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Embedded Software Assignment 3
Dependencies: MCP23017 Servo WattBob_TextLCD mbed-rtos mbed
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Revision 0:6b3496e7a954, committed 2016-05-27
- Comitter:
- usmb192
- Date:
- Fri May 27 15:56:36 2016 +0000
- Child:
- 1:15edb3b6763a
- Commit message:
- final pub
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MCP23017.lib Fri May 27 15:56:36 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/jimherd/code/MCP23017/#d57de266cf19
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Servo.lib Fri May 27 15:56:36 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/simon/code/Servo/#36b69a7ced07
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/WattBob_TextLCD.lib Fri May 27 15:56:36 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/jimherd/code/WattBob_TextLCD/#3b26cd028e85
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri May 27 15:56:36 2016 +0000
@@ -0,0 +1,437 @@
+/*****************************************************************************************************
+
+ Assigment 3 Embedded Software
+ Markus
+
+
+
+
+ This Software is a Car Control Software as no Real Car can be connected it Simulates
+ a car as well.
+ For the Display it uses an LCD Screen
+ For the Speedometer it uses an Servo
+ The Emulation and Synchronisation is implemented using TimerThreads and Semaphores
+
+@version 1.4
+@updateDate 30.03.2016
+@author Markus
+
+******************************************************************************************************/
+
+#include "mbed.h"
+#include "MCP23017.h" // include 16-bit parallel I/O header file
+#include "WattBob_TextLCD.h" // include 2*16 character display header file
+#include "rtos.h"
+#include "Servo.h"
+#include <deque>
+
+
+//Unfortunately the definition doesnt work, either here or anywhere else...
+//#define OS_TIMERCBQS 20 // define a new number of timers we want +1 timer!
+//#define OS_TASKCNT 20 // maximum threads
+
+
+MCP23017 *par_port; // pointer to 16-bit parallel I/O object
+WattBob_TextLCD *lcd; // pointer to 2*16 chacater LCD object
+Serial serpc(USBTX, USBRX); // serial usb connection tx, rx
+
+AnalogIn AinBreak(p15); // Port for the Break Value
+AnalogIn AinAccel(p16); // Port for the Accelerator Value
+
+DigitalIn DinSwitchEngine(p11); // Port for the Engine Switch
+DigitalIn DinSwitchLight(p12); // Port for the Light Switch
+DigitalIn DinSwitchRindic(p13); // Port for the Right Indicator
+DigitalIn DinSwitchLindic(p14); // Port for the Left Indicator
+
+Servo Odometer(p26);
+DigitalOut LEDSpeedWarning(p8);
+
+DigitalOut DoutLEDLight(LED1); // Output Port for LED1
+DigitalOut DoutLEDLeft(LED2); // Output Port for LED2
+DigitalOut DoutLEDRight(LED3); // Output Port for LED3
+DigitalOut DoutLEDEngine(LED4); // Output Port for LED4
+
+
+void Timer1_void(void const *args); // Timer 1
+void Timer2_void(void const *args); // Timer 2
+void Timer3_void(void const *args); // Timer 3
+
+
+// Task Functions
+void task1_break_accelerate();
+void task2_read_show_engine_state();
+void task3_show_odometer();
+void task4_speed_warning();
+void task5_update_odometer();
+void task6_fill_mail_queue();
+void task7_dump_mail_to_serial();
+void task8_read_single_side_light();
+void task9_read_indicators();
+void task10_calc_avg_speed();
+void task11_emulate_car();
+
+int Convert_Hz_to_Ms(double Hz);
+
+float accerlator(0);
+float speed(0);
+float avgSpeed(0);
+float brake(0);
+float dist(0);
+
+bool engine(0);
+
+bool indicator_L(1);
+bool indicator_R(1);
+
+bool sw_timer1(0);
+bool sw_timer11(0);
+bool sw_timer2(0);
+bool sw_timer21(0);
+int sw_timer3(4); // initalize with a first run
+
+std::deque<float> AvgSpeedDB; // used for storing the average speed
+
+Semaphore SemAvgSpeedDB(1);
+Semaphore SemAvgSpeed(1);
+Semaphore SemSpeed(1);
+Semaphore SemBreak_Accelerate(1);
+Semaphore SemDistance(1);
