main.cpp

00001 /*
00002 
00003 ELEC2645 - Embedded Systems Project - "Sensor-matic!"
00004 
00005 Distance and Temperature Sensors Displayed on Nokia 5110 Screen
00006 
00007 
00008 Week 19 - Testing SRF02 Distance Sensor
00009 
00010 Week 20 - Creating Splash Screens
00011 
00012 Week 21 - Diagrams for Temperature and Distance
00013 
00014 Easter - Navigation Between Menus
00015 
00016 Week 22 - Piezo/LEDs Interfaced
00017 
00018 Week 23 - DOxygen Commenting
00019 
00020 Week 24 - Cleaning Up & Submission
00021 
00022 
00023 (c) Jack Berriman, University of Leeds, Summer 2016
00024 
00025 */
00026 
00027 /**
00028 @file main.cpp
00029 @brief Program Implementation
00030 */
00031 
00032 
00033 #include "main.h"
00034 
00035 
00036 // ------------------------- MAIN FUNCTION ------------------------- //
00037 
00038 int main() // Main Function
00039 {
00040 
00041     init_K64F(); // Initialise FRDM K64F Micrcontroller
00042     init_buzzer(); // Initialise Piezo Buzzer
00043     init_program(); // Initialise Other Program Requirements (Screen/Ticker/Baud Rate)
00044 
00045     welcomeScreen(); // Display Welcome Screen
00046     screen.clear(); // Clear Screen
00047 
00048     while (1) { // Infinite Program While Loop
00049 
00050         if (screenNumber == 0) { // Main Menu = 0
00051             mainMenu();
00052         } else if (screenNumber == 1) { // Sensor Menu = 1
00053             sensorMenu();
00054         } else if (screenNumber == 2) { // Options Menu = 2
00055             optionsMenu();
00056         } else if (screenNumber == 3) { // Distance Display = 3
00057             distanceDisplay();
00058         } else { // Temperature Display = 4
00059             temperatureDisplay();
00060         }
00061 
00062         screen.refresh(); // Refresh Screen AFTER Each Iteration
00063         sleep(); // Put Peripherals To Sleep (Due to InterruptIn)
00064 
00065     }
00066 }
00067 
00068 
00069 // ------------------------- INITIALISE FUNCTIONS ------------------------- //
00070 
00071 void clearAll() // Clears Current Buffer (Text/Pixels) -- ADAPTED FROM ELEC1620 (GAME OF LIFE PROJECT)
00072 {
00073     for (int xPixel = 0; xPixel < 84; xPixel++) { // Loops Through X-Pixels
00074         for (int yPixel = 0; yPixel < 48; yPixel++) { // Loops Through Y-Pixels
00075             screen.clearPixel(xPixel,yPixel); // Clears
00076         }
00077     }
00078     screen.refresh(); // Refreshes Screen AFTER Clearing
00079 }
00080 
00081 
00082 void init_K64F() // Initialise K64F Function
00083 {
00084     // On-Board LEDs are Active-Low
00085     r_led = 1;
00086     g_led = 1; // Set to 1 (High) to Turn OFF
00087     b_led = 1;
00088 
00089     allLEDOff(); // Turn off All LEDs
00090 
00091     forward.rise(&forward_isr); // Interrupts Fire on Rising Clock Edge
00092     backward.rise(&backward_isr);
00093 
00094     forward.mode(PullDown); // Push Buttons are Connected to +3V3 - Pull-Down to Ground when Pressed
00095     backward.mode(PullDown);
00096 }
00097 
00098 
00099 void init_buzzer() // Initialise Piezo Buzzer Function
00100 {
00101     piezo.period(1.0/2000.0); // Set Frequency to 2 kHz
00102     piezo.write(0.0); // Turn OFF (Duty Cycle = 0)
00103 }
00104 
00105 
00106 void init_program() // Initialise Other Program Requirements
00107 {
00108     screen.init(); // Initialise Screen
00109     screen.clear(); // Clear Buffer
00110     systemTicker.attach(&system_isr,0.5); // Attach Ticker
00111     pc.baud(115200); // Set Serial Port Baud Rate to 115200 Hz
00112 }
00113 
00114 
00115 void welcomeScreen()    // Prints Welcome Screen on Start-Up
00116 {
00117 
00118     // printString is a function from N5110.h
