ELEC2645 (2015/16) / Mbed 2 deprecated el14ml_project

Embedded Systems Project Mateusz Loboda 200843098

Dependencies:   N5110 SRF02-Mateusz mbed

main.cpp@1:32b9ad362749, 2016-05-04 (annotated)

Committer:
el14ml
Date:
Wed May 04 14:18:38 2016 +0000
Revision:
1:32b9ad362749
Parent:
0:3403a3415306
Child:
2:0dfa60f22f07
before doxygen

Who changed what in which revision?

UserRevisionLine numberNew contents of line
el14ml 0:3403a3415306 1 /*
el14ml 0:3403a3415306 2 * @file main.cpp
el14ml 0:3403a3415306 3 * @Distance Sensor Project
el14ml 0:3403a3415306 4 * @brief Main file containing functions and int main().
el14ml 0:3403a3415306 5 * @author Mateusz Loboda
el14ml 0:3403a3415306 6 * @date April 2016
el14ml 0:3403a3415306 7 */
el14ml 0:3403a3415306 8
el14ml 0:3403a3415306 9
el14ml 0:3403a3415306 10 //sd card
el14ml 0:3403a3415306 11 //mbed leds come on sometimes;
el14ml 0:3403a3415306 12 //make 4k mid freq
el14ml 0:3403a3415306 13 //fix buzzer beeping
el14ml 0:3403a3415306 14
el14ml 0:3403a3415306 15
el14ml 0:3403a3415306 16 #include "mbed.h"
el14ml 0:3403a3415306 17 #include "main.h"
el14ml 0:3403a3415306 18
el14ml 0:3403a3415306 19
el14ml 0:3403a3415306 20 int main()
el14ml 0:3403a3415306 21
el14ml 0:3403a3415306 22 {
el14ml 0:3403a3415306 23 init_K64F();
el14ml 0:3403a3415306 24 lcd.init();
el14ml 0:3403a3415306 25
el14ml 0:3403a3415306 26 initialScreen();
el14ml 0:3403a3415306 27 out.attach(timeout_isr,4);
el14ml 0:3403a3415306 28 lcd.refresh();
el14ml 0:3403a3415306 29 sleep();
el14ml 0:3403a3415306 30 lcd.clear();
el14ml 0:3403a3415306 31 lcd.refresh();
el14ml 0:3403a3415306 32 initialArray();
el14ml 0:3403a3415306 33 ticker.attach(&ticker_isr,0.1);
el14ml 0:3403a3415306 34
el14ml 0:3403a3415306 35
el14ml 0:3403a3415306 36 while(1) {
el14ml 0:3403a3415306 37 delay = rate;
el14ml 0:3403a3415306 38
el14ml 0:3403a3415306 39 buzzerPeriod = 1/((4000-(2*averageDistance))+200); // BUZZER, 200+200 = 400 = maximum range so freq proportional to distance, org 1/(200-avg)+200
el14ml 0:3403a3415306 40
el14ml 0:3403a3415306 41 if (g_ticker_flag) {
el14ml 0:3403a3415306 42
el14ml 0:3403a3415306 43 g_ticker_flag = 0;
el14ml 0:3403a3415306 44 if ( g_button2_flag == 0) {
el14ml 0:3403a3415306 45
el14ml 0:3403a3415306 46 buzzer = delay; // duty cycle
el14ml 0:3403a3415306 47 buzzer.period(buzzerPeriod); //set pwm to my freq
el14ml 0:3403a3415306 48 // average distance calculated
el14ml 0:3403a3415306 49 get_averageDistance();
el14ml 0:3403a3415306 50 redLedIndicator();
el14ml 0:3403a3415306 51 drawDistanceBars();
el14ml 0:3403a3415306 52
el14ml 0:3403a3415306 53
el14ml 0:3403a3415306 54 } else if (g_button2_flag == 1) {
el14ml 0:3403a3415306 55 // lcd.clear();
el14ml 0:3403a3415306 56 moveArrayElements();
el14ml 0:3403a3415306 57 get_averageDistance();
el14ml 0:3403a3415306 58 adjacentArrayElements();
el14ml 0:3403a3415306 59 plotAxes();
el14ml 0:3403a3415306 60 plotDistancePoint();
el14ml 0:3403a3415306 61 // modeTwo();
el14ml 0:3403a3415306 62
el14ml 0:3403a3415306 63 lcd.refresh();
el14ml 0:3403a3415306 64
el14ml 0:3403a3415306 65 }
el14ml 0:3403a3415306 66 lcd.refresh();
el14ml 0:3403a3415306 67 sleep();
el14ml 0:3403a3415306 68 }
el14ml 0:3403a3415306 69 }
el14ml 0:3403a3415306 70 }
el14ml 0:3403a3415306 71 void init_K64F()
el14ml 0:3403a3415306 72 {
el14ml 0:3403a3415306 73 // on-board LEDs are active-low, so set pin high to turn them off.
