Diff: CAR.cpp

Revision:

11:7f2414ecb7ee

Parent:

10:2522e3878e1c

Child:

12:8eb2c1cccee6

--- a/CAR.cpp	Wed Apr 09 11:47:04 2014 +0000
+++ b/CAR.cpp	Tue May 06 09:11:01 2014 +0000
@@ -1,11 +1,18 @@
 #include "CAR.h"
+
+//Define semaphores to manage accessing the viriables
 Semaphore CAR_MAIL_SEM(1);
 Semaphore INPUT_SEM(3);
 Semaphore SWITCH_SEM(2);
+Semaphore AVR_SPEED_SEM(2);
+/* Two counter the first is counting the number of element that
+    was sended to the MAIL. The another is to count the number of
+    element that dumped to a file */ 
 uint32_t Element_Counter_W = 0;
 uint32_t Element_Counter_R = 0;
+//  Initialise a mail with 100 element
+static Mail<CAR_MAIL, 100> mail_box;
 
-static Mail<CAR_MAIL, 100> mail_box;
 bool LSide_Indicator_Value;
 bool RSide_Indicator_Value;
  // Create the local filesystem under the name "local"
@@ -13,18 +20,23 @@
 
 CAR::CAR(){
     Port.write_bit(1,BL_BIT); 
-    FILE *fp = fopen("/local/Car_Values.csv", "w");  // Open "out.txt" on the local file system for writing
+    // Open "out.txt" on the local file system for writing
+    FILE *fp = fopen("/local/Car_Values.csv", "w");  
     fprintf(fp, "Counter,Average_Speed,Accelerometer_Value,Brake_Value\r\n");
     fclose(fp);      
 }
-
+// This two functions are save and read the ODO value in a register
+//  in order to safe it when the mbed restart
 void CAR::SAVE_ODO(float value) {
     LPC_RTC->GPREG0 = *((uint32_t*)&value);
 }
- 
 float CAR::GET_ODO() {
     return *((float*)&(LPC_RTC->GPREG0));
 }
+
+/*   Read the accelerometer and brake value every 100 mSec and calculate the speed.
+     Also save them in variabls.The speed is saved in an array of three element
+     so the past three values of speed is saved. */
 void CAR::Accelero_Brake_Read(void const *args){
     while (true) {
         INPUT_SEM.wait();
@@ -39,59 +51,76 @@
     }
 }
 
+// Average filter the speed every 200 mSec
 void CAR::Average_Speed_Measure(void const *args) {
     while (true) {
         INPUT_SEM.wait();
+        AVR_SPEED_SEM.wait();
         Average_Speed = ( Speed[0] + Speed[1] + Speed[2] )/3 ;
         INPUT_SEM.release();
+        AVR_SPEED_SEM.release();
         Thread::wait(200);
     }
 }
 
+// Update the servo every 1 Sec with the average speed value
 void CAR::Average_Speed_Show(void const *args){
     while(1){
-        INPUT_SEM.wait();
+        AVR_SPEED_SEM.wait();
         SpeedShow_Servo = 1.0 - (float)Average_Speed / (float)MaxSpeed ;
-        INPUT_SEM.release();
+        AVR_SPEED_SEM.release();
         Thread::wait(1000);
     }
 }
+
+// Check the average speed if it over 70 MPH every 2Sec
 void CAR::OverSpeed(void const *args){
     while(true){
-    INPUT_SEM.wait();
+    AVR_SPEED_SEM.wait();
     if(Average_Speed > 70)
             IsOverSpeed = 1;
             
         else
             IsOverSpeed = 0;
-    INPUT_SEM.release();        
+    AVR_SPEED_SEM.release();        
     Thread::wait(2000);
     }       
 }
-
+/*  To task in this function becuase boath are repeted every 0.5 Sec
+    1- Update the ODOmeter
+    2- Read the indecator swetches */
 void CAR::Odo_Show_Indicator_Switch_Read(void const *args){
     while(true){
         LCD.locate(0,0);
-        INPUT_SEM.wait();
+        AVR_SPEED_SEM.wait();
         Odometer_Value = GET_ODO() + Average_Speed / 7200.0 ;
         SAVE_ODO(Odometer_Value);
-        LCD.printf("AvrgSpd %3D MPH",Average_Speed);
+        LCD.printf("Speed %3D MPH",Average_Speed);
         LCD.locate(1,0);
-        LCD.printf("OdoVlu %4.2f M",GET_ODO());
-        INPUT_SEM.release();
+        LCD.printf("ODO %4.2f M",GET_ODO());
+        AVR_SPEED_SEM.release();
+        
         SWITCH_SEM.wait();
         LSide_Indicator_Value = LSide_Indicator_Switch;
         RSide_Indicator_Value = RSide_Indicator_Switch;
         SWITCH_SEM.release();
+        
         Thread::wait(500);
     }
 }
+
+/*  Send the values of the Brake, Accelerometer, and Speed to
+    an mail queue every 5 Sec. */
 void CAR::SEND_CAR_VALUES (void const *args) {  
     while (true) {
         CAR_MAIL *mail = mail_box.alloc();
         CAR_MAIL_SEM.wait();
+        
+        AVR_SPEED_SEM.wait();
+        mail->Mail_Average_Speed = Average_Speed; 
+        AVR_SPEED_SEM.release();
+        
         INPUT_SEM.wait();
-        mail->Mail_Average_Speed = Average_Speed; 
         mail->Mail_Accelerometer_Value = Accelerometer_Value;
         mail->Mail_Brake_Value = Brake_Value;
         mail->Counter = Element_Counter_W ;
@@ -99,14 +128,18 @@
         Element_Counter_W++;
         CAR_MAIL_SEM.release();
         INPUT_SEM.release();
+        
         Thread::wait(5000);              
     }
 }
+
+//Saving the memory pool content on the serial port
 void CAR::DUMP_CAR_VALUES_En (void const *args) {
     while (true) {
         CAR_MAIL_SEM.wait();
         while (Element_Counter_W > Element_Counter_R)
-        DUMP_CAR_VALUES();
+            DUMP_CAR_VALUES();
+            
         CAR_MAIL_SEM.release();
         Thread::wait(20000);
     }
@@ -126,13 +159,17 @@
             Element_Counter_R++;        
     }
 }
+
+// Flashing the indecator light
 void CAR::Side_Light_Flash(void const *args){
     while(true){
         SWITCH_SEM.wait();
+        // If both side are enabled
         if((LSide_Indicator_Value == 1) && (RSide_Indicator_Value == 1) ){
             L_Side_Indicator = L_Side_Indicator ^ 1;
             R_Side_Indicator = L_Side_Indicator;
         }
+        //If just one side enabled
         else if(RSide_Indicator_Value == 1){
             R_Side_Indicator = R_Side_Indicator ^ 1;
             L_Side_Indicator = 0;
@@ -141,6 +178,7 @@
             L_Side_Indicator = L_Side_Indicator ^ 1;
             R_Side_Indicator = 0;
         }
+        //Neither are enabled
         else{
             L_Side_Indicator = 0;
             R_Side_Indicator = 0 ;
@@ -149,6 +187,7 @@
         Thread::wait(1000);
     }
 }
+// Check the side light swetches and turn on or off the light
 void CAR::Side_Light(void const *args){
     while(true){
         if(LSide_Light_Switch){