00119     screen.printString("ELEC2645", 20, 0); // Format: screen.printString("Text", Number of Pixels 'in' (X-Position), Bank Number (Y-Position))
00120     screen.printString("Sensor-matic!", 5, 2); // Project Title
00121     screen.printString("By", 35, 4);
00122     screen.printString("Jack Berriman", 3, 5);
00123 
00124     wait(2);    // Delay (To Read Text)
00125 
00126 }
00127 
00128 
00129 // ------------------------- STRUCTS ------------------------- //
00130 
00131 AverageValues getAverageValues() // Struct for Calculating Average Values of Distance and Temperature
00132 {
00133     AverageValues values; // Access Struct
00134     int temporaryDistanceSum = 0;
00135     int temporaryTemperatureSum = 0; // Initialise Temporary 'Sum' Variables Equal to Zero
00136 
00137     for (int i = 0; i <= 10; i++) { // Loop Through 10 Samples
00138 
00139         int distanceRead = srf02.getDistanceCm(); // Each Iteration: Get Distance and Write to Variable 'distanceRead'
00140         temporaryDistanceSum += distanceRead; // Add to Sum
00141 
00142         int temperatureRead = tmp102.get_temperature(); // Each Iteration: Get Temperature and Write to Variable 'distanceRead'
00143         temporaryTemperatureSum += temperatureRead; // Add to Sum
00144     }
00145 
00146     values.averageDistance = temporaryDistanceSum/10; // Divide by Number of Samples (10)
00147     values.averageTemperature = temporaryTemperatureSum/10;
00148 
00149     return values; // Return 'values' to Struct
00150 }
00151 
00152 
00153 // ------------------------- CURSOR POSITION (POTENTIOMETER) FUNCTIONS ------------------------- //
00154 
00155 int getCursorPosition() // Read Potentiometer Value & Convert to Bank Value
00156 {
00157     int bank = floor(controller * 5) + 1; // Read Potentioementer & Multiply by 5
00158     // 'Floor' = Rounds Down
00159 
00160     if (bank == 6) { // If Bank value us greater that 5...
00161         bank = 5;  // A value of 5 is returned
00162     }
00163 
00164     return bank; // Return Bank Value
00165 }
00166 
00167 
00168 void printCursorPositionMain(int cursor) // Print Cursor as Rectangle Next to Option in Main/Sensor Menu (Used with 'getCursorPosition')
00169 {
00170     // Prevents Cursor Position From Being Unselectable
00171     if (cursor != 1 && cursor != 3 && cursor != 5) { // If Cursor in Banks 2 or 4 - Print Rectangle
00172 
00173         y_axis_rect_main = (cursor * 8) + 3; // Multiply Cursor by 8 to Return Y-Position & Add 3 to Align in Bank
00174 
00175         screen.drawRect(75,y_axis_rect_main,2,2,0); // Print Rectangle (Depending on Potentiometer/Cursor)
00176     } else {
00177         screen.drawRect(75,y_axis_rect_main,2,2,0); // If Bank is 1, 3 or 5 - Still Print Rectangle
00178     }
00179 }
00180 
00181 
00182 void printCursorPositionOptions(int cursor, int stateOfLED, int stateOfSound) // Print Cursor as Rectangle Next to Option in Options Menu (Used with 'getCursorPosition')
00183 {
00184     // stateOfLed & stateOfSound Return 1 or 0
00185     // 1 or 0 Passed into 'drawRect' - Fills or Unfills Rectangle
00186 
00187     y_axis_rect_options = (cursor * 8) + 3; // Multiply Cursor by 8 to Return Y-Position & Add 3 to Align in Bank
00188     cursor == 1 ? screen.drawRect(81,y_axis_rect_options,2,2,stateOfLED):screen.drawRect(81,y_axis_rect_options,2,2,stateOfSound);
00189     // If Cursor is 1 = Draw Rectangle OR If Cursor is 3 = Draw Rectangle
00190 }
00191 
00192 
00193 // ------------------------- MENU FUNCTIONS (MAIN/SENSORS/OPTIONS ------------------------- //
00194 
00195 void mainMenu() // Function for Main Menu
00196 {
00197     y_axis_rect_main = 19; // Set Initial Y-Position to 19th Pixel
00198     
00199     while (screenNumber == 0) { // While Main Menu Screen On...
