Diff: main.h

Revision:

11:b64d123b9f4f

Parent:

10:c9f3c22368f1

Child:

12:0171e8723d9d

--- a/main.h	Wed May 04 22:16:06 2016 +0000
+++ b/main.h	Thu May 05 10:51:19 2016 +0000
@@ -2,7 +2,7 @@
 @file main.h
 @brief Header file containing functions prototypes, defines and global variables.
 @brief Ranger Project
-@brief Revision 1.0.
+@brief Revision 1.3.
 @author Philip Thompson
 @date   March 2016
 @brief The following code has been writen for the University of Leeds ELEC264501 embedded system project and is intended to
@@ -24,7 +24,8 @@
 #define HIGH 1 /// High output
 
 
-
+/// for PC debug
+Serial serial(USBTX, USBRX);
 
 
 /**
@@ -60,11 +61,11 @@
 @namespace  Timers
 @brief Tickers and Timeouts
 */
-Ticker ticker;
-Ticker ticker_srf02;
-Ticker ticker_standby;
-Timeout buzzoff;
-Timeout buzzon;
+Ticker ticker; // Ticker to control LED flash
+Ticker ticker_srf02; //Ticker to get distance reading
+Ticker ticker_standby; //Ticker to control standby
+Timeout buzzoff; //Buzzer off duratuion
+Timeout buzzon; // buzzer on duration
 
 // Create TMP102 object
 TMP102 tmp102(I2C_SDA,I2C_SCL);
@@ -84,6 +85,9 @@
 /// Connections to SD card holder on K64F (SPI interface)
 SDFileSystem sd(PTE3, PTE1, PTE2, PTE4, "sd"); // MOSI, MISO, SCK, CS
 FILE *fp;
+
+//FLAGS\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\
+
 /**
 @namespace  TimerFlags
 @brief Flags for use with timed interupts
@@ -97,35 +101,58 @@
 */
 volatile int g_sw1_flag = 0, g_sw2_flag = 0;
 
-/**
-@namespace  RangePresets
-@brief Preset range of the differant alert levels
-*/
-float Traw;
+
+
+//VERIABLES\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\
+/// Upper limit of alert 1
+int r1 = 03;
+/// Upper limit of alert 2
+int r2 = 10;
+/// Upper limit of alert 3
+int r3 = 20;
+/// Upper limit of alert 4
+int r4 = 30;
+/// Upper limit of alert 5
+int r5 = 40;
+/// Upper limit of alert 6
+int r6 = 50;
+/// Upper limit of alert 7
+int r7 = 70;
+/// Veriable to hold sumation of distance readings for mean vale calculation
 int totaldistance;
-int r1 = 03;/// Upper limit of alert 1
-int r2 = 10;/// Upper limit of alert 2
-int r3 = 20;/// Upper limit of alert 3
-int r4 = 35;/// Upper limit of alert 4
-int r5 = 50;/// Upper limit of alert 5
-int r6 = 65;/// Upper limit of alert 6
-int r7 = 80;/// Upper limit of alert 7
-float avgdistance =0; // Averaged Distance vale from ten previous readings
-int subpage; ///< veriable to hold the page being viewed with in the submenu
-int page;/// veriable to hold the page being viewed with in the menu
-int offset = 0;/// veriable to hold the offset and adjust the 0 Range point
-int alert;/// veriable to hold the current alert level
-int distance;/// veriable to hold the distance read from the srf02 sensor
-float bright = 1.0;/// veriable to hold the current LED backlight of the 5110 LCD
-int units = 1;/// veriable to hold the current unit type set to METRIC as default
-//int length, length1, length2, length3, length4; //
-char buffer[14], buffer1[14], buffer2[14], buffer3[14], buffer4[14],buffer5[14]; // each character is 6 pixels wide, screen is 84 pixels (84/6 = 14) not ended globale but reused frquently throuh out
-float T; /// Temperature value retured from TMP102 sensor
-int standby = 0; ///?????????????????????
-float c =1; /// convertion factor from Cm to inch 1 = metric no convertion
-int check_flag = 0; ///???????????
+///< veriable to hold the page being viewed with in the submenu
+int subpage;
+/// veriable to hold the page being viewed with in the menu
+int page;
+/// veriable to hold the offset and adjust the 0 Range point
+int offset = 0;
+/// veriable to hold the current alert level
+int alert;
+/// veriable to hold the distance read from the srf02 sensor
+int distance;
+/// veriable to hold the current unit type set to 1 = METRIC as default
+int units = 1;
+///standby state 1. path clear 2. Temp 3.Temp no backlight
+int standby = 0;
+///flag raised is there is a collision
+int check_flag = 0;
+/// Temp reading return from TMP120 sensor
+float Traw;
+/// veriable to hold the current LED backlight of the 5110 LCD
+float bright = 1.0;
+/// Temperature value retured from TMP102 sensor
+float T;
+/// Veriable to hold the distance across the screen the distance bar should go
 float distbar;
-int flash = 0;
+/// Averaged Distance vale from ten previous readings
+float avgdistance =0;
+/// convertion factor from Cm to inch 1 = metric no convertion
+float c =1;
+// each character is 6 pixels wide, screen is 84 pixels (84/6 = 14) not needed to be globle but reused frquently throuhout
+char buffer[14], buffer1[14], buffer2[14], buffer3[14], buffer4[14],buffer5[14];
+
+
+/*!< Stucture to hold all outputs. Steady LEDs, Flashing LEDs, Tone on, Tonne off*/
 struct Alertlevel {
     char srr_led;  /// stead RED LED state
     char sa_led;    /// stead AMBER LED state
@@ -133,11 +160,12 @@
     char frr_led;///FLASHING RED LED state
     char fa_led; ///FLASHING AMBER LED state
     char fgg_led; ///FLASHING GREEN LED state
-    float toneon;
-    float toneoff;
-}; /*!< Stucture to hold all outputs. Steady LEDs, Flashing LEDs, Tone on, Tonne off*/
+    float toneon; ///Tone on time
+    float toneoff; ///Tone off time
+};
 typedef const struct Alertlevel STyp;
 
