Steven Kay / Mbed 2 deprecated Embedded_Software_Assignment_3

Example software of using the mbed-rtos to control a simple vehicle's on board computer

Dependencies:   MCP23017 WattBob_TextLCD mbed-rtos mbed

main.cpp@4:b4bcb329a930, 2016-03-30 (annotated)

Committer:
sk398
Date:
Wed Mar 30 02:23:10 2016 +0000
Revision:
4:b4bcb329a930
Parent:
3:8192bbde17b3
Child:
5:4f2a072ed289
Car Sim not working - going to replace Queue and Mailpool with array system

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sk398 0:f7d6ed1dfe3e 1 #include "mbed.h"
sk398 0:f7d6ed1dfe3e 2 #include "rtos.h"
sk398 4:b4bcb329a930 3 #include "MCP23017.h"
sk398 4:b4bcb329a930 4 #include "WattBob_TextLCD.h"
sk398 4:b4bcb329a930 5
sk398 4:b4bcb329a930 6 #define BACK_LIGHT_ON(INTERFACE) INTERFACE->write_bit(1,BL_BIT)
sk398 4:b4bcb329a930 7
sk398 4:b4bcb329a930 8 #define BACK_LIGHT_OFF(INTERFACE) INTERFACE->write_bit(0,BL_BIT)
sk398 4:b4bcb329a930 9
sk398 4:b4bcb329a930 10 MCP23017 *par_port;
sk398 4:b4bcb329a930 11 WattBob_TextLCD *lcd;
sk398 0:f7d6ed1dfe3e 12
sk398 1:cdf851858518 13 #define TRUE 1
sk398 1:cdf851858518 14 #define FALSE 0
sk398 1:cdf851858518 15
sk398 2:13a9394ba2e0 16 #define HIGH 1
sk398 2:13a9394ba2e0 17 #define LOW 0
sk398 2:13a9394ba2e0 18
sk398 2:13a9394ba2e0 19 // ============================================================================
sk398 2:13a9394ba2e0 20 // MBED Pin Assignments
sk398 2:13a9394ba2e0 21 // ============================================================================
sk398 1:cdf851858518 22 AnalogIn Brake(p19);
sk398 0:f7d6ed1dfe3e 23 AnalogIn Accelerometer(p20);
sk398 0:f7d6ed1dfe3e 24
sk398 1:cdf851858518 25 DigitalIn EngineState(p18);
sk398 1:cdf851858518 26 DigitalIn LeftIndicator(p17);
sk398 1:cdf851858518 27 DigitalIn RightIndicator(p16);
sk398 1:cdf851858518 28 DigitalIn SideLightIndicator(p15);
sk398 1:cdf851858518 29
sk398 1:cdf851858518 30 DigitalOut EngineStateInd(LED1);
sk398 1:cdf851858518 31 DigitalOut SideLightInd(LED2);
sk398 1:cdf851858518 32
sk398 1:cdf851858518 33 PwmOut LeftLightInd(LED3);
sk398 1:cdf851858518 34 PwmOut RightLightInd(LED4);
sk398 2:13a9394ba2e0 35 PwmOut OverSpeedInd(p22);
sk398 2:13a9394ba2e0 36
sk398 2:13a9394ba2e0 37 PwmOut AvSpeedWiper(p21);
sk398 2:13a9394ba2e0 38
sk398 4:b4bcb329a930 39 Serial PCConn(USBTX,USBRX);
sk398 4:b4bcb329a930 40
sk398 4:b4bcb329a930 41
sk398 2:13a9394ba2e0 42 // ============================================================================
sk398 2:13a9394ba2e0 43 // Global Data Structure Declerations
sk398 2:13a9394ba2e0 44 // ============================================================================
sk398 2:13a9394ba2e0 45 typedef struct
