Embedded Systems Project Mateusz Loboda 200843098
Dependencies: N5110 SRF02-Mateusz mbed
main.cpp@3:ee005c9f0348, 2016-05-05 (annotated)
- Committer:
- el14ml
- Date:
- Thu May 05 09:54:30 2016 +0000
- Revision:
- 3:ee005c9f0348
- Parent:
- 2:0dfa60f22f07
final version
Who changed what in which revision?
User | Revision | Line number | New 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 | #include "main.h" |
el14ml | 0:3403a3415306 | 10 | |
el14ml | 0:3403a3415306 | 11 | |
el14ml | 0:3403a3415306 | 12 | int main() |
el14ml | 0:3403a3415306 | 13 | |
el14ml | 0:3403a3415306 | 14 | { |
el14ml | 0:3403a3415306 | 15 | init_K64F(); |
el14ml | 3:ee005c9f0348 | 16 | lcd.init(); ///initialize display |
el14ml | 0:3403a3415306 | 17 | |
el14ml | 3:ee005c9f0348 | 18 | initialScreen(); ///function for start up screen |
el14ml | 3:ee005c9f0348 | 19 | out.attach(timeout_isr,4); ///intial screen displayed for 4 seconds |
el14ml | 0:3403a3415306 | 20 | lcd.refresh(); |
el14ml | 0:3403a3415306 | 21 | sleep(); |
el14ml | 0:3403a3415306 | 22 | lcd.clear(); |
el14ml | 0:3403a3415306 | 23 | lcd.refresh(); |
el14ml | 0:3403a3415306 | 24 | initialArray(); |
el14ml | 3:ee005c9f0348 | 25 | ticker.attach(&ticker_isr,0.1); /// interrupt, time triggered event |
el14ml | 0:3403a3415306 | 26 | |
el14ml | 0:3403a3415306 | 27 | |
el14ml | 0:3403a3415306 | 28 | while(1) { |
el14ml | 3:ee005c9f0348 | 29 | delay = rate; ///value obtained from potentiometer to control the volume of buzzer |
el14ml | 0:3403a3415306 | 30 | |
el14ml | 3:ee005c9f0348 | 31 | buzzerPeriod = 1/((4200-(2*averageDistance))+200); ///frequency proportional to average distance, when distance = 200cm, frequency = 4kHz ie centre frequency |
el14ml | 0:3403a3415306 | 32 | |
el14ml | 0:3403a3415306 | 33 | if (g_ticker_flag) { |
el14ml | 0:3403a3415306 | 34 | |
el14ml | 3:ee005c9f0348 | 35 | g_ticker_flag = 0; /// reset flag |
el14ml | 0:3403a3415306 | 36 | if ( g_button2_flag == 0) { |
el14ml | 0:3403a3415306 | 37 | |
el14ml | 3:ee005c9f0348 | 38 | buzzer = delay; /// duty cycle |
el14ml | 0:3403a3415306 | 39 | buzzer.period(buzzerPeriod); //set pwm to my freq |
el14ml | 0:3403a3415306 | 40 | get_averageDistance(); |
el14ml | 0:3403a3415306 | 41 | redLedIndicator(); |
el14ml | 0:3403a3415306 | 42 | drawDistanceBars(); |
el14ml | 3:ee005c9f0348 | 43 | |
el14ml | 3:ee005c9f0348 | 44 | |
el14ml | 3:ee005c9f0348 | 45 | } else if (g_button2_flag == 1) { ///button pressed, set flag |
el14ml | 0:3403a3415306 | 46 | |
el14ml | 3:ee005c9f0348 | 47 | moveArrayElements(); |
el14ml | 3:ee005c9f0348 | 48 | get_averageDistance(); |
el14ml | 3:ee005c9f0348 | 49 | adjacentArrayElements(); |
el14ml | 3:ee005c9f0348 | 50 | plotAxes(); |
el14ml | 3:ee005c9f0348 | 51 | plotDistancePoint(); |
