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@4:673930f04866, 2016-04-14 (annotated)

Committer:
el15pjt
Date:
Thu Apr 14 14:23:37 2016 +0000
Revision:
4:673930f04866
Parent:
3:8782b8b8658b
Child:
5:083d484e95a1
Buzzer added, needs tidying.

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 0:0b180348c7e4 6 */
el15pjt 0:0b180348c7e4 7
el15pjt 0:0b180348c7e4 8 #include "mbed.h"
el15pjt 0:0b180348c7e4 9 #include "SRF02.h"
el15pjt 0:0b180348c7e4 10 #include "N5110.h"
el15pjt 0:0b180348c7e4 11
el15pjt 2:329597081c06 12 #define LOW 0
el15pjt 2:329597081c06 13 #define HIGH 1
el15pjt 2:329597081c06 14
el15pjt 3:8782b8b8658b 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 4:673930f04866 19 PwmOut buzzer(PTA2);
el15pjt 3:8782b8b8658b 20
el15pjt 0:0b180348c7e4 21 // Ranger object
el15pjt 0:0b180348c7e4 22 SRF02 srf02(I2C_SDA,I2C_SCL);
el15pjt 0:0b180348c7e4 23
el15pjt 0:0b180348c7e4 24 //N5110 Object VCC, SCE,RST, D/C, MOSI,SCLK, LED
el15pjt 0:0b180348c7e4 25 N5110 lcd(PTE26,PTA0,PTC4,PTD0,PTD2,PTD1,PTC3);
el15pjt 0:0b180348c7e4 26
el15pjt 2:329597081c06 27 Ticker ticker;
el15pjt 3:8782b8b8658b 28 Ticker ticker_srf02;
el15pjt 4:673930f04866 29 Ticker ticker_tone;
el15pjt 4:673930f04866 30 Timeout buzzoff;
el15pjt 4:673930f04866 31
el15pjt 4:673930f04866 32
el15pjt 2:329597081c06 33
el15pjt 0:0b180348c7e4 34 // K64F on-board LEDs
el15pjt 0:0b180348c7e4 35 DigitalOut r_led(LED_RED);
el15pjt 0:0b180348c7e4 36 DigitalOut g_led(LED_GREEN);
el15pjt 0:0b180348c7e4 37 DigitalOut b_led(LED_BLUE);
el15pjt 0:0b180348c7e4 38
el15pjt 0:0b180348c7e4 39 // K64F on-board switches
el15pjt 3:8782b8b8658b 40 //InterruptIn sw1(SW2);
el15pjt 3:8782b8b8658b 41 InterruptIn sw2(SW3);
el15pjt 0:0b180348c7e4 42
el15pjt 2:329597081c06 43 volatile int g_timer_flag = 0;
el15pjt 3:8782b8b8658b 44 volatile int g_timer_flag_srf02 = 0;
el15pjt 3:8782b8b8658b 45 volatile int g_sw2_flag = 0;
el15pjt 4:673930f04866 46 volatile int g_timer_flag_tone = 0;
el15pjt 4:673930f04866 47 volatile int g_sw1_flag = 0;
el15pjt 2:329597081c06 48
el15pjt 3:8782b8b8658b 49 int alert;
el15pjt 0:0b180348c7e4 50 int distance;
el15pjt 3:8782b8b8658b 51 float bright = 1;
el15pjt 0:0b180348c7e4 52
el15pjt 2:329597081c06 53 // struct for state
el15pjt 2:329597081c06 54 struct Alertlevel {
el15pjt 2:329597081c06 55 char srr_led; // output value
el15pjt 2:329597081c06 56 char sa_led; // time in state
el15pjt 2:329597081c06 57 char sgg_led; // array of next states
el15pjt 2:329597081c06 58 char frr_led;
el15pjt 2:329597081c06 59 char fa_led;
el15pjt 2:329597081c06 60 char fgg_led;
el15pjt 4:673930f04866 61 float toneon;
el15pjt 4:673930f04866 62 float toneoff;
el15pjt 2:329597081c06 63 };
el15pjt 2:329597081c06 64 typedef const struct Alertlevel STyp;
el15pjt 2:329597081c06 65