sk398 2:13a9394ba2e0 46 {
sk398 2:13a9394ba2e0 47 bool EngineState;
sk398 2:13a9394ba2e0 48 float RawAccelerometer;
sk398 2:13a9394ba2e0 49 float RawBraking;
sk398 2:13a9394ba2e0 50 } CarRawParams;
sk398 2:13a9394ba2e0 51
sk398 2:13a9394ba2e0 52 Mutex rawParamsMutex;
sk398 2:13a9394ba2e0 53 CarRawParams rawParams;
sk398 2:13a9394ba2e0 54
sk398 2:13a9394ba2e0 55
sk398 2:13a9394ba2e0 56 typedef struct
sk398 2:13a9394ba2e0 57 {
sk398 4:b4bcb329a930 58 float rawSpeed[4];
sk398 2:13a9394ba2e0 59 } CarProcessedParams;
sk398 2:13a9394ba2e0 60
sk398 4:b4bcb329a930 61
sk398 4:b4bcb329a930 62 Mutex lastCalculatedrawSpeedMutex;
sk398 2:13a9394ba2e0 63
sk398 2:13a9394ba2e0 64
sk398 2:13a9394ba2e0 65 typedef struct
sk398 2:13a9394ba2e0 66 {
sk398 2:13a9394ba2e0 67 float AverageSpeed;
sk398 2:13a9394ba2e0 68 } CarFilteredParams;
sk398 2:13a9394ba2e0 69
sk398 2:13a9394ba2e0 70 Mutex filteredParamsMutex;
sk398 2:13a9394ba2e0 71 CarFilteredParams filteredParams;
sk398 2:13a9394ba2e0 72
sk398 2:13a9394ba2e0 73
sk398 4:b4bcb329a930 74
sk398 2:13a9394ba2e0 75 // ============================================================================
sk398 2:13a9394ba2e0 76 // Car Simulation
sk398 2:13a9394ba2e0 77 // ============================================================================
sk398 2:13a9394ba2e0 78
sk398 2:13a9394ba2e0 79 void CarSimulator(void const *arg)
sk398 2:13a9394ba2e0 80 {
sk398 4:b4bcb329a930 81 PCConn.printf("CarSim\r\n");
sk398 2:13a9394ba2e0 82 rawParamsMutex.lock();
sk398 2:13a9394ba2e0 83 float currentAccelerometer = rawParams.RawAccelerometer;
sk398 4:b4bcb329a930 84 // PCConn.printf("%f\r\n",currentAccelerometer);
sk398 2:13a9394ba2e0 85 float currentBrake = rawParams.RawBraking;
sk398 2:13a9394ba2e0 86 bool currentEngineState = rawParams.EngineState;
sk398 2:13a9394ba2e0 87 rawParamsMutex.unlock();
sk398 2:13a9394ba2e0 88
sk398 4:b4bcb329a930 89 lastCalculatedrawSpeedMutex.lock();
sk398 4:b4bcb329a930 90 float currentRawSpeed = lastCalculatedrawSpeed;
sk398 4:b4bcb329a930 91 lastCalculatedrawSpeedMutex.unlock();
sk398 2:13a9394ba2e0 92
sk398 2:13a9394ba2e0 93 if(currentEngineState)
sk398 2:13a9394ba2e0 94 {
sk398 2:13a9394ba2e0 95 if(currentRawSpeed >= 100)
sk398 2:13a9394ba2e0 96 {
sk398 4:b4bcb329a930 97 CarProcessedParams *pr\ocessedParams = mpool.alloc();
sk398 4:b4bcb329a930 98 processedParams -> rawSpeed = 100.0;
sk398 4:b4bcb329a930 99 AvSpeedQueue.put(processedParams);
sk398 4:b4bcb329a930 100
sk398 4:b4bcb329a930 101 lastCalculatedrawSpeedMutex.lock();
sk398 4:b4bcb329a930 102 lastCalculatedrawSpeed = 100.0;
sk398 4:b4bcb329a930 103 lastCalculatedrawSpeedMutex.unlock();
sk398 2:13a9394ba2e0 104 }