el14ml | 0:3403a3415306 | 52 | |
el14ml | 0:3403a3415306 | 53 | lcd.refresh(); |
el14ml | 0:3403a3415306 | 54 | |
el14ml | 0:3403a3415306 | 55 | } |
el14ml | 0:3403a3415306 | 56 | lcd.refresh(); |
el14ml | 3:ee005c9f0348 | 57 | sleep(); /// reducing power consumption |
el14ml | 0:3403a3415306 | 58 | } |
el14ml | 0:3403a3415306 | 59 | } |
el14ml | 0:3403a3415306 | 60 | } |
el14ml | 0:3403a3415306 | 61 | void init_K64F() |
el14ml | 0:3403a3415306 | 62 | { |
el14ml | 3:ee005c9f0348 | 63 | /// on-board LEDs are active-low, so set pin high to turn them off. |
el14ml | 3:ee005c9f0348 | 64 | r_led = 1; |
el14ml | 0:3403a3415306 | 65 | g_led = 1; |
el14ml | 0:3403a3415306 | 66 | b_led = 1; |
el14ml | 3:ee005c9f0348 | 67 | button2.fall(&mode); ///under this condition call function where mode is a function that sets flag |
el14ml | 3:ee005c9f0348 | 68 | button2.mode(PullUp); ///enable internal pull up resistor |
el14ml | 3:ee005c9f0348 | 69 | button1.fall(&units); ///under this condition call function where mode is a function that sets flag |
el14ml | 3:ee005c9f0348 | 70 | button1.mode(PullUp); ///enable internal pull up resistor |
el14ml | 0:3403a3415306 | 71 | |
el14ml | 0:3403a3415306 | 72 | } |
el14ml | 0:3403a3415306 | 73 | void units() |
el14ml | 0:3403a3415306 | 74 | { |
el14ml | 3:ee005c9f0348 | 75 | g_button1_flag =!g_button1_flag ; /// set button 1 flag in ISR |
el14ml | 0:3403a3415306 | 76 | } |
el14ml | 0:3403a3415306 | 77 | void mode() |
el14ml | 0:3403a3415306 | 78 | { |
el14ml | 3:ee005c9f0348 | 79 | g_button2_flag =!g_button2_flag ; ///set button 2 flag in ISR |
el14ml | 0:3403a3415306 | 80 | } |
el14ml | 0:3403a3415306 | 81 | void timeout_isr() |
el14ml | 0:3403a3415306 | 82 | { |
el14ml | 0:3403a3415306 | 83 | } |
el14ml | 0:3403a3415306 | 84 | void ticker_isr() |
el14ml | 0:3403a3415306 | 85 | { |
el14ml | 3:ee005c9f0348 | 86 | g_ticker_flag = 1; /// set ticker flag in ISR |
el14ml | 0:3403a3415306 | 87 | } |
el14ml | 3:ee005c9f0348 | 88 | void initialScreen() /// initial screen printed |
el14ml | 0:3403a3415306 | 89 | { |
el14ml | 0:3403a3415306 | 90 | lcd.printString("DISTANCE",18,0); |
el14ml | 0:3403a3415306 | 91 | lcd.printString("SENSOR",22,1); |
el14ml | 0:3403a3415306 | 92 | lcd.printString("Mateusz Loboda",0,3); |
el14ml | 0:3403a3415306 | 93 | lcd.printString("200843098",16,4); |
el14ml | 0:3403a3415306 | 94 | lcd.refresh(); |
el14ml | 0:3403a3415306 | 95 | } |
el14ml | 0:3403a3415306 | 96 | void initialArray() |
el14ml | 0:3403a3415306 | 97 | { |
el14ml | 3:ee005c9f0348 | 98 | for (int i=0; i<83; i++) { /// ensures that points are not being plotted before the button is pressed |
el14ml | 3:ee005c9f0348 | 99 | graphArray[i] = 201; /// has to be more than 200 so points are only plotted from the point when user presses button |