+/*!< Array contaning structures for diffent outputs */
 STyp Alertlevel[8] = {
     {LOW,LOW,LOW,LOW,LOW,LOW,0,1}, // no output
     {LOW,LOW,LOW,LOW,LOW,HIGH,0.1,1.0}, //flash green
@@ -149,14 +177,42 @@
     {LOW,LOW,LOW,HIGH,HIGH,HIGH,1,0} // all flash
 };/*!< Array contaning structures for diffent outputs */
 
-void flip();
-void buzzflag();
+
 
 
-/** Controls the LCD while not in a Menu  Function called to print to the LCD display
-    @param i used to scale the max distaance to the width of the screen
-    @param distance Distance read from sensor to be dispayed
-    @param distbar used to adjust how far along the screen the bar is to go acorrding to distance
+//FUNCTIONS/////////////////////////////////////////////
+
+/**
+Function called to stop buzzer at end of on period and then make buzzer avilable again after off period
+@param buzz_flag 1 or 0
+@param buzzer = 0.0 buzzer off
+@code
+{
+    buzz_flag = 1;
+    buzzer = 0.0;
+    buzzon.attach(&buzzflag,Alertlevel[alert].toneoff);
+}
+@endcode
+*/
+void flip();
+
+/** Flag used it indicate if buzzer is avilable or on a off period
+@param buzz_flag zero
+@code
+{
+    buzz_flag = 0;
+    return;
+}
+@endcode
+*/
+void buzzflag();
+
+/** Controls the LCD while not in a Menu
+
+@param i used to scale the max distaance to the width of the screen
+@param distance Distance read from sensor to be dispayed
+@param distbar used to adjust how far along the screen the bar is to go acorrding to distance
+    
 @code
 if (alert == 0) {
 if (g_timer_flag_standby) {
@@ -238,10 +294,6 @@
 @endcode
 */
 void lcdoutput();
-void save();
-void timer_isr_led();
-void timer_isr_srf02();
-void timer_isr_standby();
 
