ELEC2645 (2015/16)
Level 2 Project Range Device
Dependencies: N5110 SDFileSystem SRF02 TMP102 mbed
Fork of
Ranger
by 
Philip Thompson
Revision 11:b64d123b9f4f, committed 2016-05-05
- Comitter:
- el15pjt
- Date:
- Thu May 05 10:51:19 2016 +0000
- Parent:
- 10:c9f3c22368f1
- Child:
- 12:0171e8723d9d
- Commit message:
- Final commit.... Maybe
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
| main.h | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Wed May 04 22:16:06 2016 +0000
+++ b/main.cpp Thu May 05 10:51:19 2016 +0000
@@ -5,22 +5,16 @@
*/
#include "main.h"
-#include "SDFileSystem.h"
-Serial serial(USBTX, USBRX); // for PC debug
int main()
{
- int d = 0;
- int myarray[5] {999,999,999,999,999}; /// initilised to any possitive integer to prevent random values at start up triggering an alert
setup();
lcd.init(); // Initiate LCD
- lcd.printString("ELEC 2645",0,0);
- lcd.printString("Project Ranger",0,1);
- lcd.printString("Phil Thompson",0,2);
- lcd.printString("SID 200971914 ",0,3);
- wait (3);
+ int d = 0;
+ int myarray[5] {999,999,999,999,999}; /// initilised to any possitive integer to prevent random values at start up triggering an alert
+
+ // Load settings from SD Card\\\\\\\\\\
FILE *fp; // file pointer
- // Load settings
fp = fopen("/sd/settings.txt", "r");
if (fp == NULL) { // if it can't open the file then print error message
serial.printf("Error! Unable to open file!\n");
@@ -33,7 +27,19 @@
serial.printf("Done.\n");
fclose(fp); // ensure you close the file after reading
}
- lcd.setBrightness(bright);
+ //\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\
+
+ //Startup Screen\\\\\\\\\\\\\\\\\\\\
+ lcd.printString("ELEC 2645",0,0);
+ lcd.printString("Project Ranger",0,1);
+ lcd.printString("Phil Thompson",0,2);
+ lcd.printString("SID 200971914 ",0,3);
+ wait (3);
+ //\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\
+
+ lcd.setBrightness(bright); //Set brightness of screen on startup from loaded value from SD Card
+
+ // Main while loop of the Ranger
while(1) {
if (g_sw1_flag) { /// Event triggered inturupt to call the menu and reset page numbers
g_sw1_flag = 0;
@@ -44,15 +50,18 @@
}
if (g_timer_flag_srf02) {
g_timer_flag_srf02 = 0; // if it has, clear the flag
- if (units == 1) {
+ if (units == 1) { // if units = 1 metric measurment are retrived from SFR02
distance = srf02.getDistanceCm();
distance = distance-(offset*c);
- } else {
+ } else { //If units = 0 imperial measurments retrived from SFR02
distance = srf02.getDistannceInch();
- distance = distance -(offset*c); //MAYBE MOVE C TO OFSET SETTING
- }// close else breaket
+ distance = distance -(offset*c);
+ } // close else breaket
} // close if inteurrupt bracket
+
+//Function to average last 5 readings\\\\\\\\\\\\\\\\
+
if (d == 4) {
d = 0;
} else {
@@ -65,44 +74,65 @@
}
avgdistance = (totaldistance/5);
- // serial.printf("TOATAL DISTANCE %i\n", totaldistance);
- // serial.printf("DISTANCE %i\n", distance);
- // serial.printf("AVERAGE DISTANCE %f\n", avgdistance);
- // serial.printf("ARRAY ELEMENT = %i\n", d);
- // serial.printf("myarray %i\n", myarray[d]);
+/*
+ Debugging\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\
