ELEC2645 (2015/16) / Mbed 2 deprecated el14ml_project

Embedded Systems Project Mateusz Loboda 200843098

Dependencies:   N5110 SRF02-Mateusz mbed

main.cpp@0:3403a3415306, 2016-05-04 (annotated)

Committer:
el14ml
Date:
Wed May 04 10:58:52 2016 +0000
Revision:
0:3403a3415306
Child:
1:32b9ad362749
04/05 everything works

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 // r_led = !r_led;
el14ml 0:3403a3415306 87 }
el14ml 0:3403a3415306 88 void mode()
el14ml 0:3403a3415306 89 {
el14ml 0:3403a3415306 90 g_button2_flag =!g_button2_flag ;
el14ml 0:3403a3415306 91 // b_led = !b_led;
el14ml 0:3403a3415306 92 // lcd.clear();
el14ml 0:3403a3415306 93 //lcd.refresh();
el14ml 0:3403a3415306 94 }
el14ml 0:3403a3415306 95 void timeout_isr()
el14ml 0:3403a3415306 96 {
el14ml 0:3403a3415306 97 }
el14ml 0:3403a3415306 98 void ticker_isr()
el14ml 0:3403a3415306 99 {
el14ml 0:3403a3415306 100 g_ticker_flag = 1;
el14ml 0:3403a3415306 101 }
el14ml 0:3403a3415306 102 void initialScreen()
el14ml 0:3403a3415306 103 {
el14ml 0:3403a3415306 104 lcd.printString("DISTANCE",18,0);
el14ml 0:3403a3415306 105 lcd.printString("SENSOR",22,1);
el14ml 0:3403a3415306 106 lcd.printString("Mateusz Loboda",0,3);
el14ml 0:3403a3415306 107 lcd.printString("200843098",16,4);
el14ml 0:3403a3415306 108 lcd.refresh();
el14ml 0:3403a3415306 109 }
el14ml 0:3403a3415306 110 void initialArray()
el14ml 0:3403a3415306 111 {
el14ml 0:3403a3415306 112 //graphArray[82]; //initialize graph array, 2 pixels used for y axis so not 84
el14ml 0:3403a3415306 113 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 114 graphArray[i] = 201; // has to be more thn 200
el14ml 0:3403a3415306 115 }
el14ml 0:3403a3415306 116 lcd.clear();
el14ml 0:3403a3415306 117 }
el14ml 0:3403a3415306 118 void get_averageDistance()
el14ml 0:3403a3415306 119 {
el14ml 0:3403a3415306 120 for ( int i=0 ; i<5; i++) {
el14ml 0:3403a3415306 121 int distance = sensor.getDistanceCm();
el14ml 0:3403a3415306 122 if (distance < 400) { //better averages random annomous values not even considere
el14ml 0:3403a3415306 123 averageDistance += distance; //assignment by sum
el14ml 0:3403a3415306 124 } else {
el14ml 0:3403a3415306 125 i--; //if distance > 400 do not take that reading into account go again
el14ml 0:3403a3415306 126 }
el14ml 0:3403a3415306 127 }
el14ml 0:3403a3415306 128 averageDistance = averageDistance/5;
el14ml 0:3403a3415306 129 lcd.clear();
el14ml 0:3403a3415306 130 }
el14ml 0:3403a3415306 131
el14ml 0:3403a3415306 132 void redLedIndicator()
el14ml 0:3403a3415306 133 {
el14ml 0:3403a3415306 134 if (averageDistance<=30) {
el14ml 0:3403a3415306 135 // r_led = 1;
el14ml 0:3403a3415306 136 // g_led = 1;
el14ml 0:3403a3415306 137 // b_led = 1;
el14ml 0:3403a3415306 138 myled = 1;
el14ml 0:3403a3415306 139 lcd.clear();
el14ml 0:3403a3415306 140 lcd.printString(" ***COLLISION ",2,1);
el14ml 0:3403a3415306 141 lcd.printString(" WARNING*** ",8,3);
el14ml 0:3403a3415306 142 lcd.refresh();
