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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@11:7f2414ecb7ee, 2014-05-06 (annotated)
- Committer:
- muaiyd
- Date:
- Tue May 06 09:11:01 2014 +0000
- Revision:
- 11:7f2414ecb7ee
- Parent:
- 10:2522e3878e1c
- Child:
- 12:8eb2c1cccee6
Last change; Optemization
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
muaiyd | 0:68ce46607848 | 1 | #include "CAR.h" |
muaiyd | 11:7f2414ecb7ee | 2 | |
muaiyd | 11:7f2414ecb7ee | 3 | //Define semaphores to manage accessing the viriables |
muaiyd | 1:b409ad65466a | 4 | Semaphore CAR_MAIL_SEM(1); |
muaiyd | 9:d86a6b8cdfa4 | 5 | Semaphore INPUT_SEM(3); |
muaiyd | 9:d86a6b8cdfa4 | 6 | Semaphore SWITCH_SEM(2); |
muaiyd | 11:7f2414ecb7ee | 7 | Semaphore AVR_SPEED_SEM(2); |
muaiyd | 11:7f2414ecb7ee | 8 | /* Two counter the first is counting the number of element that |
muaiyd | 11:7f2414ecb7ee | 9 | was sended to the MAIL. The another is to count the number of |
muaiyd | 11:7f2414ecb7ee | 10 | element that dumped to a file */ |
muaiyd | 1:b409ad65466a | 11 | uint32_t Element_Counter_W = 0; |
muaiyd | 1:b409ad65466a | 12 | uint32_t Element_Counter_R = 0; |
muaiyd | 11:7f2414ecb7ee | 13 | // Initialise a mail with 100 element |
muaiyd | 11:7f2414ecb7ee | 14 | static Mail<CAR_MAIL, 100> mail_box; |
muaiyd | 9:d86a6b8cdfa4 | 15 | |
muaiyd | 7:a92da438d06c | 16 | bool LSide_Indicator_Value; |
muaiyd | 7:a92da438d06c | 17 | bool RSide_Indicator_Value; |
muaiyd | 9:d86a6b8cdfa4 | 18 | // Create the local filesystem under the name "local" |
muaiyd | 9:d86a6b8cdfa4 | 19 | LocalFileSystem local("local"); |
muaiyd | 9:d86a6b8cdfa4 | 20 | |
muaiyd | 1:b409ad65466a | 21 | CAR::CAR(){ |
muaiyd | 1:b409ad65466a | 22 | Port.write_bit(1,BL_BIT); |
muaiyd | 11:7f2414ecb7ee | 23 | // Open "out.txt" on the local file system for writing |
muaiyd | 11:7f2414ecb7ee | 24 | FILE *fp = fopen("/local/Car_Values.csv", "w"); |
muaiyd | 9:d86a6b8cdfa4 | 25 | fprintf(fp, "Counter,Average_Speed,Accelerometer_Value,Brake_Value\r\n"); |
muaiyd | 9:d86a6b8cdfa4 | 26 | fclose(fp); |
muaiyd | 1:b409ad65466a | 27 | } |
muaiyd | 11:7f2414ecb7ee | 28 | // This two functions are save and read the ODO value in a register |
muaiyd | 11:7f2414ecb7ee | 29 | // in order to safe it when the mbed restart |
muaiyd | 1:b409ad65466a | 30 | void CAR::SAVE_ODO(float value) { |
muaiyd | 1:b409ad65466a | 31 | LPC_RTC->GPREG0 = *((uint32_t*)&value); |
muaiyd | 1:b409ad65466a | 32 | } |
muaiyd | 1:b409ad65466a | 33 | float CAR::GET_ODO() { |