+Semaphore SemEngine(1);
+Semaphore SemMailCnT(1);
+
+typedef struct {
+ float speed;
+ float accel;
+ float brake;
+} mail_t;
+
+int mailcounter(0); // counts the mails in the queue
+Mail<mail_t, 100> mail_box; // the mail queue has a maximum size of 100 mails
+
+int main()
+{
+ // 20.00 Hz = 00050 ms
+ // 10.00 Hz = 00100 ms
+ // 05.00 Hz = 00200 ms
+ // 02.00 Hz = 00500 ms
+ // 01.00 Hz = 01000 ms
+ // 00.50 Hz = 02000 ms
+ // 00.20 Hz = 05000 ms
+ // 00.05 Hz = 20000 ms
+
+ serpc.baud(19200); // setup the bautrate
+ serpc.printf("Init Software\r\n");
+ par_port = new MCP23017(p9, p10, 0x40); // initialise 16-bit I/O chip (0x40 = 64)
+ lcd = new WattBob_TextLCD(par_port); // initialise 2*26 char display
+ par_port->write_bit(1,BL_BIT); // turn LCD backlight ON
+ lcd->cls(); // clear display
+ lcd->locate(0,0); // set cursor to location (0,0) - top left corner
+
+ RtosTimer Timer1(Timer1_void,osTimerPeriodic,(void *)NULL);
+ Timer1.start(Convert_Hz_to_Ms(20.0));
+
+ RtosTimer Timer2(Timer2_void,osTimerPeriodic,(void *)NULL);
+ Timer2.start(Convert_Hz_to_Ms(2.0));
+
+ RtosTimer Timer3(Timer3_void,osTimerPeriodic,(void *)NULL);
+ Timer3.start(Convert_Hz_to_Ms(0.2));
+
+ Thread::wait(osWaitForever);
+
+}
+
+/*
+##############################################################
+Timer 1 runs at 20 Hz, but starts tasks at 20 Hz, 10 Hz, 5 Hz
+ task11_emulate_car();
+ task1_break_accelerate();
+ task10_calc_avg_speed();
+#############################################################
+*/
+
+void Timer1_void(void const *args)
+{
+ task11_emulate_car(); // runs every time, so at 20 Hz
+ sw_timer1 = !sw_timer1;
+ if(sw_timer1) { // runs just every second time, so at 10 hz
+ task1_break_accelerate();
+ sw_timer11 = !sw_timer11;
+ if(sw_timer11) { // runs just every second time, so at 5 hz
+ task10_calc_avg_speed();
+ }
+ }
+}
+
+
+/*
+##############################################################
+Timer 2 runs at 2 Hz, but starts tasks at 2 Hz, 1 Hz, 0.5 Hz
+
+ task2_read_show_engine_state();
+ task5_update_odometer();
+ Updates Indicators
+
+ task3_show_odometer();
+ task8_read_single_side_light();
+
+ task4_speed_warning();
+ task9_read_indicators();
+#############################################################
+*/
+void Timer2_void(void const *args) // timer runs at 2 hz
+{
+ task2_read_show_engine_state();
+ task5_update_odometer();
+ sw_timer2 = !sw_timer2;
+
+ if(indicator_L && indicator_R ) { // Sets the Left and Right Inidcators
+ DoutLEDLeft=!DoutLEDRight; // needs to get the inverted status of led1 before led1 is changed
+ DoutLEDRight=!DoutLEDRight;
+ } else if (!indicator_R && !indicator_L) {
+ DoutLEDLeft=0;
+ DoutLEDRight=0;
+ }
+
+ if(sw_timer2) { // runs just every second time, so at 1 hz
+ task3_show_odometer();
+ task8_read_single_side_light();
+ sw_timer21 = !sw_timer21;
+
+ if (!indicator_R && indicator_L) {
+ DoutLEDRight=0;
+ DoutLEDLeft=!DoutLEDLeft;
+ } else if(indicator_R && !indicator_L) {
+ DoutLEDRight=!DoutLEDRight;
+ DoutLEDLeft=0;
+ }
+
+
+ if(sw_timer21) { // runs just every second time, so at 0.5 hz
+ task4_speed_warning();
+ task9_read_indicators();
+ }
+ }
+
+}
+
+
+/*
+##############################################################
+Timer 3 runs at 0.2 Hz, but starts tasks at 0.2 Hz and 0.05 Hz
+ task6_fill_mail_queue();
+ task7_dump_mail_to_serial();
+##############################################################
+*/
+void Timer3_void(void const *args) // timer runs at 0.2 hz
+{
+ task6_fill_mail_queue();
+ if((sw_timer3%4)==0) { // task runs at 0.05 Hz
+ task7_dump_mail_to_serial();
+ sw_timer3=0;
+ }
+ sw_timer3++;
+}
+
+
+/*
+Reads the brake / acceleration of the car
+*/
+void task1_break_accelerate()
+{
+ SemBreak_Accelerate.wait();
+ accerlator = AinAccel;
+ brake = AinBreak;
+ SemBreak_Accelerate.release();
+}
+
+
+/*
+Reads the Engine On/Off Switch and displays its state
+*/
+void task2_read_show_engine_state()
+{
+ SemEngine.wait();
