ELEC2645 (2015/16) / Mbed 2 deprecated EL15PJT_Ranger

Level 2 Project Range Device

Dependencies:   N5110 SDFileSystem SRF02 TMP102 mbed

Fork of Ranger by Philip Thompson

main.cpp@2:329597081c06, 2016-04-01 (annotated)

Committer:
el15pjt
Date:
Fri Apr 01 23:09:07 2016 +0000
Revision:
2:329597081c06
Parent:
1:5b991c2302e1
Child:
3:8782b8b8658b
Added flashing to struct array and and interrupt for the flashing

Who changed what in which revision?

UserRevisionLine numberNew contents of line
el15pjt 0:0b180348c7e4 1 /*
el15pjt 0:0b180348c7e4 2 Philip Thompsonn
el15pjt 0:0b180348c7e4 3 EL15PJT
el15pjt 0:0b180348c7e4 4 Embedded System Project
el15pjt 0:0b180348c7e4 5 EL2645
el15pjt 1:5b991c2302e1 6
el15pjt 0:0b180348c7e4 7 */
el15pjt 0:0b180348c7e4 8
el15pjt 0:0b180348c7e4 9 #include "mbed.h"
el15pjt 0:0b180348c7e4 10 #include "SRF02.h"
el15pjt 0:0b180348c7e4 11 #include "N5110.h"
el15pjt 0:0b180348c7e4 12
el15pjt 2:329597081c06 13 #define LOW 0
el15pjt 2:329597081c06 14 #define HIGH 1
el15pjt 2:329597081c06 15
el15pjt 2:329597081c06 16 DigitalOut rr_led (PTA1);
el15pjt 2:329597081c06 17 DigitalOut a_led (PTC2);
el15pjt 2:329597081c06 18 DigitalOut gg_led(PTB23);
el15pjt 0:0b180348c7e4 19
el15pjt 0:0b180348c7e4 20 // Ranger object
el15pjt 0:0b180348c7e4 21 SRF02 srf02(I2C_SDA,I2C_SCL);
el15pjt 0:0b180348c7e4 22
el15pjt 0:0b180348c7e4 23 //N5110 Object VCC, SCE,RST, D/C, MOSI,SCLK, LED
el15pjt 0:0b180348c7e4 24 N5110 lcd(PTE26,PTA0,PTC4,PTD0,PTD2,PTD1,PTC3);
el15pjt 0:0b180348c7e4 25
el15pjt 2:329597081c06 26 Ticker ticker;
el15pjt 2:329597081c06 27
el15pjt 0:0b180348c7e4 28 // K64F on-board LEDs
el15pjt 0:0b180348c7e4 29 DigitalOut r_led(LED_RED);
el15pjt 0:0b180348c7e4 30 DigitalOut g_led(LED_GREEN);
el15pjt 0:0b180348c7e4 31 DigitalOut b_led(LED_BLUE);
el15pjt 0:0b180348c7e4 32
el15pjt 0:0b180348c7e4 33 // K64F on-board switches
el15pjt 0:0b180348c7e4 34 InterruptIn sw2(SW2);
el15pjt 0:0b180348c7e4 35 InterruptIn sw3(SW3);
el15pjt 0:0b180348c7e4 36
el15pjt 2:329597081c06 37 volatile int g_timer_flag = 0;
el15pjt 2:329597081c06 38
el15pjt 0:0b180348c7e4 39 int distance;
el15pjt 0:0b180348c7e4 40 int length;
el15pjt 2:329597081c06 41 int alert;
el15pjt 2:329597081c06 42
el15pjt 2:329597081c06 43 char buffer[14]; // each character is 6 pixels wide, screen is 84 pixels (84/6 = 14)
el15pjt 0:0b180348c7e4 44
el15pjt 2:329597081c06 45 // struct for state
el15pjt 2:329597081c06 46 struct Alertlevel {
el15pjt 2:329597081c06 47 char srr_led; // output value
el15pjt 2:329597081c06 48 char sa_led; // time in state
el15pjt 2:329597081c06 49 char sgg_led; // array of next states
el15pjt 2:329597081c06 50 char frr_led;
el15pjt 2:329597081c06 51 char fa_led;
el15pjt 2:329597081c06 52 char fgg_led;
el15pjt 2:329597081c06 53 };
el15pjt 2:329597081c06 54 typedef const struct Alertlevel STyp;
el15pjt 2:329597081c06 55
el15pjt 2:329597081c06 56 STyp Alertlevel[8] = {
el15pjt 2:329597081c06 57 {LOW,LOW,LOW,LOW,LOW,LOW}, // no output
el15pjt 2:329597081c06 58 {LOW,LOW,LOW,LOW,LOW,HIGH}, //flash green
el15pjt 2:329597081c06 59 {LOW,LOW,HIGH,LOW,LOW,LOW}, //steady green
el15pjt 2:329597081c06 60 {LOW,LOW,HIGH,LOW,HIGH,LOW}, //flash amber
el15pjt 2:329597081c06 61 {LOW,HIGH,HIGH,LOW,LOW,LOW}, //steady amber
el15pjt 2:329597081c06 62 {LOW,HIGH,HIGH,HIGH,LOW,LOW}, //flash red
el15pjt 2:329597081c06 63 {HIGH,HIGH,HIGH,LOW,LOW,LOW},// steady red
el15pjt 2:329597081c06 64 {LOW,LOW,LOW,HIGH,HIGH,HIGH} // all flash
el15pjt 2:329597081c06 65 };
el15pjt 2:329597081c06 66 // timed interuprt
el15pjt 2:329597081c06 67 void timer_isr();
el15pjt 1:5b991c2302e1 68
el15pjt 0:0b180348c7e4 69 // set up board
el15pjt 0:0b180348c7e4 70 void init_K64F();
el15pjt 0:0b180348c7e4 71
el15pjt 0:0b180348c7e4 72 int main()
el15pjt 0:0b180348c7e4 73 {