muaiyd | 1:b409ad65466a | 34 | return *((float*)&(LPC_RTC->GPREG0)); |
muaiyd | 1:b409ad65466a | 35 | } |
muaiyd | 11:7f2414ecb7ee | 36 | |
muaiyd | 11:7f2414ecb7ee | 37 | /* Read the accelerometer and brake value every 100 mSec and calculate the speed. |
muaiyd | 11:7f2414ecb7ee | 38 | Also save them in variabls.The speed is saved in an array of three element |
muaiyd | 11:7f2414ecb7ee | 39 | so the past three values of speed is saved. */ |
muaiyd | 1:b409ad65466a | 40 | void CAR::Accelero_Brake_Read(void const *args){ |
muaiyd | 0:68ce46607848 | 41 | while (true) { |
muaiyd | 7:a92da438d06c | 42 | INPUT_SEM.wait(); |
muaiyd | 1:b409ad65466a | 43 | Accelerometer_Value = Accelerometer.read(); |
muaiyd | 1:b409ad65466a | 44 | Brake_Value = Brake.read(); |
muaiyd | 1:b409ad65466a | 45 | EngineStat = EngineSwitch; |
muaiyd | 1:b409ad65466a | 46 | Speed[Counter] = Accelerometer_Value * MaxSpeed * (1 - Brake_Value) * EngineStat ; |
muaiyd | 1:b409ad65466a | 47 | Counter++; |
muaiyd | 1:b409ad65466a | 48 | if(Counter > 2) Counter = 0; |
muaiyd | 7:a92da438d06c | 49 | INPUT_SEM.release(); |
muaiyd | 1:b409ad65466a | 50 | Thread::wait(100); |
muaiyd | 1:b409ad65466a | 51 | } |
muaiyd | 1:b409ad65466a | 52 | } |
muaiyd | 1:b409ad65466a | 53 | |
muaiyd | 11:7f2414ecb7ee | 54 | // Average filter the speed every 200 mSec |
muaiyd | 1:b409ad65466a | 55 | void CAR::Average_Speed_Measure(void const *args) { |
muaiyd | 1:b409ad65466a | 56 | while (true) { |
muaiyd | 7:a92da438d06c | 57 | INPUT_SEM.wait(); |
muaiyd | 11:7f2414ecb7ee | 58 | AVR_SPEED_SEM.wait(); |
muaiyd | 1:b409ad65466a | 59 | Average_Speed = ( Speed[0] + Speed[1] + Speed[2] )/3 ; |
muaiyd | 7:a92da438d06c | 60 | INPUT_SEM.release(); |
muaiyd | 11:7f2414ecb7ee | 61 | AVR_SPEED_SEM.release(); |
muaiyd | 1:b409ad65466a | 62 | Thread::wait(200); |
muaiyd | 1:b409ad65466a | 63 | } |
muaiyd | 1:b409ad65466a | 64 | } |
muaiyd | 1:b409ad65466a | 65 | |
muaiyd | 11:7f2414ecb7ee | 66 | // Update the servo every 1 Sec with the average speed value |
muaiyd | 1:b409ad65466a | 67 | void CAR::Average_Speed_Show(void const *args){ |
muaiyd | 1:b409ad65466a | 68 | while(1){ |
muaiyd | 11:7f2414ecb7ee | 69 | AVR_SPEED_SEM.wait(); |
muaiyd | 7:a92da438d06c | 70 | SpeedShow_Servo = 1.0 - (float)Average_Speed / (float)MaxSpeed ; |
muaiyd | 11:7f2414ecb7ee | 71 | AVR_SPEED_SEM.release(); |
muaiyd | 0:68ce46607848 | 72 | Thread::wait(1000); |
muaiyd | 0:68ce46607848 | 73 | } |
muaiyd | 1:b409ad65466a | 74 | } |
muaiyd | 11:7f2414ecb7ee | 75 | |
