Program implementation. More...

Functions
int	main ()
void	setalert ()
	A fuction used to determin the alert level given a range with the use of IF statments.
void	lcdoutput ()
	Controls the LCD while not in a Menu.
void	setleds ()
	Function for controlling the LED outputs alert changes to element array and so output controlls.
void	setbuzzer ()
void	flip ()
	Function called to stop buzzer at end of on period and then make buzzer avilable again after off period.
void	buzzflag ()
	Flag used it indicate if buzzer is avilable or on a off period.
void	backlight ()
	Called to increment to brightness by 0.2 each time when at 1 resets back to 0.0.
void	menu ()
	Function used to call and navigate Main menu and change settings.
void	submenu ()
	Function for submenu Controlling the range peramiters.
void	save ()
	Save function saving settings.
void	setup ()
	Sets up and initalizies switches, LEDs, Tickers and serial connection.
void	sw2_isr ()
	Inturupt flag for button 2.
void	sw1_isr ()
	Inturupt flag for button 1.
void	timer_isr_led ()
	Flag used with ticker for flashing of LEDs.
void	timer_isr_srf02 ()
	Flag used for Ticker controlling SRF02 sensor reading.
void	timer_isr_standby ()
	Flag raised for incrementing standby level.

Detailed Description

Program implementation.

Definition in file main.cpp.

Function Documentation

void backlight ( )

Called to increment to brightness by 0.2 each time when at 1 resets back to 0.0.

Parameters:

bright 0.0-1

Returns:

lcd.setbrightness

if (bright == 1.0) {
    bright = 0;
} else {
    bright += 0.2;
}
lcd.setBrightness(bright);

Definition at line 267 of file main.cpp.

void buzzflag ( )

Flag used it indicate if buzzer is avilable or on a off period.

Parameters:

buzz_flag

zero

{
    buzz_flag = 0;
    return;
}

Definition at line 261 of file main.cpp.

void flip ( )

Function called to stop buzzer at end of on period and then make buzzer avilable again after off period.

Parameters:

buzz_flag	1 or 0
buzzer	= 0.0 buzzer off { buzz_flag = 1; buzzer = 0.0; buzzon.attach(&buzzflag,Alertlevel [alert].toneoff); }

Definition at line 254 of file main.cpp.

void lcdoutput ( )

Controls the LCD while not in a Menu.

Parameters:

i	used to scale the max distaance to the width of the screen
distance	Distance read from sensor to be dispayed
distbar	used to adjust how far along the screen the bar is to go acorrding to distance

if (alert == 0) {
if (g_timer_flag_standby) {
            g_timer_flag_standby = 0;
            T = tmp102.get_temperature();
            standby++;
            if (standby >3) {
                standby = 3;
            }
        }

        switch (standby) {
            case 1:
                if (check_flag == 1) {
                    sprintf(buffer4,"COLLISIONCHECK");
                }
                lcd.clear();
                sprintf(buffer,"**PATH CLEAR**");
                lcd.printString(buffer,0,0);
                lcd.printString(buffer4,0,5);
                lcd.refresh();
                break;
            case 2:
                if (check_flag == 1) {
                    sprintf(buffer4,"COLLISIONCHECK");
                    lcd.clear();
                    sprintf(buffer3,"TEMP = %.2f",T);
                    sprintf(buffer2,"TEMPERATER");
                    lcd.printString(buffer3,4,2);
                    lcd.printString(buffer2,12,1);
                    lcd.printString(buffer4,0,5);

                    break;
                case 3:
                    if (check_flag == 1) {
                        sprintf(buffer4,"COLLISIONCHECK");
                        lcd.clear();
                        sprintf(buffer3,"TEMP = %.2f",T);
                        sprintf(buffer2,"TEMPERATER");
                        lcd.refresh();
                        lcd.printString(buffer3,4,2);
                        lcd.printString(buffer2,12,1);
                        lcd.printString(buffer4,0,5);
                        lcd.setBrightness(0);
                        break;
                    }
                }

                //If alert isn't 0 then the distance is to be dispayed alonng with the the distance bar
                else {
                    lcd.setBrightness(bright);
                    standby =0;
                    lcd.clear();

                    if (units == 1) {
                        sprintf(buffer,"%0.2f Cm",avgdistance);
                        sprintf(buffer1,"****RANGE!****");
                        sprintf(buffer2,"DISTANCE");

                        sprintf(buffer4,"Menu");

                    } else {
                        sprintf(buffer,"%0.2f Inches",avgdistance);
                        sprintf(buffer1,"****RANGE!****");
                        sprintf(buffer2,"***DISTANCE***");
                        sprintf(buffer4,"Menu");
                    }
                    lcd.printString(buffer,25,2);
                    lcd.printString(buffer1,0,0);
                    lcd.printString(buffer2,16,1);
                    lcd.printString(buffer4,0,5);


                    float h = (r7/84);
                    float distbar = (avgdistance*h);
                    //drawRect(int x0,int y0,int width,int height,int fill);
                    lcd.drawRect(0,29,distbar,7,1); //
                    lcd.refresh();

Maps length of bar to largest set range r7

Definition at line 134 of file main.cpp.

int main ( )

initilised to any possitive integer to prevent random values at start up triggering an alert

Event triggered inturupt to call the menu and reset page numbers

Definition at line 9 of file main.cpp.

void menu ( )

Function used to call and navigate Main menu and change settings.