el14ml 0:3403a3415306 74 r_led = 1;
el14ml 0:3403a3415306 75 g_led = 1;
el14ml 0:3403a3415306 76 b_led = 1;
el14ml 0:3403a3415306 77 button2.fall(&mode); //under this condition call function
el14ml 0:3403a3415306 78 button2.mode(PullUp); //enable internal pull up resistor
el14ml 0:3403a3415306 79 button1.fall(&units);
el14ml 0:3403a3415306 80 button1.mode(PullUp);
el14ml 0:3403a3415306 81
el14ml 0:3403a3415306 82 }
el14ml 0:3403a3415306 83 void units()
el14ml 0:3403a3415306 84 {
el14ml 0:3403a3415306 85 g_button1_flag =!g_button1_flag ; // set flag in ISR
el14ml 0:3403a3415306 86 }
el14ml 0:3403a3415306 87 void mode()
el14ml 0:3403a3415306 88 {
el14ml 0:3403a3415306 89 g_button2_flag =!g_button2_flag ;
el14ml 0:3403a3415306 90 }
el14ml 0:3403a3415306 91 void timeout_isr()
el14ml 0:3403a3415306 92 {
el14ml 0:3403a3415306 93 }
el14ml 0:3403a3415306 94 void ticker_isr()
el14ml 0:3403a3415306 95 {
el14ml 0:3403a3415306 96 g_ticker_flag = 1;
el14ml 0:3403a3415306 97 }
el14ml 0:3403a3415306 98 void initialScreen()
el14ml 0:3403a3415306 99 {
el14ml 0:3403a3415306 100 lcd.printString("DISTANCE",18,0);
el14ml 0:3403a3415306 101 lcd.printString("SENSOR",22,1);
el14ml 0:3403a3415306 102 lcd.printString("Mateusz Loboda",0,3);
el14ml 0:3403a3415306 103 lcd.printString("200843098",16,4);
el14ml 0:3403a3415306 104 lcd.refresh();
el14ml 0:3403a3415306 105 }
el14ml 0:3403a3415306 106 void initialArray()
el14ml 0:3403a3415306 107 {
el14ml 0:3403a3415306 108 //graphArray[82]; //initialize graph array, 2 pixels used for y axis so not 84
el14ml 0:3403a3415306 109 for (int i=0; i<83; i++) { // before entering the grpah mode with the button, it is alreadt plotting points but they cannot be seen as they are above max range of 200
el14ml 0:3403a3415306 110 graphArray[i] = 201; // has to be more thn 200
el14ml 0:3403a3415306 111 }
el14ml 0:3403a3415306 112 lcd.clear();
el14ml 0:3403a3415306 113 }
el14ml 0:3403a3415306 114 void get_averageDistance()
el14ml 0:3403a3415306 115 {
el14ml 0:3403a3415306 116 for ( int i=0 ; i<5; i++) {
el14ml 0:3403a3415306 117 int distance = sensor.getDistanceCm();
el14ml 0:3403a3415306 118 if (distance < 400) { //better averages random annomous values not even considere
el14ml 0:3403a3415306 119 averageDistance += distance; //assignment by sum
el14ml 0:3403a3415306 120 } else {
el14ml 0:3403a3415306 121 i--; //if distance > 400 do not take that reading into account go again
el14ml 0:3403a3415306 122 }
el14ml 0:3403a3415306 123 }
el14ml 0:3403a3415306 124 averageDistance = averageDistance/5;
el14ml 0:3403a3415306 125 lcd.clear();
el14ml 0:3403a3415306 126 }
el14ml 0:3403a3415306 127