+ Uncomment to use button 2 to toggle thru alert levels for debugging and comment out setalert();
+ serial.printf("TOATAL DISTANCE %i\n", totaldistance);
+ serial.printf("DISTANCE %i\n", distance);
+ serial.printf("AVERAGE DISTANCE %f\n", avgdistance);
+ serial.printf("ARRAY ELEMENT = %i\n", d);
+ serial.printf("myarray %i\n", myarray[d]);
+ if (g_sw2_flag) { /// Event triggered inturupt to call the menu and reset page numbers
+ g_sw2_flag = 0;
+ if (alert ==8) {
+ alert =0;
+ } else {
+ alert++;
+ }
+ serial.printf("ALERT LEVEL %i\n", alert);
+ }
+*/
- /* uncomment to use button 2 to toggle thru alert levels for debugging and comment out setalert();
- if (g_sw2_flag) { /// Event triggered inturupt to call the menu and reset page numbers
- g_sw2_flag = 0;
- if (alert ==8) {
- alert =0;
- } else {
- alert++;
- }
- serial.printf("ALERT LEVEL %i\n", alert);
- }*/
setalert();
//serial.printf("ALERT LEVEL %i\n", alert);
lcdoutput();
- if (alert !=0) {
- if (buzz_flag == 0) {
+
+ if (alert !=0) { // no buzzer needed at alert == 0 path clear
+ if (buzz_flag == 0) {// flag keeps buzz from being called durig it's off period
setbuzzer();
}
}
- setleds();
- sleep();
+ setleds(); // Function called to set LED outputs
+ sleep(); // Sleep till nest interupt
}
}
-void lcdoutput()
+void setalert()
{
- /**
- 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
- */
-
+ if (avgdistance >= (r6*c) && avgdistance < (r7*c)) { // r6 150 and r7 200
+ alert = 1; /// alert 1 avgdistance between preset 150Cm to 200Cm
+ } else if (avgdistance >= (r5*c) && avgdistance < (r6*c)) {
+ alert = 2; /// alert 2 when between preset 90Cm to 150Cm
+ } else if (avgdistance >= (r4*c) && avgdistance < (r5*c)) {
+ alert = 3; /// alert 3 when avgdistance between 60Cm to 90Cm
+ } else if (avgdistance >= (r3*c) && avgdistance < (r4*c)) {
+ alert = 4; /// alert 4 when avgdistance between 40Cm and 60Cm
+ } else if (avgdistance >= (r2*c) && avgdistance < (r3*c)) {
+ alert = 5; ///alert 5 when avgdistance between 20Cm and 40m
+ } else if (avgdistance >= (r1*c) && avgdistance <= (r2*c)) { //r1 3 and r2 20
+ alert = 6; ///alert 6 when avgdistance between 1 and 20
+ } else if (avgdistance <=(r1*c)) {
+ alert = 7; ///alert 7 when avgdistance below 1Cm
+ if (check_flag ==0) {
+ save();
+ }
+ check_flag = 1;
+ } else {
+ alert = 0; /// alert 0 all else
+ }
+}
+void lcdoutput()
+{
// if alert == 0 no need to display range path is clear
if (alert == 0) {
lcd.clear();
@@ -183,33 +213,10 @@
}
}//close function
-void setalert()
-{
- if (avgdistance >= (r6*c) && avgdistance < (r7*c)) { // r6 150 and r7 200
- alert = 1; /// alert 1 avgdistance between preset 150Cm to 200Cm
- } else if (avgdistance >= (r5*c) && avgdistance < (r6*c)) {
- alert = 2; /// alert 2 when between preset 90Cm to 150Cm
- } else if (avgdistance >= (r4*c) && avgdistance < (r5*c)) {
- alert = 3; /// alert 3 when avgdistance between 60Cm to 90Cm
- } else if (avgdistance >= (r3*c) && avgdistance < (r4*c)) {
- alert = 4; /// alert 4 when avgdistance between 40Cm and 60Cm
- } else if (avgdistance >= (r2*c) && avgdistance < (r3*c)) {
- alert = 5; ///alert 5 when avgdistance between 20Cm and 40m
