Muaiyd Al-Zandi / Mbed 2 deprecated CAR_Simulation

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 Muaiyd Al-Zandi

CAR.cpp@2:707ab9d39a64, 2014-04-07 (annotated)

Committer:
muaiyd
Date:
Mon Apr 07 15:31:38 2014 +0000
Revision:
2:707ab9d39a64
Parent:
1:b409ad65466a
Child:
3:4fb8cdf6ae01
Try use other way with MAIL;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
muaiyd 0:68ce46607848 1 #include "CAR.h"
muaiyd 1:b409ad65466a 2 Semaphore CAR_MAIL_SEM(1);
muaiyd 1:b409ad65466a 3 uint32_t Element_Counter_W = 0;
muaiyd 1:b409ad65466a 4 uint32_t Element_Counter_R = 0;
muaiyd 1:b409ad65466a 5 typedef struct {
muaiyd 1:b409ad65466a 6 uint8_t Mail_Average_Speed;
muaiyd 1:b409ad65466a 7 float Mail_Accelerometer_Value;
muaiyd 1:b409ad65466a 8 float Mail_Brake_Value;
muaiyd 1:b409ad65466a 9 int Counter;
muaiyd 1:b409ad65466a 10 } CAR_MAIL;
muaiyd 1:b409ad65466a 11 static Mail<CAR_MAIL, 100> mail_box;
muaiyd 0:68ce46607848 12
muaiyd 1:b409ad65466a 13
muaiyd 1:b409ad65466a 14 CAR::CAR(){
muaiyd 1:b409ad65466a 15 Port.write_bit(1,BL_BIT);
muaiyd 1:b409ad65466a 16
muaiyd 1:b409ad65466a 17
muaiyd 1:b409ad65466a 18 }
muaiyd 1:b409ad65466a 19 void CAR::SAVE_ODO(float value) {
muaiyd 1:b409ad65466a 20 LPC_RTC->GPREG0 = *((uint32_t*)&value);
muaiyd 1:b409ad65466a 21 }
muaiyd 1:b409ad65466a 22
muaiyd 1:b409ad65466a 23 float CAR::GET_ODO() {
muaiyd 1:b409ad65466a 24 return *((float*)&(LPC_RTC->GPREG0));
muaiyd 1:b409ad65466a 25 }
muaiyd 1:b409ad65466a 26 void CAR::Accelero_Brake_Read(void const *args){
muaiyd 0:68ce46607848 27 while (true) {
muaiyd 1:b409ad65466a 28 Accelerometer_Value = Accelerometer.read();
muaiyd 1:b409ad65466a 29 Brake_Value = Brake.read();
muaiyd 1:b409ad65466a 30 EngineStat = EngineSwitch;
muaiyd 1:b409ad65466a 31 Speed[Counter] = Accelerometer_Value * MaxSpeed * (1 - Brake_Value) * EngineStat ;
muaiyd 1:b409ad65466a 32 Counter++;
muaiyd 1:b409ad65466a 33 if(Counter > 2) Counter = 0;
muaiyd 1:b409ad65466a 34 Thread::wait(100);
muaiyd 1:b409ad65466a 35 }
muaiyd 1:b409ad65466a 36 }
muaiyd 1:b409ad65466a 37
muaiyd 1:b409ad65466a 38 void CAR::Average_Speed_Measure(void const *args) {
muaiyd 1:b409ad65466a 39 while (true) {
muaiyd 1:b409ad65466a 40 Average_Speed = ( Speed[0] + Speed[1] + Speed[2] )/3 ;
muaiyd 1:b409ad65466a 41 Thread::wait(200);
muaiyd 1:b409ad65466a 42 }
muaiyd 1:b409ad65466a 43 }
muaiyd 1:b409ad65466a 44
muaiyd 1:b409ad65466a 45 void CAR::Average_Speed_Show(void const *args){
muaiyd 1:b409ad65466a 46 while(1){
muaiyd 1:b409ad65466a 47 SpeedShow = 1.0 - (float)Average_Speed / (float)MaxSpeed ;
muaiyd 1:b409ad65466a 48 SpeedShow_Servo = SpeedShow ;
muaiyd 0:68ce46607848 49 Thread::wait(1000);
muaiyd 0:68ce46607848 50 }
muaiyd 1:b409ad65466a 51 }
muaiyd 1:b409ad65466a 52 void CAR::OverSpeed(void const *args){
muaiyd 1:b409ad65466a 53 while(true){
muaiyd 1:b409ad65466a 54 if(Average_Speed > 70)
muaiyd 1:b409ad65466a 55 IsOverSpeed = 1;
muaiyd 1:b409ad65466a 56
muaiyd 1:b409ad65466a 57 else
muaiyd 1:b409ad65466a 58 IsOverSpeed = 0;
muaiyd 1:b409ad65466a 59