el14ml 0:3403a3415306 143 buzzer = delay; // duty cycle
el14ml 0:3403a3415306 144 buzzer.period(0.001); //set pwm to my freq
el14ml 0:3403a3415306 145 } else {
el14ml 0:3403a3415306 146 r_led = 1;
el14ml 0:3403a3415306 147 g_led = 1;
el14ml 0:3403a3415306 148 b_led = 1;
el14ml 0:3403a3415306 149 myled = 0;
el14ml 0:3403a3415306 150 }
el14ml 0:3403a3415306 151 if (averageDistance >30) {
el14ml 0:3403a3415306 152 lcd.clear();
el14ml 0:3403a3415306 153 char str[10];
el14ml 0:3403a3415306 154 if (g_button1_flag == 0) {
el14ml 0:3403a3415306 155
el14ml 0:3403a3415306 156 sprintf(str,"%.2f",averageDistance);
el14ml 0:3403a3415306 157 lcd.printString("cm",62,4);
el14ml 0:3403a3415306 158
el14ml 0:3403a3415306 159 } else if (g_button1_flag == 1) {
el14ml 0:3403a3415306 160 sprintf(str,"%.2f",averageDistance*0.393701);
el14ml 0:3403a3415306 161 lcd.printString("in",60,4);
el14ml 0:3403a3415306 162
el14ml 0:3403a3415306 163 }
el14ml 0:3403a3415306 164 lcd.printString(" ",0,3);
el14ml 0:3403a3415306 165 lcd.printString(str,20,4);
el14ml 0:3403a3415306 166 lcd.refresh();
el14ml 0:3403a3415306 167 }
el14ml 0:3403a3415306 168 }
el14ml 0:3403a3415306 169 void drawDistanceBars()
el14ml 0:3403a3415306 170 {
el14ml 0:3403a3415306 171 if(averageDistance>380) {
el14ml 0:3403a3415306 172 lcd.drawRect(67,2,5,16,1);
el14ml 0:3403a3415306 173
el14ml 0:3403a3415306 174 }
el14ml 0:3403a3415306 175 if(averageDistance>330) {
el14ml 0:3403a3415306 176 lcd.drawRect(59,2,5,16,1);
el14ml 0:3403a3415306 177
el14ml 0:3403a3415306 178 }
el14ml 0:3403a3415306 179 if(averageDistance>280) {
el14ml 0:3403a3415306 180 lcd.drawRect(51,2,5,16,1);
el14ml 0:3403a3415306 181
el14ml 0:3403a3415306 182 }
el14ml 0:3403a3415306 183 if(averageDistance>230) {
el14ml 0:3403a3415306 184 lcd.drawRect(43,2,5,16,1);
el14ml 0:3403a3415306 185
el14ml 0:3403a3415306 186 }
el14ml 0:3403a3415306 187 if(averageDistance>180) {
el14ml 0:3403a3415306 188 lcd.drawRect(35,2,5,16,1);
el14ml 0:3403a3415306 189
el14ml 0:3403a3415306 190 }
el14ml 0:3403a3415306 191 if(averageDistance>130) {
el14ml 0:3403a3415306 192 lcd.drawRect(27,2,5,16,1);
el14ml 0:3403a3415306 193
el14ml 0:3403a3415306 194 }
el14ml 0:3403a3415306 195 if(averageDistance>80) {
el14ml 0:3403a3415306 196 lcd.drawRect(19,2,5,16,1); //Draw 2 Bars
el14ml 0:3403a3415306 197
el14ml 0:3403a3415306 198 }
el14ml 0:3403a3415306 199 if(averageDistance>30) {
el14ml 0:3403a3415306 200 lcd.drawRect(12,2,5,16,1); // 1 rectangle
el14ml 0:3403a3415306 201 }
el14ml 0:3403a3415306 202 lcd.refresh();
el14ml 0:3403a3415306 203 }
el14ml 0:3403a3415306 204 void moveArrayElements()
el14ml 0:3403a3415306 205 {
el14ml 0:3403a3415306 206
el14ml 0:3403a3415306 207 for (int i=81 ; i>0; i--) {
el14ml 0:3403a3415306 208 //move elements of distance to right
el14ml 0:3403a3415306 209 graphArray[i] = graphArray[i-1]; //moving each element of array to right
el14ml 0:3403a3415306 210 }
el14ml 0:3403a3415306 211
el14ml 0:3403a3415306 212 /* for ( int i=0 ; i<5; i++) {
