Multi Agent system Using SPI Protocol and RTOS.

The Project is based on 3 microcontrollers ATmega32 (Master and 2 slaves). The slaves should send data to master every specific time depend on master's tasks in RTOS. Depending on received data, master take action. Methodology: Slave1: (automatic emergency braking) subsystem which gain info from ultrasonic sensor and send it to the master. Slave2: (Gear shifting) Subsystem depending on push buttons to shift between (Parking, Direct, Reverse) states. Master: Gain the data from slaves and then make the logic of the system as follow: (If Slave2 send Parking --> Stop Motor) (If Slave2 send Direct --> Motor rotates clockwise) (If Slave2 send Revese --> Motor Anticlockwise) (If Slave1 Send Distance < 20 --> Motor Force Stop) RTOS: Used Functions: xTaskCreate( ), xQueueCreate( ), xQueueSend( ), xQueueReceive( ), vTaskDelay( ), vTaskSuspend( ), Components: - ATmega32 microcontroller. - LCD 2x16 - Push button - 7 segment - UltrasonicHCSR04. - Dual DC motor driver. - Crystal 16 MHz external clock - Resistor - Capacitor Layer Architecture: Application Layer: Multiagent, Main. Hal Layer: DCMotor, LCD, Pushbutton, Ultrasonic. 7Segment. MCAL: Port, DIO, PWM, SPI, ICU, GPT. OS Layer: Tasks, Hardware_Dependent, Hardware_Independent.