muaiyd 1:b409ad65466a 60 Thread::wait(2000);
muaiyd 1:b409ad65466a 61 }
muaiyd 1:b409ad65466a 62 }
muaiyd 1:b409ad65466a 63
muaiyd 1:b409ad65466a 64 void CAR::Odometer_Measure(void const *args){
muaiyd 1:b409ad65466a 65 while(true){
muaiyd 1:b409ad65466a 66 Odometer_Value = GET_ODO();
muaiyd 1:b409ad65466a 67 Odometer_Value = Odometer_Value + Average_Speed / 7200.0 ;
muaiyd 1:b409ad65466a 68 SAVE_ODO(Odometer_Value);
muaiyd 1:b409ad65466a 69 Thread::wait(500);
muaiyd 1:b409ad65466a 70 }
muaiyd 1:b409ad65466a 71 }
muaiyd 1:b409ad65466a 72 void CAR::Odometer_Show(void const *args){
muaiyd 1:b409ad65466a 73 while(true){
muaiyd 1:b409ad65466a 74 LCD.locate(0,0);
muaiyd 1:b409ad65466a 75 LCD.printf("AvrgSpd %3D MPH",Average_Speed);
muaiyd 1:b409ad65466a 76 LCD.locate(1,0);
muaiyd 1:b409ad65466a 77 LCD.printf("OdoVlu %4.2f M",Odometer_Value);
muaiyd 1:b409ad65466a 78 Thread::wait(500);
muaiyd 1:b409ad65466a 79 }
muaiyd 1:b409ad65466a 80 }
muaiyd 1:b409ad65466a 81 void CAR::SEND_CAR_VALUES (void const *args) {
muaiyd 1:b409ad65466a 82
muaiyd 1:b409ad65466a 83 while (true) {
muaiyd 1:b409ad65466a 84 CAR_MAIL *mail = mail_box.alloc();
muaiyd 1:b409ad65466a 85 CAR_MAIL_SEM.wait();
muaiyd 1:b409ad65466a 86 mail->Mail_Average_Speed = Average_Speed;
muaiyd 1:b409ad65466a 87 mail->Mail_Accelerometer_Value = Accelerometer_Value;
muaiyd 1:b409ad65466a 88 mail->Mail_Brake_Value = Brake_Value;
muaiyd 1:b409ad65466a 89 mail->Counter = Element_Counter_W ;
muaiyd 1:b409ad65466a 90 mail_box.put(mail);
muaiyd 1:b409ad65466a 91 printf("\n %i £ \n\r",Element_Counter_W);
muaiyd 1:b409ad65466a 92 Element_Counter_W++;
muaiyd 2:707ab9d39a64 93 Thread::wait(5000);
muaiyd 1:b409ad65466a 94 CAR_MAIL_SEM.release();
muaiyd 1:b409ad65466a 95 }
muaiyd 1:b409ad65466a 96 }
muaiyd 1:b409ad65466a 97 void CAR::DUMP_CAR_VALUES_En (void const *args) {
muaiyd 1:b409ad65466a 98 while (true) {
muaiyd 1:b409ad65466a 99 L1 = L1 ^ 1;
muaiyd 1:b409ad65466a 100 CAR_MAIL_SEM.wait();
muaiyd 2:707ab9d39a64 101 while (Element_Counter_W > Element_Counter_R){
muaiyd 1:b409ad65466a 102 DUMP_CAR_VALUES();
muaiyd 2:707ab9d39a64 103 }
muaiyd 1:b409ad65466a 104 CAR_MAIL_SEM.release();
muaiyd 2:707ab9d39a64 105 Thread::wait(20000);
muaiyd 1:b409ad65466a 106 }
muaiyd 1:b409ad65466a 107 }
muaiyd 1:b409ad65466a 108 void CAR::DUMP_CAR_VALUES () {
muaiyd 1:b409ad65466a 109 printf("Writing \n\r");
muaiyd 1:b409ad65466a 110 osEvent evt = mail_box.get(10);
muaiyd 1:b409ad65466a 111 CAR_MAIL *mail = (CAR_MAIL*)evt.value.p;
muaiyd 1:b409ad65466a 112 if (evt.status == osEventMail) {
muaiyd 1:b409ad65466a 113 printf("\nAverage_Speed: %i MPH\n\r" , mail->Mail_Average_Speed);
muaiyd 1:b409ad65466a 114 printf("Accelerometer_Value: %.3f %\n\r" , mail->Mail_Accelerometer_Value);
muaiyd 1:b409ad65466a 115 printf("Brake_Value: %.3f %\n\r", mail->Mail_Brake_Value);
muaiyd 1:b409ad65466a 116 printf("\nCounter: %i \n\r" , mail->Counter);
muaiyd 1:b409ad65466a 117 mail_box.free(mail);
muaiyd 1:b409ad65466a 118 Element_Counter_R++;
muaiyd 1:b409ad65466a 119 }
muaiyd 0:68ce46607848 120 }