el14ml 0:3403a3415306 213 int distance = sensor.getDistanceCm();
el14ml 0:3403a3415306 214 if (distance < 400) { // decrease random error
el14ml 0:3403a3415306 215 averageDistance += distance;
el14ml 0:3403a3415306 216 } else {
el14ml 0:3403a3415306 217 i--;
el14ml 0:3403a3415306 218 }
el14ml 0:3403a3415306 219 }
el14ml 0:3403a3415306 220 //lcd.clear();
el14ml 0:3403a3415306 221 averageDistance = averageDistance/5; */
el14ml 0:3403a3415306 222 //get_averageDistance();
el14ml 0:3403a3415306 223
el14ml 0:3403a3415306 224 }
el14ml 0:3403a3415306 225 void adjacentArrayElements()
el14ml 0:3403a3415306 226 {
el14ml 0:3403a3415306 227
el14ml 0:3403a3415306 228 graphArray[0]= averageDistance; //array element is average distance float
el14ml 0:3403a3415306 229 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 230 myled=1;
el14ml 0:3403a3415306 231 buzzer = delay; // duty cycle
el14ml 0:3403a3415306 232 buzzer.period(buzzerPeriod); //set pwm to my freq
el14ml 0:3403a3415306 233
el14ml 0:3403a3415306 234 } else {
el14ml 0:3403a3415306 235 myled=0;
el14ml 0:3403a3415306 236 buzzer=0;
el14ml 0:3403a3415306 237 }
el14ml 0:3403a3415306 238 }
el14ml 0:3403a3415306 239
el14ml 0:3403a3415306 240 void plotAxes()
el14ml 0:3403a3415306 241 {
el14ml 0:3403a3415306 242 //i is pixel, plotting x axis
el14ml 0:3403a3415306 243 for ( int i=0; i<84; i++) {
el14ml 0:3403a3415306 244 lcd.setPixel(i,46);
el14ml 0:3403a3415306 245 lcd.setPixel(i,47);
el14ml 0:3403a3415306 246 }
el14ml 0:3403a3415306 247 //plotting y axis
el14ml 0:3403a3415306 248 for ( int i=0; i<48; i++) {
el14ml 0:3403a3415306 249 lcd.setPixel(0,i);
el14ml 0:3403a3415306 250 lcd.setPixel(1,i);
el14ml 0:3403a3415306 251 }
el14ml 0:3403a3415306 252 }
el14ml 0:3403a3415306 253 void plotDistancePoint()
el14ml 0:3403a3415306 254 {
el14ml 0:3403a3415306 255
el14ml 0:3403a3415306 256 // i in this loop is element of the array NOT pixel
el14ml 0:3403a3415306 257 for (int i=0; i<82; i++) {
el14ml 0:3403a3415306 258 //x position + y position)
el14ml 0:3403a3415306 259 int p = (int)(45-(graphArray[i]/(200/46))); //convert array element float distance to integer pixel
el14ml 0:3403a3415306 260 //convert from float distance to integer pixel
el14ml 0:3403a3415306 261 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 262 }
el14ml 0:3403a3415306 263 lcd.refresh();
el14ml 0:3403a3415306 264 }
el14ml 0:3403a3415306 265 void modeTwo()
el14ml 0:3403a3415306 266 {
el14ml 0:3403a3415306 267 for (int i=81 ; i>0; i--) {
el14ml 0:3403a3415306 268 //move elements of distance to right
el14ml 0:3403a3415306 269 graphArray[i] = graphArray[i-1]; //moving each element of array to right
el14ml 0:3403a3415306 270 }
el14ml 0:3403a3415306 271 for ( int i=0 ; i<5; i++) {
el14ml 0:3403a3415306 272 int distance = sensor.getDistanceCm();
el14ml 0:3403a3415306 273 if (distance < 400) { // decrease random error
el14ml 0:3403a3415306 274 averageDistance += distance;
el14ml 0:3403a3415306 275 } else {
