This is car control simulation by using Mbed controller and real time operating system.
Dependencies: MCP23017 Servo WattBob_TextLCD mbed-rtos mbed
Fork of Ass3 by
CAR.cpp
- Committer:
- muaiyd
- Date:
- 2014-04-07
- Revision:
- 3:4fb8cdf6ae01
- Parent:
- 2:707ab9d39a64
File content as of revision 3:4fb8cdf6ae01:
#include "CAR.h" Semaphore CAR_MAIL_SEM(1); uint32_t Element_Counter_W = 0; uint32_t Element_Counter_R = 0; typedef struct { uint8_t Mail_Average_Speed; float Mail_Accelerometer_Value; float Mail_Brake_Value; int Counter; } CAR_MAIL; static Mail<CAR_MAIL, 100> mail_box; CAR::CAR(){ Port.write_bit(1,BL_BIT); } void CAR::SAVE_ODO(float value) { LPC_RTC->GPREG0 = *((uint32_t*)&value); } float CAR::GET_ODO() { return *((float*)&(LPC_RTC->GPREG0)); } void CAR::Accelero_Brake_Read(void const *args){ while (true) { Accelerometer_Value = Accelerometer.read(); Brake_Value = Brake.read(); EngineStat = EngineSwitch; Speed[Counter] = Accelerometer_Value * MaxSpeed * (1 - Brake_Value) * EngineStat ; Counter++; if(Counter > 2) Counter = 0; Thread::wait(100); } } void CAR::Average_Speed_Measure(void const *args) { while (true) { Average_Speed = ( Speed[0] + Speed[1] + Speed[2] )/3 ; Thread::wait(200); } } void CAR::Average_Speed_Show(void const *args){ while(1){ SpeedShow = 1.0 - (float)Average_Speed / (float)MaxSpeed ; SpeedShow_Servo = SpeedShow ; Thread::wait(1000); } } void CAR::OverSpeed(void const *args){ while(true){ if(Average_Speed > 70) IsOverSpeed = 1; else IsOverSpeed = 0; Thread::wait(2000); } } void CAR::Odometer_Measure(void const *args){ while(true){ Odometer_Value = GET_ODO(); Odometer_Value = Odometer_Value + Average_Speed / 7200.0 ; SAVE_ODO(Odometer_Value); Thread::wait(500); } } void CAR::Odometer_Show(void const *args){ while(true){ LCD.locate(0,0); LCD.printf("AvrgSpd %3D MPH",Average_Speed); LCD.locate(1,0); LCD.printf("OdoVlu %4.2f M",Odometer_Value); Thread::wait(500); } } void CAR::SEND_CAR_VALUES (void const *args) { while (true) { CAR_MAIL *mail = mail_box.alloc(); CAR_MAIL_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 ; mail_box.put(mail); printf("\n %i £ \n\r",Element_Counter_W); Element_Counter_W++; Thread::wait(5000); CAR_MAIL_SEM.release(); } } void CAR::DUMP_CAR_VALUES_En (void const *args) { while (true) { L1 = L1 ^ 1; CAR_MAIL_SEM.wait(); while (Element_Counter_W > Element_Counter_R){ DUMP_CAR_VALUES(); } CAR_MAIL_SEM.release(); Thread::wait(20000); } } void CAR::DUMP_CAR_VALUES () { printf("Writing \n\r"); osEvent evt = mail_box.get(10); CAR_MAIL *mail = (CAR_MAIL*)evt.value.p; if (evt.status == osEventMail) { int A = mail->size(); printf("\n %i @ \n\r",A); printf("\nAverage_Speed: %i MPH\n\r" , mail->Mail_Average_Speed); printf("Accelerometer_Value: %.3f %\n\r" , mail->Mail_Accelerometer_Value); printf("Brake_Value: %.3f %\n\r", mail->Mail_Brake_Value); printf("\nCounter: %i \n\r" , mail->Counter); mail_box.free(mail); Element_Counter_R++; } }