sk398 2:13a9394ba2e0 105 else
sk398 2:13a9394ba2e0 106 {
sk398 4:b4bcb329a930 107 // Calculate speed in m/s, convert to mph
sk398 4:b4bcb329a930 108 float newSpeed = (currentRawSpeed + ((7*(currentAccelerometer - currentBrake))*0.05));
sk398 4:b4bcb329a930 109
sk398 4:b4bcb329a930 110 CarProcessedParams *processedParams = mpool.alloc();
sk398 4:b4bcb329a930 111 processedParams -> rawSpeed = newSpeed;
sk398 4:b4bcb329a930 112 AvSpeedQueue.put(processedParams);
sk398 4:b4bcb329a930 113
sk398 4:b4bcb329a930 114 lastCalculatedrawSpeedMutex.lock();
sk398 4:b4bcb329a930 115 lastCalculatedrawSpeed = newSpeed;
sk398 4:b4bcb329a930 116 lastCalculatedrawSpeedMutex.unlock();
sk398 4:b4bcb329a930 117
sk398 2:13a9394ba2e0 118 }
sk398 2:13a9394ba2e0 119 }
sk398 4:b4bcb329a930 120 // If Engine State == OFF, assume Car is stationary
sk398 4:b4bcb329a930 121 else
sk398 4:b4bcb329a930 122 {
sk398 4:b4bcb329a930 123 CarProcessedParams *processedParams = mpool.alloc();
sk398 4:b4bcb329a930 124 processedParams -> rawSpeed = 0.0;
sk398 4:b4bcb329a930 125 AvSpeedQueue.put(processedParams);
sk398 4:b4bcb329a930 126
sk398 4:b4bcb329a930 127 lastCalculatedrawSpeedMutex.lock();
sk398 4:b4bcb329a930 128 lastCalculatedrawSpeed = 0.0;
sk398 4:b4bcb329a930 129 lastCalculatedrawSpeedMutex.unlock();
sk398 4:b4bcb329a930 130 }
sk398 4:b4bcb329a930 131
sk398 4:b4bcb329a930 132 PCConn.printf("%f\r\n",lastCalculatedrawSpeed);
sk398 2:13a9394ba2e0 133 }
sk398 2:13a9394ba2e0 134
sk398 2:13a9394ba2e0 135
sk398 2:13a9394ba2e0 136 // ============================================================================
sk398 2:13a9394ba2e0 137 // Control System Tasks
sk398 2:13a9394ba2e0 138 // ============================================================================
sk398 2:13a9394ba2e0 139
sk398 2:13a9394ba2e0 140 void Task1_ReadRawData(void const *arg)
sk398 2:13a9394ba2e0 141 {
sk398 4:b4bcb329a930 142 PCConn.printf("Task1\r\n");
sk398 2:13a9394ba2e0 143 rawParamsMutex.lock();
sk398 2:13a9394ba2e0 144 rawParams.RawBraking = Brake.read();
sk398 4:b4bcb329a930 145 // PCConn.printf("%f\r\n",rawParams.RawBraking);
sk398 2:13a9394ba2e0 146 rawParams.RawAccelerometer = Accelerometer.read();
sk398 4:b4bcb329a930 147 // PCConn.printf("%f\r\n",rawParams.RawAccelerometer);
sk398 2:13a9394ba2e0 148 rawParamsMutex.unlock();
sk398 2:13a9394ba2e0 149 }
sk398 2:13a9394ba2e0 150
sk398 2:13a9394ba2e0 151
sk398 2:13a9394ba2e0 152
sk398 2:13a9394ba2e0 153 void Task2_ReadEngineState(void const *arg)
sk398 2:13a9394ba2e0 154 {
sk398 4:b4bcb329a930 155 PCConn.printf("Task2\r\n");
sk398 4:b4bcb329a930 156 bool currentEngineState = EngineState.read();
sk398 2:13a9394ba2e0 157 rawParamsMutex.lock();