00200 
00201         int cursor = getCursorPosition(); // Read Position of Cursor
00202 
00203         if (g_system_flag) {
00204             g_system_flag = 0; // Reset System Flag to 0
00205 
00206             clearAll();   // Clears Previous Text String (Welcome Screen)
00207 
00208             screen.printString("MAIN MENU", 16, 0); // Print String 'Main Menu'
00209             screen.drawLine(5,11,79,11,1); // Draw Line Above Sensors String
00210             screen.printString("Sensors", 3, 2); // Print String 'Sensors'
00211             screen.printString("Options", 3, 4); // Print String 'Options'
00212             screen.drawLine(5,44,79,44,1); // Draw Line Underneath Options String
00213 
00214             // Used to Ensure Cursor is Set in Bank
00215             if (cursor <= 2) { // If Position of Cursor is 2 or Less
00216                 cursor = 2; // Set Cursor to Equal 2
00217             }
00218             if (cursor >= 3) { // If Position of Cursor is 3 or Greater
00219                 cursor = 4; // Set Cursor to Equal 4
00220             }
00221 
00222             printCursorPositionMain(cursor); // Print Cursor to Screen
00223             pc.printf("Controller = %d \n",cursor); // Debug in 'CoolTerm.exe'
00224 
00225             // Check Flag IF 'forward' Button Interrupt Pressed
00226             if (g_forward_flag == 1) {
00227                 g_forward_flag = 0;  // Clear Flag
00228 
00229                 // Determine Next Screen
00230                 if (cursor == 2) {
00231                     screenNumber = 1; // Go to Sensor Menu
00232                 }
00233                 if (cursor == 4) {
00234                     screenNumber = 2; // Go to Options Menu
00235                 }
00236             }
00237         }
00238         returnToMenu(); // Back Button Function
00239         screen.refresh(); // Refresh Screen
00240     }
00241 }
00242 
00243 void sensorMenu() // Function for Sensor Menu
00244 {
00245     while (screenNumber == 1) { // While Sensor Menu is On...
00246 
00247         int cursor = getCursorPosition(); // Read Position of Cursor
00248 
00249         if (g_system_flag) {
00250             g_system_flag = 0; // Reset System Flag to 0
00251 
00252             clearAll(); // Clears Previous Text String (Main Menu Screen)
00253 
00254             screen.printString("SENSOR MENU", 10, 0); // Prints String 'SensorMenu'
00255             screen.drawLine(5,11,79,11,1); // Draw Line Above Dist Sensor
00256             screen.printString("Dist Sensor", 3, 2); // Prints String 'Dist Sensor'
00257             screen.printString("Temp Sensor", 3, 4); // Prints String 'Temper Sensor'
00258             screen.drawLine(5,44,79,44,1); // Draw Line Below Temp Sensor
00259 
00260             // Used to Ensure Cursor is Set in Bank
00261             if (cursor <= 2) { // If Position of Cursor is 2 or Less
00262                 cursor = 2; // Set Cursor to Equal 2
00263             }
00264             if (cursor >= 3) { // If Position of Cursor is 3 or Greater
00265                 cursor = 4; // Set Cursor to Equal 4
00266             }
00267 
00268             printCursorPositionMain(cursor); // Print Cursor to Screen
00269             pc.printf("Controller = %d \n",cursor); // Debug in 'CoolTerm.exe'
00270 
00271             // Check Flag IF 'forward' Button Interrupt Pressed
00272             if (g_forward_flag == 1) {
00273                 g_forward_flag = 0;  // Clear Flag
00274 
00275                 // Determine Next Screen
00276                 if (cursor == 2) {
00277                     screenNumber = 3; // Go to Distance Display
00278                 }
00279                 if (cursor == 4) {
00280                     screenNumber = 4; // Go to Temperature Display
00281                 }
00282             }
00283         }
00284         returnToMenu(); // Back Button Function
00285         screen.refresh(); // Refresh Screen
00286     }
00287 }
00288 
00289 void optionsMenu() // Function for Options Menu
00290 {
00291     y_axis_rect_options = 27; // Set Initial Y-Position to 27th Pixel
00292 
00293     while (screenNumber == 2) { // While Options Menu is On...