+ engine = DinSwitchEngine;
+ DoutLEDEngine = engine;
+ SemEngine.release();
+}
+
+
+/*
+Updates the Odometer (Servo Motor)
+*/
+void task3_show_odometer()
+{
+ SemAvgSpeed.wait();
+ Odometer = avgSpeed/250.0;
+ SemAvgSpeed.release();
+}
+
+
+/*
+Indicates a Speed warning at 75 Mph
+*/
+void task4_speed_warning()
+{
+ SemAvgSpeed.wait();
+ if(avgSpeed>75.0)
+ LEDSpeedWarning = !LEDSpeedWarning;
+ else
+ LEDSpeedWarning = 0;
+ SemAvgSpeed.release();
+}
+
+
+/*
+Updates the LCD Display
+*/
+void task5_update_odometer()
+{
+ // Let the Semaphores wait
+ SemDistance.wait();
+ SemAvgSpeed.wait();
+
+ lcd->locate(0,0); // set cursor to location (0,0) - top left corner
+ lcd->printf("s: %5.0f",avgSpeed);
+ lcd->locate(1,0);
+ lcd->printf("d: %5.0f",dist);
+
+ // Let the Semaphores release
+ SemDistance.release();
+ SemAvgSpeed.release();
+}
+
+
+
+/*
+Reads the Left and Right Inidcator
+*/
+void task6_fill_mail_queue()
+{
+ // Let the Semaphores wait
+ SemMailCnT.wait();
+ SemBreak_Accelerate.wait();
+ SemSpeed.wait();
+
+ mail_t *mail = mail_box.alloc();
+ mail->speed = speed;
+ mail->accel = accerlator;
+ mail->brake = brake;
+ mail_box.put(mail);
+ mailcounter++;
+
+ // Let the Semaphores release
+ SemBreak_Accelerate.release();
+ SemSpeed.release();
+ SemMailCnT.release();
+}
+
+/*
+Reads the Mail Queue and Sends the Content to the Serial Port
+*/
+void task7_dump_mail_to_serial()
+{
+ // Let the Semaphores wait
+ SemMailCnT.wait();
+
+ while(mailcounter) { // as long as we got mail
+
+ osEvent evt = mail_box.get(); // we are getting them
+ if (evt.status == osEventMail) {
+ mail_t *mail = (mail_t*)evt.value.p; // print the mail to serial
+ serpc.printf("\nspeed: %.0f \n\r" , mail->speed);
+ serpc.printf("accerlator: %.2f\n\r" , mail->accel);
+ serpc.printf("brake: %.2f\n\r", mail->brake);
+ mail_box.free(mail); // clear up the mailbox
+ }
+ mailcounter--;
+ }
+
+ // Release the Semaphores
+ SemMailCnT.release();
+}
+
+/*
+Single Side Light
+*/
+void task8_read_single_side_light()
+{
+ DoutLEDLight = DinSwitchLight;
+}
+
+
+/*
+Reads the Left and Right Inidcator
+*/
+void task9_read_indicators()
+{
+ indicator_R = DinSwitchRindic;
+ indicator_L = DinSwitchLindic;
+}
+
+
+/*
+Calculates the Average Speed
+*/
+void task10_calc_avg_speed()
+{
+
+ // Let the Semaphores wait
+ SemAvgSpeed.wait();
+ SemAvgSpeedDB.wait();
+
+ float sum(0);
+ for(deque<float>::const_iterator i = AvgSpeedDB.begin(); i != AvgSpeedDB.end(); ++i)
+ sum+= *i; // calculate the average by iterating over the queue
+ avgSpeed = sum/AvgSpeedDB.size();
+
+ // Release the Semaphores
+ SemAvgSpeedDB.release();
+ SemAvgSpeed.release();
+}
+
+
+/*
+Emulates the car
+*/
+void task11_emulate_car()
+{
+ // Let the Semaphores wait
+ SemAvgSpeed.wait();
+ SemAvgSpeedDB.wait();
+ SemDistance.wait();
+ SemBreak_Accelerate.wait();
+ SemSpeed.wait();
+ SemEngine.wait();
+
+ if(accerlator<=brake || !engine)
+ speed = 0;
+ else
+ speed = (accerlator-brake) *0.5 +speed;
+ if(speed>250)
+ speed=250; //maximum speed
+ if(AvgSpeedDB.size()>=4) // if we already got 4 values, we have to
+ AvgSpeedDB.pop_front(); // make space by deleting the oldest value
+ AvgSpeedDB.push_back(speed); // safe a new reading
+
+ dist += speed * 1.0/20.0; // runs at 20 Hz so we have to take this into account
+
+ // Release the Semaphores
+ SemDistance.release();
+ SemAvgSpeed.release();
+ SemAvgSpeedDB.release();
+ SemBreak_Accelerate.release();
+ SemSpeed.release();
+ SemEngine.release();
+}
+
+
+
+/*
+Function used for converting Hz to Ms for a Steps
+*/
+int Convert_Hz_to_Ms(double Hz)
+{
+ return 1000.0 / Hz;
+}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-rtos.lib Fri May 27 15:56:36 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed-rtos/#4c105b8d7cae
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri May 27 15:56:36 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/6c34061e7c34 \ No newline at end of file