el15pjt 2:329597081c06 66 STyp Alertlevel[8] = {
el15pjt 4:673930f04866 67 {LOW,LOW,LOW,LOW,LOW,LOW,0,1}, // no output
el15pjt 4:673930f04866 68 {LOW,LOW,LOW,LOW,LOW,HIGH,0.05,1}, //flash green
el15pjt 4:673930f04866 69 {LOW,LOW,HIGH,LOW,LOW,LOW,0.1,1}, //steady green
el15pjt 4:673930f04866 70 {LOW,LOW,HIGH,LOW,HIGH,LOW,0.2,0.5}, //flash amber
el15pjt 4:673930f04866 71 {LOW,HIGH,HIGH,LOW,LOW,LOW,0.55,0.25}, //steady amber
el15pjt 4:673930f04866 72 {LOW,HIGH,HIGH,HIGH,LOW,LOW,0.8,0.1}, //flash red
el15pjt 4:673930f04866 73 {HIGH,HIGH,HIGH,LOW,LOW,LOW,1,1.05},// steady red
el15pjt 4:673930f04866 74 {LOW,LOW,LOW,HIGH,HIGH,HIGH,1,0.05} // all flash
el15pjt 2:329597081c06 75 };
el15pjt 3:8782b8b8658b 76 void lcdoutput();
el15pjt 3:8782b8b8658b 77 void timer_isr(); // timed interuprt
el15pjt 3:8782b8b8658b 78 void timer_isr_srf02();
el15pjt 4:673930f04866 79 void timer_isr_tone();
el15pjt 3:8782b8b8658b 80 void backlight();
el15pjt 3:8782b8b8658b 81 void init_K64F(); // set up board
el15pjt 3:8782b8b8658b 82 void sw2_isr();
el15pjt 3:8782b8b8658b 83 //void sw1_isr();
el15pjt 3:8782b8b8658b 84 void setalert();
el15pjt 3:8782b8b8658b 85 void setleds();
el15pjt 4:673930f04866 86 void setbuzzer();
el15pjt 4:673930f04866 87 void flip();
el15pjt 4:673930f04866 88
el15pjt 0:0b180348c7e4 89
el15pjt 0:0b180348c7e4 90 int main()
el15pjt 0:0b180348c7e4 91 {
el15pjt 0:0b180348c7e4 92 lcd.init();
el15pjt 0:0b180348c7e4 93 init_K64F();
el15pjt 3:8782b8b8658b 94 ticker.attach(&timer_isr,0.35);
el15pjt 3:8782b8b8658b 95 ticker_srf02.attach(&timer_isr_srf02,0.02);
el15pjt 4:673930f04866 96 ticker_tone.attach(&timer_isr_tone,Alertlevel[alert].toneoff);
el15pjt 3:8782b8b8658b 97 // sw1.fall(&sw1_isr);
el15pjt 3:8782b8b8658b 98 sw2.fall(&sw2_isr);
el15pjt 0:0b180348c7e4 99 while(1) {
el15pjt 4:673930f04866 100
el15pjt 3:8782b8b8658b 101 if (g_sw2_flag) {
el15pjt 3:8782b8b8658b 102 g_sw2_flag = 0; // if it has, clear the flag
el15pjt 3:8782b8b8658b 103 backlight();
el15pjt 2:329597081c06 104 }
el15pjt 3:8782b8b8658b 105 if (g_timer_flag_srf02) {
el15pjt 3:8782b8b8658b 106 g_timer_flag_srf02 = 0; // if it has, clear the flag
el15pjt 4:673930f04866 107 distance = srf02.getDistanceCm();
el15pjt 0:0b180348c7e4 108 }
el15pjt 4:673930f04866 109
el15pjt 4:673930f04866 110
el15pjt 3:8782b8b8658b 111 lcdoutput();
el15pjt 3:8782b8b8658b 112 setalert();
el15pjt 4:673930f04866 113
el15pjt 4:673930f04866 114 setbuzzer();
el15pjt 3:8782b8b8658b 115 setleds();
el15pjt 4:673930f04866 116 sleep();
el15pjt 0:0b180348c7e4 117 }
el15pjt 0:0b180348c7e4 118 }
el15pjt 0:0b180348c7e4 119
el15pjt 0:0b180348c7e4 120 //Set up board switches and LEDS
el15pjt 2:329597081c06 121 void init_K64F()
el15pjt 2:329597081c06 122 {
el15pjt 0:0b180348c7e4 123 //on-board LEDs are active-low, so set pin high to turn them off.