muaiyd | 11:7f2414ecb7ee | 76 | // Check the average speed if it over 70 MPH every 2Sec |
muaiyd | 1:b409ad65466a | 77 | void CAR::OverSpeed(void const *args){ |
muaiyd | 1:b409ad65466a | 78 | while(true){ |
muaiyd | 11:7f2414ecb7ee | 79 | AVR_SPEED_SEM.wait(); |
muaiyd | 1:b409ad65466a | 80 | if(Average_Speed > 70) |
muaiyd | 1:b409ad65466a | 81 | IsOverSpeed = 1; |
muaiyd | 1:b409ad65466a | 82 | |
muaiyd | 1:b409ad65466a | 83 | else |
muaiyd | 1:b409ad65466a | 84 | IsOverSpeed = 0; |
muaiyd | 11:7f2414ecb7ee | 85 | AVR_SPEED_SEM.release(); |
muaiyd | 7:a92da438d06c | 86 | Thread::wait(2000); |
muaiyd | 1:b409ad65466a | 87 | } |
muaiyd | 1:b409ad65466a | 88 | } |
muaiyd | 11:7f2414ecb7ee | 89 | /* To task in this function becuase boath are repeted every 0.5 Sec |
muaiyd | 11:7f2414ecb7ee | 90 | 1- Update the ODOmeter |
muaiyd | 11:7f2414ecb7ee | 91 | 2- Read the indecator swetches */ |
muaiyd | 7:a92da438d06c | 92 | void CAR::Odo_Show_Indicator_Switch_Read(void const *args){ |
muaiyd | 1:b409ad65466a | 93 | while(true){ |
muaiyd | 1:b409ad65466a | 94 | LCD.locate(0,0); |
muaiyd | 11:7f2414ecb7ee | 95 | AVR_SPEED_SEM.wait(); |
muaiyd | 7:a92da438d06c | 96 | Odometer_Value = GET_ODO() + Average_Speed / 7200.0 ; |
muaiyd | 7:a92da438d06c | 97 | SAVE_ODO(Odometer_Value); |
muaiyd | 11:7f2414ecb7ee | 98 | LCD.printf("Speed %3D MPH",Average_Speed); |
muaiyd | 1:b409ad65466a | 99 | LCD.locate(1,0); |
muaiyd | 11:7f2414ecb7ee | 100 | LCD.printf("ODO %4.2f M",GET_ODO()); |
muaiyd | 11:7f2414ecb7ee | 101 | AVR_SPEED_SEM.release(); |
muaiyd | 11:7f2414ecb7ee | 102 | |
muaiyd | 7:a92da438d06c | 103 | SWITCH_SEM.wait(); |
muaiyd | 7:a92da438d06c | 104 | LSide_Indicator_Value = LSide_Indicator_Switch; |
muaiyd | 7:a92da438d06c | 105 | RSide_Indicator_Value = RSide_Indicator_Switch; |
muaiyd | 7:a92da438d06c | 106 | SWITCH_SEM.release(); |
muaiyd | 11:7f2414ecb7ee | 107 | |
muaiyd | 1:b409ad65466a | 108 | Thread::wait(500); |
muaiyd | 1:b409ad65466a | 109 | } |
muaiyd | 1:b409ad65466a | 110 | } |
muaiyd | 11:7f2414ecb7ee | 111 | |
muaiyd | 11:7f2414ecb7ee | 112 | /* Send the values of the Brake, Accelerometer, and Speed to |
muaiyd | 11:7f2414ecb7ee | 113 | an mail queue every 5 Sec. */ |
muaiyd | 9:d86a6b8cdfa4 | 114 | void CAR::SEND_CAR_VALUES (void const *args) { |
muaiyd | 1:b409ad65466a | 115 | while (true) { |
muaiyd | 1:b409ad65466a | 116 | CAR_MAIL *mail = mail_box.alloc(); |
muaiyd | 1:b409ad65466a | 117 | CAR_MAIL_SEM.wait(); |
muaiyd | 11:7f2414ecb7ee | 118 | |