 /** Called to increment to brightness by 0.2 each time when at 1 resets back to 0.0
 @param bright 0.0-1
@@ -256,8 +308,28 @@
 @endcode
 */
 void backlight();
-void sw2_isr();
-void sw1_isr();
+
+/**
+Sets up and initalizies switches, LEDs, Tickers and serial connection
+@code
+{
+    serial.baud(115200);  // full-speed!
+    ticker.attach(&timer_isr_led,0.35); /// Attach the ticker for the flashig LEDs
+    ticker_srf02.attach(&timer_isr_srf02,0.2);/// Attach the ticker for collecting a range reading
+    ticker_standby.attach(&timer_isr_standby,5.0);
+    sw1.rise(&sw1_isr); /// sw1_isr called when button presed on the rising edge
+    sw2.rise(&sw2_isr); /// sw2_isr called when button presed on the rising edge
+    r_led = 1; //Onboard leds
+    b_led = 1; //Onboard leds
+    g_led = 1; //Onboard leds
+    rr_led = 0; //PCB LEDS
+    a_led = 0; //PCB LEDS
+    gg_led = 0; //PCB LEDS
+    sw2.mode(PullDown); //Turns on use of the pulldown resistors for use with the PCB buttons
+    sw1.mode(PullDown); //Turns on use of the pulldown resistors for use with the PCB buttons
+}
+@endcode
+*/
 void setup();
 
 /** A fuction used to determin the alert level given a range with the use of IF statments
@@ -286,54 +358,62 @@
 @endcode
 */
 void setalert();
-/** If statments to determine the output of each LED by inspecting the struct in the relevent element of the alertlevel array
 
+/** Function for controlling the LED outputs
+@para alert changes to element array and so output controlls
 @code
-   if (alert ==7) {
-       if (g_timer_flag_led) {
-           g_timer_flag_led = 0;  // if it has, clear the flag
-           rr_led = !rr_led;
-           gg_led = !gg_led;
-           a_led = !a_led;
-       }
-   } else if(Alertlevel[alert].fa_led == HIGH) {
-       if (g_timer_flag_led) {
-           g_timer_flag_led = 0;  // if it has, clear the flag
-           a_led = !a_led;
-       }
-   } else if (Alertlevel[alert].frr_led == HIGH) {
-       if (g_timer_flag_led) {
-           g_timer_flag_led = 0;  // if it has, clear the flag
-           rr_led = !rr_led;
-       }
-   } else if(Alertlevel[alert].fgg_led == HIGH) {
-       if (g_timer_flag_led) {
-           g_timer_flag_led = 0;  // if it has, clear the flag
-           gg_led = !gg_led;
-       }
-   } else {
-       rr_led = Alertlevel[alert].srr_led;
-       a_led = Alertlevel[alert].sa_led;
-       gg_led = Alertlevel[alert].sgg_led;
-   }
+{
+    int flash = 0; ///Variable to toggle LEDs high low
+    if (g_timer_flag_led) {
+        g_timer_flag_led = 0;
+        flash = !flash; // if it has, clear the flag
+    }
+    if(Alertlevel[alert].fa_led == HIGH) {
+        a_led = flash;
+    } else {
+        a_led = Alertlevel[alert].sa_led;
+    }
+    if (Alertlevel[alert].frr_led == HIGH) {
+        rr_led = flash;
+    } else {
+        rr_led = Alertlevel[alert].srr_led;
+    }
+    if(Alertlevel[alert].fgg_led == HIGH) {
+        gg_led = flash;
+    } else {
+        gg_led = Alertlevel[alert].sgg_led;
+    }
+}
+@endcode
+*/
+void setleds();
 
+ /**
+ @code
+{
+   
+    control the PWM to drive the buzzer
+    @param buzzer.period frequncy 1KHz
+    @param buzzer duty cycle equal on/off max volume
+    @param Alertlevel[alert].toneon controls how long the tone will last depending on alert
+    */
+    buzzer.period (1.0/1000.0);
+    buzzer = 0.5;
+    buzzoff.attach(&flip, Alertlevel[alert].toneon);
 }
-@endcode*/
-void setleds();
+@endcode
+*/
 void setbuzzer();
-void menu();
-/**
-{
-     Function called to invoke a menu within a while loop with button interupts used to move pages and adjust within a switch statment
-    @param g_sw1_flag 0 or 1 used to advance page
-    @param g_sw2_flag 0 or 1 used to adjust current item
-    @code
-    while(1) {
 