00294 
00295         int cursor = getCursorPosition(); // Read Position of Cursor
00296 
00297         if (g_system_flag) {
00298             g_system_flag = 0; // Reset System Flag to 0
00299 
00300             clearAll();   // Clears Previous Text String (Main Menu Screen)
00301 
00302             screen.printString("Toggle LEDs", 1, 1); // Print String 'Toggle LEDs'
00303             screen.printString("Toggle Sound", 1, 3); // Print String 'Toggle Sound'
00304             screen.printString("Toggle Colour", 1, 5); // Print String 'Toggle Colour'
00305 
00306             // Used to Ensure Cursor is Set in Bank
00307             if (cursor <= 2) { // If Position of Cursor is 2 or Less
00308                 cursor = 1; // Set Cursor to Equal 1
00309             }
00310             if (cursor > 2 && cursor <= 4) { // If Position of Cursor is Between 2 or 4
00311                 cursor = 3; // Set Cursor to Equal 3
00312             }
00313             if (cursor > 4) { // If Position of Cursor is Greater than 4
00314                 cursor = 5; // Set Cursor to Equal 5
00315             }
00316 
00317             if (triggerLEDs == 1) { // Read Trigger of LED
00318                 allLEDOn(); // If Trigger = 1, Turn ON LEDs
00319             }
00320 
00321             printCursorPositionOptions(cursor, stateOfLED, stateOfSound); // Print Position of Cursor
00322 
00323             // Check Flag IF 'forward' Button Interrupt Pressed
00324             if (g_forward_flag == 1) {
00325                 g_forward_flag = 0;  // Clear Flag
00326 
00327                 // Determine Options to Edit
00328                 if (cursor == 1) {
00329                     stateOfLED = toggleLEDs(); // Toggle LEDs & Write 1 or 0 to 'stateOfLED'
00330                 }
00331                 if (cursor == 3) {
00332                     stateOfSound = toggleSound(); // Toggle Sound & Write 1 or 0 to 'stateOfLED'
00333                 }
00334                 if (cursor == 5) {
00335                     toggleColour(); // Toggle Colour
00336                 }
00337             }
00338         }
00339         returnToMenu(); // Back Button Function
00340         screen.refresh(); // Refresh Screen
00341     }
00342 }
00343 
00344 void distanceDisplay() // Function to Display Distance
00345 {
00346     AverageValues values; // Call Struct For Average Values
00347 
00348     while(screenNumber == 3) { // While Temperature Display is On...