el14ml 0:3403a3415306 128 void redLedIndicator()
el14ml 0:3403a3415306 129 {
el14ml 0:3403a3415306 130 if (averageDistance<=30) {
el14ml 0:3403a3415306 131 myled = 1;
el14ml 0:3403a3415306 132 lcd.clear();
el14ml 0:3403a3415306 133 lcd.printString(" ***COLLISION ",2,1);
el14ml 0:3403a3415306 134 lcd.printString(" WARNING*** ",8,3);
el14ml 0:3403a3415306 135 lcd.refresh();
el14ml 0:3403a3415306 136 buzzer = delay; // duty cycle
el14ml 0:3403a3415306 137 buzzer.period(0.001); //set pwm to my freq
el14ml 0:3403a3415306 138 } else {
el14ml 0:3403a3415306 139 r_led = 1;
el14ml 0:3403a3415306 140 g_led = 1;
el14ml 0:3403a3415306 141 b_led = 1;
el14ml 0:3403a3415306 142 myled = 0;
el14ml 0:3403a3415306 143 }
el14ml 0:3403a3415306 144 if (averageDistance >30) {
el14ml 0:3403a3415306 145 lcd.clear();
el14ml 0:3403a3415306 146 char str[10];
el14ml 0:3403a3415306 147 if (g_button1_flag == 0) {
el14ml 0:3403a3415306 148
el14ml 0:3403a3415306 149 sprintf(str,"%.2f",averageDistance);
el14ml 0:3403a3415306 150 lcd.printString("cm",62,4);
el14ml 0:3403a3415306 151
el14ml 0:3403a3415306 152 } else if (g_button1_flag == 1) {
el14ml 0:3403a3415306 153 sprintf(str,"%.2f",averageDistance*0.393701);
el14ml 0:3403a3415306 154 lcd.printString("in",60,4);
el14ml 0:3403a3415306 155
el14ml 0:3403a3415306 156 }
el14ml 0:3403a3415306 157 lcd.printString(" ",0,3);
el14ml 0:3403a3415306 158 lcd.printString(str,20,4);
el14ml 0:3403a3415306 159 lcd.refresh();
el14ml 0:3403a3415306 160 }
el14ml 0:3403a3415306 161 }
el14ml 0:3403a3415306 162 void drawDistanceBars()
el14ml 0:3403a3415306 163 {
el14ml 0:3403a3415306 164 if(averageDistance>380) {
el14ml 0:3403a3415306 165 lcd.drawRect(67,2,5,16,1);
el14ml 0:3403a3415306 166
el14ml 0:3403a3415306 167 }
el14ml 0:3403a3415306 168 if(averageDistance>330) {
el14ml 0:3403a3415306 169 lcd.drawRect(59,2,5,16,1);
el14ml 0:3403a3415306 170
el14ml 0:3403a3415306 171 }
el14ml 0:3403a3415306 172 if(averageDistance>280) {
el14ml 0:3403a3415306 173 lcd.drawRect(51,2,5,16,1);
el14ml 0:3403a3415306 174
el14ml 0:3403a3415306 175 }
el14ml 0:3403a3415306 176 if(averageDistance>230) {
el14ml 0:3403a3415306 177 lcd.drawRect(43,2,5,16,1);
el14ml 0:3403a3415306 178
el14ml 0:3403a3415306 179 }
el14ml 0:3403a3415306 180 if(averageDistance>180) {
el14ml 0:3403a3415306 181 lcd.drawRect(35,2,5,16,1);
el14ml 0:3403a3415306 182
el14ml 0:3403a3415306 183 }
el14ml 0:3403a3415306 184 if(averageDistance>130) {
el14ml 0:3403a3415306 185 lcd.drawRect(27,2,5,16,1);
el14ml 0:3403a3415306 186
el14ml 0:3403a3415306 187 }
el14ml 0:3403a3415306 188 if(averageDistance>80) {
el14ml 0:3403a3415306 189 lcd.drawRect(19,2,5,16,1); //Draw 2 Bars