 
+/**
+Function used to call and navigate Main menu and change settings
+@code
+{
+    while(1) {
         if (g_sw1_flag) {
             g_sw1_flag = 0;
-            page++; /// Moves page
+            page++; // Moves page
             lcd.clear();
         }
         switch (page) {
@@ -342,232 +422,312 @@
                     g_sw2_flag = 0;  // if it has, clear the flag
                     backlight();
                     lcd.clear();
-                } else {
-                    int lightbar = bright*84;
-                    sprintf(buffer2,"*****MENU*****");
-                    sprintf(buffer1,"BACKLIGHT");
-                    sprintf(buffer3,"%.0f%%",bright*100);
-                    lcd.printString(buffer2,0,0);
-                    lcd.printString(buffer1,0,1);
-                    lcd.printString(buffer3,0,2);
-                    lcd.drawRect(0,38,lightbar,7,1);
-                    lcd.refresh();
-
                 }
+                int lightbar = bright*84;
+                sprintf(buffer2,"%.0f%%",bright*100);
+                lcd.drawRect(0,26,lightbar,7,1);  // move bar up!!!!!!!!!!!!!!!!
+                lcd.printString("BACKLIGHT",0,1);
+                lcd.printString(buffer2,0,2);
+                lcd.printString("NEXT       ADJ",0,5);
+                lcd.refresh();
                 break;
-
             case 1:
                 if (g_sw2_flag) {
                     g_sw2_flag = 0;  // if it has, clear the flag
                     if (offset == 20) {
                         offset = 0;
+                        lcd.clear();
                     } else {
                         offset += 1;
                     }
-                } else {
-                    length2 = sprintf(buffer2,"*****MENU*****");
-                    length1 = sprintf(buffer1,"OFFSET");
-                    length3 = sprintf(buffer3,"%i",offset);
-                    lcd.printString(buffer2,0,0);
-                    lcd.printString(buffer1,0,1);
-                    lcd.printString(buffer3,0,2);
-                    lcd.refresh();
                 }
-
+                sprintf(buffer2,"%i",offset);
+                lcd.printString("OFFSET",0,1);
+                sprintf(buffer4,"NEXT       ADJ");
+                lcd.printString(buffer4,0,5);
                 break;
-
             case 2:
                 if (g_sw2_flag) {
                     g_sw2_flag = 0;  // if it has, clear the flag
                     if (units == 1) {
                         units = 0;
+                        c = 0.3937;
                     } else {
                         units = 1;
+                        c = 1;
+                        lcd.clear();
                     }
                 }
-                if (units == 1) {
-                    sprintf(buffer3,"METRIC");
-                    lcd.printString(buffer3,0,2);
+                if (units == 0) {
+                    sprintf(buffer2,"IMPERIAL");
                 } else {
-                    sprintf(buffer3,"IMPERIAL");
-                    lcd.printString(buffer3,0,2);
+                    sprintf(buffer2,"METRIC");
+                }
+                lcd.printString("NEXT       ADJ",0,5);
+                lcd.printString("UNITS",0,1);
+                break;
+            case 3:
+                if (g_sw2_flag) {
+                    g_sw2_flag = 0;  // if it has, clear the flag
+                    check_flag =0;
+                    lcd.clear();
+                }
+                if (check_flag == 0) {
+                    sprintf(buffer2,"COLLISION");
+                    lcd.printString("NO",0,1);
+                    sprintf(buffer4,"NEXT     ");
+                } else {
+                    sprintf(buffer2,"COLLISION");
+                    lcd.printString("CLEAR",0,1);
+                    sprintf(buffer4,"NEXT     CLEAR");
                 }
 