00349 
00350         values = getAverageValues();
00351         int Distance = values.averageDistance; // Access Struct Value
00352 
00353         if (g_system_flag) {
00354             g_system_flag = 0; // Reset System Flag to 0
00355 
00356             clearAll();
00357 
00358             if (triggerLEDs == 1) {
00359                 LEDs_Distance(Distance); // Call Distance LED Function
00360             }
00361 
00362             char buffer[14];  // Each Character = 6 pixels wide & Screen = 84 pixels (84/6 = 14)
00363             int length = sprintf(buffer,"Dist = %d CM",Distance); // Print Distance Value to Buffer
00364             pc.printf("DistAv = %f \n DistNorm = %f \n", Distance, srf02.getDistanceCm()); // Debug in 'CoolTerm.exe'
00365 
00366             if (length <= 14)  // If String Fits on Display
00367                 screen.printString(buffer,3,2); // Display on Screen
00368 
00369             if (Distance <= 14 || Distance >= 250) { // If Sensor is Out of Range
00370                 clearAll(); // Clear Buffer
00371                 screen.drawLine(4,2,80,2,2); // Draw Dotted Line Above Text
00372                 screen.printString("DISTANCE OUT", 6, 1);
00373                 screen.printString("OF RANGE", 18, 2);
00374                 screen.drawLine(4,27,80,27,2); // Draw Dotted Line Below Text
00375                 screen.printString("MIN = 15 CM", 10, 4);
00376                 screen.printString("MAX = 250 CM", 7, 5);
00377 
00378                 if (triggerSound == 1) { // Play Continuous Buzz When Out of Range
00379                     buzzerOn();
00380                 }
00381             } else { // If Sensor is In Range
00382 
00383                 screen.printString("DIST SENSOR", 10, 0); // Print String 'Distance Sensor' (Title)
00384 
00385                 screen.drawRect(5,26,74,12,0); // Draw Rectangle Outline
00386                 int fillLength = floor(PIXEL_PER_CM * Distance); // Update Fill Length Depending on Distance Value
00387 
00388                 screen.drawRect(6,27,fillLength,11,1); // Fill the Distance Bar (Left to Right)
00389 
00390                 screen.drawRect(17,26,2,12,0); // Puts in Dividers at 50 cm Intervals
00391                 screen.drawRect(33,26,2,12,0);
00392                 screen.drawRect(48,26,2,12,0);
00393                 screen.drawRect(63,26,2,12,0);
00394 
00395                 screen.printString("15",0,5); // Prints Lower Bound Marker (15 cm)
00396                 screen.printString("250",67,5); // Prints Upper Bound Marker (250 cm)
00397 
00398                 if (Distance <= 50) {
00399                     if (triggerSound == 1) { // Check Trigger Value of Buzzer
00400                         buzzerClose(); // Play Highly Freuquent Buzz
00401                     }
00402                 } else if (Distance <= 100) {
00403                     if (triggerSound == 1) { // Check Trigger Value of Buzzer
00404                         buzzerNormal(); // Play Moderately Freuquent Buzz
00405                     }
00406                 } else if (Distance <= 200) {
00407                     if (triggerSound == 1) { // Check Trigger Value of Buzzer
00408                         buzzerFar(); // Play Lowly Freuquent Buzz
00409                     }
00410                 }
00411             }
00412 
00413 
00414             returnToMenu(); // Function for Back Button
00415             screen.refresh(); // Refreshes Screen
00416         }
00417     }
00418 }
00419 
00420 void temperatureDisplay() // Function to Display Temperature
00421 {
00422     AverageValues values; // Call Struct For Average Values
00423 
00424     while(screenNumber == 4) { // While Temperature Display is On...
00425 
00426         values = getAverageValues();
00427         int Temperature = values.averageTemperature; // Access Struct Value
00428 
00429         if (g_system_flag) {
00430             g_system_flag = 0; // Reset System Flag to 0
00431 
