Diff: CAR.cpp

Revision:

12:8eb2c1cccee6

Parent:

11:7f2414ecb7ee

Child:

13:e5b22bfbe67b

diff -r 7f2414ecb7ee -r 8eb2c1cccee6 CAR.cpp
--- a/CAR.cpp	Tue May 06 09:11:01 2014 +0000
+++ b/CAR.cpp	Tue May 06 09:49:08 2014 +0000
@@ -2,7 +2,8 @@
 
 //Define semaphores to manage accessing the viriables
 Semaphore CAR_MAIL_SEM(1);
-Semaphore INPUT_SEM(3);
+Semaphore INPUT_SEM(1); 
+Semaphore Speed_SEM(1); 
 Semaphore SWITCH_SEM(2);
 Semaphore AVR_SPEED_SEM(2);
 /* Two counter the first is counting the number of element that
@@ -37,28 +38,34 @@
 /*   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){
+void CAR::Car_Simulation(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 ;
+        Speed_SEM.wait();
+        Speed[Counter] = Get_Speed();
+        Speed_SEM.release();
         Counter++;
         if(Counter > 2) Counter = 0;
+        
         INPUT_SEM.release();
         Thread::wait(100);
     }
 }
+uint8_t CAR::Get_Speed(){
+    return (Accelerometer_Value * MaxSpeed * (1 - Brake_Value) * EngineStat) ;
+}
 
 // Average filter the speed every 200 mSec
 void CAR::Average_Speed_Measure(void const *args) {
     while (true) {
-        INPUT_SEM.wait();
+        Speed_SEM.wait();
         AVR_SPEED_SEM.wait();
         Average_Speed = ( Speed[0] + Speed[1] + Speed[2] )/3 ;
-        INPUT_SEM.release();
         AVR_SPEED_SEM.release();
+        Speed_SEM.release();
         Thread::wait(200);
     }
 }