BrakeSystemControl.c File Reference

#include "../../../Inc/Outputs/DigitalOutput.h"
#include "../../../Inc/Systems/Controller/BrakeSystemControl.h"
#include "../../../Inc/Utils/Common.h"
#include "../../../Inc/Sensors/AnalogSensors/BrakePressure.h"
#include "../../../Inc/Sensors/AnalogSensors/Temperature.h"

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Functions
void	initBrakeSystemControl (BrakeSystemControl *bsc, int hz, int maxTemp, int brakeLightActivationPoint, int heavyBrakingActivationPoint, int fbp_channel, int rbp_channel, int temp_channel, int light_port)
	Initializes the Braking System with initial settings. More...
int	startBrakeSystemControl (BrakeSystemControl *bsc)
	Starts the Brake System Controller. More...
int	updateBrakeSystemControl (ControllerSystem *controller)
	Updates the Brake System Controller. More...
void	setSensorReadings (BrakeSystemControl *bsc)
	Updates BrakeSystemStatus with current sensor data. More...
void	activateBrakeLight (BrakeSystemControl *bsc)
	Checks whether the line pressure is higher than the activation point specified by the user. More...
void	inHeavyBreaking (BrakeSystemControl *bsc)
	Checks whether the line pressure is higher than the activation point specified by the user. More...
BrakeSystemStatus	checkSensorLimits (BrakeSystemControl *bsc)
	Checks if the brake system is within the defined limits and desired ranges. More...
void	setFrontPressure (BrakeSystemControl *bsc, float pressure)
void	setRearPressure (BrakeSystemControl *bsc, float pressure)
void	setTemperature (BrakeSystemControl *bsc, float temperature)

Function Documentation

activateBrakeLight()

void activateBrakeLight

(

BrakeSystemControl *

bsc

)

Checks whether the line pressure is higher than the activation point specified by the user.

Parameters

bsc	A pointer to the BrakeControl structure.

Definition at line 71 of file BrakeSystemControl.c.

                                                {
    if (getBrakePressure(bsc -> frontPressure) > bsc -> brakeLightActivationPoint 
        || getBrakePressure(bsc -> rearPressure) > bsc -> brakeLightActivationPoint){
        if (bsc->brakeLightBlink < 8) {bsc->brakeLightBlink++;}
        if (bsc->brakeLightBlink%2 == 0) {
            bsc -> brakeLightActive = 1;
            return;
        }
    } else {
        bsc -> brakeLightBlink = 0;
    }
    bsc -> brakeLightActive = 0;
    return;
}

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checkSensorLimits()

BrakeSystemStatus checkSensorLimits

(

BrakeSystemControl *

bsc

)

Checks if the brake system is within the defined limits and desired ranges.

Parameters

bsc	A pointer to the BrakeControl structure.

Definition at line 95 of file BrakeSystemControl.c.

                                                            {
    float front = getBrakePressure(bsc -> frontPressure);
    float rear = getBrakePressure(bsc -> rearPressure);
    float temp = getTemperatureFahrenheit(bsc -> temperature);
    
    if (front > bsc -> maxPressure || rear > bsc -> maxPressure){
        return PRESSURE_OVER_LIMIT;
    }
    else if (front < bsc -> minPressure || rear < bsc -> minPressure){
        return PRESSURE_UNDER_LIMIT;
    }
    else if (temp > bsc -> maxTemperatureAllowed){
        return TEMPERATURE_OVER_LIMIT;
    }
    else if (temp < 0){
        return TEMPERATURE_SENSOR_ERROR;
    } else {
        return BRAKES_OK;
    }
}

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inHeavyBreaking()

void inHeavyBreaking

(

BrakeSystemControl *

bsc

)

Checks whether the line pressure is higher than the activation point specified by the user.

Parameters

bsc	A pointer to the BrakeControl structure.

Definition at line 86 of file BrakeSystemControl.c.

                                             {
    if (getBrakePressure(bsc -> frontPressure) > bsc -> heavyBrakingActivationPoint || getBrakePressure(bsc -> rearPressure) > bsc -> heavyBrakingActivationPoint){
        bsc -> heavyBraking = 1;
        return;
    }
    bsc -> heavyBraking = 0;
    return;
}

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initBrakeSystemControl()

void initBrakeSystemControl	(	BrakeSystemControl *	bsc,
		int	hz,
		int	maxTemp,
		int	brakeLightActivationPoint,
		int	heavyBrakingActivationPoint,
		int	fbp_channel,
		int	rbp_channel,
		int	temp_channel,
		int	light_port
	)

Initializes the Braking System with initial settings.