sk398 4:b4bcb329a930 158 rawParams.EngineState = currentEngineState;
sk398 2:13a9394ba2e0 159 rawParamsMutex.unlock();
sk398 2:13a9394ba2e0 160
sk398 2:13a9394ba2e0 161 if(currentEngineState)
sk398 2:13a9394ba2e0 162 {
sk398 2:13a9394ba2e0 163 EngineStateInd = HIGH;
sk398 2:13a9394ba2e0 164 }
sk398 2:13a9394ba2e0 165 else
sk398 2:13a9394ba2e0 166 {
sk398 2:13a9394ba2e0 167 EngineStateInd = LOW;
sk398 2:13a9394ba2e0 168 }
sk398 2:13a9394ba2e0 169 }
sk398 2:13a9394ba2e0 170
sk398 4:b4bcb329a930 171 void Task3_CalcAvSpeed(void const *arg)
sk398 4:b4bcb329a930 172 {
sk398 4:b4bcb329a930 173 PCConn.printf("Task3\r\n");
sk398 4:b4bcb329a930 174 float speedTotal = 0.0;
sk398 4:b4bcb329a930 175 for(int num = 0; num < 3; num++)
sk398 4:b4bcb329a930 176 {
sk398 4:b4bcb329a930 177 osEvent evt = AvSpeedQueue.get();
sk398 4:b4bcb329a930 178 if(evt.status == osEventMessage)
sk398 4:b4bcb329a930 179 {
sk398 4:b4bcb329a930 180 CarProcessedParams *processedParams = (CarProcessedParams*)evt.value.p;
sk398 4:b4bcb329a930 181 speedTotal = speedTotal + processedParams->rawSpeed;
sk398 4:b4bcb329a930 182 PCConn.printf("Total: %f\r\n",speedTotal);
sk398 4:b4bcb329a930 183 mpool.free(processedParams);
sk398 4:b4bcb329a930 184 }
sk398 4:b4bcb329a930 185 }
sk398 2:13a9394ba2e0 186
sk398 4:b4bcb329a930 187 filteredParamsMutex.lock();
sk398 4:b4bcb329a930 188 filteredParams.AverageSpeed = (speedTotal/3);
sk398 4:b4bcb329a930 189 filteredParamsMutex.unlock();
sk398 4:b4bcb329a930 190 }
sk398 4:b4bcb329a930 191
sk398 4:b4bcb329a930 192 void Task4_UpdateRCWiper(void const *arg)
sk398 2:13a9394ba2e0 193 {
sk398 4:b4bcb329a930 194 PCConn.printf("Task4\r\n");
sk398 2:13a9394ba2e0 195 filteredParamsMutex.lock();
sk398 2:13a9394ba2e0 196 float currentAverageSpeed = filteredParams.AverageSpeed;
sk398 2:13a9394ba2e0 197 filteredParamsMutex.unlock();
sk398 2:13a9394ba2e0 198
sk398 4:b4bcb329a930 199 AvSpeedWiper.pulsewidth_us(2*currentAverageSpeed);
sk398 2:13a9394ba2e0 200 }
sk398 2:13a9394ba2e0 201
sk398 0:f7d6ed1dfe3e 202
sk398 0:f7d6ed1dfe3e 203
sk398 4:b4bcb329a930 204 void Task5_OverspeedLED(void const *arg)
sk398 0:f7d6ed1dfe3e 205 {
sk398 4:b4bcb329a930 206 PCConn.printf("Task5\r\n");
sk398 4:b4bcb329a930 207 float currentInstSpeed = 0.0;
sk398 4:b4bcb329a930 208 osEvent evt = AvSpeedQueue.get();
sk398 4:b4bcb329a930 209
sk398 4:b4bcb329a930 210 if(evt.status == osEventMessage)
sk398 1:cdf851858518 211 {
sk398 4:b4bcb329a930 212 CarProcessedParams *processedParams = (CarProcessedParams*)evt.value.p;
sk398 4:b4bcb329a930 213 currentInstSpeed = processedParams->rawSpeed;
sk398 4:b4bcb329a930 214 }
sk398 4:b4bcb329a930 215