el14ml | 0:3403a3415306 | 100 | } |
el14ml | 0:3403a3415306 | 101 | lcd.clear(); |
el14ml | 0:3403a3415306 | 102 | } |
el14ml | 3:ee005c9f0348 | 103 | void get_averageDistance() /// to minimize error, 5 readings are taken at regular intervals and averaged out |
el14ml | 0:3403a3415306 | 104 | { |
el14ml | 0:3403a3415306 | 105 | for ( int i=0 ; i<5; i++) { |
el14ml | 3:ee005c9f0348 | 106 | int distance = sensor.getDistanceCm(); /// obtaining sensor distance reading |
el14ml | 3:ee005c9f0348 | 107 | if (distance < 400) { /// better averages random anonymous values not even considered |
el14ml | 3:ee005c9f0348 | 108 | averageDistance += distance; /// assignment by sum |
el14ml | 0:3403a3415306 | 109 | } else { |
el14ml | 3:ee005c9f0348 | 110 | i--; ///if distance > 400 do not take that reading into account go again so range of sensor is 30-400cm |
el14ml | 0:3403a3415306 | 111 | } |
el14ml | 0:3403a3415306 | 112 | } |
el14ml | 2:0dfa60f22f07 | 113 | averageDistance = averageDistance/5; //sum of 5 readings divided by 5 to get average |
el14ml | 3:ee005c9f0348 | 114 | lcd.clear(); |
el14ml | 0:3403a3415306 | 115 | } |
el14ml | 0:3403a3415306 | 116 | |
el14ml | 3:ee005c9f0348 | 117 | void redLedIndicator() /// this function evaluates the average distance reading, displays it and controls the auditory + visual alerts |
el14ml | 0:3403a3415306 | 118 | { |
el14ml | 0:3403a3415306 | 119 | if (averageDistance<=30) { |
el14ml | 3:ee005c9f0348 | 120 | myled = 1; /// warning led comes on |
el14ml | 3:ee005c9f0348 | 121 | lcd.clear(); /// clear previous distance values displayed |
el14ml | 2:0dfa60f22f07 | 122 | lcd.printString(" ***COLLISION ",2,1); //warning text |
el14ml | 0:3403a3415306 | 123 | lcd.printString(" WARNING*** ",8,3); |
el14ml | 0:3403a3415306 | 124 | lcd.refresh(); |
el14ml | 3:ee005c9f0348 | 125 | buzzer = delay; /// duty cycle, volume of buzzer controlled with pot |
el14ml | 3:ee005c9f0348 | 126 | buzzer.period(0.001); ///highest frequency pitch when warning message comes on |
el14ml | 0:3403a3415306 | 127 | } else { |
el14ml | 0:3403a3415306 | 128 | myled = 0; |
el14ml | 0:3403a3415306 | 129 | } |
el14ml | 3:ee005c9f0348 | 130 | if (averageDistance >30) { /// above critical distance |
el14ml | 0:3403a3415306 | 131 | lcd.clear(); |
el14ml | 3:ee005c9f0348 | 132 | char str[10]; ///keep the string as character array in local stack so can be manipulated |
el14ml | 3:ee005c9f0348 | 133 | if (g_button1_flag == 0) { ///button 1 flag is set 0 by default so distance displayed in units of cm |
el14ml | 0:3403a3415306 | 134 | |
el14ml | 3:ee005c9f0348 | 135 | sprintf(str,"%.2f",averageDistance); /// printing first 2 digits of average distance as float |
el14ml | 3:ee005c9f0348 | 136 | lcd.printString("cm",62,4); // printing units |