el15pjt 0:0b180348c7e4 74 lcd.init();
el15pjt 0:0b180348c7e4 75 init_K64F();
el15pjt 2:329597081c06 76 ticker.attach(&timer_isr,0.05);
el15pjt 1:5b991c2302e1 77
el15pjt 0:0b180348c7e4 78 while(1) {
el15pjt 0:0b180348c7e4 79
el15pjt 2:329597081c06 80 // read sensor distance in cm and print over serial port
el15pjt 0:0b180348c7e4 81 int distance = srf02.getDistanceCm();
el15pjt 2:329597081c06 82 length = sprintf(buffer,"D = %i Cm",distance);
el15pjt 2:329597081c06 83 if (length <= 14)
el15pjt 2:329597081c06 84 lcd.printString(buffer,0,2);
el15pjt 2:329597081c06 85 // need to refresh display after setting pixels
el15pjt 2:329597081c06 86 lcd.refresh();
el15pjt 1:5b991c2302e1 87
el15pjt 2:329597081c06 88 // short delay before next measurement
el15pjt 0:0b180348c7e4 89 wait(0.25);
el15pjt 0:0b180348c7e4 90
el15pjt 2:329597081c06 91 //Range Alert selection use to adjust alert boundarys
el15pjt 2:329597081c06 92 if (distance >= 200 && distance < 250) {
el15pjt 2:329597081c06 93 alert = 1; //flash green
el15pjt 2:329597081c06 94 } else if (distance >= 150 && distance < 200) {
el15pjt 2:329597081c06 95 alert = 2; //steady green
el15pjt 2:329597081c06 96 } else if (distance >= 100 && distance < 150) {
el15pjt 2:329597081c06 97 alert = 3; //flashing amber
el15pjt 2:329597081c06 98 } else if (distance >= 50 && distance < 100) {
el15pjt 2:329597081c06 99 alert = 4; //steady amber
el15pjt 2:329597081c06 100 } else if ( distance > 10 && distance < 50) {
el15pjt 2:329597081c06 101 alert = 5; //flashing red
el15pjt 2:329597081c06 102 } else if (distance > 1 && distance <= 10) {
el15pjt 2:329597081c06 103 alert = 6; //steady red
el15pjt 2:329597081c06 104 } else if (distance <=1) {
el15pjt 2:329597081c06 105 alert = 7; //all flashing
el15pjt 2:329597081c06 106 } else {
el15pjt 2:329597081c06 107 alert = 0; //no output
el15pjt 2:329597081c06 108 }
el15pjt 2:329597081c06 109 // Steady light outputs
el15pjt 2:329597081c06 110 rr_led = Alertlevel[alert].srr_led;
el15pjt 2:329597081c06 111 a_led = Alertlevel[alert].sa_led;
el15pjt 2:329597081c06 112 gg_led = Alertlevel[alert].sgg_led;
el15pjt 0:0b180348c7e4 113
el15pjt 2:329597081c06 114 //Flashing light outputs
el15pjt 2:329597081c06 115 if (g_timer_flag) {
el15pjt 2:329597081c06 116 g_timer_flag = 0; // if it has, clear the flag
el15pjt 2:329597081c06 117
el15pjt 2:329597081c06 118 if ( Alertlevel[alert].frr_led == HIGH) {
el15pjt 2:329597081c06 119 rr_led = !rr_led;
el15pjt 2:329597081c06 120 } else if ( Alertlevel[alert].fa_led == HIGH) {
el15pjt 2:329597081c06 121 a_led = !a_led;
el15pjt 2:329597081c06 122 } else if ( Alertlevel[alert].fgg_led == HIGH) {
el15pjt 2:329597081c06 123 gg_led = !gg_led;
el15pjt 2:329597081c06 124 }
el15pjt 0:0b180348c7e4 125 }
el15pjt 0:0b180348c7e4 126 }
el15pjt 1:5b991c2302e1 127
el15pjt 0:0b180348c7e4 128 }
el15pjt 0:0b180348c7e4 129
el15pjt 0:0b180348c7e4 130 //Set up board switches and LEDS
el15pjt 2:329597081c06 131 void init_K64F()
el15pjt 2:329597081c06 132 {
el15pjt 0:0b180348c7e4 133 //on-board LEDs are active-low, so set pin high to turn them off.
el15pjt 2:329597081c06 134 r_led = 1;
el15pjt 2:329597081c06 135 g_led = 1;
el15pjt 2:329597081c06 136 b_led = 1;
el15pjt 0:0b180348c7e4 137
el15pjt 0:0b180348c7e4 138 // since the on-board switches have external pull-ups, we should disable the internal pull-down
el15pjt 0:0b180348c7e4 139 // resistors that are enabled by default using InterruptIn
el15pjt 2:329597081c06 140 sw2.mode(PullNone);
el15pjt 2:329597081c06 141 sw3.mode(PullNone);
el15pjt 2:329597081c06 142 }
el15pjt 2:329597081c06 143
el15pjt 2:329597081c06 144
el15pjt 2:329597081c06 145 void timer_isr()
el15pjt 2:329597081c06 146 {
el15pjt 2:329597081c06 147 g_timer_flag = 1; // set flag in ISR
el15pjt 2:329597081c06 148 }