sk398 4:b4bcb329a930 216 if(currentInstSpeed > 70.0)
sk398 4:b4bcb329a930 217 {
sk398 4:b4bcb329a930 218 OverSpeedInd = HIGH;
sk398 1:cdf851858518 219 }
sk398 1:cdf851858518 220 else
sk398 1:cdf851858518 221 {
sk398 4:b4bcb329a930 222 OverSpeedInd = LOW;
sk398 4:b4bcb329a930 223 }
sk398 4:b4bcb329a930 224
sk398 4:b4bcb329a930 225 }
sk398 4:b4bcb329a930 226
sk398 4:b4bcb329a930 227
sk398 4:b4bcb329a930 228 void Task9_ReadSideLight(void const *arg)
sk398 4:b4bcb329a930 229 {
sk398 4:b4bcb329a930 230 PCConn.printf("Task9\r\n");
sk398 4:b4bcb329a930 231 if(SideLightIndicator)
sk398 4:b4bcb329a930 232 {
sk398 4:b4bcb329a930 233 SideLightInd = HIGH;
sk398 4:b4bcb329a930 234 }
sk398 4:b4bcb329a930 235 else
sk398 4:b4bcb329a930 236 {
sk398 4:b4bcb329a930 237 SideLightInd = LOW;
sk398 1:cdf851858518 238 }
sk398 1:cdf851858518 239 }
sk398 0:f7d6ed1dfe3e 240
sk398 2:13a9394ba2e0 241
sk398 2:13a9394ba2e0 242
sk398 4:b4bcb329a930 243 void Task10_ReadIndicatorLights(void const *arg)
sk398 0:f7d6ed1dfe3e 244 {
sk398 4:b4bcb329a930 245 PCConn.printf("Task10\r\n");
sk398 1:cdf851858518 246 // Left Indicator Only
sk398 1:cdf851858518 247 if(LeftIndicator && !RightIndicator)
sk398 1:cdf851858518 248 {
sk398 2:13a9394ba2e0 249 LeftLightInd.period(1.0);
sk398 2:13a9394ba2e0 250 LeftLightInd.pulsewidth(0.5);
sk398 2:13a9394ba2e0 251
sk398 2:13a9394ba2e0 252 RightLightInd.period(1.0);
sk398 2:13a9394ba2e0 253 RightLightInd.pulsewidth(0.0);
sk398 1:cdf851858518 254 }
sk398 1:cdf851858518 255
sk398 1:cdf851858518 256 // Right Indicator Only
sk398 1:cdf851858518 257 else if(!LeftIndicator && RightIndicator)
sk398 0:f7d6ed1dfe3e 258 {
sk398 2:13a9394ba2e0 259 LeftLightInd.period(1.0);
sk398 2:13a9394ba2e0 260 LeftLightInd.pulsewidth(0.0);
sk398 2:13a9394ba2e0 261
sk398 2:13a9394ba2e0 262 RightLightInd.period(1.0);
sk398 2:13a9394ba2e0 263 RightLightInd.pulsewidth(0.5);
sk398 1:cdf851858518 264 }
sk398 1:cdf851858518 265
sk398 1:cdf851858518 266 // Left and Right Indicators
sk398 1:cdf851858518 267 else if(LeftIndicator && RightIndicator)
sk398 1:cdf851858518 268 {
sk398 2:13a9394ba2e0 269 LeftLightInd.period(0.5);
sk398 2:13a9394ba2e0 270 RightLightInd.period(0.5);
sk398 0:f7d6ed1dfe3e 271
sk398 2:13a9394ba2e0 272 LeftLightInd.pulsewidth(0.25);
sk398 2:13a9394ba2e0 273 RightLightInd.pulsewidth(0.25);
sk398 2:13a9394ba2e0 274 }
sk398 2:13a9394ba2e0 275
sk398 2:13a9394ba2e0 276 else
sk398 2:13a9394ba2e0 277 {
sk398 2:13a9394ba2e0 278 LeftLightInd.period(1.0);
sk398 2:13a9394ba2e0 279 LeftLightInd.pulsewidth(0.0);
sk398 2:13a9394ba2e0 280
sk398 2:13a9394ba2e0 281 RightLightInd.period(1.0);
sk398 2:13a9394ba2e0 282 RightLightInd.pulsewidth(0.0);