el14ml 0:3403a3415306 190
el14ml 0:3403a3415306 191 }
el14ml 0:3403a3415306 192 if(averageDistance>30) {
el14ml 0:3403a3415306 193 lcd.drawRect(12,2,5,16,1); // 1 rectangle
el14ml 0:3403a3415306 194 }
el14ml 0:3403a3415306 195 lcd.refresh();
el14ml 0:3403a3415306 196 }
el14ml 0:3403a3415306 197 void moveArrayElements()
el14ml 0:3403a3415306 198 {
el14ml 0:3403a3415306 199
el14ml 0:3403a3415306 200 for (int i=81 ; i>0; i--) {
el14ml 0:3403a3415306 201 graphArray[i] = graphArray[i-1]; //moving each element of array to right
el14ml 1:32b9ad362749 202 }
el14ml 0:3403a3415306 203 }
el14ml 0:3403a3415306 204 void adjacentArrayElements()
el14ml 0:3403a3415306 205 {
el14ml 0:3403a3415306 206
el14ml 0:3403a3415306 207 graphArray[0]= averageDistance; //array element is average distance float
el14ml 0:3403a3415306 208 if ((int)graphArray[0] != (int)graphArray[1]) { //if value of new array element is different to last one red led comes on
el14ml 0:3403a3415306 209 myled=1;
el14ml 0:3403a3415306 210 buzzer = delay; // duty cycle
el14ml 0:3403a3415306 211 buzzer.period(buzzerPeriod); //set pwm to my freq
el14ml 0:3403a3415306 212
el14ml 0:3403a3415306 213 } else {
el14ml 0:3403a3415306 214 myled=0;
el14ml 0:3403a3415306 215 buzzer=0;
el14ml 0:3403a3415306 216 }
el14ml 0:3403a3415306 217 }
el14ml 0:3403a3415306 218
el14ml 0:3403a3415306 219 void plotAxes()
el14ml 0:3403a3415306 220 {
el14ml 0:3403a3415306 221 //i is pixel, plotting x axis
el14ml 0:3403a3415306 222 for ( int i=0; i<84; i++) {
el14ml 0:3403a3415306 223 lcd.setPixel(i,46);
el14ml 0:3403a3415306 224 lcd.setPixel(i,47);
el14ml 0:3403a3415306 225 }
el14ml 0:3403a3415306 226 //plotting y axis
el14ml 0:3403a3415306 227 for ( int i=0; i<48; i++) {
el14ml 0:3403a3415306 228 lcd.setPixel(0,i);
el14ml 0:3403a3415306 229 lcd.setPixel(1,i);
el14ml 0:3403a3415306 230 }
el14ml 0:3403a3415306 231 }
el14ml 0:3403a3415306 232 void plotDistancePoint()
el14ml 0:3403a3415306 233 {
el14ml 0:3403a3415306 234
el14ml 0:3403a3415306 235 // i in this loop is element of the array NOT pixel
el14ml 0:3403a3415306 236 for (int i=0; i<82; i++) {
el14ml 0:3403a3415306 237 //x position + y position)
el14ml 0:3403a3415306 238 int p = (int)(45-(graphArray[i]/(200/46))); //convert array element float distance to integer pixel
el14ml 0:3403a3415306 239 //convert from float distance to integer pixel
el14ml 0:3403a3415306 240 lcd.setPixel(83-i,p); // plot in pixel 84 at the right height , this pixel is then moved to right and new pixel is plotted
el14ml 0:3403a3415306 241 }
el14ml 0:3403a3415306 242 lcd.refresh();
el14ml 0:3403a3415306 243 }
el14ml 0:3403a3415306 244