el15pjt 2:329597081c06 124 r_led = 1;
el15pjt 2:329597081c06 125 g_led = 1;
el15pjt 2:329597081c06 126 b_led = 1;
el15pjt 0:0b180348c7e4 127
el15pjt 0:0b180348c7e4 128 // since the on-board switches have external pull-ups, we should disable the internal pull-down
el15pjt 0:0b180348c7e4 129 // resistors that are enabled by default using InterruptIn
el15pjt 2:329597081c06 130 sw2.mode(PullNone);
el15pjt 3:8782b8b8658b 131 // sw1.mode(PullNone);
el15pjt 3:8782b8b8658b 132 }
el15pjt 3:8782b8b8658b 133 void lcdoutput()
el15pjt 3:8782b8b8658b 134 {
el15pjt 3:8782b8b8658b 135 int length;
el15pjt 3:8782b8b8658b 136 int length1;
el15pjt 3:8782b8b8658b 137 char buffer[14]; // each character is 6 pixels wide, screen is 84 pixels (84/6 = 14)
el15pjt 3:8782b8b8658b 138 char buffer1[14]; // each character is 6 pixels wide, screen is 84 pixels (84/6 = 14)
el15pjt 3:8782b8b8658b 139
el15pjt 3:8782b8b8658b 140
el15pjt 3:8782b8b8658b 141 length = sprintf(buffer,"D = %i Cm",distance);
el15pjt 3:8782b8b8658b 142 length1 = sprintf(buffer1,"Bright = %f Cm",bright);
el15pjt 3:8782b8b8658b 143
el15pjt 4:673930f04866 144 if (length <= 14) {
el15pjt 3:8782b8b8658b 145 lcd.printString(buffer,0,0);
el15pjt 4:673930f04866 146 lcd.printString(buffer1,0,1);
el15pjt 4:673930f04866 147 }
el15pjt 3:8782b8b8658b 148
el15pjt 3:8782b8b8658b 149 // draw a line across the display at y = 40 pixels (origin top-left)
el15pjt 3:8782b8b8658b 150 for (int i = 0; i < WIDTH; i++) {
el15pjt 3:8782b8b8658b 151 lcd.setPixel(i,45);
el15pjt 3:8782b8b8658b 152 }
el15pjt 3:8782b8b8658b 153
el15pjt 3:8782b8b8658b 154 lcd.refresh(); // need to refresh display after setting pixels
el15pjt 3:8782b8b8658b 155 }
el15pjt 3:8782b8b8658b 156
el15pjt 3:8782b8b8658b 157 void setalert()
el15pjt 3:8782b8b8658b 158 {
el15pjt 3:8782b8b8658b 159 if (distance >= 200 && distance < 250) {
el15pjt 3:8782b8b8658b 160 alert = 1; //flash green
el15pjt 3:8782b8b8658b 161 } else if (distance >= 150 && distance < 200) {
el15pjt 3:8782b8b8658b 162 alert = 2; //steady green
el15pjt 3:8782b8b8658b 163 } else if (distance >= 100 && distance < 150) {
el15pjt 3:8782b8b8658b 164 alert = 3; //flashing amber
el15pjt 3:8782b8b8658b 165 } else if (distance >= 50 && distance < 100) {
el15pjt 3:8782b8b8658b 166 alert = 4; //steady amber
el15pjt 3:8782b8b8658b 167 } else if ( distance > 10 && distance < 50) {
el15pjt 3:8782b8b8658b 168 alert = 5; //flashing red
el15pjt 3:8782b8b8658b 169 } else if (distance > 1 && distance <= 10) {
el15pjt 3:8782b8b8658b 170 alert = 6; //steady red
el15pjt 3:8782b8b8658b 171 } else if (distance <=1) {
el15pjt 3:8782b8b8658b 172 alert = 7; //all flashing
el15pjt 3:8782b8b8658b 173 } else {
el15pjt 3:8782b8b8658b 174 alert = 0; //no output
el15pjt 3:8782b8b8658b 175 }
el15pjt 2:329597081c06 176 }
el15pjt 2:329597081c06 177
el15pjt 3:8782b8b8658b 178 void setleds()
el15pjt 3:8782b8b8658b 179 {
el15pjt 3:8782b8b8658b 180 // If statments to determin the output of each LED
el15pjt 3:8782b8b8658b 181
el15pjt 3:8782b8b8658b 182 if (Alertlevel[alert].frr_led == HIGH) {
el15pjt 3:8782b8b8658b 183 if (g_timer_flag) {