sk398 0:f7d6ed1dfe3e 283 }
sk398 1:cdf851858518 284 }
sk398 3:8192bbde17b3 285
sk398 3:8192bbde17b3 286
sk398 3:8192bbde17b3 287 void InitSystem()
sk398 3:8192bbde17b3 288 {
sk398 4:b4bcb329a930 289 AvSpeedWiper.period_ms(20);
sk398 4:b4bcb329a930 290
sk398 4:b4bcb329a930 291 par_port->write_bit(1,BL_BIT); // turn LCD backlight ON
sk398 3:8192bbde17b3 292
sk398 3:8192bbde17b3 293 rawParams.EngineState = 0;
sk398 3:8192bbde17b3 294 rawParams.RawAccelerometer = 0.0;
sk398 3:8192bbde17b3 295 rawParams.RawBraking = 0.0;
sk398 4:b4bcb329a930 296
sk398 4:b4bcb329a930 297 lastCalculatedrawSpeed = 0.0;
sk398 3:8192bbde17b3 298
sk398 3:8192bbde17b3 299 filteredParams.AverageSpeed = 0.0;
sk398 4:b4bcb329a930 300 }
sk398 3:8192bbde17b3 301
sk398 3:8192bbde17b3 302
sk398 3:8192bbde17b3 303
sk398 2:13a9394ba2e0 304 // ============================================================================
sk398 2:13a9394ba2e0 305 // Entry Point Thread
sk398 2:13a9394ba2e0 306 // ============================================================================
sk398 1:cdf851858518 307
sk398 1:cdf851858518 308 int main()
sk398 1:cdf851858518 309 {
sk398 4:b4bcb329a930 310 par_port = new MCP23017(p9, p10, 0x40); // initialise 16-bit I/O chip
sk398 4:b4bcb329a930 311 lcd = new WattBob_TextLCD(par_port); // initialise 2*26 char display
sk398 4:b4bcb329a930 312
sk398 4:b4bcb329a930 313 PCConn.baud(115200);
sk398 4:b4bcb329a930 314
sk398 3:8192bbde17b3 315 InitSystem();
sk398 3:8192bbde17b3 316
sk398 4:b4bcb329a930 317 RtosTimer CarSim(CarSimulator,osTimerPeriodic);
sk398 2:13a9394ba2e0 318
sk398 4:b4bcb329a930 319 RtosTimer Task1(Task1_ReadRawData,osTimerPeriodic);
sk398 4:b4bcb329a930 320 RtosTimer Task2(Task2_ReadEngineState,osTimerPeriodic);
sk398 4:b4bcb329a930 321 RtosTimer Task3(Task3_CalcAvSpeed,osTimerPeriodic);
sk398 4:b4bcb329a930 322 RtosTimer Task4(Task4_UpdateRCWiper,osTimerPeriodic);
sk398 4:b4bcb329a930 323 RtosTimer Task5(Task5_OverspeedLED,osTimerPeriodic);
sk398 2:13a9394ba2e0 324
sk398 2:13a9394ba2e0 325
sk398 1:cdf851858518 326
sk398 4:b4bcb329a930 327 RtosTimer Task9(Task9_ReadSideLight,osTimerPeriodic);
sk398 4:b4bcb329a930 328 RtosTimer Task10(Task10_ReadIndicatorLights,osTimerPeriodic);
sk398 4:b4bcb329a930 329
sk398 4:b4bcb329a930 330 CarSim.start(50); // 20Hz
sk398 4:b4bcb329a930 331
sk398 4:b4bcb329a930 332 Task1.start(100); // 10Hz
sk398 4:b4bcb329a930 333 Task2.start(500); // 2Hz
sk398 4:b4bcb329a930 334 Task3.start(200); // 5Hz
sk398 4:b4bcb329a930 335 Task4.start(1000); // 1Hz
sk398 4:b4bcb329a930 336
sk398 4:b4bcb329a930 337
sk398 4:b4bcb329a930 338 Task9.start(1000); // 1Hz
sk398 4:b4bcb329a930 339 Task10.start(2000);// 0.5Hz