muaiyd | 11:7f2414ecb7ee | 119 | AVR_SPEED_SEM.wait(); |
muaiyd | 11:7f2414ecb7ee | 120 | mail->Mail_Average_Speed = Average_Speed; |
muaiyd | 11:7f2414ecb7ee | 121 | AVR_SPEED_SEM.release(); |
muaiyd | 11:7f2414ecb7ee | 122 | |
muaiyd | 9:d86a6b8cdfa4 | 123 | INPUT_SEM.wait(); |
muaiyd | 1:b409ad65466a | 124 | mail->Mail_Accelerometer_Value = Accelerometer_Value; |
muaiyd | 1:b409ad65466a | 125 | mail->Mail_Brake_Value = Brake_Value; |
muaiyd | 1:b409ad65466a | 126 | mail->Counter = Element_Counter_W ; |
muaiyd | 1:b409ad65466a | 127 | mail_box.put(mail); |
muaiyd | 1:b409ad65466a | 128 | Element_Counter_W++; |
muaiyd | 7:a92da438d06c | 129 | CAR_MAIL_SEM.release(); |
muaiyd | 9:d86a6b8cdfa4 | 130 | INPUT_SEM.release(); |
muaiyd | 11:7f2414ecb7ee | 131 | |
muaiyd | 7:a92da438d06c | 132 | Thread::wait(5000); |
muaiyd | 1:b409ad65466a | 133 | } |
muaiyd | 1:b409ad65466a | 134 | } |
muaiyd | 11:7f2414ecb7ee | 135 | |
muaiyd | 11:7f2414ecb7ee | 136 | //Saving the memory pool content on the serial port |
muaiyd | 1:b409ad65466a | 137 | void CAR::DUMP_CAR_VALUES_En (void const *args) { |
muaiyd | 1:b409ad65466a | 138 | while (true) { |
muaiyd | 1:b409ad65466a | 139 | CAR_MAIL_SEM.wait(); |
muaiyd | 1:b409ad65466a | 140 | while (Element_Counter_W > Element_Counter_R) |
muaiyd | 11:7f2414ecb7ee | 141 | DUMP_CAR_VALUES(); |
muaiyd | 11:7f2414ecb7ee | 142 | |
muaiyd | 1:b409ad65466a | 143 | CAR_MAIL_SEM.release(); |
muaiyd | 6:5037779f6a55 | 144 | Thread::wait(20000); |
muaiyd | 1:b409ad65466a | 145 | } |
muaiyd | 1:b409ad65466a | 146 | } |
muaiyd | 1:b409ad65466a | 147 | void CAR::DUMP_CAR_VALUES () { |
muaiyd | 1:b409ad65466a | 148 | osEvent evt = mail_box.get(10); |
muaiyd | 1:b409ad65466a | 149 | CAR_MAIL *mail = (CAR_MAIL*)evt.value.p; |
muaiyd | 9:d86a6b8cdfa4 | 150 | if (evt.status == osEventMail) { |
muaiyd | 9:d86a6b8cdfa4 | 151 | FILE *fp = fopen("/local/Car_Values.csv", "a"); // Open "out.txt" on the local file system for writing |
muaiyd | 9:d86a6b8cdfa4 | 152 | fprintf(fp,"%i ," , mail->Counter); |
muaiyd | 9:d86a6b8cdfa4 | 153 | fprintf(fp,"%i ,", mail->Mail_Average_Speed); |
muaiyd | 9:d86a6b8cdfa4 | 154 | fprintf(fp,"%.3f ," , mail->Mail_Accelerometer_Value); |
muaiyd | 9:d86a6b8cdfa4 | 155 | fprintf(fp,"%.3f ", mail->Mail_Brake_Value); |
muaiyd | 9:d86a6b8cdfa4 | 156 | fprintf(fp,"\r\n"); |
muaiyd | 9:d86a6b8cdfa4 | 157 | fclose(fp); |
muaiyd | 1:b409ad65466a | 158 | mail_box.free(mail); |
muaiyd | 1:b409ad65466a | 159 | Element_Counter_R++; |
muaiyd | 1:b409ad65466a | 160 | } |