el14ml 0:3403a3415306 276 i--;
el14ml 0:3403a3415306 277 }
el14ml 0:3403a3415306 278 }
el14ml 0:3403a3415306 279 lcd.clear();
el14ml 0:3403a3415306 280 averageDistance = averageDistance/5;
el14ml 0:3403a3415306 281
el14ml 0:3403a3415306 282
el14ml 0:3403a3415306 283 graphArray[0]= averageDistance; //plot distance
el14ml 0:3403a3415306 284 if ((int)graphArray[0] != (int)graphArray[1]) {
el14ml 0:3403a3415306 285 myled=1;
el14ml 0:3403a3415306 286 buzzer = delay; // duty cycle
el14ml 0:3403a3415306 287 buzzer.period(buzzerPeriod); //set pwm to my freq
el14ml 0:3403a3415306 288 } else {
el14ml 0:3403a3415306 289 myled=0;
el14ml 0:3403a3415306 290 buzzer=0;
el14ml 0:3403a3415306 291 }
el14ml 0:3403a3415306 292
el14ml 0:3403a3415306 293 for ( int i=0; i<84; i++) {
el14ml 0:3403a3415306 294 lcd.setPixel(i,46);
el14ml 0:3403a3415306 295 lcd.setPixel(i,47);
el14ml 0:3403a3415306 296 }
el14ml 0:3403a3415306 297 for ( int i=0; i<48; i++) {
el14ml 0:3403a3415306 298 lcd.setPixel(0,i);
el14ml 0:3403a3415306 299 lcd.setPixel(1,i);
el14ml 0:3403a3415306 300 }
el14ml 0:3403a3415306 301 // i in this loop is element of the array NOT pixel
el14ml 0:3403a3415306 302 for (int i=0; i<82; i++) {
el14ml 0:3403a3415306 303 //x position + y position)
el14ml 0:3403a3415306 304 int p = (int)(45-(graphArray[i]/(200/46)));
el14ml 0:3403a3415306 305 //convert from float distance to integer pixel
el14ml 0:3403a3415306 306 lcd.setPixel(83-i,p);
el14ml 0:3403a3415306 307 }
el14ml 0:3403a3415306 308 }
el14ml 0:3403a3415306 309
el14ml 0:3403a3415306 310
el14ml 0:3403a3415306 311
el14ml 0:3403a3415306 312
el14ml 0:3403a3415306 313
el14ml 0:3403a3415306 314
el14ml 0:3403a3415306 315
el14ml 0:3403a3415306 316
el14ml 0:3403a3415306 317
el14ml 0:3403a3415306 318
el14ml 0:3403a3415306 319
el14ml 0:3403a3415306 320
el14ml 0:3403a3415306 321
el14ml 0:3403a3415306 322 /*switch(averageDistance) {
el14ml 0:3403a3415306 323 case 380 :
el14ml 0:3403a3415306 324 lcd.drawRect(67,2,5,16,1);
el14ml 0:3403a3415306 325 break;
el14ml 0:3403a3415306 326 case 330 :
el14ml 0:3403a3415306 327 lcd.drawRect(59,2,5,16,1);
el14ml 0:3403a3415306 328 break;
el14ml 0:3403a3415306 329 case 280 :
el14ml 0:3403a3415306 330 lcd.drawRect(51,2,5,16,1);
el14ml 0:3403a3415306 331 break;
el14ml 0:3403a3415306 332 case 230 :
el14ml 0:3403a3415306 333 lcd.drawRect(43,2,5,16,1);
el14ml 0:3403a3415306 334 break;
el14ml 0:3403a3415306 335 case 180 :
el14ml 0:3403a3415306 336 lcd.drawRect(35,2,5,16,1);
el14ml 0:3403a3415306 337 break;
el14ml 0:3403a3415306 338 case 130 :
el14ml 0:3403a3415306 339 lcd.drawRect(27,2,5,16,1);
el14ml 0:3403a3415306 340 break;
el14ml 0:3403a3415306 341 case 80 :
el14ml 0:3403a3415306 342 lcd.drawRect(19,2,5,16,1); //Draw 2 Bars
el14ml 0:3403a3415306 343 break;
el14ml 0:3403a3415306 344 case 30 :
el14ml 0:3403a3415306 345 lcd.drawRect(12,2,5,16,1); // 1 rectangle
el14ml 0:3403a3415306 346 break;
el14ml 0:3403a3415306 347 } */
el14ml 0:3403a3415306 348