{
    while(1) {
        if (g_sw1_flag) {
            g_sw1_flag = 0;
            page++; // Moves page
            lcd.clear();
        }
        switch (page) {
            case 0:
                if (g_sw2_flag) {
                    g_sw2_flag = 0;  // if it has, clear the flag
                    backlight();
                    lcd.clear();
                }
                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;
                    }
                }
                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 == 0) {
                    sprintf(buffer2,"IMPERIAL");
                } else {
                    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");
                }

                lcd.printString(buffer4,0,5);
                break;
            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();
                }
                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

Definition at line 277 of file main.cpp.

void save ( )

Save function saving settings.

Parameters:

bright	- Backlight setting
units	- Metric or Imperial settings
offset	- offest distance setting
check_flag	- Saves a collision alert
r1	- upper limit for alert 1
r2	- upper limit for alert 2
r3	- upper limit for alert 3
r4	- upper limit for alert 4
r5	- upper limit for alert 5
r6	- upper limit for alert 6
r7	- upper limit for alert 7 { 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 } }

Definition at line 511 of file main.cpp.

void setalert ( )

A fuction used to determin the alert level given a range with the use of IF statments.

Parameters:

distance	The distance read from sensor
alert	The level that distance falls with in 0 -7

Returns:

alert

if (distance >= r6 && distance < r7) {  // r6 150 and r7 200
    alert = 1; /// alert 1 distance between preset 150Cm to 200Cm
} else if (distance >= r5 && distance  < r6) {
    alert = 2; /// alert 2 when between preset 90Cm to 150Cm
} else if (distance >= r4 && distance < r5) {
    alert = 3; /// alert 3 when distance between 60Cm to 90Cm
} else if (distance >= r3 && distance < r4) {
    alert = 4; /// alert 4 when distance between 40Cm and 60Cm
} else if ( distance > r2 && distance < r3) {
    alert = 5; ///alert 5 when distance between 20Cm and 40m
} else if (distance > r1 && distance <= r2) { //r1 3 and r2 20
    alert = 6; ///alert 6 when distance between 1 and 20
} else if (distance <=r1) {
    alert = 7; ///alert 7 when distance below 1Cm
} else {
    alert = 0; /// alert 0 all else
}
}

alert 1 avgdistance between preset 150Cm to 200Cm

alert 2 when between preset 90Cm to 150Cm

alert 3 when avgdistance between 60Cm to 90Cm

alert 4 when avgdistance between 40Cm and 60Cm

alert 5 when avgdistance between 20Cm and 40m

alert 6 when avgdistance between 1 and 20

alert 7 when avgdistance below 1Cm

alert 0 all else

Definition at line 110 of file main.cpp.

void setbuzzer ( )

{
   
    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);
}

control the PWM to drive the buzzer

Parameters:

buzzer.period	frequncy 1KHz
buzzer	duty cycle equal on/off max volume
Alertlevel[alert].toneon	controls how long the tone will last depending on alert

Definition at line 241 of file main.cpp.

void setleds ( )

Function for controlling the LED outputs alert changes to element array and so output controlls.

{
    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;
    }
}

Variable to toggle LEDs high low

Definition at line 217 of file main.cpp.

void setup ( )

Sets up and initalizies switches, LEDs, Tickers and serial connection.

{
    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
}

Attach the ticker for the flashig LEDs

Attach the ticker for collecting a range reading

sw1_isr called when button presed on the rising edge

sw2_isr called when button presed on the rising edge

Definition at line 524 of file main.cpp.

void submenu ( )

Function for submenu Controlling the range peramiters.

{
    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;
        }//switch breaket
    }//while bracket
}//function bracket

interupt used to shift page

interupt used to adjust range

Definition at line 399 of file main.cpp.

void sw1_isr ( )

Inturupt flag for button 1.

{
    g_sw1_flag = 1;   //set flag in ISR by button 2 @param g_sw1_flag 0 or 1
}

set flag in ISR by button 2

Parameters:

g_sw1_flag 0 or 1

Definition at line 547 of file main.cpp.

void sw2_isr ( )

Inturupt flag for button 2.

{
    g_sw2_flag = 1;   //set flag in ISR by button 2 @param g_sw2_flag 0 or 1
}

set flag in ISR by button 2

Parameters:

g_sw2_flag 0 or 1

Definition at line 542 of file main.cpp.

void timer_isr_led ( )

Flag used with ticker for flashing of LEDs.

{
    g_timer_flag_led = 1;   // set flag in ISR by timer_isr_led @param g_timer_flag_led 0 or 1 
}

set flag in ISR by timer_isr_led

Parameters:

g_timer_flag_led 0 or 1

Definition at line 552 of file main.cpp.

void timer_isr_srf02 ( )

Flag used for Ticker controlling SRF02 sensor reading.

{
    g_timer_flag_srf02 = 1;   // set flag in ISR by ticker_srf02 @param g_timer_flag_srf02 0 or 1 
}

set flag in ISR by ticker_srf02

Parameters:

g_timer_flag_srf02 0 or 1

Definition at line 557 of file main.cpp.

void timer_isr_standby ( )

Flag raised for incrementing standby level.

{
    g_timer_flag_standby = 1; // set flag in ISR by ticker_tone @param g_timer_flag_tone 0 or 1
}#

set flag in ISR by ticker_tone

Parameters:

g_timer_flag_tone 0 or 1

Definition at line 562 of file main.cpp.

Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	05 May 2016
Imports:	0
Forks:	0
Commits:	15
Dependents:	0
Dependencies:	5
Followers:	113

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