el14ml | 0:3403a3415306 | 137 | |
el14ml | 3:ee005c9f0348 | 138 | } else if (g_button1_flag == 1) { ///button 1 pressed, flag set 1 |
el14ml | 2:0dfa60f22f07 | 139 | sprintf(str,"%.2f",averageDistance*0.393701); //converting from cm to inches |
el14ml | 3:ee005c9f0348 | 140 | lcd.printString("in",60,4); /// printing the units |
el14ml | 0:3403a3415306 | 141 | |
el14ml | 0:3403a3415306 | 142 | } |
el14ml | 0:3403a3415306 | 143 | lcd.printString(" ",0,3); |
el14ml | 0:3403a3415306 | 144 | lcd.printString(str,20,4); |
el14ml | 0:3403a3415306 | 145 | lcd.refresh(); |
el14ml | 0:3403a3415306 | 146 | } |
el14ml | 0:3403a3415306 | 147 | } |
el14ml | 3:ee005c9f0348 | 148 | void drawDistanceBars() /// function draws bars so as to indicate the approximate distance to nearest target object |
el14ml | 0:3403a3415306 | 149 | { |
el14ml | 0:3403a3415306 | 150 | if(averageDistance>380) { |
el14ml | 3:ee005c9f0348 | 151 | lcd.drawRect(67,2,5,16,1); ///Draw 8 bars |
el14ml | 0:3403a3415306 | 152 | |
el14ml | 0:3403a3415306 | 153 | } |
el14ml | 0:3403a3415306 | 154 | if(averageDistance>330) { |
el14ml | 3:ee005c9f0348 | 155 | lcd.drawRect(59,2,5,16,1); ///Draw 7 bars |
el14ml | 0:3403a3415306 | 156 | |
el14ml | 0:3403a3415306 | 157 | } |
el14ml | 0:3403a3415306 | 158 | if(averageDistance>280) { |
el14ml | 3:ee005c9f0348 | 159 | lcd.drawRect(51,2,5,16,1); ///Draw 6 bars |
el14ml | 0:3403a3415306 | 160 | |
el14ml | 0:3403a3415306 | 161 | } |
el14ml | 0:3403a3415306 | 162 | if(averageDistance>230) { |
el14ml | 3:ee005c9f0348 | 163 | lcd.drawRect(43,2,5,16,1); ///Draw 5 bars |
el14ml | 0:3403a3415306 | 164 | |
el14ml | 0:3403a3415306 | 165 | } |
el14ml | 0:3403a3415306 | 166 | if(averageDistance>180) { |
el14ml | 3:ee005c9f0348 | 167 | lcd.drawRect(35,2,5,16,1); ///Draw 4 bars |
el14ml | 0:3403a3415306 | 168 | |
el14ml | 0:3403a3415306 | 169 | } |
el14ml | 0:3403a3415306 | 170 | if(averageDistance>130) { |
el14ml | 2:0dfa60f22f07 | 171 | lcd.drawRect(27,2,5,16,1); //Draw 3 bars |
el14ml | 0:3403a3415306 | 172 | |
el14ml | 0:3403a3415306 | 173 | } |
el14ml | 0:3403a3415306 | 174 | if(averageDistance>80) { |
el14ml | 3:ee005c9f0348 | 175 | lcd.drawRect(19,2,5,16,1); ///Draw 2 Bars |
el14ml | 0:3403a3415306 | 176 | |
el14ml | 0:3403a3415306 | 177 | } |
el14ml | 0:3403a3415306 | 178 | if(averageDistance>30) { |
el14ml | 3:ee005c9f0348 | 179 | lcd.drawRect(12,2,5,16,1); ///Draw one rectangle |
el14ml | 0:3403a3415306 | 180 | } |
el14ml | 0:3403a3415306 | 181 | lcd.refresh(); |
el14ml | 0:3403a3415306 | 182 | } |
el14ml | 0:3403a3415306 | 183 | void moveArrayElements() |
el14ml | 0:3403a3415306 | 184 | { |
el14ml | 0:3403a3415306 | 185 | |
el14ml | 0:3403a3415306 | 186 | for (int i=81 ; i>0; i--) { |
