
00085 
00086 
00087 template <typename T>
00088 static inline std::string to_string(T value)
00089 {
00090     std::ostringstream os ;
00091     os << value ;
00092     return os.str() ;
00093 }