-                sprintf(buffer2,"*****MENU*****");
-                sprintf(buffer1,"UNITS");
-                lcd.printString(buffer2,0,0);
-                lcd.printString(buffer1,0,1);
-                lcd.refresh();
-
+                lcd.printString(buffer4,0,5);
                 break;
-
-            case 3:
-
+            case 4:
+                if (g_sw2_flag) {
+                    g_sw2_flag = 0;  // if it has, clear the flag
+                    bright = 1.0;
+                    offset = 0;
+                    units = 1;
+                    r1 = 03;// Upper limit of alert 1
+                    r2 = 10;// Upper limit of alert 2
+                    r3 = 20;// Upper limit of alert 3
+                    r4 = 30;// Upper limit of alert 4
+                    r5 = 50;// Upper limit of alert 5
+                    r6 = 60;// Upper limit of alert 6
+                    r7 = 80;// Upper limit of alert 7
+                    lcd.clear();
+                    lcd.printString("SETTINGS",0,1);
+                    lcd.printString("RESET",0,2);
+                    wait(1);
+                    return;
+                }
+                sprintf(buffer2,"SETTINGS");
+                lcd.printString("RESET",0,1);
+                lcd.printString("NEXT     RESET",0,5);
+                break;
+            case 5:
                 if (g_sw2_flag) {
                     g_sw2_flag = 0;  // if it has, clear the flag
                     submenu();
                 }
-                length2 = sprintf(buffer3,"*****MENU*****");
-                length3 = sprintf(buffer1,"RANGE");
-                length3 = sprintf(buffer2,"PARAMETERS");
-                lcd.printString(buffer3,0,0);
-                lcd.printString(buffer1,0,1);
-                lcd.printString(buffer2,0,2);
+                sprintf(buffer2,"PARAMETERS");
+                lcd.printString("RANGE",0,1);
+                lcd.printString("EXIT       ADJ",0,5);
+                break;
+            default:
+                lcd.clear();
+                save ();
+                lcd.printString("    SAVING    ",0,2);
+                lcd.printString("   SETTINGS   ",0,3);
+                wait (1);
+                return;
+        }// switch bracket
+        lcd.printString(buffer2,0,2);
+        lcd.printString("*****MENU*****",0,0);
+        lcd.refresh();
+    }//while braket
+}//functon bracket
+@endcode
+*/
+void menu();
 