Parameters

bsc	A pointer to the BrakeControl structure.
hz	Rate at which the sensorors are called (in hz).
maxTemp	The maximum temperature limit set for the system (in farenheight).
brakeLightActivationPoint	At what voltage the brake light will activate.
heavyBrakingActivationPoint	At what voltage the system recognises "heavy braking".
fbp_channel	The channel number for the front brake pressure sensor
rbp_channel	The channel number for the rear brake pressure sensor
temp_channel	The channel number for the temperature sensor
light_port	The port number for the brake light

Definition at line 7 of file BrakeSystemControl.c.

                                                                                                                                                                                                             {
    initControllerSystem(&bsc-> base, "Brake System Control", hz, c_BRAKES, updateBrakeSystemControl, bsc);
    static BrakePressure frontPressure, rearPressure;
    static Temperature temperature;
    static DigitalOutput brakeLight;
 
    bsc->frontPressure = &frontPressure;
    bsc->rearPressure = &rearPressure;
    initBrakePressure(bsc -> frontPressure, hz, fbp_channel);
    initBrakePressure(bsc -> rearPressure, hz, rbp_channel);
    
    bsc->temperature = &temperature;
    initTemperature(bsc -> temperature, hz, temp_channel);
 
    bsc->brakeLight = &brakeLight;
    initDigitalOutput(bsc -> brakeLight, "Brake Light", hz, light_port);
 
    bsc -> maxTemperatureAllowed = maxTemp;
    bsc -> minPressure = 0;
    bsc -> maxPressure = 2000;
    bsc -> brakeLightActivationPoint = brakeLightActivationPoint;
    bsc -> brakeLightActive = 0;
    bsc -> brakeLightBlink = 0;
    bsc -> heavyBrakingActivationPoint = heavyBrakingActivationPoint;
    bsc -> heavyBraking = 0;
    bsc -> status = BRAKES_OK;
}

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setFrontPressure()

void setFrontPressure	(	BrakeSystemControl *	bsc,
		float	pressure
	)

Definition at line 118 of file BrakeSystemControl.c.

                                                              {
    bsc -> frontPressure -> pressure = pressure;
    inHeavyBreaking(bsc);
    activateBrakeLight(bsc);
}

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setRearPressure()

void setRearPressure	(	BrakeSystemControl *	bsc,
		float	pressure
	)

Definition at line 124 of file BrakeSystemControl.c.

                                                             {
    bsc -> rearPressure -> pressure = pressure;
    inHeavyBreaking(bsc);
    activateBrakeLight(bsc);
}

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setSensorReadings()

void setSensorReadings

(

BrakeSystemControl *

bsc

)

Updates BrakeSystemStatus with current sensor data.

Parameters

bsc	A pointer to the BrakeControl structure.

Definition at line 65 of file BrakeSystemControl.c.

                                               {
    updateBrakePressure(bsc->frontPressure);
    updateBrakePressure(bsc->rearPressure);
    updateTemperature(bsc->temperature);
}

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setTemperature()

void setTemperature	(	BrakeSystemControl *	bsc,
		float	temperature
	)

Definition at line 130 of file BrakeSystemControl.c.

                                                               {
    bsc -> temperature -> degrees = temperature;
    inHeavyBreaking(bsc);
    activateBrakeLight(bsc);
}

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startBrakeSystemControl()

int startBrakeSystemControl

(

BrakeSystemControl *

bsc

)

Starts the Brake System Controller.

Parameters

bsc	A pointer to the BrakeControl structure.

Definition at line 35 of file BrakeSystemControl.c.

                                                     {
    if (bsc -> base.safety == NULL){
        printf("Safety system not set for Brake System Control\r\n");
        return _FAILURE;
    }
    else if (bsc -> base.safety(&bsc->base) == _FAILURE){
        printf("Brake System Control Actuator is not in a safe state\r\n");
        return _FAILURE;
    }
    ENABLE(bsc -> base.system);
    bsc -> base.state = c_idle;
    return _SUCCESS;
}

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updateBrakeSystemControl()

int updateBrakeSystemControl

(

ControllerSystem *

controller

)

Updates the Brake System Controller.

Parameters

controller

A pointer to the BrakeControl ControllerSystem.

Definition at line 49 of file BrakeSystemControl.c.

                                                           {
    BrakeSystemControl *bsc = (BrakeSystemControl*)controller->child;
    setSensorReadings(bsc);
    activateBrakeLight(bsc);
    inHeavyBreaking(bsc);
    bsc->base.state = c_computed;
    writeDigitalOutputData(bsc->brakeLight, bsc->brakeLightActive);
    
    #ifdef DEBUGn
    printf("Brake System Control updated. Front Pressure: %f, Rear Pressure: %f, Temperature: %f\r\n", getBrakePressure(bsc -> frontPressure), getBrakePressure(bsc -> rearPressure), getTemperatureFahrenheit(bsc -> temperature));
    printf("Brake Light Active: %d, Heavy Braking: %d\r\n", bsc -> brakeLightActive, bsc -> heavyBraking);
    #endif
 
    return _SUCCESS;
}

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