muaiyd | 7:a92da438d06c | 161 | } |
muaiyd | 11:7f2414ecb7ee | 162 | |
muaiyd | 11:7f2414ecb7ee | 163 | // Flashing the indecator light |
muaiyd | 7:a92da438d06c | 164 | void CAR::Side_Light_Flash(void const *args){ |
muaiyd | 7:a92da438d06c | 165 | while(true){ |
muaiyd | 7:a92da438d06c | 166 | SWITCH_SEM.wait(); |
muaiyd | 11:7f2414ecb7ee | 167 | // If both side are enabled |
muaiyd | 8:6e55db96c11c | 168 | if((LSide_Indicator_Value == 1) && (RSide_Indicator_Value == 1) ){ |
muaiyd | 8:6e55db96c11c | 169 | L_Side_Indicator = L_Side_Indicator ^ 1; |
muaiyd | 8:6e55db96c11c | 170 | R_Side_Indicator = L_Side_Indicator; |
muaiyd | 8:6e55db96c11c | 171 | } |
muaiyd | 11:7f2414ecb7ee | 172 | //If just one side enabled |
muaiyd | 8:6e55db96c11c | 173 | else if(RSide_Indicator_Value == 1){ |
muaiyd | 8:6e55db96c11c | 174 | R_Side_Indicator = R_Side_Indicator ^ 1; |
muaiyd | 8:6e55db96c11c | 175 | L_Side_Indicator = 0; |
muaiyd | 8:6e55db96c11c | 176 | } |
muaiyd | 8:6e55db96c11c | 177 | else if(LSide_Indicator_Value == 1){ |
muaiyd | 8:6e55db96c11c | 178 | L_Side_Indicator = L_Side_Indicator ^ 1; |
muaiyd | 8:6e55db96c11c | 179 | R_Side_Indicator = 0; |
muaiyd | 8:6e55db96c11c | 180 | } |
muaiyd | 11:7f2414ecb7ee | 181 | //Neither are enabled |
muaiyd | 8:6e55db96c11c | 182 | else{ |
muaiyd | 8:6e55db96c11c | 183 | L_Side_Indicator = 0; |
muaiyd | 8:6e55db96c11c | 184 | R_Side_Indicator = 0 ; |
muaiyd | 8:6e55db96c11c | 185 | } |
muaiyd | 8:6e55db96c11c | 186 | SWITCH_SEM.release(); |
muaiyd | 8:6e55db96c11c | 187 | Thread::wait(1000); |
muaiyd | 8:6e55db96c11c | 188 | } |
muaiyd | 8:6e55db96c11c | 189 | } |
muaiyd | 11:7f2414ecb7ee | 190 | // Check the side light swetches and turn on or off the light |
muaiyd | 8:6e55db96c11c | 191 | void CAR::Side_Light(void const *args){ |
muaiyd | 8:6e55db96c11c | 192 | while(true){ |
muaiyd | 8:6e55db96c11c | 193 | if(LSide_Light_Switch){ |
muaiyd | 8:6e55db96c11c | 194 | L_Side_Light = 1; |
muaiyd | 7:a92da438d06c | 195 | } |
muaiyd | 7:a92da438d06c | 196 | else{ |
muaiyd | 7:a92da438d06c | 197 | L_Side_Light = 0; |
muaiyd | 7:a92da438d06c | 198 | } |
muaiyd | 8:6e55db96c11c | 199 | if(RSide_Light_Switch){ |
muaiyd | 8:6e55db96c11c | 200 | R_Side_Light = 1; |
muaiyd | 7:a92da438d06c | 201 | } |
muaiyd | 7:a92da438d06c | 202 | else{ |
muaiyd | 8:6e55db96c11c | 203 | R_Side_Light = 0; |
muaiyd | 7:a92da438d06c | 204 | } |
muaiyd | 7:a92da438d06c | 205 | Thread::wait(1000); |
muaiyd | 7:a92da438d06c | 206 | } |
muaiyd | 0:68ce46607848 | 207 | } |