 
+/**
+Function for submenu Controlling the range peramiters
+@code
+{
+    while(1) {
+        /// interupt used to shift page
+        if (g_sw1_flag) {
+            g_sw1_flag = 0;
+            subpage++;
+        }
+        switch (subpage) {  ///interupt used to adjust range
+            case 0:
+                if (g_sw2_flag) {
+                    g_sw2_flag = 0;           // if it has, clear the flag
+                    if (r2 == r3) {
+                        r2 = 3;
+                    } else {
+                        r2 = r2+1;
+                    }
+                }
+                sprintf(buffer4,"1Cm to %iCm",r2);
+                lcd.printString("*****MENU*****",0,0);
+                lcd.printString("RANGE",0,1);
+                lcd.printString("PARAMETERS",0,2);
+                lcd.printString(buffer4,0,3);
+                lcd.printString("NEXT       ADJ",0,5);
                 break;
-
+            case 1:
+                if (g_sw2_flag) {
+                    g_sw2_flag = 0;           // if it has, clear the flag
+                    if (r3 == r4) {
+                        r3 = r2;
+                    } else {
+                        r3 += 1;
+                    }
+                }
+                sprintf(buffer4,"%iCm to %iCm",r2,r3);
+                lcd.printString("*****MENU*****",0,0);
+                lcd.printString("RANGE",0,1);
+                lcd.printString("PARAMETERS",0,2);
+                lcd.printString(buffer4,0,3);
+                lcd.printString("NEXT       ADJ",0,5);
+                break;
+            case 2:
+                if (g_sw2_flag) {
+                    g_sw2_flag = 0;           // if it has, clear the flag
+                    if (r4 == r5) {
+                        r4 = r3;
+                    } else {
+                        r4 += 1;
+                    }
+                }
+                sprintf(buffer4,"%iCm to %iCm",r3,r4);
+                lcd.printString("*****MENU*****",0,0);
+                lcd.printString("RANGE",0,1);
+                lcd.printString("PARAMETERS",0,2);
+                lcd.printString(buffer4,0,3);
+                lcd.printString("NEXT       ADJ",0,5);
+                break;
+            case 3:
+                if (g_sw2_flag) {
+                    g_sw2_flag = 0;           // if it has, clear the flag
+                    if (r5 == r6) {
+                        r5 = r4;
+                    } else {
+                        r5 += 1;
+                    }
+                }
+                sprintf(buffer4,"%iCm to %iCm",r4,r5);
+                lcd.printString("*****MENU*****",0,0);
+                lcd.printString("RANGE",0,1);
+                lcd.printString("PARAMETERS",0,2);
+                lcd.printString(buffer4,0,3);
+                lcd.printString("NEXT       ADJ",0,5);
+                break;
+            case 4:
+                if (g_sw2_flag) {
+                    g_sw2_flag = 0;           // if it has, clear the flag
+                    if (r6 == r7) {
+                        r6 = r5;
+                    } else {
+                        r6 += 1;
+                    }
+                }
+                sprintf(buffer4,"%iCm to %iCm",r5,r6);
+                lcd.printString("*****MENU*****",0,0);
+                lcd.printString("RANGE",0,1);
+                lcd.printString("PARAMETERS",0,2);
+                lcd.printString(buffer4,0,3);
+                lcd.printString("NEXT       ADJ",0,5);
+                break;
+            case 5:
+                if (g_sw2_flag) {
+                    g_sw2_flag = 0;           // if it has, clear the flag
+                    if (r7 == 300) {
+                        r7 = r6;
+                    } else {
+                        r7 += 1;
+                    }
+                }
+                sprintf(buffer4,"%iCm to %iCm",r6,r7);
+                lcd.printString("*****MENU*****",0,0);
+                lcd.printString("RANGE",0,1);
+                lcd.printString("PARAMETERS",0,2);
+                lcd.printString(buffer4,0,3);
+                lcd.printString("EXIT       ADJ",0,5);
+                break;
             default:
                 lcd.clear();
                 return;
-        }
-    }
-    @endcode
-    */
-void menu();
-/**
-@code
-   while(1) {
-    /// innterupt used to shift page
-    if (g_sw1_flag) {
-        g_sw1_flag = 0;
-        subpage++;
-    }
-    switch (subpage) {
-            ///interupt used to adjust range
-        case 0:
-            if (g_sw2_flag) {
-                g_sw2_flag = 0;           // if it has, clear the flag
-                if (r2 == r3) {
-                    r2 = 1;
-                } else {
-                    r2 = r2+1;
-                }
-            }
-            length2 = sprintf(buffer1,"*****MENU*****");
-            length3 = sprintf(buffer2,"RANGE");
-            length3 = sprintf(buffer3,"PARAMETERS");
-            length4 = sprintf(buffer4,"1Cm  to  %iCm",r2);
-            lcd.printString(buffer1,0,0);
-            lcd.printString(buffer2,0,1);
-            lcd.printString(buffer3,0,2);
-            lcd.printString(buffer4,0,3);
-            break;
-
-        case 1:
-
-            if (g_sw2_flag) {
-                g_sw2_flag = 0;           // if it has, clear the flag
-                if (r3 == r4) {
-                    r3 = r2;
-                } else {
-                    r3 += 1;
-                }
-            }
-
-            sprintf(buffer1,"*****MENU*****");
-            sprintf(buffer2,"RANGE");
-            sprintf(buffer3,"PARAMETERS");
-            sprintf(buffer4,"%iCm  to  %iCm",r2,r3);
-            lcd.printString(buffer1,0,0);
-            lcd.printString(buffer2,0,1);
-            lcd.printString(buffer3,0,2);
-            lcd.printString(buffer4,0,3);
-            break;
-
-        case 2:
-
-            if (g_sw2_flag) {
-                g_sw2_flag = 0;           // if it has, clear the flag
-                if (r4 == r5) {
-                    r4 = r3;
-                } else {
-                    r4 += 1;
-                }
-            }
+        }//switch breaket
+    }//while bracket
+}//function bracket
+@endcode
+*/
+void submenu();
 