el15pjt 3:8782b8b8658b 184 g_timer_flag = 0; // if it has, clear the flag
el15pjt 3:8782b8b8658b 185 rr_led = !rr_led;
el15pjt 3:8782b8b8658b 186 }
el15pjt 3:8782b8b8658b 187 } else {
el15pjt 3:8782b8b8658b 188 rr_led = Alertlevel[alert].srr_led;
el15pjt 3:8782b8b8658b 189 }
el15pjt 3:8782b8b8658b 190
el15pjt 3:8782b8b8658b 191 if (Alertlevel[alert].fa_led == HIGH) {
el15pjt 3:8782b8b8658b 192 if (g_timer_flag) {
el15pjt 3:8782b8b8658b 193 g_timer_flag = 0; // if it has, clear the flag
el15pjt 3:8782b8b8658b 194 a_led = !a_led;
el15pjt 3:8782b8b8658b 195 }
el15pjt 3:8782b8b8658b 196 } else {
el15pjt 3:8782b8b8658b 197 a_led = Alertlevel[alert].sa_led;
el15pjt 3:8782b8b8658b 198 }
el15pjt 3:8782b8b8658b 199
el15pjt 3:8782b8b8658b 200 if (Alertlevel[alert].fgg_led == HIGH) {
el15pjt 3:8782b8b8658b 201 if (g_timer_flag) {
el15pjt 3:8782b8b8658b 202 g_timer_flag = 0; // if it has, clear the flag
el15pjt 3:8782b8b8658b 203 gg_led = !gg_led;
el15pjt 3:8782b8b8658b 204 }
el15pjt 3:8782b8b8658b 205 } else {
el15pjt 3:8782b8b8658b 206 gg_led = Alertlevel[alert].sgg_led;
el15pjt 3:8782b8b8658b 207 }
el15pjt 3:8782b8b8658b 208 }
el15pjt 3:8782b8b8658b 209
el15pjt 3:8782b8b8658b 210 void backlight ()
el15pjt 3:8782b8b8658b 211 {
el15pjt 3:8782b8b8658b 212
el15pjt 3:8782b8b8658b 213 if (bright == 1.0) {
el15pjt 3:8782b8b8658b 214 bright = 0;
el15pjt 3:8782b8b8658b 215 } else {
el15pjt 3:8782b8b8658b 216 bright += 0.2;
el15pjt 3:8782b8b8658b 217 }
el15pjt 3:8782b8b8658b 218 lcd.setBrightness(bright);
el15pjt 3:8782b8b8658b 219 }
el15pjt 3:8782b8b8658b 220
el15pjt 3:8782b8b8658b 221 void sw2_isr()
el15pjt 3:8782b8b8658b 222 {
el15pjt 3:8782b8b8658b 223 g_sw2_flag = 1; // set flag in ISR
el15pjt 3:8782b8b8658b 224 }
el15pjt 3:8782b8b8658b 225
el15pjt 3:8782b8b8658b 226 /*void sw1_isr()
el15pjt 3:8782b8b8658b 227 {
el15pjt 3:8782b8b8658b 228 g_sw1_flag = 1; // set flag in ISR
el15pjt 3:8782b8b8658b 229 }*/
el15pjt 3:8782b8b8658b 230
el15pjt 2:329597081c06 231 void timer_isr()
el15pjt 2:329597081c06 232 {
el15pjt 2:329597081c06 233 g_timer_flag = 1; // set flag in ISR
el15pjt 3:8782b8b8658b 234 }
el15pjt 3:8782b8b8658b 235
el15pjt 3:8782b8b8658b 236 void timer_isr_srf02()
el15pjt 3:8782b8b8658b 237 {
el15pjt 3:8782b8b8658b 238 g_timer_flag_srf02 = 1; // set flag in ISR
el15pjt 4:673930f04866 239 }
el15pjt 4:673930f04866 240
el15pjt 4:673930f04866 241 void timer_isr_tone()
el15pjt 4:673930f04866 242 {
el15pjt 4:673930f04866 243 g_timer_flag_tone = 1;
el15pjt 4:673930f04866 244 }
el15pjt 4:673930f04866 245
el15pjt 4:673930f04866 246 void setbuzzer()
el15pjt 4:673930f04866 247 {
el15pjt 4:673930f04866 248 if (g_timer_flag_tone) {
el15pjt 4:673930f04866 249 g_timer_flag_tone = 0;
el15pjt 4:673930f04866 250 buzzer.period (1/1000);
el15pjt 4:673930f04866 251 buzzer=0.5;
el15pjt 4:673930f04866 252 buzzoff.attach(&flip,Alertlevel[alert].toneon);
el15pjt 4:673930f04866 253 }
el15pjt 4:673930f04866 254 }
el15pjt 4:673930f04866 255
el15pjt 4:673930f04866 256 void flip() {
el15pjt 4:673930f04866 257 buzzer = 0.0;
el15pjt 4:673930f04866 258 }
el15pjt 4:673930f04866 259