- } else if (avgdistance >= (r1*c) && avgdistance <= (r2*c)) { //r1 3 and r2 20
- alert = 6; ///alert 6 when avgdistance between 1 and 20
- } else if (avgdistance <=(r1*c)) {
- alert = 7; ///alert 7 when avgdistance below 1Cm
- if (check_flag ==0) {
- save();
- }
- check_flag = 1;
- } else {
- alert = 0; /// alert 0 all else
- }
-}
void setleds()
{
+ 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
@@ -267,38 +274,12 @@
lcd.setBrightness(bright);
}
-void sw2_isr()
-{
- g_sw2_flag = 1; /** set flag in ISR by button 2 @param g_sw2_flag 0 or 1*/
-}
-
-void sw1_isr()
-{
- g_sw1_flag = 1; /** set flag in ISR by button 2 @param g_sw1_flag 0 or 1*/
-}
-
-void timer_isr_led()
-{
- g_timer_flag_led = 1; /** set flag in ISR by timer_isr_led @param g_timer_flag_led 0 or 1 */
-}
-
-void timer_isr_srf02()
-{
- g_timer_flag_srf02 = 1; /** set flag in ISR by ticker_srf02 @param g_timer_flag_srf02 0 or 1 */
-}
-
-void timer_isr_standby()
-{
- g_timer_flag_standby = 1; /** set flag in ISR by ticker_tone @param g_timer_flag_tone 0 or 1 */
-}
-
-
void menu()
{
while(1) {
if (g_sw1_flag) {
g_sw1_flag = 0;
- page++; /// Moves page
+ page++; // Moves page
lcd.clear();
}
switch (page) {
@@ -375,13 +356,13 @@
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 = 35;/// Upper limit of alert 4
- r5 = 50;/// Upper limit of alert 5
- r6 = 65;/// Upper limit of alert 6
- r7 = 80;/// Upper limit of alert 7
+ 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);
@@ -415,21 +396,6 @@
}//while braket
}//functon bracket
-
-void save()
-{
- 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
- }
-}
-
-
void submenu()
{
while(1) {
@@ -443,7 +409,7 @@
if (g_sw2_flag) {
g_sw2_flag = 0; // if it has, clear the flag
if (r2 == r3) {
- r2 = 1;
+ r2 = 3;
} else {
r2 = r2+1;
}
@@ -496,7 +462,7 @@
r5 += 1;
}
}
- sprintf(buffer4,"%iCm to %iCm",r4,r5);
+ sprintf(buffer4,"%iCm to %iCm",r4,r5);
lcd.printString("*****MENU*****",0,0);
lcd.printString("RANGE",0,1);
lcd.printString("PARAMETERS",0,2);
@@ -542,11 +508,24 @@
}//while bracket
}//function bracket
+void save()
+{
+ 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
+ }
+}
+
void setup()
{
serial.baud(115200); // full-speed!
ticker.attach(&timer_isr_led,0.35); /// Attach the ticker for the flashig LEDs
- ticker_srf02.attach(&timer_isr_srf02,0.1);/// Attach the ticker for collecting a range reading
+ 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
@@ -558,4 +537,29 @@
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
-}
\ No newline at end of file
+}
+
+void sw2_isr()
+{
+ g_sw2_flag = 1; /** set flag in ISR by button 2 @param g_sw2_flag 0 or 1*/
+}
+
+void sw1_isr()
+{
+ g_sw1_flag = 1; /** set flag in ISR by button 2 @param g_sw1_flag 0 or 1*/
+}
+
+void timer_isr_led()
+{
+ g_timer_flag_led = 1; /** set flag in ISR by timer_isr_led @param g_timer_flag_led 0 or 1 */
+}
+
+void timer_isr_srf02()
+{
+ g_timer_flag_srf02 = 1; /** set flag in ISR by ticker_srf02 @param g_timer_flag_srf02 0 or 1 */
+}
+
+void timer_isr_standby()
+{
+ g_timer_flag_standby = 1; /** set flag in ISR by ticker_tone @param g_timer_flag_tone 0 or 1 */
+}
--- 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