sk398 1:cdf851858518 340
sk398 1:cdf851858518 341 Thread::wait(osWaitForever);
sk398 1:cdf851858518 342
sk398 0:f7d6ed1dfe3e 343
sk398 0:f7d6ed1dfe3e 344 }
sk398 0:f7d6ed1dfe3e 345
sk398 1:cdf851858518 346 //
sk398 1:cdf851858518 347 //
sk398 1:cdf851858518 348 //Mutex readvalues;
sk398 1:cdf851858518 349 //Semaphore read_s(1);
sk398 1:cdf851858518 350 //
sk398 1:cdf851858518 351 //Mail<value_t, 100> mail_box;
sk398 1:cdf851858518 352 //
sk398 1:cdf851858518 353 //
sk398 1:cdf851858518 354 //float readValue = 1.0;
sk398 1:cdf851858518 355 //
sk398 1:cdf851858518 356 //typedef struct
sk398 1:cdf851858518 357 //{
sk398 1:cdf851858518 358 // float AccelerationRaw;
sk398 1:cdf851858518 359 // float BrakeRaw;
sk398 1:cdf851858518 360 //} value_t;
sk398 1:cdf851858518 361 //
sk398 1:cdf851858518 362 //
sk398 1:cdf851858518 363 //void readAnalogPins(void const *args)
sk398 1:cdf851858518 364 //{
sk398 1:cdf851858518 365 // while(1)
sk398 1:cdf851858518 366 // {
sk398 1:cdf851858518 367 // value_t *ReadValue = mail_box.alloc();
sk398 1:cdf851858518 368 //
sk398 1:cdf851858518 369 // ReadValue -> AccelerationrRaw = Accelerometer.read();
sk398 1:cdf851858518 370 // ReadValue -> BrakeRaw = Brake.read();
sk398 1:cdf851858518 371 //
sk398 1:cdf851858518 372 // mail_box.put(ReadValue);
sk398 1:cdf851858518 373 // Thread::wait(100);
sk398 1:cdf851858518 374 // }
sk398 1:cdf851858518 375 //
sk398 1:cdf851858518 376 //}
sk398 1:cdf851858518 377 //
sk398 1:cdf851858518 378 //void sendToPC(void const *args)
sk398 1:cdf851858518 379 //{
sk398 1:cdf851858518 380 // while(1)
sk398 1:cdf851858518 381 // {
sk398 1:cdf851858518 382 // osEvent evt = mail_box.get();
sk398 1:cdf851858518 383 //
sk398 1:cdf851858518 384 // if(evt.status == osEventMail)
sk398 1:cdf851858518 385 // {
sk398 1:cdf851858518 386 // value_t *ReadValue = (value_t*)evt.value.p;
sk398 1:cdf851858518 387 // printf("Value: %1.3f\r\n", ReadValue-> vale);
sk398 1:cdf851858518 388 // mail_box.free(ReadValue);
sk398 1:cdf851858518 389 // }
sk398 1:cdf851858518 390 // Thread::wait(5000);
sk398 1:cdf851858518 391 // }
sk398 1:cdf851858518 392 //
sk398 1:cdf851858518 393 //}
sk398 1:cdf851858518 394 //
sk398 1:cdf851858518 395 //int main() {
sk398 1:cdf851858518 396 //
sk398 1:cdf851858518 397 // Thread thread_1(readData);
sk398 1:cdf851858518 398 // Thread thread_2(sendToPC);
sk398 1:cdf851858518 399 //
sk398 1:cdf851858518 400 // while(1) {
sk398 1:cdf851858518 401 //
sk398 1:cdf851858518 402 // myled = 1;
sk398 1:cdf851858518 403 // wait(0.2);
sk398 1:cdf851858518 404 // myled = 0;
sk398 1:cdf851858518 405 // wait(0.2);
sk398 1:cdf851858518 406 // }
sk398 1:cdf851858518 407 //}