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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:
- 7:a92da438d06c
- Parent:
- 6:5037779f6a55
- Child:
- 8:6e55db96c11c
File content as of revision 7:a92da438d06c:
#include "CAR.h" Semaphore CAR_MAIL_SEM(1); Semaphore INPUT_SEM(2); Semaphore SWITCH_SEM(3); 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; bool LSide_Indicator_Value; bool RSide_Indicator_Value; 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) { INPUT_SEM.wait(); 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; INPUT_SEM.release(); Thread::wait(100); } } void CAR::Average_Speed_Measure(void const *args) { while (true) { INPUT_SEM.wait(); Average_Speed = ( Speed[0] + Speed[1] + Speed[2] )/3 ; INPUT_SEM.release(); Thread::wait(200); } } void CAR::Average_Speed_Show(void const *args){ while(1){ INPUT_SEM.wait(); SpeedShow_Servo = 1.0 - (float)Average_Speed / (float)MaxSpeed ; INPUT_SEM.release(); Thread::wait(1000); } } void CAR::OverSpeed(void const *args){ while(true){ INPUT_SEM.wait(); if(Average_Speed > 70) IsOverSpeed = 1; else IsOverSpeed = 0; INPUT_SEM.release(); Thread::wait(2000); } } void CAR::Odo_Show_Indicator_Switch_Read(void const *args){ while(true){ LCD.locate(0,0); INPUT_SEM.wait(); Odometer_Value = GET_ODO() + Average_Speed / 7200.0 ; SAVE_ODO(Odometer_Value); LCD.printf("AvrgSpd %3D MPH",Average_Speed); LCD.locate(1,0); LCD.printf("OdoVlu %4.2f M",GET_ODO()); INPUT_SEM.release(); SWITCH_SEM.wait(); LSide_Indicator_Value = LSide_Indicator_Switch; RSide_Indicator_Value = RSide_Indicator_Switch; SWITCH_SEM.release(); 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++; CAR_MAIL_SEM.release(); Thread::wait(5000); } } 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(); 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) { 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++; } } void CAR::Side_Light_Flash(void const *args){ while(true){ SWITCH_SEM.wait(); if(LSide_Indicator_Value == 1){ L_Side_Light = L_Side_Light ^ 1; } else{ L_Side_Light = 0; } if(RSide_Indicator_Value == 1){ R_Side_Light = R_Side_Light ^ 1; SWITCH_SEM.release(); } else{ R_Side_Light = 0 ; } SWITCH_SEM.release(); Thread::wait(1000); } }