00432             clearAll(); // Clears Previous Text String (Sensor Menu Screen)
00433 
00434             screen.printString("TEMP SENSOR", 10, 0); // Print String 'Temp Sensor' (Title)
00435 
00436             LEDs_Temperature(Temperature); // Call Temperature LED Function
00437 
00438             char buffer[14];  // Each Character = 6 pixels wide & Screen = 84 pixels (84/6 = 14)
00439             int length = sprintf(buffer,"Temp = %d -C",Temperature); // Print Temperature Value to Buffer
00440             pc.printf("TempAv = %f \n TempNorm = %f \n", Temperature, tmp102.get_temperature()); // Debug in 'CoolTerm.exe'
00441 
00442             if (length <= 14)  // If String Fits on Display
00443                 screen.printString(buffer,6,2); // Display on Screen
00444 
00445             screen.drawCircle(15,36,7,1); // Circular End of Thermometer
00446             screen.drawRect(22,32,6,8,1); // Start of Thermometer
00447             screen.drawRect(26,32,48,8,0); // Outline of the Thermometer
00448 
00449             int fillLength = floor(PIXEL_PER_DEGREE * Temperature); // Update Fill Length Depending on Thermometer Value
00450 
00451             screen.drawRect(27,33,fillLength,6,1); // Fill the Thermometer (Left to Right)
00452             screen.refresh(); // Refresh Screen
00453         }
00454         returnToMenu(); // Function for Back Button
00455     }
00456 }
00457 
00458 
00459 // ------------------------- OPTIONS MENU (TOGGLE) FUNCTIONS ------------------------- //
00460 
00461 bool toggleLEDs() // Toggles LED (Enable/Disable)
00462 {
00463     if (triggerLEDs == 0) {
00464         allLEDOn(); // Turn ON LEDs (While on Options Screen)
00465         triggerLEDs = 1; // 'Flip' Trigger
00466     } else {
00467         allLEDOff(); // Turn OFF LEDs (While on Options Screen
00468         triggerLEDs = 0; // 'Flip' Trigger
00469     }
00470 
00471     bool stateOfLED = triggerLEDs; // Set Trigger Value (1 or 0) into Bool
00472     return stateOfLED; // Return Bool (Used in Printing Rectangle)
00473 }
00474 
00475 
00476 bool toggleSound() // Toggles Sound (Enable/Disable)
00477 {
00478     if (triggerSound == 0) {
00479         piezo.write(0.5); // Play Bleep Noise
00480         wait(0.1);
00481         piezo.write(0.0);
00482         triggerSound = 1; // 'Flip' Trigger
00483     } else {
00484         triggerSound = 0; // 'Flip' Trigger
00485     }
00486 
00487     bool stateOfSound = triggerSound; // Set Trigger Value (1 or 0) into Bool
00488     return stateOfSound; // Return Bool (Used in Printing Rectangle)
00489 }
00490 
00491 
00492 void toggleColour() // Toggles Colour (Black-on-White/White-on-Black)
00493 {
00494     if (triggerColour == 0) {
00495         screen.inverseMode(); // Set Colour to Inverse Mode (White-on-Black)
00496         triggerColour = 1; // 'Flip' Trigger
00497     } else {
00498         screen.normalMode(); // Set Colour to Normal Mode (Black-on-White)
00499         triggerColour = 0; // 'Flip' Trigger
00500     }
00501 }
00502 
00503 
00504 // ------------------------- LED & SOFT-PWM FUNCTIONS ------------------------- //
00505 
00506 void allLEDOn() // Function to Turn ON All LEDs
00507 {
00508     red_led = 0;
00509     yellow_led = 0;
00510     green_led = 0;
00511 }
00512 
00513 
00514 void allLEDOff() // Function to Turn OFF All LEDs
00515 {
00516     red_led = 1;
00517     yellow_led = 1;
00518     green_led = 1;
00519 }
00520 
00521 
00522 void LEDs_Flashing()
00523 {
00524     redPWM = 0.5; // Turn ON Soft PWM LEDs
00525     yellowPWM = 0.5;
00526     greenPWM = 0.5;
00527 
00528     redPWM.period(0.25); // Set Period = 0.25 seconds
00529     yellowPWM.period(0.25);
00530     greenPWM.period(0.25);
00531 }
00532 
00533 
00534 void cancel_LEDs_Flashing()
00535 {
00536     redPWM = 0; // Turn OFF Soft PWM LEDs
00537     yellowPWM = 0;
00538     greenPWM = 0;
00539     
00540     redPWM.stop(); // Stop Soft PWM
00541     yellowPWM.stop();