el14ml | 3:ee005c9f0348 | 187 | graphArray[i] = graphArray[i-1]; ///moving each element of array to right |
el14ml | 3:ee005c9f0348 | 188 | } |
el14ml | 0:3403a3415306 | 189 | } |
el14ml | 3:ee005c9f0348 | 190 | void adjacentArrayElements() /// assigning float distance to first element of graph matrix |
el14ml | 0:3403a3415306 | 191 | { |
el14ml | 0:3403a3415306 | 192 | |
el14ml | 3:ee005c9f0348 | 193 | graphArray[0]= averageDistance; ///array element is average distance float |
el14ml | 3:ee005c9f0348 | 194 | if ((int)graphArray[0] != (int)graphArray[1]) { ///if value of current array element is different to previous one, red led and buzzer comes on ie visual and auditory alerts |
el14ml | 3:ee005c9f0348 | 195 | myled=1; ///red led comes on |
el14ml | 3:ee005c9f0348 | 196 | buzzer = delay; /// duty cycle |
el14ml | 3:ee005c9f0348 | 197 | buzzer.period(buzzerPeriod); ///set period of buzzer to my function |
el14ml | 0:3403a3415306 | 198 | |
el14ml | 3:ee005c9f0348 | 199 | } else { /// if no movement alerts are off |
el14ml | 0:3403a3415306 | 200 | myled=0; |
el14ml | 0:3403a3415306 | 201 | buzzer=0; |
el14ml | 0:3403a3415306 | 202 | } |
el14ml | 0:3403a3415306 | 203 | } |
el14ml | 3:ee005c9f0348 | 204 | void plotAxes() ///plotting both the x and y axis which are 2 pixels thick, i represents the pixels |
el14ml | 0:3403a3415306 | 205 | { |
el14ml | 3:ee005c9f0348 | 206 | ///i is pixel |
el14ml | 3:ee005c9f0348 | 207 | for ( int i=0; i<84; i++) { /// plotting x axis |
el14ml | 0:3403a3415306 | 208 | lcd.setPixel(i,46); |
el14ml | 0:3403a3415306 | 209 | lcd.setPixel(i,47); |
el14ml | 0:3403a3415306 | 210 | } |
el14ml | 3:ee005c9f0348 | 211 | ///plotting y axis |
el14ml | 3:ee005c9f0348 | 212 | for ( int i=0; i<48; i++) { /// plotting y axis |
el14ml | 0:3403a3415306 | 213 | lcd.setPixel(0,i); |
el14ml | 0:3403a3415306 | 214 | lcd.setPixel(1,i); |
el14ml | 0:3403a3415306 | 215 | } |
el14ml | 0:3403a3415306 | 216 | } |
el14ml | 3:ee005c9f0348 | 217 | void plotDistancePoint() ///function converts float distance to integer pixel |
el14ml | 0:3403a3415306 | 218 | { |
el14ml | 0:3403a3415306 | 219 | |
el14ml | 3:ee005c9f0348 | 220 | /// i in this loop is element of the array NOT pixel |
el14ml | 3:ee005c9f0348 | 221 | for (int i=0; i<82; i++) { /// array is 82 elements long as 2 pixels are used for axes |
el14ml | 3:ee005c9f0348 | 222 | ///x position + y position |
el14ml | 3:ee005c9f0348 | 223 | int p = (int)(45-(graphArray[i]/(200/46))); ///convert array element float distance to integer pixel |
el14ml | 3:ee005c9f0348 | 224 | 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 | 225 | } |
el14ml | 0:3403a3415306 | 226 | lcd.refresh(); |
el14ml | 0:3403a3415306 | 227 | } |
el14ml | 0:3403a3415306 | 228 | |
el14ml | 2:0dfa60f22f07 | 229 |