-            sprintf(buffer1,"*****MENU*****");
-            sprintf(buffer2,"RANGE");
-            sprintf(buffer3,"PARAMETERS");
-            sprintf(buffer4,"%iCm  to  %iCm",r3,r4);
-            lcd.printString(buffer1,0,0);
-            lcd.printString(buffer2,0,1);
-            lcd.printString(buffer3,0,2);
-            lcd.printString(buffer4,0,3);
-            break;
-
-        case 3:
-
-            if (g_sw2_flag) {
-                g_sw2_flag = 0;           // if it has, clear the flag
-                if (r5 == r6) {
-                    r5 = r4;
-                } else {
-                    r5 += 1;
-                }
-            }
-
-            sprintf(buffer1,"*****MENU*****");
-            sprintf(buffer2,"RANGE");
-            sprintf(buffer3,"PARAMETERS");
-            sprintf(buffer4,"%iCm to %iCm",r4,r5);
-            lcd.printString(buffer1,0,0);
-            lcd.printString(buffer2,0,1);
-            lcd.printString(buffer3,0,2);
-            lcd.printString(buffer4,0,3);
-            break;
-        case 4:
-
-            if (g_sw2_flag) {
-                g_sw2_flag = 0;           // if it has, clear the flag
-                if (r6 == r7) {
-                    r6 = r5;
-                } else {
-                    r6 += 1;
-                }
-            }
-
-            length2 = sprintf(buffer1,"*****MENU*****");
-            length3 = sprintf(buffer2,"RANGE");
-            length3 = sprintf(buffer3,"PARAMETERS");
-            length3 = sprintf(buffer4,"%iCm to %iCm",r5,r6);
-            lcd.printString(buffer1,0,0);
-            lcd.printString(buffer2,0,1);
-            lcd.printString(buffer3,0,2);
-            lcd.printString(buffer4,0,3);
-            break;
-        case 5:
-
-            if (g_sw2_flag) {
-                g_sw2_flag = 0;           // if it has, clear the flag
-                if (r7 == 300) {
-                    r7 = r6;
-                } else {
-                    r7 += 1;
-                }
-            }
-
-            length2 = sprintf(buffer1,"*****MENU*****");
-            length3 = sprintf(buffer2,"RANGE");
-            length3 = sprintf(buffer3,"PARAMETERS");
-            length3 = sprintf(buffer4,"%iCm to %iCm",r6,r7);
-            lcd.printString(buffer1,0,0);
-            lcd.printString(buffer2,0,1);
-            lcd.printString(buffer3,0,2);
-            lcd.printString(buffer4,0,3);
-            break;
-
-        default:
-            lcd.clear();
-            //  save();
-            return;
+/**
+Save function saving settings
+@param bright - Backlight setting
+@param units - Metric or Imperial settings
+@param offset - offest distance setting
+@param check_flag - Saves a collision alert
+@param r1 - upper limit for alert 1
+@param r2 - upper limit for alert 2
+@param r3 - upper limit for alert 3
+@param r4 - upper limit for alert 4
+@param r5 - upper limit for alert 5
+@param r6 - upper limit for alert 6
+@param r7 - upper limit for alert 7
+@code
+{
+    fp = fopen("/sd/settings.txt", "w");
+    if (fp == NULL) {  // if it can't open the file then print error message
+        serial.printf("Error! Unable to open file!\n");
+    } else {  // opened file so can write
+        serial.printf("Writing to file....");
+        fprintf(fp, "%f,%i,%i,%i,%i,%i,%i,%i,%i,%i,%i",bright,units,offset,check_flag,r1,r2,r3,r4,r5,r6,r7); // ensure data type matches
+        serial.printf("Done.\n");
+        fclose(fp);  // ensure you close the file after writing
     }
 }
+@endcode
+*/
+void save();
+
+/**
+Inturupt flag for button 2
+@code
+{
+    g_sw2_flag = 1;   //set flag in ISR by button 2 @param g_sw2_flag 0 or 1
 }
 @endcode
 */
-void submenu();
-void save();
-void load();
+void sw2_isr();
+
+/**
+Inturupt flag for button 1
+@code
+{
+    g_sw1_flag = 1;   //set flag in ISR by button 2 @param g_sw1_flag 0 or 1
+}
+@endcode
+*/
+void sw1_isr();
+
+/**
+Flag used with ticker for flashing of LEDs
+@code
+{
+    g_timer_flag_led = 1;   // set flag in ISR by timer_isr_led @param g_timer_flag_led 0 or 1 
+}
+@endcode
+*/
+void timer_isr_led();
+
+/**
+Flag used for Ticker controlling SRF02 sensor reading
+@code
+{
+    g_timer_flag_srf02 = 1;   // set flag in ISR by ticker_srf02 @param g_timer_flag_srf02 0 or 1 
+}
+@endcode
+*/
+void timer_isr_srf02();
+
+/**
+Flag raised for incrementing standby level
+@code
+{
+    g_timer_flag_standby = 1; // set flag in ISR by ticker_tone @param g_timer_flag_tone 0 or 1
+}#
+@endcode
+*/
+void timer_isr_standby();
 
 #endif
\ No newline at end of file