00542     greenPWM.stop();
00543 }
00544 
00545 
00546 void LEDs_Distance(int d)   // LEDs Illuminate (Depending on Distance)
00547 {
00548 
00549     if (d < 15 || d > 250) { // All ON
00550         LEDs_Flashing(); // Enable Soft PWM Flashing LEDs
00551     } else if (d >= 15 && d < 50) { // Red ON
00552         cancel_LEDs_Flashing(); // Prevent Soft PWM Overwritting Digital LEDs
00553         red_led = 0;
00554         yellow_led = 1;
00555         green_led = 1;
00556     } else if (d >= 50 && d < 100) { // Red & Yellow ON
00557         cancel_LEDs_Flashing();
00558         red_led = 0;
00559         yellow_led = 0;
00560         green_led = 1;
00561     } else if (d >= 100 && d < 150) { // Yellow ON
00562         cancel_LEDs_Flashing();
00563         red_led = 1;
00564         yellow_led = 0;
00565         green_led = 1;
00566     } else if (d >= 150 && d < 200) { // Yellow & Green ON
00567         cancel_LEDs_Flashing();
00568         red_led = 1;
00569         yellow_led = 0;
00570         green_led = 0;
00571     } else if (d >= 200 && d < 250) { // Green ON
00572         cancel_LEDs_Flashing();
00573         red_led = 1;
00574         yellow_led = 1;
00575         green_led = 0;
00576     }
00577 }
00578 
00579 
00580 void LEDs_Temperature(int t)   // LEDs Illuminate (Depending on Temperature)
00581 {
00582 
00583     if (t < 10 || t >= 40) { // All ON
00584         allLEDOn();
00585     } else if (t >= 10 && t < 15) { // Red ON
00586         red_led = 0;
00587         yellow_led = 1;
00588         green_led = 1;
00589     } else if (t >= 15 && t < 20) { // Red & Yellow ON
00590         red_led = 0;
00591         yellow_led = 0;
00592         green_led = 1;
00593     } else if (t >= 20 && t < 25) { // Green ON
00594         red_led = 0;
00595         yellow_led = 0;
00596         green_led = 1;
00597     } else if (t >= 25 && t < 30) { // Red & Yellow ON
00598         red_led = 0;
00599         yellow_led = 0;
00600         green_led = 1;
00601     } else if (t >= 30 && t < 40) { // Red ON
00602         red_led = 0;
00603         yellow_led = 1;
00604         green_led = 1;
00605     }
00606 }
00607 
00608 
00609 // ------------------------- BUZZER FUNCTIONS ------------------------- //
00610 
00611 void buzzerOn() // Buzz Continuously
00612 {
00613     piezo.write(0.5); // Set Duty Cycle - 50%
00614     wait_ms(10); // Wait 10 Milli-Seconds
00615 }
00616 
00617 
00618 void buzzerClose() // Buzz Every 0.1 Seconds
00619 {
00620     piezo.write(0.5);
00621     wait(0.1); // Wait 0.1 Seconds
00622     piezo.write(0.0);
00623 }
00624 
00625 
00626 void buzzerNormal() // Buzz Every 0.3 Seconds
00627 {
00628     piezo.write(0.5);
00629     wait(0.3);
00630     piezo.write(0.0);
00631 }
00632 
00633 
00634 void buzzerFar() // Buzz Every 0.5 Seconds
00635 {
00636     piezo.write(0.5);
00637     wait(0.5);
00638     piezo.write(0.0);
00639 }
00640 
00641 
00642 // ------------------------- ISR & INTERRUPT FUNCTIONS ------------------------- //
00643 
00644 void returnToMenu() // Function for Returning to Main Menu (if 'backward' Button Pressed)
00645 {
00646     // Check Flag IF 'forward' Button Interrupt Pressed
00647     if (g_backward_flag) {
00648         g_backward_flag = 0;  // Clear Flag
00649 
00650         screenNumber = 0; // Go to Screen Number = 0 (Main Menu)
00651         cancel_LEDs_Flashing();
00652         allLEDOff(); // Turn OFF LEDs
00653         piezo.write(0.0); // Write 0% Duty Cycle to Piezo (Turn OFF)
00654     }
00655     
00656 }
00657 
00658 
00659 void system_isr() // ISR For 'systemTicker'
00660 {
00661     g_system_flag = 1;   // Set 'systemTicker' Flag
00662 }
00663 
00664 
00665 void forward_isr() // ISR For 'forward' Buttom
00666 {
00667     g_forward_flag = 1;   // Set 'forward' Button Flag
00668 }
00669 
00670 
00671 void backward_isr() // ISR For 'backward' Button
00672 {
00673     g_backward_flag = 1;   // Set 'backward' Button Flag
00674 }